Elevator control device

Abstract

To improve transportation efficiency even under an environment where a robot use an elevator together with a user.SOLUTION: A control device of an elevator, which when receiving a call registration request for a user and when receiving a call registration request for a robot, makes an allocation of landing call to an elevator car in response to the requests, in either case, determines whether robot information is included in information received together with the requests or not, every time the requests are received, and when determining that the robot information is included, determines that the received request is the call registration request for the robot. The control device integrates times of expected stops which occur on the elevator car by the allocation in response to the request, every time the allocation is made, where when making an allocation for the robot, the device integrates the number of times of one-time stop corresponding to the allocation. When the times of expected stops reach an upper limit, the control device restricts an allocation for the elevator car.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control technology for an elevator used by both users and robots. [Background technology]

[0002] Some elevators allocate hall calls to a car for a user each time the user registers a destination floor in a destination floor registration device. A known control technique for such elevators is to count the number of scheduled stops (the number of scheduled stops per revolution when traveling around a route) that occur in the car due to the allocation of hall calls, and to limit the allocation to a car for which the number of scheduled stops has reached an upper limit (see, for example, Patent Document 1). With this technique, in cases where only the user uses the elevator, it is possible to control the car's revolution time (the time required to make one revolution around a route), so that it does not become too long, thereby improving transportation efficiency. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5919898 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, robots have increasingly been used in buildings to perform various tasks that were previously performed by humans (cleaning, monitoring, transportation, etc.). As a result, elevators are increasingly being used to move robots between floors within buildings, and there are an increasing number of cases where both users and robots use elevators.

[0005] On the other hand, robots take longer to get on and off than users. Therefore, in an environment where robots use elevators together with users, even if an upper limit is set on the number of scheduled stops of the elevator car as in the control technology described above, the elevator car with the robot in it will take a long time to make a circuit, which will hinder improvements in transportation efficiency.

[0006] Therefore, an object of the present invention is to make it possible to improve transportation efficiency even in an environment where a robot uses an elevator together with a user. [Means for solving the problem]

[0007] A first control device according to the present invention is a control device that allocates hall calls to cars in an elevator, and performs the following control processing (Aspect 1). The control device counts the number of scheduled stops that occur in a car due to an allocation each time the control device performs the allocation, and when performing an allocation for a robot, it counts a weighted number of stops corresponding to the allocation. Then, when the number of scheduled stops reaches an upper limit, the control device limits the allocation to cars.

[0008] According to the above-mentioned aspect 1, by limiting the allocation to a car by setting an upper limit on the number of scheduled stops, it is possible to limit an increase in the number of stops of the car (the number of stops per revolution when going around the operating section). When making an allocation for a robot, by counting a weighted number of stops corresponding to the allocation as the number of scheduled stops, it is possible to reduce the actual number of stops of the car when a robot rides in the car compared to when only a user rides in the car. Therefore, even when a robot that takes time to board and disembark gets in the car, it is possible to control the revolution time of the car (the time required to make one revolution around the operating section) to be within an appropriate range.

[0009] When the control device according to the above aspect 1 attempts to execute an allocation for a robot, if the number of planned stops obtained by counting at that time reaches an upper limit value and it is unable to find a car that can be the target of the allocation, it may relax the upper limit value and attempt to execute the allocation again (aspect 2).

[0010] When assigning robots, if one stop corresponding to the assignment is weighted and counted as the number of scheduled stops, the number of scheduled stops is likely to exceed the upper limit, which may result in a situation where it is not possible to find a car that can be assigned. Even in such cases, according to the above-mentioned aspect 2, by relaxing the upper limit, it is possible to reliably assign robots.

[0011] When the control device according to the above-mentioned aspect 1 or 2 makes an allocation for a robot, if the destination floor or departure floor of the robot matches the destination floor or departure floor of a user who has already been allocated to a car, it may recount the planned number of stops by replacing the one counted number corresponding to the allocation for the user with a weighted number corresponding to the one stop corresponding to the allocation for the robot (aspect 3).

[0012] While it takes time for a robot to board or disembark, it takes almost no time for a user to board or disembark. Therefore, at a stop where a robot boards or disembarks and a user boards or disembarks, the user can complete boarding or disembarking within the time it takes for the robot to board or disembark. Therefore, at such a stop, the planned number of stops is simply counted as a weighted number for one stop corresponding to the robot's assignment, and this can be considered to also include one stop corresponding to the user's assignment. Therefore, according to the above-mentioned aspect 3, by replacing the counted one stop corresponding to the user's assignment with a weighted number for one stop corresponding to the robot's assignment and counting it again, it is possible to prevent duplicate counts of the planned number of stops, and as a result, it is possible to prevent unnecessary counting of the number of stops for a single stop.

[0013] A second control device according to the present invention is a control device that allocates hall calls to cars in an elevator, and performs the following control processing (Aspect 4). The control device accumulates the scheduled stop time of the car caused by the allocation each time the allocation is made, and when making an allocation for a robot, accumulates the stop time for one allocation corresponding to that allocation. Then, when the scheduled stop time reaches an upper limit, the control device limits the allocation to the car.

[0014] According to the above-mentioned aspect 4, by setting an upper limit on the scheduled stop time and restricting the allocation to the car, it is possible to restrict an increase in the stop time of the car (the stop time per revolution when going around the operating section). When making an allocation for a robot, by accumulating the stop time for one time corresponding to the allocation (the stop time required when the robot gets on or off) as the scheduled stop time, it is possible to restrict the actual stop time of the car even when a robot gets on the car to be about the same as when only a user gets on. Therefore, even when a robot that takes time to get on and off gets on the car, it is possible to control the revolution time of the car (the time required to make one revolution around the operating section) to be within an appropriate range.

[0015] When the control device according to the above aspect 4 attempts to execute an allocation for a robot, if the estimated stop time calculated at that time reaches an upper limit value and it is unable to find a car that can be used for the allocation, it may relax the upper limit value and attempt to execute the allocation again (aspect 5).

[0016] When assigning robots, if one tries to add up the stop time for one assignment (the stop time required for the robot to board or disembark), the expected stop time is likely to exceed the upper limit, which can lead to a situation where it is not possible to find a car that can be assigned. Even in such cases, according to the above-mentioned aspect 5, by relaxing the upper limit, it is possible to reliably assign robots.

