Elevator System

Abstract

To provide an elevator system capable of wirelessly connecting to a robot server even when a robot is in a car and capable of responding to a change in destination floor, etc.SOLUTION: In an elevator system according to an embodiment, a robot server and an elevator server, and the elevator server and a control device are each communicatively connected via a public line. The control device is communicatively connected via a wired or wireless connection to a communication device installed in the elevator car. The elevator system has a first communication path that wirelessly connects the robot and the robot server via the public line, and a second communication path that wirelessly connects the robot and the robot server via the communication device, the control device, and the elevator server installed in the elevator car, and with the robot and the robot server wirelessly connected via the first communication path or the second communication path, the robot is loaded into the elevator car and moved to another floor.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE An embodiment of the present invention relates to an elevator system. [Background technology]

[0002] Autonomous robots are used in buildings to clean, guard, deliver goods, etc. In general, the destination and movement route of the robot are remotely controlled by wireless communication with a robot server.

[0003] In recent years, a system has been developed in which the robot is linked to an elevator and the robot is put into an elevator car to move to other floors. Even when the robot uses this system to move to each floor, the robot needs to be wirelessly connected to the robot server in order to receive instructions from the robot server.

[0004] Here, at the elevator landing, the wireless radio waves are stable, so the robot can wirelessly connect to the robot server. However, inside the elevator car, the wireless radio waves are easily blocked due to its structure, so the robot may not be able to wirelessly connect to the robot server. In such a case, for example, when the destination floor of the robot needs to be changed due to an earthquake or fire, the robot may not receive a command to change the destination floor from the robot server and may move to the destination floor. Also, if the robot cannot get off at the destination floor due to passengers in the elevator car, or if the elevator side switches to controlled operation and the robot needs to get off at a floor other than the destination floor, the robot may not be able to inquire the robot server and may stop moving inside the elevator car.

[0005] Conventionally, a system has been known in which a communication device is installed in a passenger car to perform wireless communication with the outside world. However, this type of system does not take into consideration a response to a change in the destination floor, etc. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2022-98549 A Summary of the Invention [Problem to be solved by the invention]

[0007] As described above, when inside the elevator, the robot may not be able to wirelessly connect to the robot server, and may not be able to respond when the destination floor is changed, for example.

[0008] The problem that the present invention aims to solve is to provide an elevator system that can wirelessly connect to a robot server even when a robot is inside the elevator car and can respond to changes in the destination floor, etc. [Means for solving the problem]

[0009] An elevator system according to one embodiment includes a robot server that manages a robot, an elevator server that manages an elevator, and a control device that controls the operation of a car of the elevator. The robot server and the elevator server, and the elevator server and the control device are each connected to be able to communicate with each other via a public line. The control device is connected to be able to communicate with a communication device installed in the car by wire or wirelessly. The elevator system has a first communication path and a second communication path. The first communication path wirelessly connects the robot and the robot server via the public line. The second communication path wirelessly connects the robot and the robot server via the communication device, the control device, and the elevator server installed in the car. The elevator system causes the robot to ride in the car and move to another floor in a state in which the robot and the robot server are wirelessly connected by the first communication path or the second communication path. When the robot gets into the car that has arrived at a landing at a given floor, the robot transmits a boarding completion signal to the control device via the communication device in the car. Upon receiving the boarding completion signal, the control device closes the door of the car and moves the car to the destination floor of the robot, and while the car is moving to the destination floor, provides the robot with elevator information including at least the stopping floor of the car and the door open / closed state via the communication device in the car. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an elevator system according to this embodiment. [Diagram 2] FIG. 2 is a diagram showing a schematic configuration of an elevator system according to this embodiment. [Diagram 3] FIG. 3 is a block diagram showing an example of a functional configuration of the elevator control device according to this embodiment. [Figure 4] FIG. 4 is a block diagram showing an example of the functional configuration of the robot according to this embodiment. [Diagram 5] FIG. 5 is a block diagram showing an example of a functional configuration of the elevator server according to this embodiment. [Figure 6] FIG. 6 is a block diagram showing an example of the functional configuration of the robot server according to the present embodiment. [Figure 7] FIG. 7 is a sequence diagram showing an example of the overall processing flow of the elevator system according to this embodiment. [Figure 8] FIG. 8 is a sequence diagram showing an example of the overall processing flow of the elevator system according to this embodiment. [Figure 9] FIG. 9 is a sequence diagram showing an example of the overall processing flow of the elevator system according to this embodiment. [Figure 10] FIG. 10 is a sequence diagram showing an example of a processing procedure of the elevator system according to the first modified example of the present embodiment. [Figure 11] FIG. 11 is a diagram illustrating a schematic configuration according to a second modified example of this embodiment. [Figure 12] FIG. 12 is a diagram illustrating a schematic configuration according to a second modified example of this embodiment. [Figure 13] FIG. 13 is a sequence diagram showing an example of a processing procedure of an elevator system according to the second modified example of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Each embodiment will be described below with reference to the drawings. In addition, the disclosure is merely an example, and the invention is not limited to the contents described in the following embodiments. Modifications that a person skilled in the art can easily correspond to are naturally included in the scope of the disclosure. In order to make the explanation clearer, the size, shape, etc. of each part may be changed from the actual embodiment and shown diagrammatically in the drawings. In multiple drawings, corresponding elements may be given the same reference numerals, and detailed explanations may be omitted.

