Elevator control device, elevator control system, and elevator control method

Abstract

To prevent an autonomous moving body from interfering with work, etc., and from being damaged due to falling over of an autonomous moving body during controlled operation performed in an emergency.SOLUTION: An elevator control device according to an embodiment controls an elevator in which an autonomous moving body that can move autonomously can ride, and is equipped with a control unit that, when the occurrence of an emergency is detected, controls the autonomous moving body riding in the car to execute a predetermined operation, and executes a controlled operation of the car in response to the emergency.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] An embodiment of the present invention relates to an elevator control device, an elevator control system, and an elevator control method. [Background technology]

[0002] In recent elevator systems, autonomous mobile bodies such as robots are placed in elevator cars to perform various tasks. Here, emergency elevators must be available for firefighters to use for firefighting activities even in the event of a fire, which is an emergency. For this reason, if a fire occurs while an autonomous mobile body is using the emergency elevator, a fire control operation is performed in which the car of the emergency elevator is pulled back to a specified reference floor (e.g., the first floor), and firefighting activities are carried out with no users in the car.

[0003] In addition, in the event of an emergency such as an earthquake, earthquake control operation will be implemented to immediately land the elevator at the nearest floor so that passengers can disembark from the elevator for safety reasons. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2021 / 124405 [Patent Document 2] Patent No. 5787806 [Patent Document 3] Patent No. 7081704 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the case of fire control operation, there is a risk that firefighters may be prevented from getting on and off and from carrying out their activities while the autonomous mobile body remains in the car. Also, in the case of earthquake control operation, if an aftershock occurs at the time when the autonomous mobile body gets off the car, there is a risk that the autonomous mobile body may fall over and be damaged.

[0006] One of the objectives of this embodiment is to provide an elevator control device, elevator control system, and elevator control method that can prevent an autonomous moving body from interfering with work, etc., and prevent damage due to the autonomous moving body tipping over, during controlled operations performed in an emergency. [Means for solving the problem]

[0007] The elevator control device of the embodiment is an elevator control device that controls an elevator in which an autonomous moving body that can move autonomously can ride in a car, the elevator control device is connected to a network with an elevator server that controls the autonomous moving body and controls the elevation and descent of the car, and the elevator server is connected to a network with an autonomous moving body server that, in the event of an emergency, selects a specific program corresponding to the emergency, corresponding to the elevator and the autonomous moving body, from among a plurality of specific programs in which the operation of the autonomous moving body in response to the emergency is defined for each elevator and each autonomous moving body, and transmits the selected specific program to the autonomous moving body; A control unit that, when an occurrence of an emergency is detected, controls the autonomous moving body in the elevator to execute a predetermined operation, and executes a controlled operation corresponding to the emergency for the elevator. When the emergency occurs, the control unit transmits a notification to the elevator server that the emergency has occurred as a control for causing the autonomous moving body in the elevator car to execute a predetermined operation. . [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of an overall configuration of an elevator control system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram illustrating an example of a functional configuration of a control panel according to the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of a data structure of the robot management DB according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a notification of the occurrence of a fire or an earthquake according to an embodiment. [Diagram 5] FIG. 5 is a block diagram illustrating an example of a functional configuration of the controller according to the embodiment. [Figure 6]FIG. 6 is a block diagram showing an example of a functional configuration of the server 210 in the elevator cloud according to the embodiment. [Figure 7] FIG. 7 is a block diagram illustrating an example of a functional configuration of a server 310 in the robot cloud according to the embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of a data structure of the specific program management DB according to the embodiment. [Figure 9] FIG. 9 is a block diagram illustrating an example of a functional configuration of the robot according to the embodiment. [Figure 10] FIG. 10 is a sequence diagram illustrating an example of a procedure of the elevator control process according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment will be described with reference to the drawings. (Embodiment) Fig. 1 is a diagram showing an example of the overall configuration of an elevator control system 1 according to this embodiment. As shown in Fig. 1, the elevator control system 1 according to this embodiment mainly includes control panels 100A, 100B provided for elevators 2A, 2B, controllers 150A, 150B provided for elevators 2A, 2B, a control room 160, a server 210 in an elevator cloud 200, a server 310 in a robot cloud 300, and a monitoring center 400.