[0017] When the control device according to the above-mentioned aspect 4 or 5 executes an allocation for a robot, if the destination floor or departure floor of the robot matches the destination floor or departure floor of a user who has already been allocated to a car, it may replace the accumulated stop time for one allocation for the user with the stop time for one allocation for the robot and re-accumulate it as the planned stop time (aspect 6).

[0018] While it takes time for a robot to board or disembark, it takes almost no time for a user to board or disembark. Therefore, at a stop floor where a robot boards or disembarks and a user boards or disembarks, the user can complete boarding or disembarking within the time it takes for the robot to board or disembark. Therefore, at such a stop floor, the stop time for one assignment for the robot is simply calculated as the planned stop time, and it can be considered that this time also includes the stop time for one assignment for the user. Therefore, according to the above-mentioned aspect 6, by replacing the accumulated stop time for one assignment for the user with the stop time for one assignment for the robot and recalculating the time, it is possible to prevent overlapping of the accumulation of planned stop times, and as a result, it is possible to prevent the accumulation of more stop time than necessary for one stop. [Effects of the Invention]

[0019] According to the present invention, it is possible to improve transportation efficiency even in an environment where a robot uses an elevator together with a user. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. [Figure 2] 1A and 1B are conceptual diagrams illustrating (A) device management data Dp, (B) car management data Dq, and (C) robot management data Dr used in an embodiment. [Figure 3] 4 is a flowchart showing a control process performed by a group management control device in the embodiment. [Figure 4] 10 is a flowchart showing a first sorting process executed in the embodiment. [Figure 5] 10 is a flowchart showing a second sorting process executed in the embodiment. [Figure 6] 10 is a flowchart showing a second sorting process executed in a first modified example. [Figure 7]10A and 10B are conceptual diagrams illustrating examples of car management data Dq and robot management data Dr used in a second modified example. [Figure 8] 10 is a flowchart showing control processing performed by a group management control device in a second modified example. [Figure 9] 10 is a flowchart showing a first sorting process executed in a second modified example. [Figure 10] 10 is a flowchart showing a second sorting process executed in a second modified example. DETAILED DESCRIPTION OF THE INVENTION

[0021] [1] Implementation [1-1] Overall structure of the elevator FIG. 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. In this embodiment, the elevator is used not only by users but also by a robot H that performs various tasks (cleaning, monitoring, transport, etc.) within the building in which the elevator is installed. The elevator according to this embodiment includes a car G, a destination floor registration device 1, an elevator control device 2, a group management control device 3, and a robot control device 4. The configuration of each part will be specifically described below.

[0022] <Destination floor registration device> The destination floor registration device 1 is a device for an elevator user to register a destination floor Fd, and is installed at each floor where the elevator stops.

[0023] When a user registers a destination floor Fd in the destination floor registration device 1, the destination floor Fd is transmitted to the group management control device 3. As a result, a call registration for the user (assignment of a hall call for the user to a car G) is requested of the group management control device 3. At this time, the destination floor registration device 1 transmits its own device information Pd to the group management control device 3 together with the destination floor Fd so that the group management control device 3 can recognize that the source of the destination floor Fd is the destination floor registration device 1, not the robot H, and which destination floor registration device 1 it is.

[0024] <Elevator control device> The elevator control device 2 is provided for each car G, and controls the operation of the car G associated with it.

[0025] <Group management control device> The group management control device 3 is a device that centrally manages the cars G through the elevator control devices 2, and includes a storage unit 31 and a control unit 32 (see FIG. 1). In this embodiment, the group management control device 3 executes control processing to improve transportation efficiency even in an environment where the robot H uses the elevator together with the user. Details of the control processing performed by the group management control device 3 will be described later.

[0026] The memory unit 31 is a part configured with storage devices such as ROM and RAM, and stores information necessary for the control processing performed by the group management control device 3. In this embodiment, device management data Dp and car management data Dq are stored in the memory unit 31 as such information. The device management data Dp is a database for managing, for each destination floor registration device 1, multiple pieces of information related to that destination floor registration device 1 by linking them together. The car management data Dq is a database for managing, for each car G, multiple pieces of information related to that car G by linking them together.

[0027] 2(A) is a conceptual diagram illustrating the device management data Dp used in this embodiment. In the device management data Dp illustrated in this figure, for each destination floor registration device 1, device information Pd for distinguishing the destination floor registration device 1 from other devices and the floor Fs on which the destination floor registration device 1 is installed are recorded in a mutually associated state.

[0028] As a result, when the group management control device 3 receives the device information Pd together with the destination floor Fd from each destination floor registration device 1, it becomes possible to identify the floor Fs on which the destination floor registration device 1 (the destination floor registration device 1 on which the destination floor Fd has been registered) is installed from the device information Pd. In this embodiment, the floor Fs on which the destination floor registration device 1 is installed is used as the departure floor Fc (boarding floor) of the user who has registered the destination floor Fd with the destination floor registration device 1.

[0029] 2(B) is a conceptual diagram illustrating the car management data Dq used in this embodiment. In the car management data Dq illustrated in this figure, for each car G, car information Pg for distinguishing the car G from other cars and the number of scheduled stops Ns generated by the allocation of hall calls to the car G are recorded in a mutually associated state.

[0030] Here, the planned number of stops Ns is a count of the planned number of stops (including stops that have already been made) that the car G will make from a specific floor (such as the first floor, but is not particularly limited to) to the time it makes one circuit around the operating area and returns to the specific floor. In this embodiment, the planned number of stops Ns is a count of the planned number of stops, particularly at the destination floor Fd. The value of the planned number of stops Ns recorded for each car G in the car management data Dq is updated each time allocation to the car G is performed (see steps S130 to S131 in FIG. 3).

[0031] Furthermore, in this embodiment, in order to improve transportation efficiency, an increase in the number of scheduled stops Ns per revolution when each car G travels around the operating section is limited. To make this possible, an upper limit value Nt is set for the number of scheduled stops Ns (see step S14 in FIG. 4 and step S24 in FIG. 5). The upper limit value Nt is also stored in the memory unit 31.

[0032] The control unit 32 is a part that realizes the control processing performed by the group management control device 3. In this embodiment, the control unit 32 is configured with a processing device such as a CPU or MPU. The control unit 32 executes a program, thereby realizing the above control processing in software.