[0012] 1 and 2 are diagrams that show the schematic configuration of an elevator system according to this embodiment. The elevator system according to this embodiment includes an elevator control device 11, a robot 13, an elevator server 100, and a robot server 200. Note that Fig. 1 shows a case where the robot 13 is in a hall 17b of an elevator 14, and Fig. 2 shows a case where the robot 13 is in a car 12 of the elevator 14.

[0013] The elevator control device 11 is provided in a hoistway 16 of a building 19, and controls the entire elevator 14 including the car 12. Under the control of the elevator control device 11, the car 12 moves up and down in the hoistway 16 via a rope 15 driven by a hoisting machine (not shown). Note that although one car 12 is shown in FIG. 1, the elevator 14 may have multiple cars.

[0014] A car operation panel 20 having buttons and the like arranged thereon for users to register their destination floor is installed inside the car 12. A wireless communication device 21 is also installed inside the car 12. The wireless communication device 21 is called an "in-car communication device" and is composed of a general-purpose communication device such as a wireless LAN. In this embodiment, the wireless communication device 21 is used by the robot 13 to communicate with the outside via the elevator control device 11 inside the car 12, and is connected to the elevator control device 11 by wire such as a tail cord or wirelessly.

[0015] The elevator server 100 is installed at an arbitrary location independent of the elevator control device 11, and manages the operation status of the elevator 14. The elevator server 100 is a server computer that centrally manages the operation status of each elevator for each of a plurality of properties. In the example of Fig. 1 and Fig. 2, for convenience, only one elevator 14 (elevator control device 11) is connected to the elevator server 100, but in reality, elevators in each property are connected. The elevator server 100 is connected to the elevator control device 11 and the robot server 200 via the public line 10 so as to be able to communicate with each other.

[0016] The robot server 200 is a server computer for managing the operation of the robot 13, and is installed at any location under the jurisdiction of the robot manufacturer. The robot server 200 is communicably connected to the robot 13 via the public line 10, and transmits control signals to the robot 13 instructing the destination and the route to the destination. The robot server 200 also receives a movement request signal from the robot 13 so that the robot 13 can move to another floor by using an elevator, and transmits the movement request signal to the elevator server 100.

[0017] The robot 13 is an autonomous mobile robot that carries luggage, cleans floors, etc. The robot 13 receives instructions on the destination and movement route from the robot server 200, moves to each floor in the building according to these instructions, and performs various tasks. Note that while only one robot 13 is shown in the example of Fig. 1 and Fig. 2, in reality there are various robots that are dispatched to each property, and these robots are managed by the robot server 200.

[0018] Here, as shown in Fig. 1, the elevator system of this embodiment has a first communication path (hereinafter referred to as communication path A) that wirelessly connects the robot 13 and the robot server 200 via the public line 10, and as shown in Fig. 2, a second communication path (hereinafter referred to as communication path B) that wirelessly connects the robot 13 and the robot server 200 via a wireless communication device 21 in the car 12, the elevator control device 11, and the elevator server 100. The robot 13 wirelessly connects to the robot server 200 via communication path A or communication path B, and gets on the car 12 to move to another floor.

[0019] Communication path A and communication path B are switched depending on the position of the robot 13. In this case, when the robot 13 is at the hall 17a, 17b, 17c, etc., communication path A is used, and when the robot 13 enters the car 12, switching to communication path B is triggered. Alternatively, communication path A and communication path B are switched depending on the reception status of the radio waves received by the robot 13 from the public line 10. In other words, if the reception level of the radio waves is equal to or higher than a certain value and a stable connection to the public line 10 is possible, communication path A is switched to. On the other hand, if the reception level of the radio waves is below a certain value and a stable connection to the public line 10 is not possible, communication path B is switched to.

[0020] FIG. 3 is a block diagram showing an example of a functional configuration of the elevator control device 11. The elevator control device 11 includes a control unit 41, communication units 42a and 42b, I / F (interface) units 43a and 43b, and a storage unit 44 as functional components for realizing an elevator system linked with the robot 13.

[0021] The control unit 41 is made up of a CPU, and performs response control for calls (hall calls / car calls) and speed control of the car 12 by starting a predetermined program. Note that a "hall call" is a call signal registered by operating a hall call button (not shown) installed at the halls 17a, 17b, 17c, etc. on each floor, and includes information on the registered floor and destination direction. A "car call" is a call signal registered by operating a destination call button on the car operating panel 20 installed inside the car room, and includes information on the destination floor.

[0022] The control unit 41 includes, for example, a door opening / closing control unit 41a and an operation control unit 41b. The door opening / closing control unit 41a controls the opening and closing of the car door of the car 12. The power source (door motor) is located on the car 12 side, and the doors (landing doors) installed at each landing 17a, 17b, 17c, ... simply open and close following the car door. In the following explanation, it is assumed that when the car door is open, the landing door is also open, and when the car door is closed, the landing door is also closed.

