Robot management device, robot, and program

Abstract

To make it possible to mitigate elongation of riding time of users that may occur when a user and a robot ride together in an elevator car by control of the robot side which is autonomous from the elevator.SOLUTION: A robot management device determines whether an arrival floor of a car matches one of departure floors transmitted by an assignment request, when the car arrives at a stop floor. When it is determined that the arrival floor matches one of the departure floors by the determination, the matched assignment request is handled as a first arrival request, the departure floor and a destination floor or destination direction transmitted by the first arrival request are used to make the direction from the departure floor to the destination floor to be the transportation direction of the robot, and it is determined whether the departure direction of the car matches the transportation direction. Further, when the robot management device determines that the departure direction of the car matches the transportation direction of the robot, the robot management device determines whether the departure floor transmitted by the first arrival request matches the get-on floor of the robot.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control technology for a robot that uses an elevator. [Background technology]

[0002] In recent years, robots have been increasingly used for various tasks within buildings (cleaning, monitoring, transportation, etc.) (see, for example, Patent Document 1). Accordingly, 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. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7380793 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, robots take longer to board and disembark than users. Therefore, in an environment where a robot uses an elevator together with a user, if the robot boards at an intermediate floor while the user is being transported, or if the robot disembarks at an intermediate floor while the user is being transported, the user will be forced to wait in the elevator car until the robot has finished boarding and disembarking. In this way, when a user and a robot ride in the elevator together, the user may be forced to spend a longer time riding the elevator until they reach their destination floor.

[0005] Therefore, the object of the present invention is to mitigate the prolonged ride time of a user that may occur when a user and a robot ride in the same elevator car by controlling the robot autonomously from the elevator. [Means for solving the problem]

[0006] The robot management device according to the present invention is a device for managing robots used in buildings in which elevators are installed, and when a robot is moved from a boarding floor to a destination floor using an elevator car, the robot management device makes a hall call allocation request for the robot by transmitting the departure floor and destination floor or destination direction required for the hall call allocation to the elevator control device, and performs the following control processing (Aspect 1).As an allocation request, the robot management device makes a normal hall call allocation request in which the boarding floor and destination floor of the robot are the departure floor and destination floor, respectively, or makes a first hall call allocation request in which the car stops at the boarding floor in the opposite direction from the forward direction from the robot's boarding floor to the destination floor, and a second hall call allocation request in which the car reverses its moving direction from the reverse direction to the forward direction and then stops at the robot's destination floor. Furthermore, when the car arrives at a stop floor, the robot management device determines (A1) whether the arrival floor of the car matches any of the departure floors transmitted in the allocation request, and if it determines in that determination (A1) that it matches any of the departure floors, it sets the matching allocation request as a first focus request, and uses the departure floor and destination floor or destination direction transmitted in the first focus request to set the direction from the departure floor to the destination floor or the destination direction as the robot's transport direction, and then determines (B1) whether the departure direction of the car from the arrival floor matches that transport direction. Furthermore, if it determines in determination (B1) that it matches the robot's transport direction, it determines (C1) whether the departure floor transmitted in the first focus request matches the robot's boarding floor. If the robot management device determines in decision (C1) that the floor matches the floor the robot will board, it sends a door-open extension signal to the elevator control device and commands the robot to board the car, and then sends a boarding completion signal to the elevator control device when the robot has completed boarding.On the other hand, if the robot management device determines in decision (C1) that the floor does not match the floor the robot will board, it does not send a door-open extension signal to the elevator control device, does not command the robot to board the car, and sends a boarding completion signal to the elevator control device as a dummy signal.

[0007] According to the above aspect 1, the robot management device itself makes the judgments (A1) and (B1), and can identify that the elevator car has arrived at the departure floor in response to a hall call for the robot (either a normal hall call, a first hall call, or a second hall call) without notification from the elevator control device.

[0008] Therefore, if the robot management device determines that there is a "match" in decision (C1), it can determine that the car has arrived at the boarding floor in response to a normal hall call or a first hall call with the robot's boarding floor as its departure floor. In this case, the robot management device sends a door-open extension signal to the elevator control device. This allows the control device to execute the door-open extension necessary for the robot to board the car and to recognize that a boarding completion signal will be sent from the robot management device when the robot has completed boarding.

[0009] On the other hand, if the robot management device determines "no match" in decision (C1), it can determine that the car responded to a second hall call, which has a departure floor different from the floor where the robot boarded, and has arrived at that different floor. Here, after responding to the first hall call, the car will arrive at the departure floor indicated by the second hall call with the robot aboard. Therefore, there is no need to board the robot again in the car. Therefore, the robot management device sends a boarding completion signal as a dummy signal to the elevator control device without instructing the robot to board the car. This makes it possible to keep the robot aboard the car without disrupting elevator control.

[0010] The robot management device according to the above-mentioned aspect 1 may have the following configuration (aspect 2). When the car arrives at a stop floor, the robot management device may further determine (A2) whether the arrival floor of the car matches any of the destination floors transmitted in the allocation request. If it is determined in the determination (A2) that the arrival floor matches any of the destination floors, the robot management device may use the matching allocation request as a second focus request, and determine (B2) whether the arrival direction of the car at the arrival floor matches the transport direction of the robot using the departure floor and destination floor transmitted in the second focus request. Furthermore, if it is determined in the determination (B2) that the arrival floor matches the transport direction of the robot, the robot management device may further determine (C2) whether the destination floor transmitted in the second focus request matches the destination floor of the robot. If the robot management device determines in decision (C2) that the destination floor matches the robot's destination floor, it may send a door-open extension signal to the elevator control device and instruct the robot to dismount from the car, and then send a dismount completion signal to the elevator control device when the robot has completed dismounting.On the other hand, if the robot management device determines in decision (C2) that the destination floor does not match the robot's destination floor, it may send a dismount completion signal to the elevator control device as a dummy signal without sending a door-open extension signal to the elevator control device or instructing the robot to dismount from the car.

[0011] According to the above aspect 2, the robot management device itself makes the judgments (A2) and (B2), and can identify that the car has arrived at the destination floor in response to a hall call for the robot (either a normal hall call, a first hall call, or a second hall call; specifically, the corresponding car call) without notification from the elevator control device.

[0012] Therefore, if the robot control device determines that there is a "match" in decision (C2), it can determine that the car has arrived at the destination floor of the robot in response to a normal hall call or a second hall call (specifically, the corresponding car call). In this case, the robot control device sends a door open extension signal to the elevator control device. This allows the control device to execute the door open extension necessary for the robot to disembark from the car and to recognize that a disembarkation completion signal will be sent from the robot control device when the robot has completed disembarking.

[0013] On the other hand, if the robot management device determines that there is a "no match" in decision (C2), it can determine that the car has responded to a first hall call (specifically, the corresponding car call) with a destination floor different from the robot's destination floor and arrived at that different floor. Here, the destination floor indicated by the first hall call is a floor on the way to the robot's destination floor. Therefore, there is no need for the robot to disembark from the car. Therefore, the robot management device sends a disembarkation completion signal as a dummy signal to the elevator control device without instructing the robot to disembark from the car. This makes it possible to keep the robot in the car without disrupting elevator control.

[0014] The robot management device according to the above-mentioned aspect 1 or 2 may have the following configuration (aspect 3): When using an elevator car to move a robot from a boarding floor to a destination floor, and when a hall call for a user is assigned by the elevator control device, the robot management device may determine whether the following conditions are satisfied with respect to the boarding floor and destination floor of the robot and the departure floor and destination direction indicated by the hall call for the user: (1) the forward direction from the boarding floor of the robot to the destination floor of the robot is the same direction as the destination direction of the user, (2) the boarding floor of the robot is between the departure floor of the user and the destination floor of the robot, and (3) the current position of the car is on the destination floor side of the robot with respect to the boarding floor of the robot. Then, when the robot management device determines that all of conditions (1) to (3) are satisfied, it may make a first hall call allocation request for a hall call in which the boarding floor of the robot is set as the departure floor and an end floor located in the opposite direction from the boarding floor is set as the destination floor, and may make a second hall call allocation request for a hall call in which the end floor is set as the departure floor and the destination floor is the robot's destination floor.

[0015] When conditions (1) and (2) are satisfied, if a normal hall call allocation request for the robot is made, a situation may arise in which, after boarding a car, the user must experience the robot boarding at a floor on the way to the car, depending on the relative positions of the user's disembarking floor and the robot's boarding floor. When such a situation may arise, according to the above-mentioned aspect 3, by making a first hall call allocation request, when the car is moving in the reverse direction before arriving at the robot's boarding floor in the forward direction, the robot can be placed on a car heading in the reverse direction, thereby enabling transport in the reverse direction from the boarding floor. Specifically, when it is determined that condition (3) is satisfied, the car will arrive at the robot's boarding floor (departure floor) for the first time after the determination during its travel around the operating section, in the reverse direction. Therefore, by making the request for allocation of the first hall call to the robot at this timing, when the car moves in the opposite direction while circulating the service area, it becomes possible to efficiently board the robot in the car going in the opposite direction. This means that users do not have to experience the robot boarding while they are traveling in the car. As a result, it becomes possible to alleviate the length of time users spend riding.

[0016] Furthermore, according to the above-mentioned aspect 3, by requesting allocation of the first hall call with the end floor, where the direction of movement of the car will necessarily be reversed, as the destination floor, it becomes possible to avoid unnecessary control such as stopping the car at an intermediate floor where no one is getting on or off, just to allow the robot to board a car heading in the opposite direction.

[0017] Furthermore, according to the above-mentioned aspect 3, by making a request to allocate a second hall call, it becomes possible to have the robot board a car heading in the opposite direction at the boarding floor, and then move the car to the robot's destination floor indicated by the second hall call, and as a result, it becomes possible to have the robot disembark at that destination floor.

[0018] The robot management device according to the above aspect 1 or 2 may have the following configuration (aspect 4): The robot management device makes the same judgment as that described in the above aspect 3 (judging whether each of the above conditions (1) to (3) is satisfied), and when it judges that all of the conditions (1) to (3) are satisfied, it may further judge whether the following condition is satisfied: (4) the elevator control device has assigned a hall call for a call for a user other than the above user, such that when the car is moving in the direction opposite to the forward direction, the car will stop in the reverse direction at a floor located in the opposite direction from the boarding floor of the robot. Then, when the robot management device determines that condition (4) is satisfied, it may make a first hall call allocation request for a hall call in which the boarding floor of the robot is set as the departure floor and the departure floor indicated by the hall call that satisfies condition (4) is set as the destination floor, and may make a second hall call allocation request for a hall call in which the departure floor is the same as the departure floor of the user used when it is determined that all of conditions (1) to (3) are satisfied and the destination floor is the destination floor of the robot.

[0019] According to the above-mentioned aspect 4, it is possible to alleviate the increase in the riding time of users for the same reason as in the case of aspect 3. Furthermore, according to the above-mentioned aspect 4, by making a request for allocation of the first hall call with the departure floor of another user heading in the opposite direction as the destination floor, it becomes possible to avoid unnecessary control such as stopping the car at a floor where no one is getting on or off (including an end floor) just to get the robot on board the car heading in the opposite direction.

[0020] The robot management device according to the above aspect 1 or 2 may have the following configuration (Aspect 5): The robot management device makes the same determination as that described in the above aspect 3 (determining whether or not each of the above conditions (1) to (3) is satisfied), and when it determines that all of conditions (1) to (3) are satisfied, it may make a first hall call allocation request for a hall call allocation in which the boarding floor of the robot is set as the departure floor and the opposite direction is the destination direction from the departure floor, and may make a second hall call allocation request for a hall call allocation in which the same floor as the departure floor of the user is set as the departure floor and the destination floor is the destination floor of the robot.

[0021] According to the above-mentioned aspect 5, it is possible to alleviate the increase in the passenger's riding time for the same reason as in the case of aspect 3. Furthermore, according to the above-mentioned aspect 5, by making a request for allocation of the first hall call using the destination direction instead of the destination floor, it is possible to avoid unnecessary control such as stopping the car at an intermediate floor where no one is getting on or off just to get the robot on board a car heading in the opposite direction.

[0022] The robot management device according to any one of the above-mentioned aspects 3 to 5 may simultaneously request the elevator control device to allocate a first hall call and a second hall call (aspect 6).

[0023] According to the above-mentioned aspect 6, the first and second hall calls for the robot are more likely to be assigned to the car so that the car can respond to those hall calls in order while the car makes one revolution around the operating section. Conversely, if the request for the assignment of the second hall call is made later than the timing of the request for the assignment of the first hall call, depending on the assignment status of other hall calls to the car at that time, it is more likely that the assignment cannot be performed so that the first and second hall calls can be responded to in order while the car makes one revolution.

[0024] The robot management device according to the above aspect 1 or 2 may have the following configuration (aspect 7). The robot management device may make the same determination as that described in the above aspect 3 (determining whether each of the above conditions (1) to (3) is satisfied), and when it determines that all of the conditions (1) to (3) are satisfied, may make a request for allocation of a first hall call, with the boarding floor of the robot as the departure floor and an end floor located in the opposite direction from the boarding floor as the destination floor. Then, after the elevator control device starts responding to the first hall call, the robot management device may make a request for allocation of a second hall call, with the end floor as the first end floor, with the first end floor as the departure floor and a second end floor located opposite the first end floor as the destination floor, and a request for allocation of a hall call with the second end floor as the departure floor and the destination floor of the robot.

[0025] The robot management device according to the above aspect 1 or 2 may have the following configuration (Aspect 8). The robot management device may make the same determination as that described in Aspect 4 above (determining whether each of the above conditions (1) to (3) is satisfied and whether condition (4) is satisfied), and if it determines that condition (4) is satisfied, may make a first hall call allocation request for a hall call with the boarding floor of the robot as the departure floor and the departure floor indicated by the hall call that satisfies condition (4) as the destination floor, and may further make, after the elevator control device starts responding to the first hall call, a second hall call allocation request for a hall call with the same floor as the departure floor of the user used when it is determined that all of conditions (1) to (3) are satisfied and with a destination floor being an end floor located in the forward direction from the boarding floor of the robot, and a second hall call allocation request with the end floor as the departure floor and the destination floor being the destination floor of the robot.

[0026] The robot management device according to the above aspect 1 or 2 may have the following configuration (Aspect 9). The robot management device makes the same determination as that described in Aspect 3 above (determining whether each of the above conditions (1) to (3) is satisfied), and when it determines that all of conditions (1) to (3) are satisfied, it may make a first hall call allocation request for a hall call allocation request in which the floor from which the robot boards is set as the departure floor and the opposite direction is the destination direction from the departure floor, and further, after the elevator control device starts responding to the first hall call, it may make a second hall call allocation request for a hall call allocation in which the same floor as the departure floor of the user used when it determines that all of conditions (1) to (3) are satisfied is set as the departure floor and an end floor located in the forward direction from the floor from which the robot boards, and a hall call allocation request in which the end floor is set as the departure floor and the destination floor is the destination floor of the robot.