[0033] Here, the above-mentioned program is installed in the group management control device 3, and before installation, it may be stored in a readable state on a portable storage medium (for example, a flash memory, etc.), or may be stored in a downloadable state on another server, etc. The control processing performed by the group management control device 3 is not limited to being realized by software through the execution of a program, but may also be realized by hardware using a processing circuit (control unit 32) built into the group management control device 3.

[0034] <Robot management device> The robot management device 4 is a device that centrally manages the robots H used in the building where the elevator of this embodiment is installed, and includes a storage unit 41 and a control unit 42 (see FIG. 1).

[0035] The storage unit 41 is a part configured with storage devices such as ROM and RAM, and stores information necessary for the control processing performed by the robot management device 4. In this embodiment, robot management data Dr is stored in the storage unit 41 as such information. The robot management data Dr is a database for managing, for each robot H, multiple pieces of information related to that robot H by linking them together.

[0036] 2(C) is a conceptual diagram illustrating the robot management data Dr used in this embodiment. In the robot management data Dr illustrated in this figure, for each robot H, robot information Ph for distinguishing the robot H from other robots H, a coefficient Wc, and the current floor Fp of the robot H are recorded in a mutually associated state.

[0037] Here, the coefficient Wc associated with each robot H is a coefficient for weighting, when counting the number of scheduled stops Ns of the car G, one scheduled stop for the robot H to disembark, taking into account the fact that the robot H takes longer to board and disembark than a user for that stop (Wc≧1). As an example, the coefficient Wc associated with each robot H is the ratio of the average time it takes for the robot H to disembark to the average time it takes for a user to disembark. Here, the average time required for disembarkation is, for example, the average time required from the start of disembarkation from the car G at the stop floor (here, the destination floor Fd) to the completion of disembarkation. Furthermore, the current floor Fp associated with each robot H is the floor on which the robot H is located, and is updated each time the robot H moves between floors.

[0038] The control unit 42 is a part that realizes the control processing performed by the robot management device 4. In this embodiment, the control unit 42 realizes the following processing as one of the control processing performed by the robot management device 4.

[0039] When each robot H needs to move between floors, it transmits the destination floor Fd to the robot control device 4. At this time, the robot H transmits its own robot information Ph to the robot control device 4 along with the destination floor Fd so that the robot control device 4 can recognize which robot H has transmitted the destination floor Fd.

[0040] Furthermore, when each robot H needs to move between floors, it boards a car G from the current floor Fp and moves to the destination floor Fd. In other words, the current floor Fp of each robot H becomes the departure floor Fc (boarding floor) when the robot H moves between floors.

[0041] Therefore, when the robot management device 4 receives the destination floor Fd and robot information Ph from each robot H, the robot management device 4 uses the robot management data Dr to extract the current floor Fp associated with the received robot information Ph in order to identify the departure floor Fc (boarding floor) of that robot H. At this time, the robot management device 4 also extracts the coefficient Wc of that robot H.

[0042] Then, the robot management device 4 transmits the extracted current floor Fp and coefficient Wc to the group management control device 3 as the departure floor Fc (=Fp) of the robot H for the current floor Fp, together with the destination floor Fd and robot information Ph received from the robot H. As a result, a call registration for the robot H (assignment of a hall call to the car G for the robot H) is requested to the group management control device 3.

[0043] In this embodiment, the control unit 42 that realizes such control processing is configured with a processing device such as a CPU, an MPU, etc. The control unit 42 executes a program, thereby realizing the above-mentioned control processing in software.

[0044] Here, the above-mentioned program is installed in the robot management device 4, and before installation, it may be stored in a readable state on a portable storage medium (for example, a flash memory, etc.), or may be stored in a downloadable state on another server, etc. Note that the control processing performed by the robot management device 4 is not limited to being realized by software through the execution of a program, but may also be realized by hardware using a processing circuit (control unit 42) built in the robot management device 4.

[0045] [1-2] Control processing performed by the group management control device 3 is a flowchart showing the control process performed by the group management control device 3 in this embodiment. This control process is started when the destination floor registration device 1 or the robot management device 4 requests the group management control device 3 to register a call.

[0046] Hereinafter, the information received by the group management control device 3 each time a call registration request is made will be collectively referred to as "received information Pr." Specifically, if the call registration request is from the destination floor registration device 1 (a call registration request for a user), this received information Pr will include the destination floor Fd and device information Pd, and if the call registration request is from the robot management device 4 (a call registration request for robot H), the received information Pr will include the departure floor Fc, destination floor Fd, coefficient Wc, and robot information Ph. In addition, in this embodiment, it is assumed that multiple robots H do not board or disembark at the same floor. Note that the control processing when multiple robots H may board or disembark at the same floor will be explained in the first modified example described below.

[0047] When the control process begins, the group management control device 3 determines whether the received call registration request is from the destination floor registration device 1 or the robot management device 4 by determining whether the device information Pd or the robot information Ph is included in the received information Pr (step S100).

[0048] If the group management control device 3 determines in step S100 that the "device information Pd" is included, it can determine that the received call registration request is a request from the destination floor registration device 1. In this case, the group management control device 3 executes the following processing to perform call registration for the user (assignment of a hall call for the user to the car G).

[0049] The group management control device 3 first sets three variables X to Z used in a series of processes for registering a call for a user (step S110). Specifically, the group management control device 3 uses the device management data Dp to extract the installation floor Fs associated with the device information Pd in ​​the received information Pr, and assigns this as the user's departure floor Fc to the variable X (X=Fc). The group management control device 3 assigns the destination floor Fd in the received information Pr (the user's destination floor Fd) to the variable Y (Y=Fd). The group management control device 3 also assigns the upper limit value Nt stored in the storage unit 31 to the variable Z (Z=Nt).

[0050] After step S110, the group management control device 3 executes a first selection process for each of all elevator cars G to select candidates that can be assigned to the user (candidates for assignment of a hall call to the user) (step S111).

[0051] Fig. 4 is a flowchart showing the first sorting process executed in this embodiment. In the first sorting process, the group management control device 3 sets the car G that is being focused on in the process as a car of interest Gk, and acquires the planned number of stops Ns that has been counted up to that point for the car of interest Gk (step S11). Specifically, the group management control device 3 uses the car management data Dq (see Fig. 2(B)) to acquire the planned number of stops Ns that is associated with the car information Pg of the car of interest Gk. Then, the group management control device 3 assigns the acquired planned number of stops Ns to a variable R(Pg) (Pg is the car information Pg of the car of interest Gk).

