Elevator system and elevator control method

Abstract

To enable appropriate running without reducing use efficiency regardless of whether an elevator is used by passengers or robots.SOLUTION: An elevator system comprises: a stop position detection unit 12 that detects whether an error in stop position between a landing floor and the floor stop position of a car 1 is between a value exceeding a first threshold value and a second threshold value; a moving body state monitor 14 that monitors whether a moving body 30 is in the car 1; and an elevator running control unit 11 that performs floor alignment operation for moving the car so as to set the error smaller than the first threshold value when the error in stop position detected by the stop position detection unit 12 is between the value exceeding the first threshold value and the second threshold value upon detection of the presence of the moving body 30 in the car on the basis of information received from the moving body state monitor 14.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an elevator system and an elevator control method. [Background technology]

[0002] Recently, elevators are being required to transport not only passengers but also autonomously mobile robots. To transport a robot, the robot sends control data to the elevator system's control device, indicating the floor (landing) where the robot is located and the destination floor (destination floor) to which the robot is going, and then requests the elevator to move the robot. Based on this control data, the control device directs the elevator car to the floor where the robot is located, and after the robot boards, executes control to transport the elevator car to the destination floor.

[0003] However, in an elevator system in which a robot is transported in a car, there is a possibility that the robot may fall over when getting on or off the car if there is a step between the car and the platform.

[0004] Patent Document 1 describes a technique for correcting the difference in level between the floor of the car and the floor of the landing when the car lands on the floor in order to prevent elevator users from falling. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-89085 Summary of the Invention [Problem to be solved by the invention]

[0006] The conventional step correction technology described in Patent Document 1 is a technology in which a step is corrected when the elevator car is stopped at a floor and the car door is open. The step correction technology described in Patent Document 1 basically corrects steps of a maximum of a few centimeters; it is preferable to have no steps, but even before correction is performed, the step is acceptable for getting on and off.

[0007] On the other hand, when a robot is to get on and off a car, it is preferable that there is no step at all when the door is opened, in order to prevent the robot from falling over. However, if an elevator stops at every floor during operation, constantly correcting the steps at every floor means that it takes a considerable amount of time for the doors to open after the elevator stops at each floor. In other words, because the step correction process is constantly performed after the elevator stops at each floor and before the doors open, it takes time for the doors to open at each floor, which reduces the efficiency of elevator use.

[0008] On the other hand, if step correction is not performed, the robot may tip over on the step when boarding or alighting, making it impossible to close the elevator door, or in the worst case scenario, causing the robot to malfunction. This could result in the elevator being unable to provide service until the fallen robot is rescued. Therefore, if the step correction is not performed, the efficiency of elevator use will decrease and the robot will not be able to be used.

[0009] An object of the present invention is to provide an elevator system and an elevator control method that can operate appropriately without reducing utilization efficiency whether the elevator is used by passengers or by a robot. [Means for solving the problem]

[0010] In order to solve the above problems, for example, the configurations described in the claims are adopted. The present application includes multiple means for solving the above-mentioned problems, and one example thereof is an elevator system capable of carrying a moving body, comprising: a stop position detection unit that detects whether an error in the stop position between a landing floor and a car floor exceeds a first threshold value and is between a second threshold value; a moving body state monitoring unit that monitors whether the moving body is on board the car; and an elevator operation control unit that, when it is detected from information received from the moving body state monitoring unit that a moving body is on board the car, performs floor alignment operation to move the car so that the error becomes smaller than the first threshold value when the error in the stop position detected by the stop position detection unit exceeds the first threshold value and is between the second threshold value; The elevator is provided with a server that controls the mobile body or a communication unit that communicates with the mobile body, and when the mobile body status monitoring unit detects through communication in the communication unit that there is a mobile body that is scheduled to board at a stopping floor, it instructs the elevator operation control unit to perform floor matching operation, and after the floor matching operation is completed, the elevator operation control unit instructs the elevator car door to open. Equipped with. [Effects of the Invention]

[0011] According to the present invention, when a moving body uses an elevator, the floor of the car and the floor of the landing are aligned, which prevents the robot from tipping over when using the elevator, prevents a decrease in the elevator utilization rate, and prevents the robot from breaking down. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a configuration diagram of an elevator system according to an embodiment of the present invention. [Figure 2] 1 is a block diagram showing an example of a hardware configuration of an elevator control device according to an embodiment of the present invention. FIG. [Figure 3] 10 is a flowchart illustrating an example of a process when a robot is used according to an embodiment of the present invention. [Figure 4] 1 is a flowchart illustrating an example of processing performed by an elevator control device according to an embodiment of the present invention when a robot is used. DETAILED DESCRIPTION OF THE INVENTION

[0013] An elevator system and an elevator control method according to an embodiment of the present invention (hereinafter referred to as "this embodiment") will be described below with reference to the accompanying drawings.

[0014] [System-wide configuration] The configuration of the elevator system of this example will be described with reference to FIG. The elevator system of this example includes a car 1, a hoist 2, a counterweight 3, a pulley 4, a main rope 5, a landing door 6, a position detection plate 7, a car stop position detection device 8, a rotary encoder 9, and an elevator control device 10.