[0027] If the car is stopped in the forward direction at the robot's disembarking floor (i.e., the destination floor) when responding to a hall call for the robot (specifically, the car call corresponding to the hall call), a situation may arise in which, after boarding the car, the user must experience the robot disembarking at a floor along the way, depending on the relative positions of the user's disembarking floor and the robot's disembarking floor (i.e., the destination floor). In such a situation, in any of the above-described embodiments 7 to 9, by issuing the above-described two allocation requests as the allocation request for the second hall call, the car can pass through the robot's destination floor with the robot still inside it, and then reverse its direction of movement at an end floor (the second end floor in embodiment 7) located in the forward direction of the robot's boarding floor, before stopping at the destination floor. This allows the user to disembark before the robot before reaching that end floor. This also avoids the user having to experience the robot disembarking while traveling in the car. As a result, it is possible to significantly reduce the length of passenger travel times.

[0028] The robot according to the present invention is a robot used in a building in which an elevator is installed, and when the robot itself travels in an elevator car from a boarding floor to a destination floor, the robot makes a hall call allocation request for itself by transmitting the departure floor and destination floor or destination direction required for the hall call allocation to the elevator control device, and performs the following control processing (mode 10).As the allocation request, the robot makes a normal hall call allocation request in which the robot's boarding floor and destination floor are the departure floor and destination floor, respectively, or makes a first hall call allocation request in which the car stops at the boarding floor in the opposite direction from the forward direction from the robot's boarding floor to the destination floor, and a second hall call allocation request in which the car reverses its direction of movement from the reverse direction to the forward direction and then stops at the destination floor. Furthermore, when the car arrives at a stop floor, the robot determines (A1) whether the car's arrival floor matches any of the departure floors transmitted in the allocation request. If the robot determines in the determination (A1) that the arrival floor matches any of the departure floors, it sets the matching allocation request as a first focus request, and uses the departure floor and destination floor or destination direction transmitted in the first focus request to determine whether the direction from the departure floor to the destination floor or the destination direction matches its own transport direction. Then, it determines (B1) whether the car's departure direction from the arrival floor matches that transport direction. Furthermore, if the robot determines in the determination (B1) that the departure floor matches its own transport direction, it determines (C1) whether the departure floor transmitted in the first focus request matches its own boarding floor. If the robot determines in the determination (C1) that the departure floor matches its own boarding floor, it transmits a door-open extension signal to the elevator control device and boards the car. Then, when boarding is complete, it transmits a boarding completion signal to the elevator control device. On the other hand, if the robot determines in judgment (C1) that the floor does not match its own boarding floor, it does not send a door opening extension signal to the elevator control device, and does not board the car, but instead sends a boarding completion signal to the elevator control device as a dummy signal.

[0029] A program according to the present invention is a program that causes a robot used in a building in which an elevator is installed, or a robot management device that manages the robot, to execute a request step and a boarding / alighting command step (Aspect 11). In the request step, the program causes the robot or the robot management device to make a hall call assignment request for the robot when the robot is moved from a boarding floor to a destination floor using an elevator car by transmitting to the elevator control device the departure floor and destination floor or destination direction required for the hall call assignment. Specifically, the program causes the robot or the robot management device to make a normal hall call assignment request, with the boarding floor and destination floor of the robot as the departure floor and destination floor, respectively, as the assignment request, or to make a first hall call assignment request for the car to stop at the boarding floor in the opposite direction from the forward direction from the robot's boarding floor to the destination floor, and a second hall call assignment request for the car to stop at the robot's destination floor after the direction of movement of the car reverses from the reverse direction to the forward direction. In the boarding / alighting command step, when the car arrives at a stop floor, the program determines (A1) whether the arrival floor of the car matches any of the departure floors sent in the allocation request, and if the determination (A1) determines that it matches any of the departure floors, the program takes the matching allocation request as a first focus request, and uses the departure floor and destination floor or destination direction sent in the first focus request to set the direction from the departure floor to the destination floor or the destination direction as the conveyance direction of the robot, and then determines (B1) whether the departure direction of the car from the arrival floor matches that conveyance direction.Furthermore, if the program determines in decision (B1) that it matches the robot's transport direction, it makes a decision (C1) as to whether the departure floor sent in the first focus request matches the robot's boarding floor, and if it determines in decision (C1) that it matches the robot's boarding floor, it sends a door open extension signal to the elevator control device and commands the robot to board the car, and then sends a boarding completion signal to the elevator control device when the robot has completed boarding; on the other hand, if it determines in decision (C1) that it does not match the robot's boarding floor, it does not send a door open extension signal to the elevator control device, and does not command the robot to board the car, but sends a boarding completion signal as a dummy signal to the elevator control device. [Effects of the Invention]

[0030] According to the present invention, the lengthening of the user's riding time, which may occur when a user and a robot ride in the same elevator car, can be alleviated by control on the robot side, which is autonomous from the elevator. [Brief explanation of the drawings]

[0031] [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, (B) hall call management data and car call management data for users, and (C) hall call management data and car call management data for robots, which are used in an embodiment. [Figure 3] 1A and 1B are conceptual diagrams illustrating examples of robot management data and assignment request management data used in an embodiment. [Figure 4] 10 is a flowchart showing allocation request processing executed in the embodiment. [Figure 5] 10 is a flowchart illustrating an allocation process executed in the embodiment. [Figure 6] 10 is a flowchart illustrating a response process executed in the embodiment. [Figure 7] 10 is a flowchart showing a first response process executed in the embodiment. [Figure 8] 10 is a flowchart showing a second response process executed in the embodiment. [Figure 9] 10 is a flowchart showing a third response process executed in the embodiment. [Figure 10] 10 is a flowchart showing a part of the third response process. [Figure 11] 10 is a flowchart showing a boarding / alighting command process executed in the embodiment. [Figure 12] 10 is a flowchart showing a boarding command process executed in the embodiment. [Figure 13] 10 is a flowchart showing a dismount command process executed in the embodiment. [Figure 14] 10 is a flowchart showing a door opening extension process executed when boarding a vehicle according to an embodiment. [Figure 15] 10 is a flowchart showing a door opening extension process executed when disembarking in an embodiment. [Figure 16] 10 is a flowchart showing an allocation request process executed in a first modified example. [Figure 17] 10 is a flowchart showing an allocation request process executed in a second modified example. [Figure 18] 10A and 10B are conceptual diagrams illustrating examples of assignment request management data and hall call management data for robots, respectively, used in a second modified example. [Figure 19] 10 is a flowchart showing an allocation process executed in a second modified example. [Figure 20] 10 is a flowchart showing a first response process executed in a second modified example. [Figure 21] 10 is a flowchart showing a part of a third response process executed in a second modified example. [Figure 22] 13 is a flowchart showing allocation request processing executed in a third modified example. [Figure 23] 13 is a flowchart showing allocation request processing executed in a fourth modified example. DETAILED DESCRIPTION OF THE INVENTION

[0032] [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 equipped with one car G, and the car G is used not only by passengers but also by a robot H that performs various tasks (cleaning, monitoring, transport, etc.) within the building in which the elevator is installed. In addition, in this elevator, destination direction buttons 1 are installed at the landings of each floor so that passengers can specify a destination direction Kc, and destination floor buttons 2 are installed within the car G so that passengers can specify a destination floor Fd. In addition to these components, the elevator of this embodiment further includes an elevator control device 3 and a robot management device 4. The configuration of each part will be described in detail below.

[0033] <Destination direction button> On floors other than the terminal floor Fy, which is the top floor or the bottom floor, the destination direction button 1 includes an up button for specifying an up direction as the destination direction Kc and a down button for specifying a down direction as the destination direction Kc. On the other hand, on the top floor, the destination direction button 1 includes only the down button, and on the bottom floor, the destination direction button 1 includes only the up button.

[0034] When a user presses a destination direction button 1 at a hall to specify a destination direction Kc, the destination direction Kc is transmitted to the elevator control device 3. As a result, the elevator control device 3 is requested to allocate a hall call Rg for the user (allocation of the hall call Rg to the car G) (allocation request from the user). At this time, the destination direction button 1 transmits to the elevator control device 3 device information Pd for identifying itself from other buttons, devices, etc., along with the destination direction Kc, so that the elevator control device 3 can recognize which destination direction button 1 is the source of the destination direction Kc.

[0035] <Destination floor button> The destination floor button 2 is provided for each stop floor that can be guided by the elevator car G, and is a button for registering the stop floor as a destination floor Fd.

[0036] When a user presses the destination floor button 2 in the car G to register a destination floor Fd, the destination floor Fd is transmitted to the elevator control device 3. As a result, the elevator control device 3 is requested to register a car call Vg for the user (registering a car call Vg in the car G).

[0037] <Elevator control device> The elevator control device 3 is a device that controls the operation of the car G. Specifically, the elevator control device 3 assigns a hall call Rg to the car G in response to an assignment request from a user at a hall (an assignment request from the destination direction button 1 in which the user specifies a destination direction Kc) (assignment process (see FIG. 5)), and causes the car G to perform an operation to respond to the hall call Rg (response process (see FIGS. 6 to 10)). In this embodiment, the elevator control device 3 not only assigns a hall call Rh to the car G in response to an assignment request from a user at a hall, but also assigns a hall call Rh to the car G in response to an assignment request (assignment request for the robot H) from a robot management device 4 (described later) (assignment process (see FIG. 5)), and causes the car G to perform an operation to respond to the hall call Rh (response process (see FIGS. 6 to 10) and door opening extension process (see FIGS. 14 and 15)). Details of these processes will be described later.

[0038] Specifically, the elevator control device 3 includes a storage unit 31 and a control unit 32 (see FIG. 1).

[0039] The storage 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 elevator control device 3. In this embodiment, the information stored in the storage unit 31 includes device management data Dp, hall call management data Dq1G and car call management data Dq2G for users, and hall call management data Dq1H and car call management data Dq2H for the robot H.

[0040] Here, the device management data Dp is a database for managing, for each destination direction button 1, multiple pieces of information related to that destination direction button 1 by linking them together. The hall call management data Dq1G and the car call management data Dq2G are data for managing information on hall calls Rg and car calls Vg for users, respectively. The hall call management data Dq1H and the car call management data Dq2H are data for managing information on hall calls Rh and car calls Vh for robot H, respectively. Specifically, they are as follows.

[0041] 2A is a conceptual diagram illustrating the device management data Dp used in this embodiment. In the device management data Dp illustrated in this figure, the device information Pd and the installation floor Fs are recorded for each destination direction button 1 in a mutually associated state.

[0042] As a result, when the elevator control device 3 receives the device information Pd together with the destination direction Kc from each destination direction button 1, it becomes possible to identify the floor Fs on which the destination direction button 1 (the destination direction button 1 for which the user has specified the destination direction Kc) is located from the device information Pd. In this embodiment, the floor Fs on which the destination direction button 1 is located is used as the departure floor Fc (boarding floor) for the user who specified the destination direction Kc using the destination direction button 1.

[0043] FIG. 2(B) is a conceptual diagram illustrating the hall call management data Dq1G and car call management data Dq2G for users used in this embodiment.

[0044] In the hall call management data Dq1G, for each stopping floor that can be guided by the car G, and further for each direction that can be traveled from that stopping floor, an allocation status is associated which indicates whether or not a hall call Rg for a user whose stopping floor is the departure floor Fc and whose direction is the destination direction Kc has been allocated to the car G (in other words, whether or not the button (up button or down button) for specifying that direction as the destination direction Kc on the destination direction buttons 1 provided at that stopping floor has been pressed). The example in FIG. 2(B) shows a case where the allocation status for each direction from each stopping floor is updated to "ON" when a hall call Rg whose stopping floor is the departure floor Fc and whose direction is the destination direction Kc has been allocated, and is updated to "OFF" when that hall call Rg is deleted.

[0045] Furthermore, in the car call management data Dq2G, each stop floor that can be guided by car G is associated with a registration status that indicates whether or not a car call Vg for a user whose destination floor is that stop floor Fd has been registered in car G (in other words, whether or not the destination floor button 2 for registering that stop floor as the destination floor Fd has been pressed). The example in FIG. 2(B) shows a case in which the registration status for each stop floor is updated to "ON" when a car call Vg whose destination floor is that stop floor Fd is registered, and is updated to "OFF" when that car call Vg is deleted.

[0046] FIG. 2(C) is a conceptual diagram illustrating hall call management data Dq1H and car call management data Dq2H for robot H used in this embodiment.

[0047] In the hall call management data Dq1H, each time a hall call Rh for each robot H is assigned to a car G, the robot information Ph of that robot H and the departure floor Fc and destination floor Fd indicated by that hall call Rh are recorded in a mutually associated state. Then, when each hall call Rh has completed its role, the information corresponding to that hall call Rh is deleted from the hall call management data Dq1H, thereby erasing it.

[0048] Furthermore, in the car call management data Dq2H, each time a car call Vh for each robot H is registered in a car G, the robot information Ph of that robot H and the destination floor Fd indicated by that car call Vh are recorded in a mutually associated state. Then, when each car call Vh has completed its role, the information corresponding to that car call Vh in the car call management data Dq2H is erased, thereby deleting the car call Vh.

[0049] The control unit 32 is responsible for executing the control processes (including assignment processes, response processes, and door-open extension processes) performed by the elevator control device 3. Specifically, the control unit 32 is composed of a processing device such as a CPU or an MPU, and executes a control program installed in the elevator control device 3 to realize the execution of its own control processes in software. Note that, before being installed in the elevator control device 3, this control program may be stored in a readable state on a portable storage medium (e.g., a flash memory) or may be stored in a downloadable state on another server, etc. Furthermore, the control processes performed by the elevator control device 3 are not limited to being realized in software by executing a program, but may also be realized in hardware by a processing circuit (control unit 32) built in the elevator control device 3.

[0050] <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.

[0051] In this embodiment, when each robot H needs to move between floors, it transmits the destination floor Fx to the robot management device 4. At this time, the robot H transmits to the robot management device 4 the destination floor Fx as well as robot information Ph for identifying itself from other robots H, so that the robot management device 4 can recognize which robot H has transmitted the destination floor Fx.

[0052] When the robot management device 4 receives the destination floor Fx and the robot information Ph from each robot H, the robot management device 4 executes a control process to move the robot H between floors, in order to alleviate the lengthening of the user's riding time that may occur when the user and the robot H ride together in the elevator G. Specifically, the robot management device 4 executes an allocation request process (see FIG. 4) and a boarding / alighting command process (see FIGS. 11 to 13). The details of these processes will be described later.

[0053] Specifically, the robot management device 4 includes a storage unit 41 and a control unit 42 (see FIG. 1).

[0054] 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, the storage unit 41 stores robot management data Dr and assignment request management data Ds as such information.

[0055] Here, 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. The allocation request management data Ds is data for managing information on allocation requests for the robot H. Specifically, it is as follows.

[0056] 3(A) 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, its robot information Ph and boarding floor Ft, and the destination of the robot H when it moves between floors are recorded in a mutually associated state. Here, the boarding floor Ft 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. In addition, the destination associated with each robot H is the destination floor Fx transmitted by the robot H for moving between floors, and the destination floor Fx is erased when the robot H has finished disembarking at that floor.

[0057] As a result, when the robot management device 4 receives robot information Ph together with the destination floor Fx from each robot H, it becomes possible to identify the boarding floor Ft of that robot H from the robot information Ph. In this embodiment, the boarding floor Ft of that robot H is used as the departure floor Fc when that robot H moves between floors using an elevator car G. Furthermore, by referring to the movement destination associated with the robot information Ph of each robot H, if the movement destination has the destination floor Fx recorded, the robot management device 4 can determine that the robot H is moving between floors, and on the other hand, if the movement destination has no destination floor Fx recorded, it can determine that the robot H is deployed at the boarding floor Ft.