[0052] After step S11, the group management control device 3 determines whether or not there is any hall call that has been assigned to the target car Gk (one round of the operating section, including those that have already arrived at the departure floor Fc or the destination floor Fd) whose destination floor Fd is the same as the value of variable Y (= destination floor Fd in the received information Pr) (step S12).

[0053] If the group management control device 3 determines "Yes" in step S12, it can determine that the value of variable R(Pg) (= the planned number of stops Ns acquired in step S11) has already counted the number of stops (number of times) at the destination floor Fd in the received information Pr. In this case, the group management control device 3 leaves the value of variable R(Pg) as it is without performing a new count (step S13A), and adds the car of interest Gk to the candidates for allocation of hall calls for the user (step S15). Thereafter, the group management control device 3 ends the first selection process.

[0054] On the other hand, if the group management control device 3 determines "No" in step S12, it can determine that the value of variable R(Pg) (=scheduled number of stops Ns acquired in step S11) does not yet count the number of stops (number of times) at the destination floor Fd in the received information Pr. In this case, the group management control device 3 newly counts the number of stops (=1 time) corresponding to the allocation for the user. Specifically, the group management control device 3 counts one stop corresponding to the allocation for the user by adding "1" to the value of variable R(Pg) and setting it as a new variable R(Pg) (step S13B).

[0055] After step S13B, the group management control device 3 determines whether the value of the variable R (Pg) is less than or equal to the value of the variable Z (= upper limit value Nt) to determine whether the target car Gk can be an allocation candidate (step S14).

[0056] If the group management control device 3 determines in step S14 that "it is equal to or less than the value of variable Z (Yes)," then it can determine that the scheduled number of stops Ns of the target car Gk has enough room to allocate to the user. In this case, the group management control device 3 adds the target car Gk to the candidates for allocation of hall calls to the user (step S15), and then ends the first selection process.

[0057] On the other hand, if the group management control device 3 determines in step S14 that the value is "not less than or equal to the value of variable Z (No)," it ends the first selection process without adding the car of interest Gk to the candidates for allocation of hall calls for users so that the car of interest Gk is not a target for allocation, in order to improve transportation efficiency by limiting the increase in the scheduled number of stops Ns of the car of interest Gk. In this way, when the value of variable R(Pg) for the car of interest Gk reaches the upper limit value Nt, the group management control device 3 limits allocation to the car of interest Gk.

[0058] After step S111 (see FIG. 3), the group management control device 3 determines whether or not an allocation candidate has been found by executing step S111 (step S112). Here, if the group management control device 3 is forced to determine in step S14 that "the value is not equal to or less than the value of variable Z (No)" for any car G in step S111, it will end step S111 without being able to find an allocation candidate. In this case, the group management control device 3 will determine in step S112 that "the value could not be found (No)."

[0059] In this embodiment, in order to be able to find an allocation candidate even in such a case, the group management control device 3 relaxes the upper limit value Nt (step S113) and then executes step S111 again. Then, the group management control device 3 relaxes the upper limit value Nt until a car G appears for which it can be determined in step S14 (see FIG. 4) that it is "less than or equal to the value of variable Z (Yes)." Specifically, the group management control device 3 adds "1" to the value of variable Z to set it as a new variable Z. Thereafter, the group management control device 3 executes step S111 again using the new variable Z. Then, the group management control device 3 repeatedly executes steps S113 and S111 until it can be determined in step S112 that it has "been found (Yes)."

[0060] If the group management control device 3 determines in step S112 that it has "been found (Yes)", it treats the values ​​of variables X and Y (departure floor Fc and destination floor Fd) as one hall call and assigns the hall call to any one of the cars G among the assignment candidates found in step S111 (step S130).

[0061] Then, the group management control device 3 updates the planned number of stops Ns for the elevator car G that was assigned in step S130 in the elevator car management data Dq to the value of the variable R(Pg) obtained for that elevator car G in step S13A or S13B (see Figure 4) (step S131).

[0062] If the group management control device 3 determines in step S100 that "robot information Ph" is included, it can determine that the received call registration request is a request from the robot management device 4. In this case, the group management control device 3 executes the following process to perform call registration for robot H (assignment of a hall call to car G for robot H).

[0063] The group management control device 3 first sets four variables Q, X to Z used in a series of processes for registering a call for the robot H (step S120). Specifically, the group management control device 3 substitutes the coefficient Wc, departure floor Fc, and destination floor Fd in the received information Pr into variables Q, Y, and X, respectively (Q=Wc, X=Fc, Y=Fd). The group management control device 3 also substitutes the upper limit value Nt stored in the memory unit 31 into variable Z (Z=Nt).

[0064] After step S120, the group management control device 3 executes a second selection process for each of all elevator cars G to select candidates that can be assigned to the robot H (candidates for assignment of hall calls to the robot H) (step S121).

[0065] 5 is a flowchart showing the second sorting process executed in this embodiment. In the second sorting process, the group management control device 3 sets the car G that is being focused on in the process as a car of interest Gk, and acquires the planned number of stops Ns that has been counted up to that point for the car of interest Gk (step S21). Specifically, the group management control device 3 uses the car management data Dq (see FIG. 2(B)) to acquire the planned number of stops Ns that is associated with the car information Pg of the car of interest Gk. Then, the group management control device 3 assigns the acquired planned number of stops Ns to a variable R(Pg) (Pg is the car information Pg of the car of interest Gk).

[0066] After step S21, the group management control device 3 determines whether or not there is any hall call that has been assigned to the target car Gk (one round of the operating section, including those that have already arrived at the departure floor Fc or the destination floor Fd) whose destination floor Fd is the same as the value of variable Y (= destination floor Fd in the received information Pr) (step S22).

[0067] If the group management control device 3 determines "No" in step S22, it can determine that the value of variable R(Pg) (= the planned number of stops Ns acquired in step S21) does not yet count the number of stops (number of times) at the destination floor Fd in the received information Pr. In this case, the group management control device 3 newly counts the number of stops (weighted for one stop) corresponding to the allocation for robot H. Specifically, the group management control device 3 adds the value of variable Q (= coefficient Wc) to the value of variable R(Pg) to set this as a new variable R(Pg), thereby counting the weighted number of stops corresponding to the allocation for robot H (step S23A). This makes it possible to reflect in the value of variable R(Pg) the fact that it takes longer for robot H to board and disembark than for users.