[0023] The operation control unit 41b controls the operation of the car 12. In detail, the operation control unit 41b makes the car 12 respond to a hall call of a user registered by operating a hall call button on each floor, and moves the car 12 toward the destination floor of the user registered by operating the car operation panel 20. In addition, when a movement request signal is sent from the robot 13, the operation control unit 41b moves the car 12 to the boarding floor and destination floor of the robot 13 included in the movement request signal.

[0024] The communication units 42a and 42b perform communication processing for the elevator control device 11 to transmit and receive various data to and from the outside (e.g., elevator server 100, robot 13, etc.). Of the communication units 42a and 42b, the communication unit 42a performs communication processing using the public line 10, and the other communication unit 42b performs communication processing using the wireless communication device 21 in the car 12.

[0025] The I / F unit 43a is an interface for the car. This I / F unit 43a performs input processing of signals from various buttons on the car operation panel 20 provided in the car 12 and output processing of data to be displayed on a display. The I / F unit 43b is an interface for the hall. This I / F unit 43b performs input processing of signals from hall call buttons (not shown) and output processing of data to be displayed on a hall display (not shown).

[0026] The storage unit 44 is made up of a ROM, a RAM, etc., and stores various data, such as a control program, necessary for the processing of the control unit 41. The storage unit 44 has a call management table 44a.

[0027] The call management table 44a manages information on platform calls and car calls from users, as well as information on the boarding floor and destination floor contained in the movement request signal of the robot 13. If there are multiple robots in the building 19, the call management table 44a manages information on the registered floor and destination floor of each robot in association with the robot IDs given to these robots.

[0028] FIG. 4 is a block diagram showing an example of a functional configuration of the robot 13. The robot 13 is equipped with a sensor 31, a communication device 32a, a communication device 32b, a control unit 51, an operation unit 52, a display unit 53, a memory unit 54, a drive unit 55, and the like.

[0029] The sensor 31 is, for example, a laser range finder, an ultrasonic range sensor, a dual camera, a LIDAR (Laser Imaging Detection and Ranging), etc. The robot 13 moves while avoiding obstacles using the sensor 31. In addition, from surrounding information obtained by the sensor 31, it is possible to detect that the robot 13 has entered the car 12 and that it has exited the car 12.

[0030] The communication device 32a performs communication control for wirelessly connecting to the robot server 200 via the public line 10 (by communication path A shown in FIG. 1). The communication device 32b performs communication control for wirelessly connecting to the robot server 200 via the wireless communication device 21, the elevator control device 11, and the elevator server 100 (by communication path B shown in FIG. 2).

[0031] The control unit 51 is made up of a CPU, and by starting a predetermined program, performs control for autonomously moving within a predetermined area including each floor of the building 19 using the elevator 14. In this embodiment, the control unit 51 includes a switching processing unit 51a.

[0032] The switching processing unit 51a switches the communication path when the robot 13 wirelessly connects to the robot server 200 to the communication path A or the communication path B by switching between the communication device 32a and the communication device 32b.

[0033] The operation unit 52 is a section where, for example, an administrator of the robot 13 performs input operations such as changing the destination and turning the power on / off. The display unit 53 displays various data. The memory unit 54 stores programs, a map of the inside of the building showing the movement route of the robot 13, and the like in advance. The drive unit 55 includes a motor for driving wheels installed on the bottom of the robot 13, and the like.

[0034] 5 is a block diagram showing an example of the functional configuration of the elevator server 100. The elevator server 100 includes a control unit 61, a communication unit 62, a storage unit 63, and the like, as a general computer configuration. The control unit 61 is made up of a hardware processor (CPU), and performs processing such as acquiring information indicating the operating state of the elevator 14 from the elevator control device 11 and detecting an abnormality. In this embodiment, the control unit 61 also performs processing for linking the elevator control device 11 and the robot server 200.

[0035] The communication unit 62 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the elevator control device 11 and the robot server 200. The storage unit 63 is made up of memory devices such as ROM and RAM, and stores various data and programs necessary for processing by the control unit 61. The storage unit 63 has a property management table 63a that stores property information. The "property" here refers to a building in which an elevator 14 that is the monitoring target of the elevator server 100 is installed. The property information includes information such as a property ID (identification information), address, and the number of elevators installed for each property.

[0036] 6 is a block diagram showing an example of the functional configuration of the robot server 200. Similar to the elevator server 100, the robot server 200 includes a control unit 71, a communication unit 72, and a storage unit 73 as a general computer configuration. The control unit 71 is made up of a hardware processor (CPU), and performs processes such as changing the destination of the robot 13 and calculating a route to the destination from current position information obtained from the robot 13.

[0037] The communication unit 72 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the robot 13 and the elevator server 100. The storage unit 73 is made up of memory devices such as ROM and RAM, and stores various data and programs necessary for processing by the control unit 71. The storage unit 73 has a robot management table 73a that stores robot management information. The robot management information includes the robot ID (identification information), type, and information on the building in which the robot is stationed for each robot that the robot server 200 monitors.

[0038] Next, the overall processing flow of the elevator system according to this embodiment will be described with reference to the sequence diagrams of Figures 7 to 9. In Figures 7 to 9, communications carried out via the public line 10 are indicated by solid arrows, and communications carried out within the car 12 and the hoistway 16 (intra-car communications) are indicated by dashed lines. The parts enclosed by dashed and dotted lines are characteristic parts of this embodiment.