[0010] In this embodiment, two elevators 2A, 2B are installed in a building 3 such as an office building or an apartment building. The elevators 2A, 2B each have a car 50A, 50B in the hoistway 20A, 20B. In addition, each hoistway 20A, 20B also has a hoist and a counterweight (not shown). The cars 50A, 50B and the counterweight are supported so as to be able to rise and fall on a pair of guide rails (not shown) erected in the hoistway 20A, 20B, respectively, and rise and fall via ropes.

[0011] In addition to the user 5A, robots 500A and 500B acting as autonomous moving bodies can also ride in the elevators 50A and 50B.

[0012] Control panels 100A, 100B and controllers 150A, 150B are provided inside the elevator shafts 20A, 20B, respectively. The control panels 100A, 100B are connected wirelessly or by wire to operation panels (not shown) provided in the elevator cars 50A, 50B.

[0013] The control panels 100A and 100B control the operation of the cars 50A and 50B in the elevators 2A and 2B, respectively. The control panels 100A and 100B are connected to the controllers 150A, 150B and 500C, respectively, by wire or wirelessly.

[0014] Each of the controllers 150A, 150B is connected to a server 210 in the elevator cloud 200 via a network. The controllers 150A, 150B are intermediate devices having an interface function and a hub function for controlling communication between the control panels 100A, 100B and the server 210, and for intermediate various signals exchanged between the control panels 100A, 100B and the server 210. Details of the control panels 100A, 100B and the controllers 150A, 150B will be described later.

[0015] A manager of building 3 sits in control room 160 and gives various instructions to control panels 100A and 100B.

[0016] The server 210 in the elevator cloud 200 issues various control instructions for the cars 50A, 50B of the elevators 2A, 2B to the control panels 100A, 100B via the controllers 150A, 150B, and receives various requests and data from the control panels 100A, 100B via the controllers 150A, 150B. The server 210 in the elevator cloud 200 is connected to a monitoring center 400 (an in-house server) and a server 310 in the robot cloud 300 via a network.

[0017] An in-house server (not shown) is installed in the monitoring center 400. The in-house server is a server installed in an affiliated company of the elevator 11, and collects information required for maintenance management and remote monitoring of the elevator 2 from the elevators 2A and 2B. This allows a maintenance person to deal with the occurring malfunction by referring to the information required for maintenance management collected in the in-house server of the monitoring center 400 when a function or service is executed through the elevator cloud 200, and the in-house server of the monitoring center 400 can be accessed as necessary to refer to building and elevator information, or the maintenance person can obtain information required for elevator management.

[0018] The server 310 of the robot cloud 300 receives various requests and various data from the server 210 of the elevator cloud 200. The server 310 of the robot cloud 300 is connected to multiple robots 500A, 500B, and 500C in the building 3 via a network, and transmits various instructions to each of the multiple robots 500A, 500B, and 500C. The server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300 will be described in detail later.

[0019] The number of elevators is not limited to two, and may be one, or three or more elevators may be provided in the building 3. Therefore, the number of elevator shafts 20A, 20B, cars 50A, 50B, control panels 100A, 100B, and controllers 150A, 150B also varies according to the number of elevators 2A, 2B. Here, when the two elevators 2A, 2B, the two elevator shafts 20A, 20B, the two cars 50A, 50B, the two control panels 100A, 100B, and the two controllers 150A, 150B are not distinguished from one another, they are referred to as the elevator 2, the elevator shaft 20, the car 50, the control panel 100, and the controller 150.

[0020] Next, the control panel 100 will be described. 2 is a block diagram showing an example of a functional configuration of the control panel 100 according to the embodiment. The control panel 100 is an example of an elevator control device. As shown in FIG. 2, the control panel 100 mainly includes a control unit 101, a communication unit 102, and a storage unit 110. 2, the control panel 100 is connected by wire or wirelessly to a fire sensor 103 and a seismometer 104. The fire sensor 103 and the seismometer 104 are provided, for example, in the car 5 or in the elevators 20A and 20B.

[0021] The fire sensor 103 detects the occurrence of a fire in the elevator 2 and sends a detection signal to the control unit 101. The seismometer 104 detects the occurrence of an earthquake and sends a detection signal to the control unit 101. Here, the detection signal indicating the occurrence of a fire is also called a fire control signal. Moreover, the detection signal indicating the occurrence of an earthquake is also called an earthquake control signal.

[0022] The communication unit 102 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the control board 100 and the controller 150 . The storage unit 110 is a storage medium (i.e., a memory device) such as a ROM or a RAM. The storage unit 110 stores a robot management database 111 (hereinafter referred to as a "robot management DB 111"), an operation control program 112, a fire control program 113, an earthquake control program 114, and a robot operation control program 115.