[0068] On the other hand, if the group management control device 3 determines "Yes" in step S22, it can determine that the value of variable R(Pg) (=the planned number of stops Ns acquired in step S21) has already counted the number of stops (number of times) at the destination floor Fd in the received information Pr. Here, in this embodiment, since it is assumed that multiple robots H do not get on or off at the same floor, the number of stops that have already been counted corresponds to one stop in response to a hall call from a user.

[0069] Furthermore, while it takes time for robot H to get on and off, it takes almost no time for users to get on and off, so at a stopping floor where robot H gets on or off and where users get on or off, the users can complete their boarding and alighting within the time it takes for robot H to get on or off. Therefore, at such a stopping floor, the number of stops Ns is simply a weighted number of stops corresponding to the allocation of robot H, and it can be considered that this number also includes one stop corresponding to the allocation of users.

[0070] Therefore, if the group management control device 3 determines that there is a "Yes" in step S22, it subtracts "1" from the value of variable R(Pg) and adds the value of variable Q (=coefficient Wc) to it to create a new variable R(Pg), thereby replacing the already counted one time corresponding to the allocation for the user with a weighted one time corresponding to the allocation for robot H and counting again as the planned number of stops Ns (step S23B).

[0071] According to step S23B, it is possible to prevent overlapping of counting of the scheduled number of stops Ns, and as a result, it is possible to prevent counting the number of stops for one stop more than necessary.

[0072] After step S23A or S23B, the group management control device 3 determines whether the value of variable R (Pg) is less than or equal to the value of variable Z (= upper limit value Nt) to determine whether the target car Gk can be an allocation candidate (step S24).

[0073] Then, if the group management control device 3 determines in step S24 that "it is equal to or less than the value of variable Z (Yes)", it can determine that the scheduled number of stops Ns of the target car Gk has enough room to make an allocation to robot H. In this case, the group management control device 3 adds the target car Gk to the candidates for allocation of hall calls to robot H (step S25), and then ends the second selection process.

[0074] On the other hand, when the group management control device 3 determines in step S24 that the value is "not less than or equal to the value of variable Z (No)," it ends the second selection process without adding the car of interest Gk to the candidates for allocation of hall calls for the robot H so that the car of interest Gk is not a target for allocation, thereby improving transport efficiency by limiting the increase in the scheduled number of stops Ns of the car of interest Gk. In this way, when the value of variable R(Pg) for the car of interest Gk reaches the upper limit value Nt, the group management control device 3 limits allocation to the car of interest Gk.

[0075] After step S121 (see FIG. 3), the group management control device 3 determines whether or not an allocation candidate has been found by executing step S121 (step S122). Here, if the group management control device 3 is forced to determine in step S24 that "the value is not equal to or less than the value of variable Z (No)" for any car G in step S121, it will end step S121 without being able to find an allocation candidate. In this case, the group management control device 3 will determine in step S122 that "the value could not be found (No)."

[0076] In this embodiment, in order to be able to find an allocation candidate even in such a case, the group management control device 3 relaxes the upper limit value Nt (step S123) and then executes step S121 again. Then, the group management control device 3 relaxes the upper limit value Nt until a car G appears for which it can be determined in step S24 (see FIG. 5) that it is "less than or equal to the value of variable Z (Yes)". Specifically, the group management control device 3 adds "1" to the value of variable Z to set it as a new variable Z. Thereafter, the group management control device 3 executes step S121 again using the new variable Z. Then, the group management control device 3 repeatedly executes steps S123 and S121 until it can be determined in step S122 that it has "been found (Yes)".

[0077] Here, when performing allocation for robot H, if one stop corresponding to that allocation is weighted and counted as the planned number of stops Ns, the planned number of stops Ns is likely to exceed the upper limit value Nt, which could result in a situation where it is not possible to find a car G (allocation candidate) that can be the target of allocation as is. Therefore, in this embodiment, by relaxing the upper limit value Nt as described above and attempting to select allocation candidates again, it is possible to reliably find allocation candidates for hall calls for robot H, and as a result, it is possible to reliably perform allocation for robot H.

[0078] If the group management control device 3 determines in step S122 that it has been found (Yes), it treats the values ​​of variables X and Y (departure floor Fc and destination floor Fd) as one hall call and assigns the hall call to any one of the cars G among the assignment candidates found in step S121 (step S130).

[0079] Then, the group management control device 3 updates the planned number of stops Ns for the elevator car G that was assigned in step S130 in the elevator management data Dq to the value of the variable R(Pg) obtained for that elevator car G in step S23A or S23B (see Figure 5) (step S131).

[0080] According to this control process, by setting an upper limit Nt for the planned number of stops Ns and restricting the allocation to the car G, it is possible to restrict an increase in the number of stops of the car G (the number of stops per revolution when going around the operating section). When making an allocation for the robot H, by counting a weighted number of stops corresponding to the allocation as the planned number of stops Ns, when the robot H gets on the car G, it is possible to reduce the actual number of stops of the car G compared to when only a user gets on. Therefore, even when the robot H, which takes time to get on and off, gets on the car G, it is possible to control the revolution time of the car G (the time required to make one revolution around the operating section) to be within an appropriate range.

[0081] [2] Variation [2-1] First modified example The first modified example is a modified example of the embodiment described above. In this modified example, the control process performed by the group management control device 3 is modified so that it can be applied to cases where multiple robots H may get on or off at the same floor. Specifically, the second sorting process is modified as follows.

[0082] 6 is a flowchart showing the second sorting process executed in Modification 1. As described in the above embodiment, when the group management control device 3 determines "Yes" in step S22, it can determine that the value of variable R(Pg) (=the planned number of stops Ns acquired in step S21) has already counted the number of stops (number of times) at the destination floor Fd in the received information Pr.

[0083] On the other hand, in this modified example, it is possible that multiple robots H get on or off at the same floor, and therefore the stop that has already been counted does not necessarily correspond to one stop corresponding to a hall call for a user, but may also correspond to one stop (weighted) corresponding to a hall call for another robot H (a robot H other than the target robot Hp that is the target of execution of allocation within the control processing). When multiple robots H get on or off at the same floor, those robots H get on and off in order, and so the time required for all robots H to get on and off is the sum of all the times required for those robots H to get on and off.