[0039] First, an example of the flow of processing until the robot 13 gets into the car 12 will be described with reference to FIG. Now, assume that the robot 13 arrives at the landing 17b on an arbitrary floor (see FIG. 1) and moves to another destination floor using the elevator 14. At the landing 17b, stable wireless communication can be performed using the public line 10, so communication path A is used as the communication path between the robot 13 and the robot server 200. That is, the robot 13 transmits a usage registration signal together with its robot ID to the robot server 200 via the public line 10 (step S11).

[0040] The "use registration signal" is a signal for registering the use of the elevator 14 in the elevator system (elevator control device 11), and is defined in the communication standard for elevator use together with the "use stop request signal" described later. This communication standard defines that when the robot 13 uses the elevator 14, it first performs a registration procedure using the use registration signal, and when it has finished using the elevator 14, it performs a cancellation procedure using the use stop signal.

[0041] The robot server 200 sends this usage registration signal together with the robot ID to the elevator control device 11 via the elevator server 100 (steps S12 to S13). In detail, the robot server 200 identifies the robot 13 that is the source of the usage registration signal by the robot ID, and by referring to the robot management table 73a shown in Fig. 6, identifies the building 19 in which the robot 13 is located, and sends the usage registration signal and the robot ID via the elevator server 100 that is monitoring the elevator 14 installed in that building 19.

[0042] When the elevator control device 11 receives the usage registration signal along with the robot ID, it sets the robot ID in the memory unit 44, permits the robot 13 having that robot ID to use the elevator, and transmits a usage permission signal indicating this to the robot 13 via the elevator server 100 and the robot server 200 (steps S14 to S16).

[0043] Note that signal exchange with the robot 13 via the elevator server 100 and the robot server 200 is performed by identifying the robot 13 by its robot ID.

[0044] When the robot 13 receives the use permission signal, it transmits a movement request signal to the elevator control device 11 to move to another floor using the elevator 14 (steps S17 to S19). At this time, the robot 13 is at the hall 17b, so it connects to the robot server 200 via communication path A, and transmits a movement request signal from the robot server 200 to the elevator control device 11 via the elevator server 100. The movement request signal includes information on the boarding floor and the destination floor.

[0045] When the elevator control device 11 receives the movement request signal, it registers the boarding floor information included in the movement request signal as a hall call for the robot 13, and registers the destination floor information as a car call. In response to these calls, the elevator control device 11 directs the car 12 to the boarding floor for the robot 13. When the car 12 arrives at the boarding floor for the robot 13 and opens the door, the elevator control device 11 transmits a boarding preparation completion signal to the robot 13 via the elevator server 100 and the robot server 200 (steps S20 to S22). The "boarding preparation completion signal" is a signal for informing the robot 13 that it is possible to board the car 12.

[0046] When the robot 13 receives the boarding preparation completion signal, it boards the car 12. Here, since the public line 10 is unstable inside the car 12, the robot 13 switches the communication path for connecting to the robot server 200 from communication path A to communication path B, triggered by boarding the car 12. Alternatively, the robot 13 may switch from communication path A to communication path B on the condition that the reception level of the radio waves received from the public line 10 falls below a certain value.

[0047] When the robot 13 gets into the car 12, it transmits a boarding completion signal to notify the elevator control device 11 of the fact. At this time, since the communication path has been switched to B, the robot 13 accesses the wireless communication device 21 and transmits the boarding completion signal to the elevator control device 11 (steps S23 to S24).

[0048] Upon receiving this boarding completion signal, the elevator control device 11 closes the door of the car 12 and moves it to the destination floor of the robot 13. The elevator control device 11 also sends a boarding completion signal together with the robot ID of the robot 13 via the elevator server 100 to the robot server 200, thereby notifying the robot 13 that it has boarded the car 12 (steps S25 to S26).

[0049] Next, an example of a process flow while the robot 13 is in the car 12 will be described with reference to Fig. 8. While the robot 13 is in the car 12, signals are exchanged between the robot 13, the elevator control device 11, and the robot server 200 via communication path B.

[0050] While the car 12 is moving toward the destination floor of the robot 13, the elevator control device 11 transmits elevator information, including the stopping floor of the car 12 and the door open / closed state, to the robot server 200 via the elevator server 100 (steps S31 to S32). The elevator information includes operation information when the car 12 is switched to controlled operation due to an earthquake or the like. The elevator control device 11 also transmits the elevator information to the robot 13 via the wireless communication device 21 in the car 12 (steps S33 to S34). In this way, the robot 13 and the robot server 200 can grasp the operation state of the car 12 by receiving the elevator information, and can flexibly respond even if the destination floor is changed by controlled operation, for example.

[0051] Here, a process will be described when the destination floor of the robot 13 is changed. The process will be described below in two parts: (a) when the destination floor of the robot 13 is changed by the robot server 200, and (b) when the destination floor is changed by the robot 13.