[0058] 3(B) is a conceptual diagram illustrating the allocation request management data Ds used in this embodiment. In the allocation request management data Ds illustrated in this figure, each time an allocation request for each robot H is made to the elevator control device 3, the robot information Ph of that robot H and the departure floor Fc and destination floor Fd transmitted to the elevator control device 3 in the allocation request are recorded in a mutually associated state. In this embodiment, the information of each allocation request is deleted from the allocation request management data Ds when the car G arrives at the destination floor Fd associated with the allocation request (specifically, after a disembarkation completion signal Sy, described later, is transmitted to the elevator control device 3).

[0059] The control unit 42 is a part that is responsible for executing the control processes (including allocation request processes and boarding / disembarking command processes) performed by the robot management device 4. Specifically, the control unit 42 is composed of processing devices such as a CPU and an MPU, and executes a control program installed in the robot management device 4 to realize the execution of its own control processes in software. Note that, before being installed in the robot management device 4, this control program 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. Furthermore, the control processes performed by the robot management device 4 are not limited to being realized in software by executing a program, but may also be realized in hardware by a processing circuit (control unit 42) built in the robot management device 4.

[0060] [1-2] Control process executed by elevator [1-2-1] Allocation request processing performed by the robot management device 4 is a flowchart showing the allocation request process executed in this embodiment. This allocation request process is started each time the robot management device 4 receives a destination floor Fx and robot information Ph from any robot H. In the allocation request process, the robot H that has transmitted this information will be referred to as the "target robot Hk." Furthermore, the information received by the robot management device 4 at that time (including the destination floor Fx and robot information Ph) will be collectively referred to as the "received information Pr1."

[0061] When the allocation request process is started, the robot management device 4 records the destination floor Fx in the received information Pr1 as the destination associated with the robot information Ph in the received information Pr1 in the robot management data Dr (step S100). This allows the robot management device 4 to know the destination of the target robot Hk even in the dismount command process described later.

[0062] In this allocation request process, the robot management device 4 uses the current elevator information Pe (including information indicating the operating status of the elevator car G and the user's usage status, etc.) to determine whether the target robot Hk and the user will ride in the elevator car G together, and whether the extension of the user's riding time that may occur if they do so can be mitigated, and requests the elevator control device 3 to allocate a hall call Rh (allocation of a hall call Rh for the target robot Hk) based on the result of the determination.

[0063] Therefore, the robot management device 4 first obtains the current elevator information Pe from the elevator control device 3 (step S101). Specifically, the robot management device 4 requests the elevator control device 3 to return the elevator information Pe at that time. The robot management device 4 then obtains the necessary information by receiving the elevator information Pe returned from the elevator control device 3 in response to its own request. At this time, the robot management device 4 obtains information on the current position Qt and movement direction Kg of the car G as information indicating the operating status of the car G, and obtains information on the hall call Rg for the user assigned to the car G as information indicating the usage status of the user.

[0064] Next, the robot management device 4 makes the following determination using the elevator information Pe acquired in step S101.

[0065] The robot management device 4 first determines whether or not information about the hall call Rg for the user is included in the elevator information Pe (step S102). If the robot management device 4 determines "included (Yes)" in step S102, it can determine that there is a user who plans to board the car G, and further determine that if the target robot Hk is allowed to board the car G at that time, the user may end up riding with the target robot Hk.

[0066] In this case, the robot management device 4 uses the robot management data Dr to extract the boarding floor Ft associated with the robot information Ph in the received information Pr1. Then, the robot management device 4 determines whether or not all of the following conditions (1) to (3) are satisfied for the boarding floor Ft, the destination floor Fx in the received information Pr1 (the boarding floor Ft and destination floor Fx of the target robot Hk), and the information on the hall call Rg for a user who may be riding with the target robot Hk (the departure floor Fc and destination direction Kc of the user indicated by the hall call Rg) (step S103).

[0067] Condition (1): The forward direction Ks from the boarding floor Ft of the target robot Hk to the destination floor Fx of the target robot Hk is the same as the destination direction Kc of the user. Condition (2): The boarding floor Ft of the target robot Hk is between the user's departure floor Fc and the destination floor Fx of the target robot Hk. Condition (3): The current position Qt of the car G is on the destination floor Fx side of the target robot Hk relative to the boarding floor Ft of the target robot Hk.

[0068] If conditions (1) and (2) are satisfied, and a normal hall call (a hall call with the boarding floor Ft of the target robot Hk as the departure floor Fc and the destination floor Fx of the target robot Hk as the destination floor Fd) is assigned as the hall call Rh for the target robot Hk, after boarding the car G, depending on the relative positions of the user's disembarking floor and the boarding floor Ft of the target robot Hk, a situation may arise in which the user must experience the target robot Hk boarding at an intermediate floor before disembarking. If such a situation occurs, the user will be forced to wait in the car G until the target robot Hk has boarded at an intermediate floor. In this way, when the user and the target robot Hk ride together in the car G, the user may be forced to spend a longer time on the car before disembarking due to the target robot Hk boarding at an intermediate floor.

[0069] On the other hand, if condition (3) is also satisfied, the car G will reach the boarding floor Ft of the target robot Hk before the departure floor Fc of the passengers traveling along the service area. Specifically, when the car G reaches the boarding floor Ft of the target robot Hk for the first time by moving further from a state in which condition (3) is satisfied while traveling along the service area, it will reach the boarding floor Ft in the reverse direction Kt (the direction opposite to the forward direction Ks from the boarding floor Ft of the target robot Hk to the destination floor Fx of the target robot Hk).

[0070] Therefore, if the robot management device 4 determines in step S103 that all of the conditions (1) to (3) are "satisfied (Yes)", it makes two allocation requests that are different from the usual ones (steps S110A and 110B) as follows, in order to mitigate the prolonged riding time of the user that may occur when the user and the target robot Hk ride together in the elevator G by taking advantage of the opportunity for the elevator G to reach the boarding floor Ft of the target robot Hk in the opposite direction Kt.

[0071] In the first allocation request, the robot management device 4 requests the elevator control device 3 to allocate a first hall call Rh (first hall call) for the target robot Hk, with the boarding floor Ft of the target robot Hk as the departure floor Fc and an end floor Fy (an end floor opposite the destination floor Fx of the target robot Hk) located in the opposite direction Kt from the boarding floor Ft as the destination floor Fd (step S110A). Specifically, the robot management device 4 sets the boarding floor Ft of the target robot Hk as the departure floor Fc and the end floor Fy as the destination floor Fd, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3. The robot management device 4 also records the information (robot information Ph, departure floor Fc, destination floor Fd) transmitted to the elevator control device 3 as allocation request information in the allocation request management data Ds (see FIG. 3(B)) in a mutually associated state. With such an allocation request, the elevator control device 3 is requested to allocate a first hall call Rh, which has the boarding floor Ft of the target robot Hk as the departure floor Fc, and which will move the car G from the boarding floor Ft in the opposite direction Kt in response to the hall call Rh.

[0072] By making such a first allocation request (first hall call allocation request) at this timing, when the car G moves in the reverse direction Kt while circulating within the operating area, it becomes possible to efficiently place the target robot Hk on the car G heading in the reverse direction Kt. Furthermore, by making the first hall call allocation request with the end floor Fy, where the moving direction Kg of the car G is sure to reverse, as the destination floor Fd, it becomes possible to avoid unnecessary control such as stopping the car G at an intermediate floor where no one is getting on or off just to place the target robot Hk on the car G heading in the reverse direction Kt.

[0073] In the second allocation request, the robot management device 4 requests the elevator control device 3 to allocate a second hall call Rh (second hall call) for the target robot Hk, with the end floor Fy set as the departure floor Fc and the target floor Fx of the target robot Hk set as the destination floor Fd (step S110B). Specifically, the robot management device 4 sets the end floor Fy as the departure floor Fc and the target floor Fx of the target robot Hk as the destination floor Fd, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3. The robot management device 4 also records the information transmitted to the elevator control device 3 (robot information Ph, departure floor Fc, destination floor Fd) as allocation request information in the allocation request management data Ds (see FIG. 3(B)) in a mutually associated state. After step S110B, the robot management device 4 terminates the allocation request process.

[0074] By making such a second allocation request (allocation request for the second hall call), the target robot Hk can be allowed to board a car G heading in the opposite direction Kt at the boarding floor Ft, and then the car G can be moved to the destination floor Fx of the target robot Hk indicated by the second hall call, and as a result, the target robot Hk can be allowed to disembark at the destination floor Fx.

[0075] In this embodiment, the robot management device 4 simultaneously performs steps S110A and S110B (including the case where step S110B is performed almost immediately after step S110A). In other words, the robot management device 4 simultaneously requests the elevator control device 3 to allocate both the first hall call and the second hall call to the target robot Hk.

[0076] By performing steps S110A and S110B simultaneously in this manner, in the assignment process performed by the elevator control device 3, which will be described later, the first hall call and the second hall call for the target robot Hk can be more easily assigned to the car G so that the car G can respond to those hall calls in order while making one circuit of the operating area. Note that, if such assignment can be performed reliably, step S110B may be executed after step S110A.

[0077] Regarding the above-mentioned conditions (1) to (3), if at least one of the conditions (1) and (2) is not satisfied, even if a normal hall call is assigned as the hall call Rh for the target robot Hk, the target robot Hk will not board the car G after the user boards the car G at the departure floor Fc until the user moves in the destination direction Kc and disembarks, and the user will not experience the target robot Hk boarding at an intermediate floor.

[0078] On the other hand, if condition (3) is not satisfied, the car G will reach the user's departure floor Fc before the target robot Hk's boarding floor Ft during its travel around the operating area. Therefore, in such a case, the target robot Hk will have to board the car G after the user, and a normal hall call Rh will have to be assigned to the target robot Hk.

[0079] Furthermore, if the elevator information Pe does not include information about the hall call Rg for the user, it means that there are no users who may be riding with the target robot Hk at that time. In this case, a normal hall call can be assigned as the hall call Rh for the target robot Hk without affecting the users in any way.

[0080] Therefore, if the robot management device 4 determines in step S103 that at least one of the conditions is "not satisfied (No)," or if the robot management device 4 determines in step S102 that the condition is "not included (No)," it makes a normal allocation request to the elevator control device 3 (step S120). Specifically, the robot management device 4 requests the elevator control device 3 to allocate a normal hall call Rh for the target robot Hk, in which the boarding floor Ft of the target robot Hk is set as the departure floor Fc and the destination floor Fx of the target robot Hk is set as the destination floor Fd. More specifically, the robot management device 4 sets the boarding floor Ft and destination floor Fx of the target robot Hk as the departure floor Fc and destination floor Fd of the target robot Hk, respectively, and transmits this information to the elevator control device 3 together with the robot information Ph of the target robot Hk. After step S120, the robot management device 4 terminates the allocation request process.

[0081] [1-2-2] Allocation process performed by elevator control device Fig. 5 is a flowchart showing the allocation process executed in this embodiment. This allocation process is started when a hall call allocation request is made to the elevator control device 3 from the destination direction button 1 or the robot management device 4. In this embodiment, even if requests for allocation of a first hall call and a second hall call for robot H (steps S110A and S110B in Fig. 4) are made simultaneously, the allocation process in Fig. 5 is executed for each of them individually.

[0082] Hereinafter, the information received by the elevator control device 3 for each allocation request will be collectively referred to as "received information Pr2." Specifically, if the allocation request is a request from the destination direction button 1 (a request to allocate a hall call Rg for a user), this received information Pr2 will be a set of information including the destination direction Kc and device information Pd, and if the allocation request is a request from the robot management device 4 (a request to allocate a hall call Rh for robot H), it will be a set of information including the departure floor Fc, destination floor Fd, and robot information Ph.

[0083] When the allocation process begins, the elevator control device 3 determines whether the received allocation request is from the destination direction button 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 Pr2 (step S200).

[0084] If the elevator control device 3 determines in step S200 that the device information Pd is included, it can determine that the received allocation request is a request from the destination direction button 1. In this case, the elevator 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 Pr2 and sets it as the user's departure floor Fc. Then, the elevator control device 3 assigns the departure floor Fc and the destination direction Kc in the received information Pr2 (the user's destination direction Kc) to a car G as a single hall call Rg (allocation for the user; step S201). After that, the elevator control device 3 terminates the allocation process.

[0085] On the other hand, if the elevator control device 3 determines in step S200 that "robot information Ph" is included, it can determine that the received allocation request is a request from the robot management device 4. In this case, the elevator control device 3 assigns the departure floor Fc and destination floor Fd in the received information Pr2 as one hall call Rh to the car G (assignment for robot H; step S202). Thereafter, the elevator control device 3 terminates the allocation process.

[0086] [1-2-3] Response processing by elevator control device Fig. 6 is a flowchart showing the response processing executed in this embodiment. This response processing is a normal response processing executed by the elevator control device 3, and the hall calls and car calls to be responded to are not limited to the hall calls and car calls for the user and robot H that are the subject of judgment when it is judged that all of the conditions (1) to (3) are "satisfied (Yes)" in step S103 of the above-mentioned allocation request processing (see Fig. 4), but also include hall calls and car calls for other users and robots H. This response processing is started when the next stopping floor of the elevator car G is determined.

[0087] When the response process is started, the elevator control device 3 determines what kind of calls are included in the response targets to be responded to in the response process (step S30X). Specifically, the elevator control device 3 determines whether the response targets include only hall calls (either or both of a hall call Rg of a user and a hall call Rh of the robot H), only car calls (either or both of a car call Vg of a user and a car call Vh of the robot H), or both hall calls and car calls.

[0088] Then, the elevator control device 3 executes a first response process if it determines in step S30X that the call is "only a hall call," executes a second response process if it determines in step S30X that the call is "only a car call," and executes a third response process if it determines in step S30X that the call is "both a hall call and a car call." These processes will be explained in detail below.

[0089] <First response process> 7 is a flowchart showing the first response process executed in this embodiment. In this first response process, the elevator control device 3 first determines whether or not the response targets include a hall call Rh of the robot H (step S300).

[0090] If the elevator control device 3 determines "not included (No)" in step S300, it can determine that only the user's hall call Rg is included in the response targets. In this case, the elevator control device 3 transmits a command to the car G to stop the car G at the departure floor Fc indicated by the hall call Rg (the user's departure floor Fc) in the same direction as the destination direction Kc indicated by the hall call Rg (step S301).

[0091] After step S301, the elevator control device 3 determines whether the car G has arrived at the departure floor Fc indicated by the hall call Rg (step S302). Furthermore, the elevator control device 3 repeatedly executes step S302 until it can determine "arrived (Yes)" in step S302.

[0092] Then, when the elevator control device 3 determines that the elevator has arrived (Yes) in step S302, it deletes the hall call Rg that has completed its role upon arrival (step S303).

[0093] Thereafter, the user boards the arriving car G and then registers his / her destination floor Fd by pressing the destination floor button 2 inside the car G. At this time, if the destination floor button 2 corresponding to the user's destination floor Fd has already been registered by another user, the user only boards the car G.

[0094] Therefore, after step S303, the elevator control device 3 determines whether or not an unregistered destination floor Fd has been pressed on the destination floor button 2 in the car G (step S304).

[0095] If the elevator control device 3 determines that the button is pressed (Yes) in step S304, it registers the pressed destination floor Fd as a car call Vg for the user in the car G (step S305). This makes it possible to stop the car G at the destination floor Fd registered by the user in the car G. Thereafter, the elevator control device 3 ends the first response process.