[0084] Therefore, in this modified example, if the group management control device 3 determines "Yes" in step S22, it determines whether the stop that has already been counted corresponds to a stop corresponding to a hall call from a user or a hall call from robot H, and then determines whether the assigned hall calls whose destination floor Fd is the same as the value of variable Y include a hall call for a robot H other than the target robot Hp (step S30).

[0085] Then, when the group management control device 3 determines that the robot Hp is included (Yes) in step S30, it newly counts the number of stops (weighted for one stop) corresponding to the allocation of the target robot Hp. Specifically, by executing step S23A, the group management control device 3 adds the weighted number of stops corresponding to the allocation of the target robot Hp to the weighted number of stops corresponding to the allocation of another robot H, and further counts the number of stops. This makes it possible to reflect, in the case where multiple robots H get on and off at the same floor, the time required for those robots H to complete getting on and off (the sum of all the times required for each of those robots H to get on and off), in the value of variable R(Pg).

[0086] On the other hand, if the group management control device 3 determines that the stop count is "not included (No)" in step S30, it can determine that the stop counted corresponds to one stop corresponding to a hall call from a user. In this case, the group management control device 3 executes step S23B, as in the above embodiment.

[0087] [2-2] Second variant The second modification is a modification of the above-described embodiment. In this modification, the control process performed by the group management control device 3 is modified so that, instead of improving transportation efficiency by setting an upper limit value Nt on the scheduled number of stops Ns, an upper limit value Tt is set on the scheduled stop time Ts caused by allocation to the car G, thereby improving transportation efficiency.

[0088] 7(A) is a conceptual diagram illustrating the car management data Dq used in the second modified example. As illustrated in this figure, in the car management data Dq, for each car G, car information Pg and the scheduled stop time Ts resulting from the allocation of a hall call to the car G are recorded in a mutually associated state.

[0089] Here, the scheduled stop time Ts is the sum of the scheduled times for which the car G will stop (including times when the car has already stopped) while making one circuit of the operating area. In this modified example, the scheduled stop time Ts is the sum of the scheduled times for stopping, particularly at the destination floor Fd. The value of the scheduled stop time Ts recorded for each car G in the car management data Dq is updated each time allocation to the car G is performed (see steps S160 to S161 in FIG. 8).

[0090] The memory unit 31 also stores an upper limit value Tt, and further stores a passenger's alighting time Tb. Here, this alighting time Tb is a single stopping time of the car G (a single stopping time corresponding to the allocation for the passenger) required to allow the passenger to alight from the car G at a stopping floor (here, the destination floor Fd). As an example, the alighting time Tb can be the average time required for the passenger to alight from the start of alighting from the car G until the completion of alighting.

[0091] 7(B) is a conceptual diagram illustrating the robot management data Dr used in Modification 2. As illustrated in this diagram, in the robot management data Dr, for each robot H, robot information Ph, disembarking time Tc, and current floor Fp are recorded in a mutually associated state.

[0092] Here, the disembarking time Tc associated with each robot H is the stopping time of the car G (the stopping time corresponding to the allocation for the robot H) required for the robot H to disembark from the car G at a stopping floor (here, the destination floor Fd). As an example, the disembarking time Tc associated with each robot H can be the average time required for the robot H to complete disembarking from the start of disembarking from the car G.

[0093] In this modified example, when the robot management device 4 receives the destination floor Fd and robot information Ph from each robot H, the robot management device 4 extracts the current floor Fp of the robot H using the robot management data Dr, and also extracts the disembarkation time Tc of the robot H.

[0094] Then, the robot management device 4 transmits the extracted current floor Fp and disembarking time Tc to the group management control device 3 as the departure floor Fc (=Fp) of the robot H for the current floor Fp, together with the destination floor Fd and robot information Ph received from the robot H. As a result, a call registration for the robot H (assignment of a hall call to the car G for the robot H) is requested to the group management control device 3.

[0095] Fig. 8 is a flowchart showing the control operation performed by the group management control device 3 in the second modified example. If the group management control device 3 determines in step S100 (see Fig. 8) that "device information Pd" is included, when setting three variables X to Z, it substitutes upper limit value Tt for variable Z instead of upper limit value Nt (step S140). Thereafter, the group management control device 3 executes a first selection process for each of all cars G to select candidates that can be targets for allocation to the user (candidates to which a hall call for the user can be allocated) (step S141).

[0096] Fig. 9 is a flowchart showing the first sorting process executed in the second modified example. In the first sorting process, the group management control device 3 sets the car G that is being focused on in the process as a car of interest Gk, and acquires the planned stop time Ts that has been accumulated up to that point in time for the car of interest Gk (step S41). Specifically, the group management control device 3 uses the car management data Dq (see Fig. 7(A)) to acquire the planned stop time Ts that is associated with the car information Pg of the car of interest Gk. Then, the group management control device 3 assigns the acquired planned stop time Ts to a variable R(Pg) (Pg is the car information Pg of the car of interest Gk).

[0097] After step S41, the group management control device 3 determines whether or not there is any hall call that has been assigned to the target car Gk (one round of the operating section, including those that have already arrived at the departure floor Fc or the destination floor Fd) whose destination floor Fd is the same as the value of variable Y (= destination floor Fd in the received information Pr) (step S42).

[0098] If the group management control device 3 determines "Yes" in step S42, it can determine that the value of variable R(Pg) (=scheduled stop time Ts acquired in step S41) has already been added up to the value of variable Y (=destination floor Fd in the received information Pr) for the stop (time). In this case, the group management control device 3 leaves the value of variable R(Pg) as it is without performing a new addition (step S43A), and adds the car of interest Gk to the candidates for allocation of hall calls for the user (step S45). Thereafter, the group management control device 3 ends the first selection process.

[0099] On the other hand, if the group management control device 3 determines "No" in step S42, it can determine that the value of variable R(Pg) (=scheduled stop time Ts acquired in step S41) has not yet been added up to the value of variable Y (=destination floor Fd in the received information Pr) for the stop (time). In this case, the group management control device 3 newly adds up the stop time (=disembarking time Tb) corresponding to the allocation for the user. Specifically, the group management control device 3 adds the user's disembarking time Tb to the value of variable R(Pg) to create a new variable R(Pg), thereby adding up one stop time corresponding to the allocation for the user (step S43B).

[0100] After step S43B, the group management control device 3 determines whether the value of the variable R (Pg) is less than or equal to the value of the variable Z (= upper limit value Tt) to determine whether the target car Gk can be an allocation candidate (step S44).