[0052] (a) When the destination floor of the robot 13 is changed by the robot server 200 For example, when the car 12 is switched to controlled operation due to an earthquake, fire, flooding, or the like and stops at the nearest floor, it may be necessary to change the destination floor of the robot 13. In this case, the robot server 200 transmits a destination floor change request signal including information on the new destination floor to the elevator control device 11 via the elevator server 100 (steps S35 to S36).

[0053] By receiving this destination floor change request signal, the elevator control device 11 changes the destination floor of the robot 13 registered as a car call to the new destination floor included in the destination floor change request signal. The elevator control device 11 notifies the robot server 200 that the destination floor of the robot 13 has been changed by sending the destination floor change signal to the robot server 200 via the elevator server 100 (steps S37 to S38). The elevator control device 11 also sends the destination floor change signal to the robot 13 via the wireless communication device 21 (steps S39 to S40). This allows the robot 13 to know that the destination floor has been changed without receiving an instruction from the robot server 200, and when the car 12 arrives at the new destination floor, the robot 13 can get off there.

[0054] In addition, if the car 12 cannot be stopped at the new destination floor of the robot 13, the elevator control device 11 may invalidate the destination floor change request signal sent from the robot server 200 and inform the robot server 200 via the elevator server 100 that the destination floor cannot be changed.

[0055] (b) When the destination floor is changed by the robot 13 For example, if the robot 13 cannot get off at the destination floor because a large number of passengers are in front of the door of the elevator car 12, the robot 13 must decide to change the destination floor. In this case, the robot 13 transmits a destination floor change request signal including information about the new destination floor to the elevator control device 11 via the wireless communication device 21 in the car 12 (steps S41 to S42).

[0056] By receiving this destination floor change request signal, the elevator control device 11 changes the destination floor of the robot 13 registered as a car call to the new destination floor included in the destination floor change request signal. The elevator control device 11 notifies the robot server 200 that the destination floor of the robot 13 has been changed by sending the destination floor change signal to the robot server 200 via the elevator server 100 (steps S43 to S44). The elevator control device 11 also transmits the destination floor change signal to the robot 13 via the wireless communication device 21 (steps S45 to S46). This allows the robot 13 to know that the destination floor has been changed, and when the car 12 arrives at the new destination floor, the robot 13 can get off there.

[0057] In addition, if the car 12 cannot be stopped at the new destination floor of the robot 13, the elevator control device 11 may invalidate the destination floor change request signal sent from the robot 13 and inform the robot 13 via the wireless communication device 21 that the destination floor cannot be changed.

[0058] Next, an example of a process flow when the robot 13 gets off the car 12 will be described with reference to FIG. When the car 12 arrives at the destination floor of the robot 13 and the door opens, the elevator control device 11 transmits a disembarking preparation completion signal to the robot 13 via the wireless communication device 21 (steps S51 to S52). The elevator control device 11 also transmits a disembarking preparation completion signal to the robot server 200 via the elevator server 100 (steps S53 to S54). The "disembarking preparation completion signal" is a signal for informing the robot 13 that it is possible to disembark from the car 12.

[0059] In addition, the robot server 200 and the robot 13 may determine whether the car 12 has arrived at the destination floor of the robot 13 based on elevator information obtained from the elevator control device 11.

[0060] When the robot 13 receives the disembarking preparation completion signal, it disembarks from the car 12. Here, disembarking from the car 12 brings the robot 13 into a state where it can stably connect to the public line 10, so the robot 13 switches the communication path for connecting to the robot server 200 from communication path B to communication path A, triggered by disembarking from the car 12. Alternatively, the robot 13 may switch from communication path B to communication path A on the condition that the reception level of the radio waves received from the public line 10 reaches a certain value or higher.

[0061] When the robot 13 gets off the car 12, it transmits a disembarking completion signal to notify the elevator control device 11 of that fact. At this time, since the communication path has been switched to A, the robot 13 accesses the public line 10 and transmits the disembarking completion signal to the elevator control device 11 via the robot server 200 and the elevator server 100 (steps S55 to S57).

[0062] The elevator control device 11 keeps the car 12 door open until this disembarkation completion signal is received, thereby enabling communication with the robot 13 via the wireless communication device 21 in the car 12.

[0063] In this way, when the robot 13 moves to the destination floor using the elevator 14, it transmits a usage stop request signal to the elevator control device 11 via the public line 10, the robot server 200, and the elevator server 100 (steps S58 to S60).

[0064] The "use cessation request signal" is a signal for requesting the elevator system (elevator control device 11) to suspend use of the elevator 14, and is used in combination with the "use registration signal" described in step S11 above. Upon receiving this use cessation request signal, the elevator control device 11 deletes the robot ID of the robot 13 from the storage unit 44, and transmits a use cessation permission signal to the robot 13 via the elevator server 100 and the robot server 200, indicating that cessation of use has been permitted (steps S61 to S63).

[0065] As described above, the elevator control device 11 keeps the door of the car 12 open until it receives the disembarking completion signal. Therefore, if the connection to the public line 10 is unstable when the robot 13 disembarks at the destination floor, the door of the car 12 may be kept open until the communication path A using the public line 10 is established, and the use stop request signal and the use stop permission signal may be exchanged via the communication path B using the wireless communication device 21 in the car 12.