[0096] On the other hand, if the elevator control device 3 determines that the button was not pressed (No) in step S304, it ends the first response process without performing step S305.

[0097] If the elevator control device 3 determines in step S300 that the hall call Rh of the robot H is "included (Yes)" in the response targets, it responds to the hall call Rh, and if the response targets further include the hall call Rg of the user, it also processes the hall call Rg of the user. Specifically, it is as follows.

[0098] The elevator control device 3 sends a command to the elevator G to stop the elevator G at the departure floor Fc indicated by the hall call Rh (the departure floor Fc of the robot H) in the direction toward the destination floor Fd indicated by the hall call Rh (step S401).

[0099] After step S401, the elevator control device 3 determines whether the car G has arrived at the departure floor Fc indicated by the hall call Rh (step S402). Furthermore, the elevator control device 3 repeatedly executes step S402 until it can determine "arrived (Yes)" in step S402.

[0100] When the elevator control device 3 determines in step S402 that the elevator has arrived (Yes), it executes the door-open extension process at the time of boarding shown in Fig. 14, thereby causing the car G to extend the door open period in accordance with the command transmitted from the robot management device 4 at that time. Details of the door-open extension process at the time of boarding will be described later.

[0101] After completing the door opening extension process at the time of boarding, the elevator control device 3 returns to the process in FIG. 7 and registers the destination floor Fd indicated by the hall call Rh (the destination floor Fd of the robot H) in the car G as a car call Vh for the robot H (step S403). This makes it possible to stop the car G at the destination floor Fd indicated by the hall call Rh. Meanwhile, with the registration of the car call Vh in the car G in this way, the hall call Rh has completed its role. Therefore, the elevator control device 3 deletes the hall call Rh that has completed its role.

[0102] Thereafter, the elevator control device 3 determines whether the hall call Rg of the user is further included in the response targets in this first response process (step S404). If the elevator control device 3 determines "included (Yes)" in step S404, it executes the processes of steps S303 to S305 (deleting the hall call Rg to registering the car call Vg) as the process for the hall call Rg. Thereafter, the elevator control device 3 ends the first response process. On the other hand, if the elevator control device 3 determines "not included (No)" in step S404, it ends the first response process without executing the processes of steps S303 to S305.

[0103] <Second response process> 8 is a flowchart showing the second response process executed in this embodiment. In this second response process, the elevator control device 3 first determines whether or not the car call Vh of the robot H is included in the response targets (step S310).

[0104] If the elevator control device 3 determines "not included (No)" in step S310, it can determine that only the user's car call Vg is included in the response targets. In this case, the elevator control device 3 transmits a command to the car G to stop the car G at the destination floor Fd indicated by the car call Vg (the user's destination floor Fd) (step S311).

[0105] After step S311, the elevator control device 3 determines whether the car G has arrived at the destination floor Fd indicated by the car call Vg (step S312). Furthermore, the elevator control device 3 repeatedly executes step S312 until it can determine "arrived (Yes)" in step S312.

[0106] If the elevator control device 3 determines that the car has arrived (Yes) in step S312, it deletes the car call Vg whose role has been completed upon the arrival (step S313). After that, the elevator control device 3 ends the second response process.

[0107] If the elevator control device 3 determines in step S310 that the car call Vh of the robot H is included in the response targets (Yes), it responds to the car call Vh, and if the response targets also include a car call Vg of a user, it also processes the car call Vg of the user. Specifically, it is as follows.

[0108] The elevator control device 3 transmits a command to the car G to stop the car G at the destination floor Fd indicated by the car call Vh (the destination floor Fd of the robot H) (step S411).

[0109] After step S411, the elevator control device 3 determines whether the car G has arrived at the destination floor Fd indicated by the car call Vh (step S412). Furthermore, the elevator control device 3 repeatedly executes step S412 until it can determine "arrived (Yes)" in step S412.

[0110] If the elevator control device 3 determines in step S412 that the car has arrived (Yes), it deletes the car call Vh that has completed its role upon arrival (step S413). The elevator control device 3 also executes the door open extension process at the time of disembarking shown in Fig. 15, causing the car G to extend the door open period in accordance with the command transmitted from the robot management device 4 at that time. The door open extension process at the time of disembarking will be described in detail later.

[0111] After completing the door opening extension process when a passenger disembarks, the elevator control device 3 returns to the process of Fig. 8 and determines whether the user's car call Vg is further included in the response targets of this second response process (step S414). If the elevator control device 3 determines "included (Yes)" in step S414, it executes the process of step S313 (deleting the car call Vg) as the process for that car call Vg. Thereafter, the elevator control device 3 terminates the second response process. On the other hand, if the elevator control device 3 determines "not included (No)" in step S414, it terminates the second response process without executing the process of step S313.

[0112] <Third response process> 9 and 10 are flowcharts showing the third response process executed in this embodiment. In this third response process, the elevator control device 3 first determines whether the response targets include a hall call Rh of the robot H (step S320).

[0113] If the elevator control device 3 determines "not included (No)" in step S320, it can determine that the response target includes the user's hall call Rg. In this case, the elevator control device 3 executes the same processes as steps S301 to S305 described in the first response process (steps S321 to S325).

[0114] On the other hand, if the elevator control device 3 determines that the information is included (Yes) in step S320, it proceeds to process X in Figure 10 and executes the same processes as steps S401 and S402 described in the first response process (steps S421 and S422).

[0115] Here, if another robot H is riding in the car G and the stop floor (arrival floor Fg) at which the car G arrives is the destination floor Fx of the other robot H, the other robot H will dismount from the car G at the arrival floor Fg. In this embodiment, in order to smoothly board the robot H from the hall and dismount the other robot H from the car G, the robot H in the car G dismounts first, and then the robot H at the hall boards.

[0116] Therefore, the elevator control device 3 first determines whether or not the response targets in this third response process further include a car call Vh of another robot H (step S423).

[0117] If the elevator control device 3 determines "included (Yes)" in step S423, it can determine that another robot H in the car G will disembark at the stop floor (arrival floor Fg) where the car G has arrived. In this case, the elevator control device 3 deletes the car call Vh for the other robot H that has completed its mission with the arrival (step S430), and then executes the door open extension process at disembarkation shown in FIG. 15 as the process at disembarkation for the other robot H. Details of the door open extension process at disembarkation will be described later. In this door open extension process (see FIG. 15), the elevator control device 3 receives a door open extension signal Sz from the robot management device 4 for the disembarkation of the other robot H. Therefore, the elevator control device 3 determines "received (Yes)" in step S901, and then proceeds to step S902 (door open extension) and then step S910A.

[0118] After the completion of the door open extension process at the time of disembarking (when the elevator control device 3 determines "received (Yes)" in step S910A of FIG. 15), or when the elevator control device 3 determines "not included (No)" in step S423 of FIG. 10), the elevator control device 3 next (see FIG. 10) executes the door open extension process at the time of boarding shown in FIG. 14 as the process at the time of boarding for the robot H at the landing. The details of the door open extension process at the time of boarding will be described later, but in this door open extension process (see FIG. 14), the elevator control device 3 receives the door open extension signal Sz from the robot management device 4 for the boarding of the robot H at the landing, so the elevator control device 3 determines "received (Yes)" in step S801, and then proceeds to step S810A via step S802 (door open extension). If the elevator control device 3 determines that the call has been received (Yes) in step S810A, it returns to the processing of Figure 10 and executes the same processing as step S403 (registration of car call Vh, deletion of hall call Rh) described in the first response processing (step S424).

[0119] 9, and determines whether the hall call Rg of the user is further included in the response targets in this third response process (step S441). If the elevator control device 3 determines "included (Yes)" in step S441, it executes steps S323 to S325 (deleting the hall call Rg to registering the car call Vg) as the process for the hall call Rg. Then, the elevator control device 3 proceeds to step S442. On the other hand, if the elevator control device 3 determines "not included (No)" in step S441, it proceeds to step S442 without executing the processes of steps S323 to S325.

[0120] In step S442, the elevator control device 3 determines whether or not a user's car call Vg is further included in the response targets in this third response process. If the user's car call Vg is included in the response targets, the arrival of the car G will mark the end of the car call Vg's role. Therefore, if the elevator control device 3 determines "included (Yes)" in step S442, it also deletes the car call Vg that has completed its role (step S443). Thereafter, the elevator control device 3 ends the third response process. On the other hand, if the elevator control device 3 determines "not included (No)" in step S442, it ends the third response process without performing the processing of step S443.

[0121] [1-2-4] Boarding and disembarking command processing performed by the robot management device FIG. 11 is a flowchart showing the boarding / alighting command processing executed in this embodiment. In this embodiment, the robot management device 4 constantly acquires information indicating the operating status of the car G from the elevator control device 3, and based on that information, grasps the current position Qt and movement direction Kg of the car G. Therefore, the robot management device 4 can determine whether the car G has arrived at a stop floor, and when it determines that the car G has "arrived," it can identify the arrival floor Fg of the car G at that time, the departure direction Kg1 of the car G from the arrival floor Fg (the movement direction Kg at the time of departure), and the arrival direction Kg2 of the car G to the arrival floor Fg (the movement direction Kg at the time of arrival). The boarding / alighting command processing shown in FIG. 11 is started each time the robot management device 4 determines that the car G has "arrived" at a stop floor.

[0122] When the boarding / alighting command processing begins, the robot management device 4 first determines whether the arrival floor Fg of the elevator car G matches any of the destination floors Fd recorded in the allocation request management data Ds (see Figure 3(B)) (in other words, the destination floors Fd sent in the allocation request) in order to determine whether the stopping of the elevator car G at the arrival floor Fg is likely to be a stop in response to an elevator call Vh for the robot H (step S501).

[0123] If the robot management device 4 determines "match (Yes)" in step S501, it can determine that there is a possibility that the stop of the car G at the arrival floor Fg corresponds to a stop in response to the car call Vh for the robot H. On the other hand, this determination alone does not determine that the stop of the car G at the arrival floor Fg is a stop in response to the car call Vh for the robot H. Therefore, the robot management device 4 executes the dismount command processing shown in FIG. 13 to further determine what kind of stop the car G at the arrival floor Fg is, and performs processing necessary for the inter-floor movement of the robot H depending on the determination result. The dismount command processing will be described in detail later.

[0124] After completing the disembarkation command processing, or if the robot management device 4 determines that there is no match (No) in step S501, it next determines whether the arrival floor Fg of the elevator G matches any of the departure floors Fc recorded in the allocation request management data Ds (see Figure 3(B)) (in other words, the departure floors Fc sent in the allocation request) in order to determine whether the stopping of the elevator G at the arrival floor Fg is likely to be a stop in response to a hall call Rh for the robot H (step S502).

[0125] If the robot management device 4 determines "match (Yes)" in step S502, it can determine that there is a possibility that the stop of the car G at the arrival floor Fg corresponds to a stop in response to the hall call Rh for the robot H. On the other hand, this determination alone does not allow it to be determined that the stop of the car G at the arrival floor Fg is a stop in response to the hall call Rg for the robot H. Therefore, the robot management device 4 executes the boarding command processing shown in FIG. 12 to further determine what kind of stop the car G at the arrival floor Fg is, and performs processing necessary for the inter-floor movement of the robot H according to the determination result. The boarding command processing will be described in detail later.

[0126] After completing the boarding command processing, the robot management device 4 ends the boarding / alighting command processing. Furthermore, if the robot management device 4 determines "no match" in step S502, it can determine based on that determination that the stop of the car G at the arrival floor Fg is not a stop in response to a hall call Rh or car call Vh for the robot H, in other words, a stop in response to a hall call Rg or car call Vg for the user. In this case, the robot management device 4 ends the boarding / alighting command processing because no processing for the robot H is necessary.

[0127] In the boarding / alighting command processing of Fig. 11, by making it possible to execute the disembarking command processing (see Fig. 13) before the boarding command processing (see Fig. 12) in this way, when it becomes necessary to perform both boarding of a robot H from a hall and disembarking of another robot H from a car G at the same stopping floor, the disembarking of the other robot H can be executed first. Therefore, according to the boarding / alighting command processing of Fig. 11, boarding and alighting of the two robots H can be performed smoothly.

[0128] <Boarding command processing> FIG. 12 is a flowchart showing the boarding command process executed in this embodiment.

[0129] In the boarding command processing, the robot management device 4 first determines the allocation request that was determined to be "matched (Yes)" in step S502 of Figure 11 as the first target request, and uses the departure floor Fc and destination floor Fd sent in the first target request (specifically, the departure floor Fc and destination floor Fd corresponding to the first target request in the allocation request management data Ds) to identify the direction from the departure floor Fc to the destination floor Fd as the transport direction Kh of the robot H (step S601).

[0130] Next, the robot management device 4 determines whether the departure direction Kg1 of the elevator G from the arrival floor Fg matches the conveying direction Kh of the robot H identified in step S601 (step S602) to determine whether the stopping of the elevator G at the arrival floor Fg is in response to a hall call Rh for the robot H.

[0131] If the robot management device 4 determines that there is a match (Yes) in step S602, it can use that determination to identify that the stopping of the elevator G at the arrival floor Fg is a stop in response to the hall call Rh for the robot H.

[0132] On the other hand, if the robot management device 4 determines "no match" in step S602, it can determine that the stopping of the car G at the arrival floor Fg is not a stop in response to a hall call Rh for the robot H, in other words, a stop in response to a hall call Rg or car call Vg for the user. In this case, the robot management device 4 terminates the boarding command processing because no processing for the robot H is necessary.

[0133] In this way, by the robot management device 4 making the judgments of steps S502 and S602, the robot management device 4 itself becomes able to determine that the elevator car G has arrived at the departure floor Fc in response to a hall call Rh (either a normal hall call, a first hall call, or a second hall call) for the robot H, without notification from the elevator control device 3.

[0134] On the other hand, even if such a determination is possible, it is not necessarily necessary to have the robot H board at the arrival floor Fg of the car G at that time. Specifically, this is as follows.

[0135] First, when it is necessary to have the robot H board at the arrival floor Fg of the car G, the hall call Rh to be responded to at that time is the one (first hall call) that has been assigned to the car G in response to the first assignment request (step S110A in FIG. 4) from the robot management device 4, or the one that has been assigned to the car G in response to a normal assignment request (step S120 in FIG. 4). In these cases, the departure floor Fc indicated by the hall call Rh is the boarding floor Ft of the robot H, and when the car G arrives at the arrival floor Fg, the robot H has not yet boarded the car G and is waiting at the boarding floor Ft for a command to board the car G.

[0136] On the other hand, a case where it is not necessary for the robot H to board at the arrival floor Fg of the car G occurs when the hall call Rh to be responded to at that time is the one (second hall call) that has been assigned to the car G in response to the second assignment request (step S110B in FIG. 4) from the robot management device 4. In this case, the elevator control device 3 is in a state where, after completing the response process for the first hall call to be responded to (in other words, after the robot H has boarded the car G), it is further executing the response process for the second hall call to be responded to. Therefore, when the car G arrives at the arrival floor Fg, the robot H has already boarded the car G. Therefore, it is not necessary for the robot H to execute the act of boarding the car G from the hall.