[0023] The operation control program 112 is a program that realizes the main functions required for the operation control of the elevator 2. Here, the main functions include, for example, a function for driving and controlling the hoisting machine, a safety function for controlling the speed of the car 50, a function for controlling the opening and closing of the doors of the car 50, a function for controlling the lighting of the car 50, a function for registering hall calls and destination floor calls (also called car calls), and the like.

[0024] The robot operation control program 115 is a function for realizing operation control of the elevator 2 when the robot 500 uses the elevator 2.

[0025] The fire control program 113 is a program that realizes operation control of the elevator 2 in the event of a fire occurring as an emergency. Specifically, when a fire detection signal is received from the fire sensor 103 during robot operation in the emergency elevator 2, the fire control program 113 realizes operation control to stop robot operation and pull back the car 50 to a predetermined reference floor (mainly the first floor). Such operation control is called fire control operation.

[0026] The earthquake control program 114 is a program that realizes operation control of the elevator 2 in the event of an earthquake occurring as an emergency. Specifically, when the earthquake control program 114 receives a detection signal of an earthquake occurrence from the seismometer 104 while the robot is operating in the elevator 2, it realizes operation control that stops the robot operation and moves and stops the car 50 at the floor nearest to the floor on which the elevator is currently traveling. This type of operation control is called earthquake control operation.

[0027] The robot management DB 111 is a database for managing the robots 500 that use the elevator 2. The robot management DB 111 is a database that associates a robot ID with a riding state. Here, the robot ID is information for identifying the robot 500. The riding state is information indicating whether the robot 500 with the robot ID is currently riding in the car 50.

[0028] Fig. 3 is a diagram showing an example of a data structure of the robot management DB 111 according to the embodiment. The example of Fig. 3 shows that the robot 500 with the robot ID "A001" is riding in the car 50, and the robot 500 with the robot ID "A002" is not riding in the car 50 (for example, at the boarding area, etc.).

[0029] The robot 500 notifies the server 310 in the robot cloud 300 of its own status together with its robot ID at regular intervals or when the riding status changes, and stores the robot status in the robot management DB 111. The server 310 in the robot cloud 300 that receives the notification then notifies the control panel 100 of the robot ID and the current riding status via the server 210 in the elevator cloud 200 and the controller 150, and the control unit 101 registers the robot ID and the current riding status in the record of the corresponding robot ID in the robot management DB 110.

[0030] Returning to Fig. 2, the control unit 101 is composed of a hardware processor (CPU). The control unit 101 reads out and executes each of the operations control program 112, the robot operation control program 115, the fire control program 113, and the earthquake control program 114 from the storage unit 110, thereby performing the above-mentioned elevator 2 operations control, the robot operation control, the fire control operation control, and the earthquake control operation control.

[0031] When the occurrence of a fire or an earthquake is detected, the control unit 101 performs control to cause the robot 500 riding in the car 50 to execute a predetermined operation. Specifically, when the occurrence of a fire or an earthquake is detected, the control unit 101 transmits a notification that a fire or an earthquake has occurred to the server 210 in the elevator cloud 200 as control to cause the robot 500 riding in the car 50 to execute a predetermined operation. Then, the control unit 101 subsequently performs fire control operation control or earthquake control operation control.

[0032] FIG. 4 is a diagram illustrating an example of a notification of the occurrence of a fire or an earthquake according to an embodiment. As shown in FIG. 4, the notification of the occurrence of a fire or earthquake includes an emergency, building information, an elevator number, and a robot ID. The emergency is the type of emergency that has occurred, such as a fire or an earthquake. The building information is identification information of the building in which the emergency has occurred. The elevator number is the number of elevator 2 in which the robot 500 is riding in the car 50. The robot ID is the robot ID of the robot 500 riding in the car 50. If the robot 500 is present in multiple cars, the pairs of elevator number and robot ID will be consecutive for multiple cars.

[0033] In this embodiment, the control unit 101 receives information about the occurrence of a fire from the fire sensor 103 and receives information about the occurrence of an earthquake from the seismometer 104, but is not limited to this. For example, the control panel 100 can be configured to receive information about the occurrence of a fire or earthquake from the control room 160, or to receive information about the occurrence of a fire or earthquake from the robot 500 that detects the occurrence of a fire or earthquake.