[0066] As described above, according to this embodiment, the robot 13 and the robot server 200 can be wirelessly connected by switching between the communication path A using the public line 10 and the communication path B using the wireless communication device 21 in the car 12. Therefore, even if the robot 13 is in the car 12 and cannot wirelessly connect to the robot server 200 via the public line 10, for example, by switching to the communication path B, wireless communication with the robot server 200 can be secured, and the robot 13 can move to another floor while receiving instructions from the robot server 200.

[0067] In other words, by having communication path A and communication path B as a method of connecting to the robot server 200, it is possible to avoid a situation in which the robot 13 is unable to receive instructions from the robot server 200 and stops moving, and it is possible to create an environment in which the robot 13 can move freely around the building while using the elevator 14.

[0068] While the robot 13 is in the car 12, the robot 13 may be able to communicate with the robot server 200 using two types of communication path, communication path A and communication path B. In this case, if communication path A is stable, communication with the robot server 200 can be achieved without placing a burden on the elevator control device 11 by prioritizing communication path A. On the other hand, if communication path A is unstable, communication path B can be used to maintain a stable communication state with the robot server 200 and move to another floor.

[0069] In addition, when the robot 13 gets off the elevator car 12 at the destination floor, if the communication path A cannot be used even after a predetermined time has elapsed, that is, if the robot 13 cannot wirelessly connect to the robot server 200 via the public line 10, the destination floor of the robot 13 may be changed.

[0070] In this case, the door of the car 12 is opened, and a destination floor change request signal is sent from the robot server 200 or the robot 13 using the communication path B (see steps S35-S40 / steps S41-S46 shown in FIG. 8). The robot 13 gets on the car 12, goes to the new destination floor after the change, gets off there, wirelessly connects to the robot server 200 using the communication path A, and waits for the next instruction.

[0071] Also, it is possible to change not the destination floor of the robot 13 but the location (destination) to which the robot 13 was scheduled to move from the destination floor. In this case, too, the car 12 is opened, and a change request signal is sent from the robot server 200 or the robot 13 using the communication path B. After the robot 13 moves to another location, it wirelessly connects to the robot server 200 using the communication path A and waits for the next instruction.

[0072] The wireless communication device 21 in the car 12 may be used for other purposes as well as a means of communication when the robot 13 moves using the elevator 14. For example, if the robot 13 is equipped with a telephone function, the robot 13 may be connected to an external monitoring center by communication using the wireless communication device 21, so that a user in the car 12 can talk (contact) with an operator at the monitoring center through the telephone function of the robot 13.

[0073] (First Modification) It is preferable that the wireless communication device 21 installed in the car 12 can be used only when the robot 13 is permitted to use the elevator 14. Specifically, in steps S11 to S13 of Fig. 7, when the elevator control device 11 accepts a user registration from the robot 13, the wireless communication device 21 is set to be enabled (usable state) with the robot ID of the robot 13. This makes it possible to prevent other robots from using the wireless communication device 21 without permission to access the elevator control device 11.

[0074] In addition, devices such as security cameras and door sensors (hereinafter referred to as in-car devices) are provided in the car 12. When providing information from these in-car devices to the robot 13, it is safer from the viewpoint of security to use the wireless communication device 21 in the car 12 rather than the public line 10.

[0075] Fig. 10 is a diagram for explaining an example of a processing procedure when the robot 13 uses the wireless communication device 21 and the in-car device in the car 12. Note that the same processes as those in Figs. 7 and 9 are denoted by the same reference numerals, and detailed explanations thereof will be omitted.

[0076] When the elevator control device 11 receives the usage registration signal transmitted from the robot 13 together with the robot ID (steps S11 to S13), it sets the robot ID in the storage unit 44 and performs elevator usage registration of the robot 13 having the robot ID and usage of the car equipment (steps A11 to A12). After usage registration, the elevator control device 11 transmits a usage permission signal to the robot 13 via the elevator server 100 and the robot server 200 (steps S14 to S16). The usage permission signal at this time serves as a signal indicating permission to use the elevator 14 as well as a signal indicating permission to use the car equipment.

[0077] Thereafter, while the robot 13 is in the car 12, it can communicate with the robot server 200 using the wireless communication device 21. The robot 13 can also access the in-car equipment via the wireless communication device 21 to obtain information about the in-car equipment. In detail, the robot 13 sends a signal requesting use of the in-car equipment together with its robot ID to the elevator control device 11 via the wireless communication device 21 (steps A13 to A14). The elevator control device 11 identifies the robot 13 based on the robot ID, and requests information from the in-car equipment designated by the robot 13 (step A15).

[0078] As a result, information on the in-car equipment is sent to the requested robot 13 via the wireless communication device 21 (steps A16 to A18). In this case, for example, if the in-car equipment specified by the robot 13 is a surveillance camera, an image taken by the surveillance camera is sent to the robot 13. This surveillance camera image is used to check for obstacles when the robot 13 gets off at the destination floor, and is also used to analyze any abnormality that may occur in the robot 13 inside the car 12.

[0079] 10, when the robot 13 moves to the destination floor using the elevator 14, it transmits a usage stop request signal to the elevator control device 11 via the public line 10, the robot server 200, and the elevator server 100 (steps S58 to S60). The usage stop request signal at this time is a signal for requesting the suspension of usage of the elevator 14, and also serves as a signal for requesting the suspension of usage of the equipment in the car.