[0101] If the group management control device 3 determines in step S44 that "it is equal to or less than the value of variable Z (Yes)", then it can determine that there is enough time to allocate the user to the scheduled stop time Ts of the target car Gk. In this case, the group management control device 3 adds the target car Gk to the candidates for allocation of hall calls to the user (step S45), and then ends the first selection process.

[0102] On the other hand, if the group management control device 3 determines in step S44 that the value is "not less than or equal to the value of variable Z (No)," it ends the first selection process without adding the car of interest Gk to the candidates for allocation of hall calls for users so that the car of interest Gk is not a target for allocation, in order to improve transport efficiency by limiting the increase in the scheduled stop time Ts of the car of interest Gk. In this way, when the value of variable R(Pg) for the car of interest Gk reaches the upper limit value Tt, the group management control device 3 limits allocation to the car of interest Gk.

[0103] After step S141 (see FIG. 8), the group management control device 3 determines whether or not an allocation candidate was found by executing step S141 (step S142). If the group management control device 3 determines in step S142 that an allocation candidate was not found (No), it relaxes the upper limit value Tt so that an allocation candidate can be found even in such a case (step S143), and then executes step S141 again. Specifically, the group management control device 3 adds a predetermined value Zx (time) to the value of variable Z to set it as a new variable Z. The group management control device 3 then executes step S141 again using the new variable Z. The group management control device 3 then repeatedly executes steps S143 and S141 until it can determine in step S142 that an allocation candidate was found (Yes).

[0104] If the group management control device 3 determines in step S142 that it has been found (Yes), it treats the values ​​of variables X and Y (departure floor Fc and destination floor Fd) as one hall call and assigns the hall call to any one of the cars G among the assignment candidates found in step S141 (step S160).

[0105] Then, the group management control device 3 updates the scheduled stop time Ts for the elevator car G that was assigned in step S160 in the elevator car management data Dq to the value of the variable R(Pg) obtained for that elevator car G in step S43A or S43B (see Figure 9) (step S161).

[0106] If the group management control device 3 determines in step S100 (see FIG. 8) that "robot information Ph" is included, when setting the four variables Q, X to Z, it substitutes the disembarkation time Tc in the received information Pr for variable Q instead of the coefficient Wc, and substitutes the upper limit value Tt for variable Z instead of the upper limit value Nt (step S150). Thereafter, the group management control device 3 executes a second selection process for each of all cars G to select candidates that can be assigned to robot H (candidates to which hall calls can be assigned for robot H) (step S151).

[0107] Fig. 10 is a flowchart showing the second sorting process executed in the second modified example. In the second sorting process, the group management control device 3 sets the car G that is being focused on in the process as a car of interest Gk, and acquires the planned stop time Ts that has been accumulated up to that point in time for the car of interest Gk (step S51). Specifically, the group management control device 3 uses the car management data Dq (see Fig. 7(A)) to acquire the planned stop time Ts that is associated with the car information Pg of the car of interest Gk. Then, the group management control device 3 assigns the acquired planned stop time Ts to a variable R(Pg) (Pg is the car information Pg of the car of interest Gk).

[0108] After step S51, the group management control device 3 determines whether or not there is any hall call that has been assigned to the target car Gk (one round of the operating section, including those that have already arrived at the departure floor Fc or the destination floor Fd) whose destination floor Fd is the same as the value of variable Y (= destination floor Fd in the received information Pr) (step S52).

[0109] If the group management control device 3 determines "No" in step S52, it can determine that the stop (time) at the destination floor Fd in the received information Pr has not yet been added to the value of variable R(Pg) (=scheduled stop time Ts acquired in step S51). In this case, the group management control device 3 newly adds the stop time (=disembarking time Tc) corresponding to the allocation for robot H. Specifically, the group management control device 3 adds the value of variable Q (=disembarking time Tc) to the value of variable R(Pg) to create a new variable R(Pg), thereby adding up one stop time corresponding to the allocation for robot H (step S53A). This makes it possible to reflect in the value of variable R(Pg) the fact that it takes robot H longer to board and disembark than users.

[0110] On the other hand, if the group management control device 3 determines "Yes" in step S52, it can determine that the value of variable R(Pg) (=scheduled stop time Ts acquired in step S51) has already counted the stop time (time) at the destination floor Fd in the received information Pr. Here, in this modified example, as in the above embodiment, it is assumed that multiple robots H do not get on or off at the same floor, so the stop time that has already been accumulated corresponds to one stop time in response to a hall call from a user.

[0111] Furthermore, while it takes time for the robot H to get on and off, it takes almost no time for the user to get on and off, so at a stopping floor where the robot H gets on or off and where the user gets on or off, the user can complete the boarding and alighting within the time it takes for the robot H to get on or off. Therefore, at such a stopping floor, the one stop time corresponding to the allocation for the robot H is simply calculated as the planned stopping time Ts, and it can be considered that this also includes one stop time corresponding to the allocation for the user.

[0112] Therefore, if the group management control device 3 determines that the answer is "Yes" in step S52, it subtracts the user's disembarking time Tb from the value of variable R(Pg) and adds the value of variable Q (=disembarking time Tc) to it to create a new variable R(Pg), thereby replacing the accumulated single stop time corresponding to the allocation for the user with the single stop time corresponding to the allocation for robot H and re-accumulating it as the planned stop time Ts (step S53B).

[0113] According to step S53B, it is possible to prevent overlapping of the accumulation of the scheduled stop time Ts, and as a result, it is possible to prevent the accumulation of an unnecessary amount of stop time for one stop.

[0114] After step S53A or S53B, the group management control device 3 determines whether the value of variable R (Pg) is less than or equal to the value of variable Z (= upper limit value Tt) to determine whether the target car Gk can be an allocation candidate (step S54).

[0115] Then, if the group management control device 3 determines in step S54 that "it is equal to or less than the value of variable Z (Yes)", then it can determine that the scheduled stop time Ts of the target car Gk has enough time to make an allocation to robot H. In this case, the group management control device 3 adds the target car Gk to the candidates for allocation of hall calls to robot H (step S55), and then ends the second selection process.