[0034] Next, the controller 150 will be described. FIG. 5 is a block diagram showing an example of a functional configuration of the controller 150 according to the embodiment.

[0035] 5, the controller 150 mainly includes a control unit 151, a communication unit 152, and a storage unit 155 as a general computer configuration. The control unit 151 is made up of a hardware processor (CPU) and controls the operation of the communication unit 152. The storage unit 155 is made up of a storage medium (i.e., a memory device) such as a ROM or a RAM, and temporarily stores the operation control program 112, the robot operation control program 115, the fire control program 113, the earthquake control program 114, and update programs for updating these programs, which are stored in the control panel 100.

[0036] The communication unit 152 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the control panel 100 and the controller 40, and communication processing between the controller 150 and the server 210 in the elevator cloud 200. For example, when the communication unit 152 receives an operation signal transmitted from the control panel 100, it transmits the operation signal to the server 210 in the elevator cloud 200.

[0037] FIG. 6 is a block diagram showing an example of a functional configuration of the server 210 in the elevator cloud 200 according to the embodiment. The server 210 mainly includes a control unit 211, a communication unit 212, and a storage unit 220 as a typical computer configuration.

[0038] The storage unit 220 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 220 stores a traffic control program 222, a robot operation control program 225, a fire control program 223, and an earthquake control program 224.

[0039] The operation control program 222, the robot operation control program 225, the fire control program 223, and the earthquake control program 224 are update programs for each program stored in the memory unit 110 of the control panel 100. Note that, for each of the operation control program 222, the robot operation control program 225, the fire control program 223, and the earthquake control program 224, different programs may be prepared for each building and each elevator 2.

[0040] The communication unit 212 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the server 210 and the controller 150, and communication processing between the server 210 and the server 310 in the robot cloud 300.

[0041] The control unit 211 is composed of a hardware processor (CPU). When the operation control program 222, the robot operation control program 225, the fire control program 223, and the earthquake control program 224 are updated, the control unit 211 transmits them to the control panel 100 via the controller 150. When the robot operation control program 225 is updated, the control unit 211 receives the updated robot operation control program 225 from the server 310 in the robot cloud 300 and stores it in the storage unit 220.

[0042] Furthermore, the control unit 211 receives a notification of the occurrence of an emergency (see FIG. 3) from the control panel 100 via the controller 150. When the control unit 221 receives the notification of the occurrence of an emergency, it transmits a request for distribution of a specific program to the robot 500 to the server 310 in the robot cloud 300. Here, the request for distribution of a specific program to the robot 500 includes the content of the received notification of the occurrence of an emergency, and requests distribution of a specific program corresponding to the emergency to the robot 500 riding in the car 50 of the elevator 2 in which the emergency has occurred.

[0043] Next, the server 310 in the robot cloud 300 will be described. FIG. 7 is a block diagram illustrating an example of a functional configuration of a server 310 in the robot cloud 300 according to the embodiment. The server 310 mainly includes a control unit 311, a communication unit 312, and a storage unit 320 as a typical computer configuration.

[0044] The storage unit 320 is a storage medium (memory device) such as a ROM or a RAM. The storage unit 320 stores a robot basic program 321, a specific program group 322, a robot operation control program 325, and a specific program management database 326 (hereinafter referred to as the "specific program management DB 326").

[0045] The robot basic program 321 is a program that defines the operation of the robot 500 in the elevator 2 under normal circumstances. For example, the robot basic program 321 defines processes such as cleaning and inspection of the elevator 2.

[0046] The specific program group 322 is composed of a plurality of specific programs. Here, the specific programs are programs that describe a predetermined operation of the robot 500 in the car 50 as a controlled operation in response to an emergency. There are a plurality of fire specific programs and earthquake specific programs for each elevator 2 in the building 3 and for each robot 500 in response to an emergency.

[0047] In the specific fire program, for example, a fire control operation is defined as a predetermined action of the robot 500 riding in the car 50 in the event of a fire, in which the robot 500 moves to one of the four corners of the car 50. In addition, the earthquake specific program defines an earthquake control operation as a predetermined action, in which the robot 500 moves to the wall of the car 50. However, the predetermined operations in the specific program are not limited to these.

[0048] The robot operation control program 325 is a program to be transmitted to the server 210 in the elevator cloud 200 in response to the server 210 in the elevator cloud 200, and is stored as the robot operation control programs 115, 225 stored in the memory unit 110 of the control panel 100 described above and the memory unit 220 of the server 210 in the elevator cloud 200.