[0137] Therefore, in order to determine whether the robot H should board at the arrival floor Fg of the current car G, the robot management device 4 determines whether the departure floor Fc transmitted in the first focus request matches the boarding floor Ft of the robot H targeted by the first focus request (step S603). Specifically, the robot management device 4 refers to the departure floor Fc and robot information Ph corresponding to the first focus request in the allocation request management data Ds (see FIG. 3(B)), and then determines whether the departure floor Fc matches the boarding floor Ft recorded in association with the robot information Ph in the robot management data Dr (see FIG. 3(A)).

[0138] If the robot management device 4 determines that there is a match (Yes) in step S603, it can determine that the car G has arrived at the boarding floor Ft of the robot H in response to a normal hall call or a first hall call with the boarding floor Ft of the robot H as the departure floor Fc. In this case, the robot management device 4 can determine that the robot H should board the arriving car G.

[0139] Therefore, the robot management device 4 transmits a door open extension signal Sz to the elevator control device 3 to request a door open extension necessary for the robot H to board (step S611). At this time, the robot management device 4 extracts robot information Ph corresponding to the first target request from the allocation request management data Ds (see FIG. 3(B)) so that the elevator control device 3 can recognize which robot H requires a door open extension, and transmits the robot information Ph together with the door open extension signal Sz to the elevator control device 3. As a result, the elevator control device 3 receives the door open extension signal Sz from the robot management device 4 when responding to a hall call Rh for the robot H identified by the robot information Ph (here, this robot H will be referred to as the "target robot Hk") and performing the door open extension process for boarding shown in FIG. 14. In this way, the elevator control device 3 can be made to execute the door opening extension necessary for the target robot Hk to board the elevator car G, and can also be made to recognize that a boarding completion signal Sx will be sent from the robot management device 4 when the boarding of the target robot Hk is complete.

[0140] After step S611, the robot management device 4 commands the robot H (target robot Hk) identified by the robot information Ph transmitted to the elevator control device 3 to get on the car G (step S612). As a result, the target robot Hk starts getting on the car G in response to the command from the robot management device 4, and when the getting on is completed, notifies the robot management device 4 of the completion of the getting on.

[0141] Therefore, after step S612, the robot management device 4 determines whether or not it has received a notification of completion of boarding from the target robot Hk, thereby determining whether or not boarding of the target robot Hk into the car G has been completed (step S613). Furthermore, the robot management device 4 repeatedly executes step S613 until it can determine "completed (Yes)" in step S613.

[0142] If the robot management device 4 determines "completed (Yes)" in step S613, it transmits a boarding completion signal Sx to notify the elevator control device 3 that the boarding of the target robot Hk has been completed, along with the robot information Ph of the target robot Hk (step S620A). Thereafter, the robot management device 4 ends the boarding command processing.

[0143] On the other hand, if the robot management device 4 determines "no match" in step S603, it can determine that the car G has responded to a second hall call specifying a departure floor Fc that is different from the boarding floor Ft of the target robot Hk (in this embodiment, an end floor Fy) and has arrived at that different floor. Here, after responding to the first hall call, the car G will arrive at the departure floor Fc (here, the end floor Fy) indicated by the second hall call with the target robot Hk on board. Therefore, there is no need to board the target robot Hk into the car G again. Therefore, the robot management device 4 can determine that there is no need to board the target robot Hk into the arriving car G.

[0144] In this case, the robot management device 4 does not send the door open extension signal Sz to the elevator control device 3, and does not command the target robot Hk to board the car G. Instead, the robot management device 4 sends the boarding completion signal Sx as a dummy signal along with the robot information Ph of the target robot Hk to the elevator control device 3 (step S620B). As a result, when responding to a hall call Rh for the robot H (target robot Hk) identified by the robot information Ph, while performing the boarding door open extension process shown in FIG. 14, the elevator control device 3 receives the boarding completion signal Sx from the robot management device 4 without receiving the door open extension signal Sz. This process makes it possible to keep the target robot Hk boarded in the car G without stalling the elevator control by the elevator control device 3. The robot management device 4 then terminates the boarding command process.

[0145] <Disembarkation command processing> FIG. 13 is a flowchart showing the disembarking command process executed in this embodiment.

[0146] In the disembarkation command processing, the robot management device 4 first determines the allocation request that was determined to be "matching (Yes)" in step S501 of Figure 11 as the second focus request, and uses the departure floor Fc and destination floor Fd sent in the second focus request (specifically, the departure floor Fc and destination floor Fd corresponding to the second focus request in the allocation request management data Ds) to identify the direction from the departure floor Fc to the destination floor Fd as the transport direction Kh of the robot H (step S701).

[0147] Next, the robot management device 4 determines whether the arrival direction Kg2 of the elevator G at the arrival floor Fg matches the transport direction Kh of the robot H identified in step S701 (step S702), in order to determine whether the stopping of the elevator G at the arrival floor Fg is in response to an elevator call Vh for the robot H.

[0148] If the robot management device 4 determines that there is a match (Yes) in step S702, it can use that determination to identify that the stopping of the elevator car G at the arrival floor Fg is a stop in response to the elevator car call Vh for the robot H.

[0149] On the other hand, if the robot management device 4 determines "no match" in step S702, it can determine that the stopping of the car G at the arrival floor Fg is not a stop in response to a car call Vh for the robot H, in other words, a stop in response to a hall call Rg or a car call Vg for the user. In this case, the robot management device 4 terminates the disembarkation command processing because no processing for the robot H is necessary.

[0150] In this way, by the robot management device 4 making the judgments of steps S501 and S702, the robot management device 4 itself becomes able to determine that the elevator car G has arrived at the destination floor Fd in response to a car call Vh for the robot H (a car call Vh corresponding to either a normal hall call, a first hall call, or a second hall call) without notification from the elevator control device 3.

[0151] On the other hand, even if such identification is possible, it is not necessarily necessary to have the robot H get off at the arrival floor Fg of the car G at that time. Specifically, this is as follows.

[0152] First, the case where it is necessary to have the robot H disembark at the arrival floor Fg of the car G occurs when the car call Vh to be responded to at that time is one that has been registered to the car G through a hall call Rh (second hall call) corresponding to the second allocation request (step S110B in FIG. 4) from the robot management device 4, or one that has been registered to the car G through a hall call Rh corresponding to a normal allocation request (step S120 in FIG. 4). In these cases, the destination floor Fd indicated by the car call Vh is the target floor Fx of the robot H, and the arrival floor Fg of the car at that time coincides with the target floor Fx of the robot H.

[0153] On the other hand, a case where it is not necessary for the robot H to disembark at the arrival floor Fg of the car G occurs when the car call Vh to be responded to at that time is registered to the car G through a hall call Rh (first hall call) corresponding to the first allocation request (step S110A in FIG. 4) from the robot management device 4. In this case, the destination floor Fd indicated by the car call Vh is a floor (in this embodiment, an end floor Fy) on the way to the destination floor Fx of the robot H as the car G moves in a circle, and the car G has merely arrived at a floor on the way (in other words, a floor where the robot H does not need to disembark). Therefore, there is no need for the robot H to disembark from the car G to the hall.

[0154] Therefore, in order to determine whether the robot H should be disembarked at the arrival floor Fg of the current car G, the robot management device 4 determines whether the destination floor Fd transmitted in the second focus request matches the destination floor Fx of the robot H targeted by the second focus request (step S703). Specifically, the robot management device 4 refers to the destination floor Fd and robot information Ph corresponding to the second focus request in the allocation request management data Ds (see FIG. 3(B)), and then determines whether the destination floor Fd matches the destination floor Fx recorded as a movement destination in association with the robot information Ph in the robot management data Dr (see FIG. 3(A)).

[0155] If the robot management device 4 determines "match (Yes)" in step S703, it can determine that the car G has arrived at the destination floor Fx of the robot H in response to a car call Vh (a car call Vh for a normal hall call or a second hall call) with the destination floor Fd being the destination floor Fx of the robot H. In this case, the robot management device 4 can determine that the robot H should disembark from the arriving car G.

[0156] Therefore, the robot management device 4 transmits a door open extension signal Sz to the elevator control device 3 to request a door open extension necessary for robot H to disembark (step S711). At this time, the robot management device 4 extracts robot information Ph corresponding to the second target request from the allocation request management data Ds (see FIG. 3(B)) so that the elevator control device 3 can recognize which robot H requires a door open extension, and transmits the robot information Ph together with the door open extension signal Sz to the elevator control device 3. As a result, the elevator control device 3 receives the door open extension signal Sz from the robot management device 4 when responding to a hall call Rh for the robot H identified by the robot information Ph (here, this robot H will be referred to as the "target robot Hk") and performing the door open extension process for disembarkation shown in FIG. 15. In this way, the elevator control device 3 can be made to execute the door opening extension required for the target robot Hk to disembark from the elevator car G, and can also be made to recognize that a disembarkation completion signal Sy will be sent from the robot management device 4 when the target robot Hk has completed disembarking.

[0157] After step S711, the robot management device 4 commands the robot H (target robot Hk) identified by the robot information Ph transmitted to the elevator control device 3 to dismount from the car G (step S712). As a result, the target robot Hk starts dismounting from the car G in response to the command from the robot management device 4, and when dismounting is complete, notifies the robot management device 4 of the dismounting completion.

[0158] Therefore, after step S712, the robot management device 4 determines whether or not a notification of dismounting completion has been received from the target robot Hk, thereby determining whether or not dismounting of the target robot Hk from the car G has been completed (step S713). Furthermore, the robot management device 4 repeatedly executes step S713 until it can determine "completed (Yes)" in step S713.

[0159] If the robot management device 4 determines that the process is completed (Yes) in step S713, it sends a dismounting completion signal Sy to the elevator control device 3 along with the robot information Ph of the target robot Hk to notify the elevator control device 3 that the target robot Hk has dismounted (step S720A).

[0160] Then, the robot management device 4 updates the boarding floor Ft recorded in the robot management data Dr for the target robot Hk to the destination floor Fx of the target robot Hk used in the determination in step S703 (step S721). The robot management device 4 also deletes the destination floor Fx recorded as the movement destination of the target robot Hk in the robot management data Dr. Furthermore, the robot management device 4 deletes information about the second target request (robot information Ph, departure floor Fc, destination floor Fd) from the allocation request management data Ds (step S722). Thereafter, the robot management device 4 ends the dismount command processing.

[0161] On the other hand, if the robot management device 4 determines "no match" in step S703, it can determine that the car G has responded to a car call Vh (a car call Vh corresponding to the first hall call) with a destination floor Fd that is different from the target floor Fx of the target robot Hk (in this embodiment, an end floor Fy) and has arrived at that different floor. Here, the destination floor Fd (here, the end floor Fy) indicated by the first hall call is a floor on the way to the target floor Fx for the target robot Hk. Therefore, there is no need for the target robot Hk to disembark from the car G. Therefore, the robot management device 4 can determine that there is no need for the target robot Hk to disembark from the arriving car G.

[0162] In this case, the robot management device 4 transmits a dismounting completion signal Sy as a dummy signal to the elevator control device 3 along with the robot information Ph of the target robot Hk (step S720B) without transmitting a door open extension signal Sz to the elevator control device 3 and without instructing the target robot Hk to dismount from the car G. As a result, when responding to a hall call Rh for the robot H (target robot Hk) identified by the robot information Ph, while performing the dismounting door open extension process shown in Fig. 15, the elevator control device 3 receives the dismounting completion signal Sy from the robot management device 4 without receiving the door open extension signal Sz. This process makes it possible to keep the target robot Hk aboard the car G without stalling the elevator control by the elevator control device 3.

[0163] After step S720B, the robot management device 4 proceeds to step S722, where it deletes the information about the second target request (robot information Ph, departure floor Fc, destination floor Fd) from the allocation request management data Ds, and then ends the disembarkation command processing.

[0164] Furthermore, when the robot management device 4 makes two allocation requests (a first hall call allocation request and a second hall call allocation request) for one target robot Hk, the information recorded in the allocation request management data Ds may not only be erased for each allocation request each time the elevator G arrives at the destination floor Fd, but may also be erased all at once from the allocation request management data Ds when the elevator G arrives at the destination floor Fx of the target robot Hk.

[0165] [1-2-5] Door opening extension process performed by elevator control device <Door opening extension when boarding> FIG. 14 is a flowchart showing the door opening extension process executed in this embodiment when boarding.

[0166] According to the boarding and alighting command processing (Figures 11 to 13) performed by the robot management device 4 described above, when the elevator control device 3 is executing the response processing described above and the response target at that time is a hall call Rh for robot H, and when the elevator control device 3 is executing the boarding door opening extension processing (boarding door opening extension processing in the first response processing (see Figure 7) or the third response processing (see Figure 10)) for that robot H (here, this robot H will be referred to as the "target robot Hk"), the elevator control device 3 will receive a door opening extension signal Sz and a boarding completion signal Sx from the robot management device 4 along with the robot information Ph of the target robot Hk.

[0167] Therefore, in the door open extension process when boarding, the elevator control device 3 first determines whether or not a door open extension signal Sz for the target robot Hk has been received from the robot management device 4 (step S801).

[0168] If the elevator control device 3 determines that the signal has been received (Yes) in step S801, it can determine that the target robot Hk will board, and can further recognize that a boarding completion signal Sx will be sent from the robot management device 4 when the boarding is complete.

[0169] Therefore, the elevator control device 3 starts extending the door opening time of the car G at the arrival floor Fg at that time (step S802), and then determines whether or not a boarding completion signal Sx has been received from the robot management device 4 (step S810A). The elevator control device 3 also repeatedly executes step S810A until it determines "received (Yes)" in step S810A. If the elevator control device 3 determines "received (Yes)" in step S810A, it can determine that the boarding of the target robot Hk has been completed, and therefore ends the door opening extension process for boarding.

[0170] On the other hand, the robot management device 4 may send a boarding completion signal Sx as a dummy signal without instructing the target robot Hk to board the elevator car G. In this case, the elevator control device 3 will receive the boarding completion signal Sx together with the robot information Ph of the target robot Hk without receiving the door opening extension signal Sz.

[0171] Therefore, if the elevator control device 3 determines "not received (No)" in step S801, it determines whether or not the boarding completion signal Sx has been received from the robot control device 4 (step S810B) as a process for determining whether or not the boarding completion signal Sx has been transmitted as a dummy signal from the robot control device 4. Furthermore, the elevator control device 3 repeatedly executes steps S801 and S810A until it determines "received (Yes)" the door-open extension signal Sz in step S801 or determines "received (Yes)" the boarding completion signal Sx in step S810B.

[0172] If the elevator control device 3 determines "received (Yes)" in step S810B, it can determine that the received boarding completion signal Sx is a dummy signal. In this case, the elevator control device 3 ends the boarding door opening extension process at the time of receiving the dummy signal.

[0173] When the robot H gets on the car G, some kind of trouble (such as a power system failure or insufficient battery power) may occur, and the robot H may not be able to complete boarding the car G. Therefore, if the elevator control device 3 is unable to receive the boarding completion signal Sx (is unable to determine "received (Yes)" in step S810A or S810B) after a predetermined time has elapsed, the elevator control device 3 may delete the hall call Rh, and proceed to step S404 in the processing of Figure 7, or to S441 in the processing of Figure 9.

[0174] <Extended door opening when getting off> FIG. 15 is a flowchart showing the door open extension process executed in this embodiment when a passenger disembarks.