[0080] When the elevator control device 11 receives this usage halt request signal, it deletes the robot ID of the robot 13 from the storage unit 44, and transmits a usage halt permission signal indicating that usage halt has been permitted to the robot 13 via the elevator server 100 and the robot server 200 (see steps S61 to S63 in FIG. 10). At that time, the elevator control device 11 cancels the usage registration of the robot 13 in the wireless communication device 21 and the car equipment (steps A19 to A20).

[0081] Thus, according to the first variant, the use of the wireless communication device 21 and the in-car equipment can be permitted for the robot 13 that is permitted to use the elevator 14, thereby preventing other robots from communicating using the wireless communication device 21 or reading information about the in-car equipment.

[0082] (Second Modification) Next, as a second variant, we will explain the case where, in an elevator system having multiple elevators, when robots are riding in the elevator cars of each elevator, the robots communicate with each other via wireless communication devices installed in each elevator car.

[0083] 11 and 12 are diagrams illustrating a schematic configuration of the second modified example. Assume a group control system having two or more elevators (cars 12a, 12b, ...). The example of Fig. 11 shows two robots 13a and 13b in a building 19, with the robot 13a registering a call at a hall 17b on a given floor and the robot 13b registering a call at a hall 17b on a different floor from the robot 13a. The example of Fig. 12 shows the robot 13a riding in the car 12a of elevator a, and the robot 13b riding in the car 12b of elevator b. Although two robots 13a and 13b are shown here, three or more robots may be present.

[0084] Wireless communication devices 21a, 21b... are installed in the elevator cars 12a, 12b..., respectively. The wireless communication devices 21a, 21b... are connected to the group management control device 300 via the elevator control devices 11a, 11b... of the respective cars.

[0085] The group management control device 300 is a control device that centrally controls the operation of each of the cars 12a, 12b..., and is connected to the elevator server 100 via the public line 10. The elevator control devices 11a, 11b... are provided in each car, and control the operation of the cars 12a, 12b... corresponding to each car under the control of the group management control device 300. The group management control device 300 and the elevator control devices 11a, 11b... are each configured by a computer equipped with a CPU, ROM, RAM, etc.

[0086] In the example of Figure 1, the group management control device 300 and the elevator control devices 11a, 11b... are shown as independent configurations, but it is also possible to use, for example, one of the elevator control devices 11a, 11b... as a master device and have the functions of the group management control device 300.

[0087] The elevator control devices 11a, 11b... each store the robot ID sent with the boarding completion signal when the robot 13a, 13b boards the car 12a, 12b together with boarding information. The "boarding information" includes information about the car the robot is riding in and the destination floor. The robot ID and boarding information are shared by the elevator control devices 11a, 11b.... This allows the elevator control devices 11a, 11b... to determine which car the robot 13a, 13b is riding in and which floor it is heading to.

[0088] As in the above embodiment, the robots 13a and 13b wirelessly communicate with the robot server 200 via communication path A or communication path B. Specifically, when the robot 13a is at the hall 17b, it wirelessly connects to the robot server 200 via communication path A using the public line 10 (see FIG. 11). On the other hand, when the robot 13a is in the car 12a, it wirelessly connects to the robot server 200 via communication path B using the wireless communication device 21a in the car 12a (see FIG. 12).

[0089] Here, in the second modified example, as shown in FIG. 12, a local area network (communication path C) is constructed using wireless communication devices 21a, 21b, and wireless communication is performed between a robot 13a riding in a car 12a of car A and a robot 13b riding in a car 12b of car B.

[0090] Fig. 13 is a sequence diagram showing the flow of processing during wireless communication between the robots 13a and 13b in the second modified example. In the diagram, "ROBOT A" indicates the robot 13a and "ROBOT B" indicates the robot 13b. The sequence diagram shown in Fig. 13 shows the state after the robots 13a and 13b have transmitted the boarding completion signals shown in steps S23 to S24 in Fig. 7 to the elevator control device 11a of the elevator a and the elevator control device 11b of the elevator b, respectively.

[0091] Now, let us assume that the robot 13a in the car 12a and the robot 13b in the car 12b transmit and receive information to be shared between them. The "information to be shared between them" includes, for example, information about the car they are riding in and their destination floor. Sharing such information can be used to avoid the robots from riding in the same car.

[0092] The information (assumed to be Da) transmitted from the robot 13a is sent to the elevator control device 11a of the elevator car a via the wireless communication device 21a in the car 12a (steps A31 to A32). At this time, the robot ID of the robot 13b, which is the transmission destination, is added to the information Da of the robot 13a, so that the elevator control device 11a can determine that the information has been transmitted to the robot 13b.

[0093] Here, the elevator control device 11a determines the car in which the robot 13b is riding by searching the boarding information based on the robot ID of the robot 13b. In this example, the car in which the robot 13b is riding is the car 12b of car b. Therefore, the elevator control device 11a transmits the information Da of the robot 13a to the elevator control device 11b of car b (step A33).