[0049] The specific program management DB 326 is a database for managing the specific programs in the specific program group 322 . 8 is a diagram illustrating an example of a data structure of the specific program management DB 326 according to the embodiment. As illustrated in FIG 8, the specific program management DB 326 is a database in which building information, elevator cars, robot IDs, riding states, and specific programs are associated with each other.

[0050] The building information is information for identifying a building. The elevator number is the number of the elevator 2. The robot ID is identification information of the robot 500 using the elevator 2 indicated by the elevator number in the building 3 indicated by the building information. The riding state is information indicating whether the robot 500 indicated by the robot ID is riding in the car 50 or not. The specific program is information that defines a specific fire program and an earthquake program to be executed by the robot 500 for each robot ID. In this way, a specific program to be executed in an emergency is defined for each robot 500 for each elevator 2 in the building 3.

[0051] Returning to FIG. 7 , the communication unit 312 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the server 310 and the server 210 in the elevator cloud 200, as well as communication processing between the server 310 and the robot 500.

[0052] The control unit 311 is composed of a hardware processor (CPU). The control unit 311 controls various elevator-related processes for the robot 500. In this embodiment, the control unit 311 transmits the robot operation control program 325 stored in the storage unit 320 to the server 210 in the elevator cloud 200 in response to a request from the server 210 in the elevator cloud 200. In addition, when the robot operation control program 325 is updated, the control unit 311 transmits an update program for the robot operation control program 325 to the server 210 in the elevator cloud 200.

[0053] In response to a request from the robot 500, the control unit 311 transmits the robot basic program 321 stored in the storage unit 320 to the robot 500. In addition, when the robot basic program 321 is updated, the control unit 311 transmits an update program for the robot basic program 321 to the robot 500.

[0054] Furthermore, when the control unit 311 receives a specific program distribution request from the server 210 in the elevator cloud 200, the control unit 311 identifies a specific program in the specific program management DB 326 that matches the type of emergency, building information, elevator number, and robot ID specified in the request. Then, the control unit 311 selects the identified specific program from the specific program group 322, and transmits the selected specific program together with a controlled operation instruction to the robot 500 with the robot ID specified in the distribution request. Here, the controlled operation instruction is an instruction to the robot 500 that an emergency has occurred and therefore that the robot 500 should perform controlled operation by executing the specific program. If a fire has occurred in the building 3 based on the contents of the distribution request, the server 310 transmits a fire controlled operation instruction to the robot 500, and if an earthquake has occurred, transmits an earthquake controlled operation instruction to the robot 500.

[0055] Next, the robot 500 will be described. 9 is a block diagram showing an example of a functional configuration of a robot 500 according to an embodiment. As shown in FIG. 9, the robot 500 mainly includes various sensors 505, a control unit 501, a communication unit 502, a driving unit 503, and a storage unit 510.

[0056] The various sensors 505 include, for example, a human sensor, an acceleration sensor, an imaging camera, and the like, but are not limited to these.

[0057] The storage unit 510 is a storage medium (memory device) such as a ROM or a RAM. The storage unit 510 stores a robot basic program 511 and a specific program 512. The robot basic program 511 is a program received from the server 310 in the robot cloud 300 and stored in the storage unit 510. In the robot basic program 511, similar to the robot basic program 321 in the server 310, the operation of the elevator 2 during normal operation is defined.

[0058] The specific program 512 is a program that is transmitted from the server 310 in the robot cloud 300 when an emergency occurs depending on the type of emergency. In the event of a fire, the specific program is a fire specific program, and in the event of an earthquake, the specific program is an earthquake specific program.

[0059] As described above, the specific fire program defines a predetermined operation to be performed by the robot 500 in the car 50 when a fire occurs. The specific earthquake program defines a predetermined operation to be performed by the robot 500 in the car 50 when an earthquake occurs.

[0060] The communication unit 502 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the robot 500 and the server 310 in the robot cloud 300 .

[0061] The driving unit 503 drives the robot 500 to move. The control unit 501 is composed of a hardware processor (CPU). During normal operation of the elevator 2, the control unit 501 reads and executes a robot basic program 511 from the storage unit 510, thereby executing various operations in the elevator 2.