[0175] According to the boarding and alighting command processing (Figures 11 to 13) performed by the robot management device 4 described above, when the elevator control device 3 is executing the response processing described above and the response target at that time is a car call Vh for robot H, and when the elevator control device 3 is executing the door opening extension processing at the time of disembarking for that robot H (here, this robot H will be referred to as the "target robot Hk") (door opening extension processing at the time of disembarking in the second response processing (see Figure 8) or the third response processing (see Figure 10)), the elevator control device 3 will receive a door opening extension signal Sz and a disembarking completion signal Sy from the robot management device 4 along with the robot information Ph of the target robot Hk.

[0176] Therefore, in the door open extension process when disembarking, the elevator control device 3 first determines whether or not a door open extension signal Sz for the target robot Hk has been received from the robot management device 4 (step S901).

[0177] If the elevator control device 3 determines that the signal has been received (Yes) in step S901, it can determine that the target robot Hk will dismount, and further recognize that a dismount completion signal Sy will be sent from the robot management device 4 when the dismount is complete.

[0178] Therefore, the elevator control device 3 starts extending the door opening time of the car G at the arrival floor Fg at that time (step S902), and then determines whether or not a disembarkation completion signal Sy has been received from the robot management device 4 (step S910A). The elevator control device 3 also repeatedly executes step S910A until it determines "received (Yes)" in step S910A. If the elevator control device 3 determines "received (Yes)" in step S910A, it can determine that the disembarkation of the target robot Hk has been completed, and therefore ends the door opening extension process at disembarkation.

[0179] On the other hand, the robot management device 4 may send a dismounting completion signal Sy as a dummy signal without instructing the target robot Hk to dismount from the elevator car G. In this case, the elevator control device 3 will receive the dismounting completion signal Sy together with the robot information Ph of the target robot Hk without receiving the door opening extension signal Sz.

[0180] Therefore, if the elevator control device 3 determines "not received (No)" in step S901, it determines whether or not the dismounting completion signal Sy has been received from the robot control device 4 (step S910B) as a process for determining whether or not the dismounting completion signal Sy has been transmitted as a dummy signal from the robot control device 4. Furthermore, the elevator control device 3 repeatedly executes steps S901 and S910A until it can determine in step S901 that the door-open extension signal Sz has been "received (Yes)" or until it can determine in step S910B that the dismounting completion signal Sy has been "received (Yes)."

[0181] If the elevator control device 3 determines "received (Yes)" in step S910B, it can determine that the received disembarkation completion signal Sy is a dummy signal. In this case, the elevator control device 3 ends the door-open extension process for disembarkation at the time of receiving the dummy signal.

[0182] According to the control processing of this embodiment, the robot management device 4 itself becomes able to determine whether or not the robot H should board or disembark at the arrival floor Fg of the car G without notification from the elevator control device 3, and further becomes able to send corresponding commands (door opening extension signal Sz, boarding completion signal Sx, disembarking completion signal Sy, dummy signal) to the elevator control device 3.

[0183] Furthermore, according to the above control process, if a normal allocation request is made for the target robot Hk, a situation may arise in which the user must experience riding the target robot Hk before getting off (a case in which the user's riding time is extended due to the riding of the target robot Hk), and when the car G is moving in the reverse direction Kt at a stage before the target robot Hk arrives in the forward direction Ks at the boarding floor Ft, the target robot Hk can be placed in the car G heading in the reverse direction Kt. This prevents the user from having to experience the target robot Hk getting on while traveling in the car G.

[0184] As a result, the lengthening of passenger riding times can be alleviated by autonomous control of the robot management device 4 from the elevator.

[0185] Furthermore, according to the above control process, by requesting allocation of the first hall call with the end floor Fy, where the moving direction Kg of the car G will necessarily reverse, as the destination floor Fd, it becomes possible to avoid unnecessary control such as stopping the car G at an intermediate floor where no one is getting on or off just to allow the target robot Hk to board the car G heading in the opposite direction Kt.

[0186] [2] Variation [2-1] First modified example The first modification is a modification of the above-described embodiment. In the above-described embodiment, the allocation request process executed by the robot management device 4 may be modified as appropriate to the following process.

[0187] 16 is a flowchart showing the allocation request process executed in Modified Example 1. In the allocation request process of this modified example, if the robot management device 4 determines in step S103 that all of the conditions (1) to (3) are satisfied (Yes), it further determines whether the following condition (4) is satisfied (step S130) using the elevator information Pe acquired in step S101.

[0188] Condition (4): A condition that a hall call Rg for another user has been assigned to the car G, which, when the car G is moving in the opposite direction Kt, causes the car G to stop in the opposite direction Kt at a floor located in the opposite direction Kt to the boarding floor Ft of the target robot Hk.

[0189] If the robot management device 4 determines in step S130 that the conditions are not met (No), it makes the same two allocation requests as in the above embodiment as unusual allocation requests (steps S110A and S110B). On the other hand, if the robot management device 4 determines in step S130 that the conditions are met (Yes), it makes the following two allocation requests as unusual allocation requests (steps S140A and S140B).

[0190] In the first allocation request, the robot management device 4 requests the elevator control device 3 to allocate a first hall call Rh (first hall call) for the target robot Hk, with the boarding floor Ft of the target robot Hk as the departure floor Fc and the departure floor Fc indicated by the hall call Rg for another user who satisfies the above condition (4) (hereinafter referred to as "the departure floor Fc of the other user") as the destination floor Fd (step S140A). Specifically, the robot management device 4 sets the boarding floor Ft of the target robot Hk as the departure floor Fc and the departure floor Fc of the other user as the destination floor Fd, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3. In addition, the robot management device 4 records the information (robot information Ph, departure floor Fc, destination floor Fd) sent to the elevator control device 3 as allocation request information in the allocation request management data Ds (see Figure 3 (B)) in a mutually associated state.

[0191] By making such a first allocation request (first hall call allocation request) at this timing, when the car G moves in the reverse direction Kt while circulating within the operating area, it becomes possible to efficiently place the target robot Hk on the car G heading in the reverse direction Kt. Also, by making such a first hall call allocation request with the departure floor Fc of another user heading in the reverse direction Kt as the destination floor Fd, it becomes possible to avoid unnecessary control such as stopping the car G at a floor where no one gets on or off (including the terminal floor Fy) just to place the target robot Hk on the car G heading in the reverse direction Kt.

[0192] In the second allocation request, the robot management device 4 requests the elevator control device 3 to allocate a second hall call Rh (second hall call) for the target robot Hk, in which the same floor as the user's departure floor Fc used in the determination in step S103 (the user's departure floor Fc used when it was determined in step S103 that all of conditions (1) to (3) are "satisfied (Yes)") is set as the departure floor Fc and the target floor Fx of the target robot Hk is set as the destination floor Fd (step S140B). Specifically, the robot management device 4 sets the same floor as the user's departure floor Fc as the departure floor Fc and sets the target floor Fx of the target robot Hk as the destination floor Fd, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3. Furthermore, the robot management device 4 records the information (robot information Ph, departure floor Fc, destination floor Fd) transmitted to the elevator control device 3 as allocation request information in the allocation request management data Ds (see FIG. 3(B)) in a mutually associated state. After step S140B, the robot management device 4 ends the allocation request process.

[0193] By making such a second allocation request (allocation request for a second hall call), even in this modified example, it becomes possible to have the target robot Hk board a car G heading in the opposite direction Kt at the boarding floor Ft, and then move the car G to the destination floor Fx of the target robot Hk indicated by the second hall call, and as a result, it becomes possible to have the target robot Hk disembark at the destination floor Fx.

[0194] [2-2] Second variant The second modification is a modification of the above-described embodiment. In the above-described embodiment, the allocation request process and the boarding / alighting command process executed by the robot management device 4, and the allocation process and the response process executed by the elevator control device 3 may be modified as appropriate to the following processes.

[0195] 17 is a flowchart showing the allocation request process executed in Modified Example 2. In the allocation request process of this modified example, if the robot management device 4 determines in step S103 that all of the conditions (1) to (3) are "satisfied (Yes)," it makes the following two allocation requests as allocation requests that are different from normal requests (steps S150A and S150B).

[0196] In the first allocation request, the robot management device 4 requests the elevator control device 3 to allocate a first hall call Rh (first hall call) for the target robot Hk, with the boarding floor Ft of the target robot Hk as the departure floor Fc and the direction Kt opposite to the forward direction Ks (the direction from the boarding floor Ft of the target robot Hk to the destination floor Fx of the target robot Hk) as the destination direction Kc from the departure floor Fc (step S150A). Specifically, the robot management device 4 sets the boarding floor Ft of the target robot Hk as the departure floor Fc and the opposite direction Kt as the destination direction Kc, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3.

[0197] In addition, the robot management device 4 records the information (robot information Ph, departure floor Fc, destination direction Kc) sent to the elevator control device 3 as allocation request information in the allocation request management data Ds in a mutually associated state (see Figure 18 (A)).

[0198] 18(A) is a conceptual diagram illustrating an example of assignment request management data Ds used in a second modified example. In the assignment request management data Ds of this modified example, each time an assignment request for each robot H is made to the elevator control device 3, the robot information Ph of that robot H and information on the departure floor Fc, destination floor Fd, and destination direction Kc are recorded in a mutually associated state. In the example of FIG. 18(A), "upward" and "downward" are associated as information indicating the destination direction Kc. When an assignment request for each robot H is made in step S150A, the departure floor Fc transmitted in step S150A is recorded in the assignment request management data Ds, and one of the two directions, up and down, transmitted as the destination direction Kc in step S150A is set to "ON," while the other direction is set to "OFF," and the destination floor Fd is set to "Null." Then, the information of each allocation request in which the destination floor Fd is set to "Null" is erased from the allocation request management data Ds when the elevator car G arrives at the departure floor Fc associated with that allocation request (specifically, after the boarding completion signal Sx is sent to the elevator control device 3).

[0199] With such an allocation request, the elevator control device 3 is requested to allocate a first hall call Rh, which has the boarding floor Ft of the target robot Hk as the departure floor Fc, and which will move the car G from the boarding floor Ft in the opposite direction Kt in response to the hall call Rh.

[0200] Even in the case of the first allocation request (allocation request for the first platform call) as in this modified example, by making it at this timing, when the car G moves in the opposite direction Kt while circling the operating area, it becomes possible to efficiently board the target robot Hk onto the car G heading in the opposite direction Kt.

[0201] In addition, in this modified example, when the robot management device 4 determines the transport direction Kh of the robot H in step S601 of the boarding command processing (see Figure 12), if the departure floor Fc and destination direction Kc (destination floor Fd="Null") are associated in the allocation request management data Ds as information of the first target request, the robot management device 4 will determine the destination direction Kc as the transport direction Kh of the robot H as is.

[0202] In the second allocation request, the robot management device 4 requests the elevator control device 3 to allocate a second hall call Rh (second hall call) for the target robot Hk, with the same floor as the departure floor Fc of the user used in the determination in step S103 as the departure floor Fc and the destination floor Fd as the target floor Fx of the target robot Hk (step S150B). Specifically, the robot management device 4 sets the same floor as the departure floor Fc of the user as the departure floor Fc and sets the destination floor Fd as the destination floor Fx of the target robot Hk, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3.

[0203] Furthermore, the robot management device 4 records the information (robot information Ph, departure floor Fc, destination floor Fd) sent to the elevator control device 3 as allocation request information in the allocation request management data Ds in a mutually associated state (see FIG. 18(A)). After step S150B, the robot management device 4 ends the allocation request process.

[0204] 18(A) shows a case where, when an allocation request for each robot H is made in step S120 or S150B, the departure floor Fc and destination floor Fd transmitted in these steps are recorded in the allocation request management data Ds, while the "upward" and "downward" indicating the destination direction Kc are both set to "OFF." Then, the information of each allocation request in which information other than "Null" is recorded in the destination floor Fd (the stopping floor of the car G) is deleted from the allocation request management data Ds when the car G arrives at the destination floor Fd associated with the allocation request (specifically, after the disembarkation completion signal Sy is transmitted to the elevator control device 3).

[0205] Furthermore, when two allocation requests (a first hall call allocation request and a second hall call allocation request) are made for one target robot Hk, the information recorded in the allocation request management data Ds may not only be deleted each time the elevator G arrives at the departure floor Fc or destination floor Fd for each allocation request, but may also be deleted all at once from the allocation request management data Ds when the elevator G arrives at the destination floor Fx of the target robot Hk.

[0206] By making such a second allocation request (allocation request for a second hall call), even in this modified example, it becomes possible to have the target robot Hk board a car G heading in the opposite direction Kt at the boarding floor Ft, and then move the car G to the destination floor Fx of the target robot Hk indicated by the second hall call, and as a result, it becomes possible to have the target robot Hk disembark at the destination floor Fx.

[0207] In this modification, the robot management device 4 also performs steps S150A and S150B simultaneously (including the case where step S150B is performed almost immediately after step S150A). In other words, the robot management device 4 simultaneously requests the elevator control device 3 to allocate both the first hall call and the second hall call to the target robot Hk.

[0208] By performing steps S150A and S150B simultaneously in this manner, in the assignment process performed by the elevator control device 3 described later, the first hall call and the second hall call for the target robot Hk can be more easily assigned to the car G so that the car G can respond to those hall calls in order while making one circuit of the operating area. Note that, if such assignment can be performed reliably, step S150B may be executed after step S150A.

[0209] Fig. 19 is a flowchart showing the allocation process executed in the second modified example. In this modified example, the allocation process is also started when a hall call allocation request is made to the elevator control device 3 from the destination direction button 1 or the robot management device 4. Furthermore, even if requests for allocation of a first hall call and a second hall call for robot H (steps S150A and S150B in Fig. 17) are made simultaneously, the allocation process in Fig. 19 is executed for each of them individually.

[0210] In this modified example, the information (received information Pr2) received by the elevator control device 3 each time an allocation request is received will be a set of information including the departure floor Fc, destination direction Kc, and robot information Ph if the allocation request is a request from the robot management device 4 (a request to allocate a hall call Rh for robot H), or a set of information including the departure floor Fc, destination floor Fd, and robot information Ph.

[0211] Therefore, if the elevator control device 3 determines in step S200 that "robot information Ph" is included, it further determines which of the two sets of information described above was received as an allocation request for robot H, namely, the destination direction Kc or the destination floor Fd, is included in the received information Pr2 (step S210).

[0212] Then, if the elevator control device 3 determines in step S210 that the "destination direction Kc" is included, it assigns the departure floor Fc and the destination direction Kc in the received information Pr2 as one hall call Rh to the car G (assignment for the robot H; step S211; see FIG. 18(B)). After that, the elevator control device 3 ends the assignment process.

[0213] On the other hand, if the elevator control device 3 determines in step S210 that the "destination floor Fd" is included, it assigns the departure floor Fc and the destination floor Fd in the received information Pr2 as one hall call Rh to the car G (assignment for the robot H; step S212; see FIG. 18(B)). After that, the elevator control device 3 ends the assignment process.