[0015] The car 1 is connected to a counterweight 3 by a main rope 5 and driven by a hoisting machine 2 to move up and down the elevator shaft. The main rope 5 is hung on a pulley 4 so that the counterweight 3 does not come into contact with the car 1. The landing door 6 opens and closes in conjunction with the car door 1a installed in the car 1 when the car 1 stops.

[0016] A position detection plate 7 is installed on each floor in the elevator shaft. A car stop position detection device 8 is installed on the car 1. The car stop position detection device 8 detects the position detection plate 7 to determine that the car is at the stop position on each floor. The rotary encoder 9 is installed on the hoist 2. The rotary encoder 9 measures the number of rotations of the hoist 2, thereby detecting the raised or lowered position of the car 1.

[0017] The elevator control device 10 includes an elevator operation control unit 11, a car stop position detection unit 12, an elevator status monitoring unit 13, a robot status monitoring unit 14, a remote control unit 15, and a communication unit 17. The elevator operation control unit 11 controls the elevation of the car 1, as well as the opening and closing of the car door 1a and the landing door 6. In addition, as will be described below, the elevator operation control unit 11 also controls and executes floor matching operation (floor landing position deviation correction operation) that matches the floor surface of the car 1 with the floor surface of the landing.

[0018] The landing position deviation correction operation of the car 1 is performed by the following operations. That is, when the car 1 stops, the stop position detection unit 12 first performs a stop position detection process to detect the error between the stop position of the floor of the hall and the floor of the car 1 based on the detection signal of the car stop position detection device 8. Specifically, the stop position detection unit 12 detects whether the error between the stop position of the floor of the landing and the floor of the car 1 exceeds a first threshold and is between a second threshold. The first threshold here is a value (for example, about several mm) that can be considered to have almost no step between the floor of the landing and the stop position of the floor of the car 1. The second threshold is a value (for example, about 1 cm to several cm) that can be considered to have a step between the floor of the landing and the stop position of the floor of the car 1 to the extent that it does not interfere with passengers getting on and off.

[0019] The elevator operation control unit 11 performs an operation to adjust the elevation position of the car 1 when the step is between a first threshold and a second threshold, based on the step detection value by the stop position detection unit 12. That is, the elevator operation control unit 11 performs a floor landing position deviation correction operation so that the error between the stop positions of the hall floor and the floor of the car 1 is within the first threshold. In addition, when the error between the stopping position of the landing floor and the floor of the car 1 exceeds the second threshold value, the landing position is significantly deviated to the extent that the car door 1a and the landing door 6 cannot be opened, so the elevator operation control unit 11 performs a correction operation different from the landing position deviation correction. In this example, the timing at which this landing position deviation correction operation is performed will be described later with reference to the flowchart of FIG.

[0020] The car stop position detection unit 12 detects the stop position of the car 1 based on signals from the car stop position detection device 8 and the rotary encoder 9. The information on the stop position of the car 1 detected by the car stop position detection unit 12 is supplied to the elevator operation control unit 11. The elevator status monitoring unit 13 communicates with the elevator operation control unit 11 to monitor the stopping position and running status of the elevator car 1.

[0021] The robot state monitoring unit (moving body state monitoring unit) 14 performs a moving body state monitoring process to monitor the position and operating state of the robot 30 operating in the building in which the elevator system of this example is installed. The remote control unit 15 transmits commands such as a car call registration request for a specific floor of the car 1 to the elevator operation control unit 11. The communication unit 17 communicates with the robot control server 20 via a predetermined network NW.

[0022] The robot control server 20 communicates with the robot 30 via the network NW, and controls the operation of the robot 30 by receiving request commands from the robot 30 and sending standby commands to the robot 30. The robot 30 autonomously moves within a building in which the elevator system of this example is installed, and performs various operations. For example, the robot 30 may be a baggage transport robot, a guide robot, a cleaning robot, a surveillance robot, etc. The movement of the robot 30 in the elevator system of this example is controlled by instructions from the robot control server 20. The robot 30 can use the elevator when moving.

[0023] [Example of hardware configuration for elevator control device] FIG. 2 shows an example of the hardware configuration of a computer that constitutes the elevator control device 10 of this example. The elevator control device 10 shown in FIG. 1 can be configured by, for example, a computer which is an information processing device. That is, the computer serving as the elevator control device 10 includes a processor, that is, a CPU (Central Processing Unit) 10a, a ROM (Read Only Memory) 10b, a RAM (Random Access Memory) 10c, and a non-volatile storage 10d. The nonvolatile storage 10d may be, for example, a hard disk drive (HDD), a solid state drive (SSD), or a semiconductor memory. The computer also includes a network interface 10e for transmitting and receiving data to and from other devices, and an input unit 10f for inputting various types of information.

[0024] The CPU 10a executes a program stored in the ROM 10b or the nonvolatile storage 10d on the RAM 10c, thereby configuring each processing unit such as the elevator operation control unit 11 shown in FIG. The nonvolatile storage 10d stores a program for performing control processing as the elevator control device 10, as well as information such as the control state of the elevator and the operating state of the robot 30. A program for performing floor landing position deviation correction operation of the car 1 is also stored in the nonvolatile storage 10d.