[0062] Furthermore, in the event of an emergency such as a fire or earthquake, the control unit 501 receives a controlled operation instruction (i.e., a fire controlled operation instruction, an earthquake controlled operation instruction) and a specific program 512 corresponding to the emergency, which are transmitted from the server 310 in the robot cloud 300, and stores them in the storage unit 510. The control unit 501 then reads out and executes the specific program 512 from the storage unit 510, thereby performing a predetermined operation corresponding to the emergency.

[0063] For example, when a fire occurs, the control unit 501 executes a specific program for fire to control the driving unit 503 to move the robot 500 to one of the four corners of the car 50 as a predetermined operation. When an earthquake occurs, the control unit 501 executes a specific program for earthquake to control the driving unit 503 to move the robot 500 to the wall of the car 50 as a predetermined operation.

[0064] The above configuration of the robot 500 is just an example, and the robot 500 may further include an audio output unit such as a speaker and an input unit such as a touch panel.

[0065] Next, an elevator control process performed by the elevator control system 1 according to the present embodiment will be described. FIG. 10 is a sequence diagram illustrating an example of a procedure of the elevator control process according to the embodiment.

[0066] Initially, the elevator 2 is in operation (S100). Also, the control panel 100 is performing robot operation (S101). At this time, if an emergency such as a fire or earthquake occurs, the control unit 101 of the control panel 100 detects the fire or earthquake (S102). Then, the control unit 101 of the control panel 100 transmits a notification of the occurrence of the emergency such as a fire or earthquake to the controller 150 (S103).

[0067] When the control unit 151 of the controller 150 receives the notification of the occurrence of an emergency from the control panel 100, the control unit 151 transmits the notification as is to the server 210 of the elevator cloud 200 (S104).

[0068] When the control unit 201 of the server 210 of the elevator cloud 200 receives a notification of the occurrence of an emergency from the controller 150, it sends a request to the server 310 of the robot cloud 300 to distribute a specific program to the robot 500, including the contents of the notification (S105).

[0069] When the control unit 301 of the server 310 of the robot cloud 300 receives a request to distribute a specific program to the robot 500 from the server 210 of the elevator cloud 200, the control unit 301 selects a corresponding specific program from the specific program group 322 in the storage unit 510 based on the content of the distribution request and the specific program management DB 326 (S106). Next, the control unit 301 of the server 310 of the robot cloud 300 transmits the selected specific program to the robot 500 with the robot ID specified in the distribution request (S107).

[0070] When the control unit 501 of the robot 500 receives the specific program from the server 310 of the robot cloud 300, the control unit 501 stores the received specific program in the storage unit 510. Then, the control unit 501 of the robot 500 reads and executes the stored specific program 512 (S108). As a result, in the robot 500, an operation predetermined by the specific program 512 is executed when an emergency occurs.

[0071] Meanwhile, in the control panel 100, the control unit 101 executes the fire control program 113 in the event of a fire outbreak, and executes the earthquake control program 114 in the event of an earthquake outbreak, thereby performing the respective control operations (S109). In the event of a fire outbreak, the control unit 101 performs the fire control operation, and moves the car 50 of the elevator 2 in operation to the reference floor. Also, in the event of an earthquake outbreak, the control unit 101 performs the earthquake control operation, and controls the car 50 of the elevator 2 in operation to move to the nearest floor.

[0072] In this embodiment, when an emergency is detected, the control panel 100 controls the robot 500 in the elevator car 50 to execute a predetermined operation, and executes a controlled operation corresponding to the emergency on the elevator car 50. Specifically, when an emergency such as a fire or an earthquake occurs, the control panel 100 transmits a notification of the occurrence of an emergency to the server 210 of the elevator cloud via the controller 150 as a control for causing the robot 500 in the elevator car 50 to execute a predetermined operation. Then, when the server 210 of the elevator cloud 200 receives a notification of the occurrence of an emergency, the server 210 of the elevator cloud 200 transmits a request to the server 310 of the robot cloud 300 to distribute a specific program to the robot 500. When the server 310 of the robot cloud 300 receives a request to distribute a specific program from the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300 selects a specific program that has a predetermined operation in the event of an emergency, and transmits the selected specific program to the robot 500 in the elevator car 50. The robot 500 riding in the car 50 executes the received specific program.

[0073] Therefore, according to this embodiment, in the controlled operation carried out in the event of an emergency, the robot 500 only needs to execute a predetermined operation, thereby preventing the robot 500 from interfering with work, etc., and preventing the robot 500 from being damaged due to falling over, etc.