[0214] 18(B) is a conceptual diagram illustrating hall call management data Dq1H for a robot H used in the second modified example. In the hall call management data Dq1H of this modified example, each time a hall call Rh for each robot H is assigned to a car G, the robot information Ph of that robot H and information on the departure floor Fc, destination floor Fd, and destination direction Kc are recorded in a mutually associated state. In the example of FIG. 18(B), "upward" and "downward" are associated as information indicating the destination direction Kc, and when a hall call Rh is assigned to each robot H in step S211, the departure floor Fc indicated by that hall call Rh is recorded in the hall call management data Dq1H, and one of the two directions, up and down, indicated as the destination direction Kc by that hall call Rh is set to "ON," while the other direction is set to "OFF," and further, the destination floor Fd is set to "Null." 18(B) shows a case where, when a hall call Rh is assigned to each robot H in step S201 or S212, the departure floor Fc and destination floor Fd indicated by the hall call Rh are recorded in the hall call management data Dq1H, while the "upward" and "downward" indicating the destination direction Kc are both set to "OFF." Then, when each hall call Rh has completed its role, the information corresponding to that hall call Rh in the hall call management data Dq1H is erased, thereby deleting the hall call Rh.

[0215] FIG. 20 is a flowchart showing the first response process executed in the second modified example. In this modified example, when the response target is a hall call Rh of the robot H, the hall call Rh indicates either the destination direction Kc or the destination floor Fd. Therefore, in the first response process of this modified example, if the elevator control device 3 determines in step S300 that the hall call Rh of the robot H is "included (Yes)" in the response targets, it determines whether the hall call Rh indicates the destination direction Kc or the destination floor Fd (step S460). Specifically, by referring to the hall call management data Dq1H (FIG. 18(B)), the elevator control device 3 determines whether, as information about the hall call Rh to be responded to, either "upward" or "downward," which indicates the destination direction Kc, is "ON," or whether information other than "null" (the stopping floor of the car G) is recorded for the destination floor Fd.

[0216] If the elevator control device 3 determines in step S460 that the "destination direction Kc" is indicated, it sends a command to the elevator G to stop the elevator G at the departure floor Fc indicated by the hall call Rh (the departure floor Fc of the robot H) in the same direction as the destination direction Kc indicated by the hall call Rh (step S461).

[0217] After step S461, the elevator control device 3 determines whether the car G has arrived at the departure floor Fc indicated by the hall call Rh (step S462). Furthermore, the elevator control device 3 repeatedly executes step S462 until it can determine "arrived (Yes)" in step S462.

[0218] If the elevator control device 3 determines in step S462 that the elevator has arrived (Yes), it deletes the hall call Rh (in this modified example, the first hall call) that has completed its role with the arrival (step S463). At this time, the hall call Rh does not include a destination floor Fd (specifically, the destination floor Fd corresponding to the hall call Rh is set to "Null" in the hall call management data Dq1H (see FIG. 18(B))), and no new destination floor Fd is specified by the robot management device 4. Therefore, the elevator control device 3 does not register a car call Vh in response to this hall call Rh (here, the first hall call).

[0219] In this way, the robot management device 4 requests the elevator control device 3 to assign a hall call Rh (here, the first hall call) for the target robot Hk, with the boarding floor Ft of the target robot Hk as the departure floor Fc and the conveying direction Kh of the target robot Hk as the destination direction Kc.In this way, the response processing performed by the elevator control device 3 makes it possible to stop the elevator car G at the departure floor Fc of the target robot Hk in the conveying direction Kh of the target robot Hk without generating a car call Vh corresponding to the hall call Rh.

[0220] Then, the elevator control device 3 executes the door open extension process at the time of boarding shown in Fig. 14, thereby causing the car G to extend the door open period in accordance with the command transmitted from the robot management device 4 at that time. After that, the elevator control device 3 proceeds to step S404.

[0221] If the elevator control device 3 determines in step S460 that the destination floor Fd is indicated, it executes steps S401 to S403 (including the door opening extension process when boarding shown in Figure 14) described in the first response process (see Figure 7) of the above embodiment, and then proceeds to step S404.

[0222] Fig. 21 is a flowchart showing a part of the process X in the third response process executed in the second modified example. In the third response process of this modified example, if the elevator control device 3 determines in step S320 (see Fig. 9) that the hall call Rh of the robot H is "included (Yes)" in the response targets, it executes the same process as step S460 described in the first response process above (step S470).

[0223] If it is determined in step S470 that the "destination direction Kc" is indicated, the elevator control device 3 executes the same processes as steps S461 to S463 described in the first response process of this modified example (steps S471 to S473). Then, the elevator control device 3 executes the door opening extension process at the time of boarding shown in Fig. 14, and then proceeds to step S441 (see Fig. 9).

[0224] If it is determined in step S470 that the destination floor Fd is indicated, the elevator control device 3 executes steps S421 to S424 and S430 (including the door-open extension process shown in FIGS. 14 and 15) described in the third response process (see FIG. 10) of the above embodiment. Thereafter, the elevator control device 3 proceeds to step S441 (see FIG. 9).

[0225] According to such first response processing and third response processing, when responding to the first hall call (when it is determined in step S460 or S470 that the "destination direction Kc" is indicated), it becomes possible to allow the target robot Hk to board the car G without generating a car call Vh. Therefore, it becomes possible to avoid unnecessary control such as stopping the car G at an intermediate floor where no one is getting on or off just to allow the target robot Hk to board the car G heading in the opposite direction Kt.

[0226] Even with the control process of this modified example, if a normal allocation request is made for the target robot Hk, a situation may arise in which the user must experience riding the target robot Hk before getting off (a case in which the user's riding time is extended due to the riding of the target robot Hk), but when the car G is moving in the reverse direction Kt at a stage before the target robot Hk arrives in the forward direction Ks at the boarding floor Ft, the target robot Hk can be allowed to ride in the car G heading in the reverse direction Kt. This prevents the user from experiencing the target robot Hk getting on while traveling in the car G.

[0227] As a result, the lengthening of passenger riding times can be alleviated by autonomous control of the robot management device 4 from the elevator.

[0228] [2-3] Third variant The third modified example is a modified example of the above-described embodiment. In the above-described embodiment, if the elevator car G is stopped in the forward direction Ks at the disembarking floor (= destination floor Fx) of the robot H when responding to a hall call Rh for the robot H, a situation may arise in which, after getting on the elevator car G, the user must experience the robot H disembarking at a floor on the way to disembarkation, depending on the positional relationship between the user's disembarking floor and the disembarking floor (= destination floor Fx). Therefore, in order to prevent the user from having to experience such a thing, the allocation request process described in the above embodiment may be modified as appropriate to the following process.

[0229] 22 is a flowchart showing the allocation request process executed in the third modified example. In the allocation request process of this modified example, after the first allocation request (allocation request for the first hall call; step S110A), the robot management device 4 acquires current elevator information Pe (including information indicating the operating status of the car G and the usage status of the user) from the elevator control device 3 (step S111). Then, using the elevator information Pe, the robot management device 4 determines whether the elevator control device 3 has started responding to the first hall call (step S112). Furthermore, the elevator control device 3 repeatedly executes step S112 until it can determine that "response has started (Yes)" in step S112.

[0230] When the robot management device 4 determines that the process has started (Yes) in step S112, it further makes the following second and third allocation requests as second hall calls (steps S113A and S113B).

[0231] In the second allocation request, the robot management device 4 requests the elevator control device 3 to allocate a second hall call Rh for the target robot Hk, with the terminal floor Fy (referred to as the "first terminal floor Fy1" in this modified example) located in the opposite direction Kt to the boarding floor Ft of the target robot Hk as the departure floor Fc and the terminal floor Fy (referred to as the "second terminal floor Fy2" in this modified example) located on the opposite side of the terminal floor Fy as the destination floor Fd (step S113A). Specifically, the robot management device 4 sets the first terminal floor Fy1 as the departure floor Fc and the second terminal floor Fy2 as the destination floor Fd, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3. In addition, the robot management device 4 records the information (robot information Ph, departure floor Fc, destination floor Fd) sent to the elevator control device 3 as allocation request information in the allocation request management data Ds (see Figure 3 (B)) in a mutually associated state.

[0232] By making such a second allocation request, it becomes possible to have the elevator G pass through the destination floor Fx of the robot H while the robot H is still inside the elevator G. Therefore, it becomes possible to have the passenger get off before the robot H gets off the elevator before reaching the second terminal floor Fy2. This means that the passenger does not have to experience the robot H getting off while traveling in the elevator G. As a result, it becomes possible to significantly alleviate the lengthening of the passenger's riding time.

[0233] For the third allocation request, the robot management device 4 requests the elevator control device 3 to allocate a third hall call Rh for the target robot Hk, with the second terminal floor Fy2 set as the departure floor Fc and the target floor Fx of the target robot Hk set as the destination floor Fd (step S113B). Specifically, the robot management device 4 sets the second terminal floor Fy2 as the departure floor Fc and the target floor Fx of the target robot Hk as the destination floor Fd, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3. The robot management device 4 also records the information (robot information Ph, departure floor Fc, destination floor Fd) transmitted to the elevator control device 3 as allocation request information in the allocation request management data Ds (see FIG. 3(B)) in a mutually associated state.

[0234] By making such a third allocation request, even after the car G has passed the destination floor Fx of the target robot Hk, when the car G moves in the reverse direction Kt from the second terminal floor Fy2, the car G can be stopped in the reverse direction Kt at the destination floor Fx of the target robot Hk, and as a result, it becomes possible to have the target robot Hk disembark at the destination floor Fx.

[0235] Incidentally, the configuration in which two allocation requests (steps S113A and S113B) are made as a second hall call allocation request after the first hall call allocation request is made can also be applied after the first hall call allocation request (step S110A in FIG. 13) is made in the first modified example described above (see FIG. 23).

[0236] [2-4] Fourth Variation The fourth modified example is a further modified example of the first modified example described above. Even in the first modified example described above, if the car G is stopped in the forward direction Ks at the disembarking floor (= destination floor Fx) of the robot H, after getting on the car G, depending on the positional relationship between the user's disembarking floor and the disembarking floor (= destination floor Fx) of the robot H, a situation may arise in which the user must experience the robot H disembarking at a floor on the way to disembarkation. Therefore, in order to prevent the user from having to go through such an experience, the allocation request process described in the first modified example above may be appropriately modified to the following process.

[0237] 23 is a flowchart showing the allocation request process executed in the fourth modified example. In the allocation request process of this modified example, after the first allocation request (allocation request for the first hall call; step S140A), the robot management device 4 acquires current elevator information Pe (including information indicating the operating status of the car G and the usage status of the user) from the elevator control device 3, as in the third modified example (step S141). Then, using the elevator information Pe, the robot management device 4 determines whether the elevator control device 3 has started responding to the first hall call (step S142). Furthermore, the elevator control device 3 repeatedly executes step S142 until it can determine that "response has started (Yes)" in step S142.

[0238] In this modified example, if the robot management device 4 determines that the process has started (Yes) in step S142, it further makes the following second and third allocation requests as second hall calls (steps S143A and S143B).

[0239] In the second allocation request, the robot management device 4 requests the elevator control device 3 to allocate a second hall call Rh for the target robot Hk, with the same floor as the user's departure floor Fc used in the determination in step S103 (the user's departure floor Fc used when it was determined in step S103 that all of conditions (1) to (3) are "satisfied (Yes)") as the departure floor Fc, and the terminal floor Fy (= Fy2) located in the forward direction Ks from the boarding floor Ft of the target robot Hk as the destination floor Fd (step S143A). Specifically, the robot management device 4 sets the same floor as the user's departure floor Fc as the departure floor Fc, and sets the terminal floor Fy (= Fy2) as the destination floor Fd, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3. In addition, the robot management device 4 records the information (robot information Ph, departure floor Fc, destination floor Fd) sent to the elevator control device 3 as allocation request information in the allocation request management data Ds (see Figure 3 (B)) in a mutually associated state.

[0240] By making such a second allocation request, it becomes possible to have the car G pass through the destination floor Fx of the target robot Hk while the target robot Hk is still aboard. Therefore, it becomes possible for the user to disembark before the target robot Hk before reaching the terminal floor Fy (= Fy2). This means that the user does not have to experience the target robot Hk disembarking while traveling in the car G. As a result, it becomes possible to significantly reduce the length of the user's ride time.

[0241] For the third allocation request, the robot management device 4 requests the elevator control device 3 to allocate a third hall call Rh for the target robot Hk, with the end floor Fy (= Fy2) set as the departure floor Fc and the target floor Fx of the target robot Hk set as the destination floor Fd (step S143B). Specifically, the robot management device 4 sets the end floor Fy (= Fy2) as the departure floor Fc and the target floor Fx of the target robot Hk as the destination floor Fd, and transmits this information together with the robot information Ph of the target robot Hk to the elevator control device 3. The robot management device 4 also records the information (robot information Ph, departure floor Fc, destination floor Fd) transmitted to the elevator control device 3 as allocation request information in the allocation request management data Ds (see FIG. 3(B)) in a mutually associated state.

[0242] By making such a third allocation request, even after the car G has passed the destination floor Fx of the target robot Hk, when the car G moves in the reverse direction Kt from the end floor Fy (= Fy2), the car G can be stopped in the reverse direction Kt at the destination floor Fx of the target robot Hk, and as a result, it becomes possible to have the target robot Hk disembark at the destination floor Fx.

[0243] Incidentally, the configuration in which two allocation requests (steps S143A and S143B) are made as a second hall call allocation request after the first hall call allocation request is made can also be applied after the first hall call allocation request (step S150A in FIG. 17) is made in the second modified example described above.

[0244] [2-5] Fifth variant In any of the above-described embodiments and modifications, the request for allocation of a hall call Rg for a user may be appropriately changed to one requested from a destination floor registration device installed on each floor by the user registering a destination floor Fd in the destination floor registration device. In this case, the destination floor registration device transmits the destination floor Fd registered by the user and its own device information Pd to the elevator control device 3 as a request for allocation of a hall call Rg for the user.

[0245] When the elevator control device 3 receives an allocation request from a destination floor registration device, it determines that it is "device information Pd" in step S200 of Figure 5 or Figure 19, and then in the subsequent step S201, it sets the floor where the destination floor registration device (the destination floor registration device identified by the received device information Pd; see Figure 2 (A)) is installed as the departure floor Fc, and then assigns the departure floor Fc and the received destination floor Fd (the destination floor Fd registered by the user in the destination floor registration device) to a single hall call Rg and executes allocation to the elevator car G.

[0246] In this configuration, the condition (1) determined in step S103 is changed to a condition that the forward direction Ks from the boarding floor Ft of the target robot Hk to the destination floor Fx of the target robot Hk is the same as the direction from the user's departure floor Fc to the user's destination floor Fd. Also, the condition (2) determined in step S103 is changed to a condition that the boarding floor Ft of the robot H is between the user's departure floor Fc and the user's destination floor Fd.

[0247] Furthermore, when responding to a hall call Rg for a user in the first response processing of Fig. 7 or 20, the elevator control device 3 will register the destination floor Fd indicated by the hall call Rg (the destination floor Fd of the user) as a car call Vg for the user in the car G in step S303, instead of executing steps S304 and S305. Then, the elevator control device 3 will delete the hall call Rg that has completed its purpose, and then terminate the first response processing. Furthermore, when responding to a hall call Rg for a user in the third response processing of Fig. 9, the elevator control device 3 will perform the same processing, instead of executing steps S324 and S325.

[0248] [2-6] Sixth Variation In any of the above-described embodiments and modifications, each robot H may be modified as appropriate to execute the control processes (including allocation request processes and boarding / disembarking command processes) performed by the robot management device 4 on behalf of the robot management device 4. In this case, each robot H will communicate with the elevator control device 3 without going through the robot management device 4. This allows each robot H to use the elevator car G autonomously.

[0249] 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.