[0094] When the elevator control device 11b of the b-th elevator receives the information Da of the robot 13a, it transmits the information to the robot 13b via the wireless communication device 21b in the car 12b (steps A34 to A35).

[0095] The same applies to the case where the robot 13b riding in the car 12b of the vehicle b transmits information about the robot 13b (assumed to be Db) to the robot 13a riding in the car 12a of the vehicle a.

[0096] That is, the robot ID of the robot 13a to which the information Db of the robot 13b is to be transmitted is attached. The information Db of the robot 13b is sent to the robot 13a via the wireless communication device 21b in the elevator car 12b of the elevator b → the elevator control device 11b → the elevator control device 11a → the wireless communication device 21a (steps A36 to A40).

[0097] In this way, in the second modified example, wireless communication can be performed between the robots 13a, 13b riding in the cars 12a, 12b using the wireless communication devices 21a, 21b, which are in-car communication devices. The communication path C in this case is a local area network closed within the elevator system, so it is safer in terms of security than wireless communication via a wide-area communication network to which the elevator server 100 and the robot server 200 are connected, and necessary information can be sent quickly between the robots 13a, 13b.

[0098] According to at least one of the embodiments described above, an elevator system can be provided that can wirelessly connect to the robot server even when the robot is inside the elevator car and can respond to changes in the destination floor, etc.

[0099] 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 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 of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0100] 10...public line, 11...elevator control device, 13...robot, 14...elevator, 15...rope, 16...hoistway, 17a to 17c...landing, 19...building, 20...car operation panel, 21...wireless communication device, 31...sensor, 32a, 32b...communication device, 41...control unit, 41a...door opening / closing control unit, 41b...operation control unit, 42a, 42b...communication unit, 43a, 43b...I / F unit, 44...memory unit, 44a...management table, 51...control unit, 51a...switching processing unit, 52...operation unit, 53...display unit, 54...memory unit, 55...drive unit, 61...control unit, 62...communication unit, 63...memory unit, 63a...property management table, 71...control unit, 72...communication unit, 73...memory unit, 100...elevator server, 200...robot server, A...communication path, B...communication path.

Claims

1. An elevator system comprising a robot server that manages robots, an elevator server that manages elevators, and a control device that controls operation of a car of the elevator, the robot server and the elevator server, and the elevator server and the control device are each communicatively connected via a public line, and the control device is communicatively connected via wire or wirelessly to a communication device installed in the car, a first communication path that wirelessly connects the robot and the robot server via the public line; a second communication path that wirelessly connects the robot and the robot server via the communication device, the control device, and the elevator server that are provided in the elevator car; With the robot and the robot server wirelessly connected via the first communication path or the second communication path, the robot is loaded into the elevator car and moved to another floor; The robot comprises: When the passenger gets into the elevator that has arrived at a landing at an arbitrary floor, a boarding completion signal is transmitted to the control device via the communication device in the elevator; The control device includes: Upon receiving the boarding completion signal, the elevator door is closed and the robot is moved to the destination floor. While the car is moving to the destination floor, elevator information including at least the stopping floor of the car and the door open / closed state is provided to the robot via the communication device in the car. Elevator system.

2. 2. The elevator system according to claim 1, wherein switching from the first communication path to the second communication path is triggered by the robot getting into the elevator car.

3. 2. The elevator system according to claim 1, wherein the communication path is switched from the first communication path to the second communication path depending on a reception condition of the radio waves received by the robot from the public line.

4. The elevator system according to claim 1 , wherein the elevator information includes operation information when the elevator car is switched to controlled operation.

5. The robot comprises: When the destination floor is changed by the control device in response to a destination floor change request signal transmitted from the robot server while the user is in the elevator, a destination floor change signal indicating the changed destination floor transmitted from the control device via the communication device in the elevator is received, 2. The elevator system according to claim 1, wherein the passenger disembarks when the car arrives at the changed destination floor.

6. The robot comprises: When the passenger is unable to get off at the destination floor, a destination floor change request signal indicating a destination floor after the change is transmitted to the control device via the communication device in the elevator; 2. The elevator system according to claim 1, wherein the passenger disembarks when the car arrives at the changed destination floor.

7. The robot comprises:

2. The elevator system of claim 1, wherein when the elevator car arrives at the destination floor and the doors open, the passenger disembarks from the elevator car by receiving a disembarkation preparation completion signal from the control device via the communication device in the elevator car.

8. While the robot is in the elevator, the robot is wirelessly connected to the robot server via the second communication path; The elevator system of claim 1, wherein when the robot gets off the car, the car door is kept open until the first communication path is established, and the robot is wirelessly connected to the robot server via the second communication path.

9. 2. The elevator system according to claim 1, wherein communication is possible using the first communication path and the second communication path while the robot is inside the elevator car.

10. 2. The elevator system according to claim 1, wherein the communication device installed in the elevator car is used when the robot contacts the outside or when the robot uses equipment in the elevator car.

11. 2. The elevator system according to claim 1, wherein the communication device installed in the elevator car is enabled when the robot is permitted to use the elevator through a predetermined user registration procedure.

12. 2. The elevator system according to claim 1, wherein the communication device installed in the elevator car is used for communication between the robot and other robots mounted in other elevator cars.

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