[0074] In addition, in this embodiment, the specific program for fire is set to move the robot 500 riding in the car 50 to one of the four corners of the car 50 as a predetermined operation. The robot 500 preferentially selects the corner closer to the stopping position of the robot 500 among the two corners at the back of the car 50 and away from the door, and selects the other corner if the selected corner is blocked by luggage or the like. If both of the two corners at the back are blocked by luggage or the like, the corner on the door side may be selected. Therefore, according to this embodiment, in the controlled operation executed in the event of an emergency, the robot 500 riding in the car 50 performs an operation of moving to one of the four corners of the car 50, so that the robot 500 can be prevented from interfering with firefighting activities and the like.

[0075] In addition, in this embodiment, the specific earthquake program predetermines that the robot 500 riding in the car 50 be moved to the wall of the car 50 as a predetermine operation. The robot 500 preferably moves to the farthest wall from the door of the car 50, but may be moved to the wall on the left or right side as seen from the door. The wall closest to the stopping position of the robot 500 may be selected and moved to. Therefore, according to this embodiment, in the controlled operation executed in the event of an emergency, the robot 500 riding in the car 50 moves to the wall of the car 50, so that damage due to the robot 500 falling over or the like can be prevented.

[0076] (Modification) There are various modifications to the above embodiment. For example, when a fire breaks out and a fire control operation command is received, the specific fire program can be configured to release the lock (i.e., the brake) of the drive unit 503 of the robot 500. In this case, the robot 500 can be easily moved by human power, and it becomes possible to more reliably prevent the interruption of firefighting activities, etc.

[0077] Also, a magnet can be provided at the wall of the car 5 at the position where the robot 500 moves, and when the specific earthquake program is executed, the robot 500 can be fixed to the wall by magnetic force when it moves to the wall. In this case, the magnetic force can more reliably prevent the robot 500 from falling over, and it is possible to more reliably prevent damage to the robot 500 due to the falling over.

[0078] In the above embodiment, the occurrence of a fire and an earthquake are given as examples of emergency situations, but the emergency situations are not limited to these.

[0079] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0080] 1...Elevator control system, 2, 2A, 2B...Elevator, 3...Building, 5A...User, 20, 20A, 20B...Hoistway, 50, 50A, 50B...Car, 100, 100A, 100B...Control panel (elevator control device), 101, 151, 211, 311, 501...Control unit, 102, 152, 212, 312, 502...Communication unit, 103...Fire sensor, 104...Seismometer, 110, 155, 220, 320, 510...Memory unit, 111...Robot management DB, 112, 222...Operation control program, 113, 223...Fire control unit control program, 114, 224...earthquake control program, 115, 225, 325...robot operation control program, 150, 150A, 150B...controller, 160...control room, 200...elevator cloud, 210...server (elevator server), 300...robot cloud, 310...server (robot server), 321, 511...robot basic program, 322...specific program group, 326...specific program management DB, 500, 500A, 500B, 500C...robot, 503...drive unit, 512...specific program.

Claims

1. An elevator control device that controls an elevator in which an autonomous moving body that can move autonomously can ride in a car, the elevator control device is connected to a network with an elevator server that controls the autonomous moving body and controls the elevation and descent of the car, and the elevator server is connected to a network with an autonomous moving body server that, in the event of an emergency, selects a specific program corresponding to the emergency, corresponding to the elevator and the autonomous moving body, from among a plurality of specific programs in which the operation of the autonomous moving body in response to the emergency is defined for each elevator and each autonomous moving body, and transmits the selected specific program to the autonomous moving body; a control unit that, when an emergency is detected, controls the autonomous moving body in the elevator to execute a predetermined operation, and executes a controlled operation of the elevator in response to the emergency; When the emergency occurs, the control unit transmits a notification that the emergency has occurred to the elevator server as control for causing the autonomous moving body in the elevator car to execute a predetermined operation. Elevator control device.

2. The emergency is a fire or an earthquake.

2. The elevator control device according to claim 1.

3. The specific program for fire is set to move the autonomous moving body to any one of four corners of the elevator as the predetermined action. The elevator control device according to claim 2.

4. The specific program for an earthquake defines, as the predetermined action, moving the autonomous moving body to a wall of the elevator. The elevator control device according to claim 2.

5. The specific program for earthquakes is defined to move the autonomous moving body to a wall of the elevator car and to fix the autonomous moving body to the wall as a predetermined action, The specific program for a fire is defined to release a brake of a drive unit of the autonomous moving body as a predetermined action. The elevator control device according to claim 2.