[0250] Furthermore, from the above-described embodiments and modifications, the subject matter of the invention is not limited to the robot management device 4 or the robot H, but the control processes and programs executed by the robot management device 4 or the robot H may be extracted individually, or some of them may be extracted partially. Also, some or all of an elevator equipped with the robot management device 4 or the robot H may be extracted as the subject matter of the invention. [Explanation of symbols]

[0251] 1 Destination button 2 Destination floor button 3 Elevator control device 4. Robot Management Device G car H Robot 31, 41 Storage section 32, 42 Control section Dp Equipment Management Data Dr. Robot Management Data Ds Allocation request management data Fc Departure Floor Fd Destination floor Fg Arrival Floor Fs Installation floor Ft boarding floor Fx destination floor Fy end floor Hk Target Robot Kc destination direction Kg Moving direction Kh Conveying direction Ks forward Kt reverse direction Pd device information Pe Elevator Information Ph Robot Information Qt current position Rg, Rh platform call Sx ride completion signal Sy exit completion signal Sz Door open extension signal Vg, Vh cage call Dq1G, Dq1H Hall call management data Dq2G, Dq2H cage call management data FY1 1st floor FY2 2nd End Floor Kg1 Departure direction Kg2 Arrival Direction Pr1, Pr2 received information

Claims

1. A robot management device that manages robots used in a building in which elevators are installed, and that, when a robot is moved from a boarding floor to a destination floor using a car of the elevator, requests the robot to allocate a hall call by transmitting a departure floor and a destination floor or a destination direction required for the allocation of the hall call to a control device of the elevator, As the allocation request, a request is made to allocate a normal hall call with the boarding floor and destination floor of the robot as the departure floor and destination floor, respectively, or a request is made to allocate a first hall call for stopping the car at the boarding floor in a direction opposite to the forward direction from the boarding floor to the destination floor of the robot, and a request is made to allocate a second hall call which is a hall call different from the first hall call and for stopping the car at the destination floor of the robot in the forward direction or the reverse direction, When the car arrives at the stop floor, A determination is made (A1) as to whether the arrival floor of the elevator car matches any of the departure floors transmitted in the allocation request; If it is determined in judgment (A1) that the request matches any of the departure floors, the matching assignment request is set as a first focus request, and the departure floor and the destination floor or the destination direction transmitted in the first focus request are used to determine the direction from the departure floor to the destination floor or the destination direction as the conveyance direction of the robot, and then a judgment (B1) is made as to whether the departure direction of the elevator from the arrival floor matches the conveyance direction, If it is determined in the determination (B1) that the direction of travel of the robot matches the direction of travel of the robot, a determination (C1) is made as to whether the departure floor transmitted in the first focus request matches the boarding floor of the robot; If it is determined in the determination (C1) that the floor coincides with the boarding floor of the robot, a door-open extension signal is sent to the elevator control device, and the robot is instructed to board the car, and then, when the robot has completed boarding, a boarding completion signal is sent to the elevator control device; If the judgment (C1) determines that the floor does not match the floor the robot is to board, the robot management device does not send the door opening extension signal to the elevator control device, and does not instruct the robot to board the car, but sends the boarding completion signal as a dummy signal to the elevator control device.

2. When the elevator car arrives at a stop floor, A determination is made (A2) as to whether the arrival floor of the elevator car matches any of the destination floors transmitted in the allocation request; If it is determined in judgment (A2) that the request matches any of the destination floors, the matching assignment request is set as a second focus request, and the direction from the departure floor to the destination floor is used to determine the conveyance direction of the robot, and then a judgment (B2) is made as to whether the arrival direction of the elevator at the arrival floor matches the conveyance direction, If it is determined in the determination (B2) that the direction of transport of the robot matches, a determination (C2) is made as to whether the destination floor transmitted in the second focus request matches the destination floor of the robot; If it is determined in the determination (C2) that the destination floor of the robot matches, a door-open extension signal is sent to the elevator control device, and a command is issued to the robot to dismount from the elevator car. Thereafter, when the robot has completed dismounting, a dismount completion signal is sent to the elevator control device.

2. The robot management device of claim 1, wherein if the judgment (C2) determines that the destination floor does not match the destination floor of the robot, the robot management device does not send the door opening extension signal to the elevator control device, and does not command the robot to disembark from the car, but sends the disembarkation completion signal as a dummy signal to the elevator control device.

3. When the robot is moved from the boarding floor to the destination floor using the elevator car, and when a hall call for a user is assigned by the elevator control device, the boarding floor and destination floor of the robot and the departure floor and destination direction indicated by the hall call for the user are determined as follows: (1) A condition that the forward direction from the boarding floor of the robot to the destination floor of the robot is the same as the destination direction of the user; (2) A condition that the boarding floor of the robot is between the departure floor of the user and the destination floor of the robot; and (3) A condition that the current position of the elevator car is on the destination floor side of the robot with respect to the boarding floor of the robot; and Determine whether each of the following is satisfied, If it is determined that all of the above conditions (1) to (3) are met, as the first hall call allocation request, a hall call allocation request is made in which the boarding floor of the robot is set as a departure floor and an end floor located in the opposite direction to the boarding floor is set as a destination floor; The robot management device according to claim 1 or 2, wherein the second hall call allocation request is a hall call allocation request in which the end floor is a departure floor and the destination floor of the robot is a destination floor.

4. When the robot is moved from the boarding floor to the destination floor using the elevator car, and when a hall call for a user is assigned by the elevator control device, the boarding floor and destination floor of the robot and the departure floor and destination direction indicated by the hall call for the user are determined as follows: (1) A condition that the forward direction from the boarding floor of the robot to the destination floor of the robot is the same as the destination direction of the user; (2) A condition that the boarding floor of the robot is between the departure floor of the user and the destination floor of the robot; and (3) A condition that the current position of the elevator car is on the destination floor side of the robot with respect to the boarding floor of the robot; and Determine whether each of the following is satisfied, If it is determined that all of the above conditions (1) to (3) are satisfied, (4) A condition in which, as a call for a user other than the user, when the car is moving in the reverse direction, a hall call is assigned by the elevator control device to stop the car in the reverse direction at a floor located in the opposite direction from the boarding floor of the robot; Determine whether or not is satisfied, If it is determined that the condition (4) is satisfied, making a request for allocation of the first hall call, in which the boarding floor of the robot is set as a departure floor and the departure floor indicated by the hall call that satisfies the condition (4) is set as a destination floor; 3. The robot management device according to claim 1, wherein the second hall call allocation request is made with the same floor as the departure floor of the user used when it is determined that all of the conditions (1) to (3) are satisfied, and with the destination floor being the destination floor of the robot.

5. When the robot is moved from the boarding floor to the destination floor using the elevator car, and when a hall call for a user is assigned by the elevator control device, the boarding floor and destination floor of the robot and the departure floor and destination direction indicated by the hall call for the user are determined as follows: (1) A condition that the forward direction from the boarding floor of the robot to the destination floor of the robot is the same as the destination direction of the user; (2) A condition that the boarding floor of the robot is between the departure floor of the user and the destination floor of the robot; and (3) A condition that the current position of the elevator car is on the destination floor side of the robot with respect to the boarding floor of the robot; and Determine whether each of the following is satisfied, If it is determined that all of the above conditions (1) to (3) are met, as the first hall call allocation request, a hall call allocation request is made in which the boarding floor of the robot is set as a departure floor and the reverse direction is set as a destination direction from the departure floor; 3. The robot management device according to claim 1, wherein the second hall call allocation request is a hall call allocation request having the same floor as the departure floor of the user as a departure floor and the destination floor as the destination floor of the robot.

6. The robot management device according to claim 3 , wherein the request for allocation of the first hall call and the request for allocation of the second hall call are simultaneously made to the elevator control device.

7. When the robot is moved from the boarding floor to the destination floor using the elevator car, and when a hall call for a user is assigned by the elevator control device, the boarding floor and destination floor of the robot and the departure floor and destination direction indicated by the hall call for the user are determined as follows: (1) A condition that the forward direction from the boarding floor of the robot to the destination floor of the robot is the same as the destination direction of the user; (2) A condition that the boarding floor of the robot is between the departure floor of the user and the destination floor of the robot; and (3) A condition that the current position of the elevator car is on the destination floor side of the robot with respect to the boarding floor of the robot; and Determine whether each of the following is satisfied, When it is determined that all of the conditions (1) to (3) are satisfied, a request for allocation of the first hall call is made, in which the boarding floor of the robot is set as the departure floor and the end floor located in the opposite direction from the boarding floor is set as the destination floor; After the elevator control device starts responding to the first hall call, as an assignment request for the second hall call, a request for assigning a hall call, with the end floor being a first end floor, the first end floor being a departure floor, and a second end floor located on the opposite side of the first end floor being a destination floor; a request for assigning a hall call with the second end floor as a departure floor and the destination floor of the robot as a destination floor; The robot management device according to claim 1 or 2, wherein the robot management device performs the following.

8. When the robot is moved from the boarding floor to the destination floor using the elevator car, and when a hall call for a user is assigned by the elevator control device, the boarding floor and destination floor of the robot and the departure floor and destination direction indicated by the hall call for the user are determined as follows: (1) A condition that the forward direction from the boarding floor of the robot to the destination floor of the robot is the same as the destination direction of the user; (2) A condition that the boarding floor of the robot is between the departure floor of the user and the destination floor of the robot; and (3) A condition that the current position of the elevator car is on the destination floor side of the robot with respect to the boarding floor of the robot; and Determine whether each of the following is satisfied, If it is determined that all of the above conditions (1) to (3) are satisfied, (4) A condition in which, as a call for a user other than the user, when the car is moving in the reverse direction, a hall call is assigned by the elevator control device to stop the car in the reverse direction at a floor located in the opposite direction from the boarding floor of the robot; Determine whether or not is satisfied, If it is determined that the condition (4) is satisfied, making a request for allocation of the first hall call, in which the boarding floor of the robot is set as a departure floor and the departure floor indicated by the hall call that satisfies the condition (4) is set as a destination floor; After the elevator control device starts responding to the first hall call, as an assignment request for the second hall call, a request for assigning a hall call, with the same floor as the departure floor of the user used when it is determined that all of the conditions (1) to (3) are satisfied as the departure floor, and with the destination floor being an end floor located in the forward direction with respect to the boarding floor of the robot; A request for assigning a hall call with the end floor as a departure floor and the destination floor of the robot as a destination floor; The robot management device according to claim 1 or 2, wherein the robot management device performs the following.

9. When the robot is moved from the boarding floor to the destination floor using the elevator car, and when a hall call for a user is assigned by the elevator control device, the boarding floor and destination floor of the robot and the departure floor and destination direction indicated by the hall call for the user are determined as follows: (1) A condition that the forward direction from the boarding floor of the robot to the destination floor of the robot is the same as the destination direction of the user; (2) A condition that the boarding floor of the robot is between the departure floor of the user and the destination floor of the robot; and (3) A condition that the current position of the elevator car is on the destination floor side of the robot with respect to the boarding floor of the robot; and Determine whether each of the following is satisfied, If it is determined that all of the above conditions (1) to (3) are met, as the first hall call allocation request, a hall call allocation request is made in which the boarding floor of the robot is set as a departure floor and the reverse direction is set as a destination direction from the departure floor; After the elevator control device starts responding to the first hall call, as an assignment request for the second hall call, a request for assigning a hall call, with the same floor as the departure floor of the user used when it is determined that all of the conditions (1) to (3) are satisfied as the departure floor, and with the destination floor being an end floor located in the forward direction with respect to the boarding floor of the robot; A request for assigning a hall call with the end floor as a departure floor and the destination floor of the robot as a destination floor; The robot management device according to claim 1 or 2, wherein the robot management device performs the following.

10. A robot used in a building in which an elevator is installed, when the robot itself travels in a car of the elevator from a boarding floor to a destination floor, requests allocation of a hall call for itself by transmitting a departure floor and a destination floor or a destination direction required for allocation of the hall call to a control device of the elevator, As the allocation request, a normal hall call allocation request is made with the boarding floor and destination floor of the passenger's own passenger as the departure floor and destination floor, respectively, or a first hall call allocation request is made to stop the car at the boarding floor in the direction opposite to the forward direction from the passenger's own boarding floor to the destination floor, and a second hall call allocation request is made which is a hall call different from the first hall call and is made to stop the car at the destination floor in the forward direction or the reverse direction, When the car arrives at the stop floor, A determination is made (A1) as to whether the arrival floor of the elevator car matches any of the departure floors transmitted in the allocation request; If it is determined in the determination (A1) that the floor matches any of the departure floors, the matching allocation request is set as a first focus request, and the departure floor and the destination floor or the destination direction transmitted in the first focus request are used to determine the direction from the departure floor to the destination floor or the destination direction as the direction of transport of the elevator, and then a determination (B1) is made as to whether the departure direction of the elevator from the arrival floor matches the transport direction, If it is determined in the determination (B1) that the direction of transportation matches the direction of the vehicle's own transportation, a determination (C1) is made as to whether the departure floor transmitted in the first focus request matches the vehicle's own boarding floor, If it is determined in the determination (C1) that the floor matches the floor of the passenger's own boarding floor, a door-open extension signal is sent to the elevator control device, and boarding to the car is performed, and then, when boarding is completed, a boarding completion signal is sent to the elevator control device, If the robot determines in the judgment (C1) that the floor does not match its own boarding floor, it does not send the door opening extension signal to the elevator control device, and does not board the car, but sends the boarding completion signal as a dummy signal to the elevator control device.

11. a program for causing a robot used in a building in which an elevator is installed, or a robot management device that manages the robot, to execute a request step and a boarding / alighting command step; In the request step, when the robot is moved from a boarding floor to a destination floor using the elevator car, a request for allocation of a hall call for the robot is made by transmitting a departure floor and a destination floor or a destination direction required for allocation of the hall call to a control device of the elevator; the allocation request is made by making a request for allocation of a normal hall call with the boarding floor and destination floor of the robot as the departure floor and destination floor, respectively, or by making a request for allocation of a first hall call for stopping the car at the boarding floor in a direction opposite to the forward direction from the boarding floor to the destination floor of the robot, and a request for allocation of a second hall call which is a hall call different from the first hall call and for stopping the car at the destination floor of the robot in the forward direction or the reverse direction; In the boarding / alighting command step, When the car arrives at the stop floor, A determination is made (A1) as to whether the arrival floor of the elevator car matches any of the departure floors transmitted in the allocation request; If it is determined in the determination (A1) that the request matches any of the departure floors, the matching allocation request is set as a first focus request, and the departure floor and the destination floor or the destination direction transmitted in the first focus request are used to determine the direction from the departure floor to the destination floor or the destination direction as the conveyance direction of the robot, and then a determination (B1) is made as to whether the departure direction of the elevator from the arrival floor matches the conveyance direction, and further If it is determined in the determination (B1) that the direction of travel of the robot matches the direction of travel of the robot, a determination (C1) is made as to whether the departure floor transmitted in the first focus request matches the boarding floor of the robot; If it is determined in the determination (C1) that the floor coincides with the boarding floor of the robot, a door-open extension signal is sent to the elevator control device, and the robot is instructed to board the car, and then, when the robot has completed boarding, a boarding completion signal is sent to the elevator control device; If the judgment (C1) determines that the floor does not match the floor the robot is to board, the program executes the following: without sending the door-open extension signal to the elevator control device, and without instructing the robot to board the car, sending the boarding completion signal as a dummy signal to the elevator control device.

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