[0116] On the other hand, if the group management control device 3 determines in step S54 that "it is not equal to or less than the value of variable Z (No)", in order to improve transport efficiency by limiting the increase in the scheduled stop time Ts of the target car Gk, the group management control device 3 ends the second selection process without adding the target car Gk to the candidates for allocation of hall calls for the robot H so that the target car Gk is not a target for allocation. In this way, when the value of variable R(Pg) for the target car Gk reaches the upper limit value Tt, the group management control device 3 limits allocation to the target car Gk.

[0117] After step S151 (see FIG. 8), the group management control device 3 determines whether or not an allocation candidate was found by executing step S151 (step S152). If the group management control device 3 determines in step S152 that an allocation candidate was not found (No), it relaxes the upper limit value Tt so that an allocation candidate can be found even in such a case (step S153), and then executes step S151 again. Specifically, the group management control device 3 adds a predetermined value Zx (time) to the value of variable Z to set it as a new variable Z. The group management control device 3 then executes step S151 again using the new variable Z. The group management control device 3 then repeatedly executes steps S153 and S151 until it can determine in step S152 that an allocation candidate was found (Yes).

[0118] Here, when making an allocation for robot H, if an attempt is made to add up the stop time for one allocation (the stop time required for robot H to disembark), the planned stop time Ts is likely to exceed the upper limit value Tt, which could result in a situation where it is not possible to find a car G (allocation candidate) that can be the target of allocation as is. Therefore, in this modified example, by relaxing the upper limit value Tt as described above and attempting to select allocation candidates again, it is possible to reliably find allocation candidates for hall calls for robot H, and as a result, it is possible to reliably make allocation for robot H.

[0119] If the group management control device 3 determines in step S152 that it has been found (Yes), it treats the values ​​of variables X and Y (departure floor Fc and destination floor Fd) as one hall call and assigns the hall call to any one of the cars G among the assignment candidates found in step S151 (step S160).

[0120] Then, the group management control device 3 updates the scheduled stop time Ts for the elevator car G that was assigned in step S160 in the elevator car management data Dq to the value of the variable R(Pg) obtained for that elevator car G in step S53A or S53B (see Figure 10) (step S161).

[0121] According to the second modification, by setting an upper limit value Tt for the estimated stop time Ts and limiting the allocation to the car G, it is possible to limit an increase in the stop time of the car G (the stop time per revolution when going around the operating section). When making an allocation for the robot H, by accumulating the stop time for one round corresponding to the allocation (the stop time required when the robot H gets off) as the estimated stop time Ts, it is possible to limit the actual stop time of the car G to be about the same as when only a user is on board, even when the robot H, which takes time to get on and off, gets on the car G. Therefore, it is possible to control the revolution time of the car G (the time required to make one revolution around the operating section) to be within an appropriate range.

[0122] Incidentally, the configuration for improving transportation efficiency by setting an upper limit value Tt for the scheduled stop time Ts in this way can also be applied to the first modified example described above.

[0123] [2-3] Third variant In the above-described embodiment or first modified example, the planned number of stops Ns is not limited to counting only the planned number of stops at the destination floor Fd, but may be appropriately modified to counting only the planned number of stops at the departure floor Fc, or counting both the planned number of stops at the departure floor Fc and the planned number of stops at the destination floor Fd. Furthermore, the coefficient Wc associated with each robot H may be set to a different value depending on whether the robot is getting off or getting on.

[0124] In the second modified example described above, the scheduled stop time Ts is not limited to the sum of only the scheduled stop time at the destination floor Fd, but may be modified as appropriate to the sum of only the scheduled stop time at the departure floor Fc, or the sum of both the scheduled stop time at the departure floor Fc and the scheduled stop time at the destination floor Fd. Furthermore, the boarding time of the user and the boarding time of each robot H used when accumulating the scheduled stop time at the departure floor Fc may be set to values ​​different from the disembarking time Tb of the user and the disembarking time Tc of each robot H, respectively.

[0125] [2-4] Fourth Variation In the above-described embodiment and modified examples, the group management control device 3 may be modified as appropriate to also execute the control processing performed by the robot management device 4. In this case, the group management control device 3 receives the destination floor Fd and robot information Ph from each robot H.

[0126] The above-described embodiments and modifications should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined not by the above-described embodiments and modifications, but by the claims. Furthermore, the scope of the present invention is intended to include all modifications that are equivalent to the scope of the claims and fall within the scope thereof.

[0127] Furthermore, from the above-described embodiments and modifications, the subject matter of the invention is not limited to the group management control device 3, but may also be extracted individually or partially from the control processes and programs executed by the group management control device 3. Furthermore, some or all of the elevators equipped with the group management control device 3 may also be extracted as the subject matter of the invention. [Explanation of symbols]

[0128] 1. Destination floor registration device 2. Elevator control device 3 Group management control device 4. Robot Management Device G car H Robot 31, 41 Storage section 32, 42 Control section Dp Equipment Management Data Dq car management data Dr. Robot Management Data Fc Departure Floor Fd Destination floor Fp Current Floor Fs Installation floor GK Focus Basket Hp Target Robot Ns Planned number of stops Nt upper limit Pd device information Pg Basket Information Ph Robot Information Pr Reception Information Tb, Tc Drop-off time Ts Scheduled stop time Tt upper limit Wc coefficient Zx predetermined value

Claims

1. a control device that allocates hall calls to elevator cars in response to a request for call registration for a user when the control device receives the request for call registration for a robot together with robot information for identifying the robot from a robot management device or the robot itself, in either case; Each time the request is received, a determination is made as to whether or not the robot information is included in the information received together with the request, and if it is determined that the robot information is included, the received request is determined to be a call registration request for the robot; The scheduled stop time of the car caused by the allocation in response to the request is accumulated each time the allocation is made, and among the calculated stop times, when the allocation for the robot is made, the stop time for one time corresponding to the allocation is accumulated; An elevator control device that limits the allocation to the elevator car when the scheduled stop time reaches an upper limit value.

2. 2. An elevator control device as described in claim 1, wherein, when attempting to execute the allocation for the robot, if the estimated stop time obtained by the accumulation at that time reaches the upper limit value and a car that can be the target of the allocation cannot be found, the upper limit value is relaxed and the execution of the allocation is attempted again.

3. 3. An elevator control device as described in claim 1 or 2, wherein, when executing the allocation for the robot, if the destination floor or departure floor of the robot matches the destination floor or departure floor of a user who has already been assigned to the elevator car, the estimated stop time is calculated by replacing the accumulated stop time for the allocation for the user with the accumulated stop time for the robot.

Images