6. An elevator control system comprising: an elevator control device that controls an elevator car; an autonomous moving body that can ride in the car and move autonomously; an elevator server that is connected to the elevator control device via a network and controls the elevation and descent of the car; and an autonomous moving body server that is connected to the autonomous moving body and the elevator server via a network, The elevator control device includes: A control unit that, when an occurrence of an emergency is detected, controls a control operation of the elevator car in response to the emergency, and, when the emergency occurs, transmits a notification of the occurrence of the emergency to the elevator server; The elevator server includes: a second control unit that, when receiving a notification of the occurrence of the emergency from the elevator control device, transmits to the autonomous mobile body a request to transmit to the autonomous mobile body a specific program in which an operation of the autonomous mobile body corresponding to the emergency is defined, The autonomous mobile object server includes: A storage unit that stores a plurality of the specific programs for each of the elevators and each of the autonomous moving bodies; a third control unit that, when receiving the transmission request from the elevator server, selects a specific program corresponding to the emergency situation from among the plurality of specific programs stored in the storage unit based on the transmission request, and transmits the selected specific program to the autonomous moving body of the car; The autonomous moving body riding in the elevator a fourth control unit that receives the specific program from the autonomous mobile object server and executes the received specific program to execute an operation defined by the specific program; An elevator control system comprising:

7. The emergency is a fire or an earthquake.

7. The elevator control system of claim 6.

8. The specific program for fire is set to move the autonomous moving body to four corners of the car as a predetermined action.

8. The elevator control system of claim 7.

9. The specific program for an earthquake is set to move the autonomous moving body to a wall of the elevator as a predetermined action.

9. The elevator control system of claim 8.

10. The specific program for earthquakes is defined to move the autonomous moving body to a wall of the elevator car and to fix the autonomous moving body to the wall, as a predetermined action, The specific program for a fire is defined to release a brake of a drive unit of the autonomous moving body as a predetermined action.

9. The elevator control system of claim 8.

11. An elevator control method executed by an elevator control device that controls an elevator in which an autonomous moving body that can autonomously move to a car can ride, comprising: the elevator control device is connected to a network with an elevator server that controls the autonomous moving body and controls the elevation and descent of the car, and the elevator server is connected to a network with an autonomous moving body server that, in the event of an emergency, selects a specific program corresponding to the emergency, corresponding to the elevator and the autonomous moving body, from among a plurality of specific programs in which the operation of the autonomous moving body in response to the emergency is defined for each elevator and each autonomous moving body, and transmits the selected specific program to the autonomous moving body; Detecting the occurrence of an emergency; When an emergency occurs, controlling the autonomous moving body in the car to execute a predetermined operation, and executing a controlled operation of the car in response to the emergency; a step of transmitting a notification that the emergency has occurred to the elevator server as a control for causing the autonomous moving body in the elevator car to execute a predetermined operation when the emergency has occurred; An elevator control method comprising:

12. An elevator control method executed in an elevator control system including an elevator control device that controls an elevator car, an autonomous moving body that can ride in the car and move autonomously, an elevator server that is connected to the elevator control device via a network and controls the elevation and descent of the car, and an autonomous moving body server that is connected to the autonomous moving body and the elevator server via a network, The autonomous mobile object server includes: A storage unit that stores a plurality of specific programs that define operations of the autonomous moving body in response to an emergency for each of the elevators and each of the autonomous moving bodies, The elevator control device detects an occurrence of an emergency; When the emergency occurs, the elevator control device controls the elevator car to perform a controlled operation according to the emergency; When the emergency occurs, the elevator control device transmits a notification of the occurrence of the emergency to the elevator server; a step of transmitting, when the elevator server receives a notification of the occurrence of the emergency from the elevator control device, a request for transmitting, to the autonomous moving body server, a specific program that defines an operation of the autonomous moving body corresponding to the emergency; a step of, when the autonomous mobile body server receives the transmission request from the elevator server, selecting, from among the plurality of specific programs stored in the storage unit, the specific program corresponding to the elevator and the autonomous mobile body and corresponding to the emergency situation based on the transmission request, and transmitting the selected specific program to the autonomous mobile body of the car; A step in which the autonomous moving body in the car receives the specific program from the autonomous moving body server; A step in which an autonomous moving body riding in the elevator executes the received specific program to perform an operation defined by the specific program; An elevator control method comprising:

Images