[0025] The network interface 10e has a function of communicating with the robot control server 20 and the like. Information from the control panel of the car 1 and signals from the car stop position detector 8 and rotary encoder 9 are input to the input unit 10f.

[0026] [Processing when getting on and off the robot] Next, a control process when the robot 30 uses the car 1 of the elevator system of this embodiment will be described. FIG. 3 is a flowchart showing the processing of the robot 30 and the robot control server 20 when the robot 30 gets on and off the car 1. First, when the robot 30 arrives at the elevator hall, it sends an elevator use request to the robot control server 20, including identification ID information that identifies the boarding floor and destination floor of the robot 30 and the elevator (car) to be used (step S11).

[0027] The robot control server 20, which has received an elevator use request from the robot 30, identifies the elevator control device 10 of the car 1 used by the robot 30 based on the identification ID included in the received elevator use request. The robot control server 20 then transmits the elevator use request to the identified elevator control device 10. At this time, the robot control server 20 holds the data of the boarding floor and disembarking floor of the robot included in the elevator use request.

[0028] The communication unit 17 receives an elevator use request from the robot control server 20 and sends the elevator use request to the remote control unit 15. The remote control unit 15 supplies the acquired elevator use request to the elevator operation control unit 11 (step S12), and the elevator operation control unit 11 starts operation of the car 1.

[0029] The remote control unit 15 transmits an elevator use request to the elevator operation control unit 11, and then transmits an elevator state check command to the elevator state monitoring unit 13. When the elevator status monitoring unit 13 receives an elevator status check command, it communicates with the elevator operation control unit 11 and acquires the elevator operation status, such as the current floor of the elevator car 1, the open / closed status of the car door 1a installed in the elevator car 1, and the floor arrival status of the elevator car 1. Then, the elevator status monitoring unit 13 periodically transmits the acquired elevator operation status data to the robot control server 20 via the communication unit 17 (step S13).

[0030] The robot control server 20 determines whether the car 1 has arrived at the robot boarding floor based on the floor arrival state of the car 1 and the current floor information of the car 1 included in the received elevator operation state (step S14). When it is determined in step S14 that the car 1 has arrived at the floor where the robot is to board (Yes in step S14), the robot control server 20 determines whether the door of the car 1 has been opened (step S15). When it is determined in step S14 that the car 1 has not arrived at the floor where the robot boards (No in step S14), and when it is determined in step S15 that the door of the car 1 has not been opened (No in step S15), the robot control server 20 returns to the determination in step S14.

[0031] When it is determined in step S15 that the door of the elevator car 1 has been opened (Yes in step S15), the robot control server 20 sends a boarding start command to the robot 30, and upon receiving the boarding start command, the robot 30 starts boarding the elevator car 1 (step S16). After completing the boarding into the car 1, the robot 30 transmits a boarding completion signal to the robot control server 20 (step S17).

[0032] The robot control server 20 transmits the boarding completion signal received from the robot 30 to the elevator control device 10. When the communication unit 17 of the elevator control device 10 receives the boarding completion signal from the robot 30, it transmits the boarding completion signal to the elevator operation control unit 11 via the remote control unit 15. When the elevator operation control unit 11 receives the boarding completion signal from the robot 30, it starts the operation of the elevator and causes the car 1 to depart (step S18).

[0033] Next, the robot control server 20 determines whether the car 1 has arrived at the robot disembarkation floor based on the arrival status of the car 1 and the current floor information of the car 1 contained in the elevator operation status received from the elevator control device 10 (step S19). When it is determined in step S19 that the car 1 has arrived at the robot disembarkation floor (Yes in step S19), the robot control server 20 determines whether the door of the car 1 has been opened (step S20).

[0034] When it is determined in step S19 that car 1 has not arrived at the robot disembarkation floor (No in step S19), and when it is determined in step S20 that the door of car 1 has not been opened (No in step S20), the robot control server 20 returns to the determination in step S19. Then, in step S20, when it is determined that the door of the car 1 has been opened (Yes in step S20), the robot control server 20 transmits a disembarkation start command to the robot 30. When the robot 30 receives the disembarkation start command from the robot control server 20, it starts disembarking from the car 1 (step S21). After the robot 30 has completed disembarking from the car 1, the robot 30 transmits a disembarking completion signal to the robot control server 20. The robot control server 20 transmits a disembarking completion signal for the robot 30 to the elevator control device 10 (step S22). In this way, the robot 30 gets on and off in conjunction with the floor landing state of the car 1 and the door opening and closing state.

[0035] [Elevator control device processing when using a robot] FIG. 4 is a flowchart showing an example of processing in the elevator control device 10 when the robot 30 is used. The elevator operation control unit 11 checks whether an elevator use command has been received from the remote control unit 15 (step S31). If an elevator use command has been received in step S31 (Yes in step S31), the elevator operation control unit 11 switches the car 1 to a robot-linked operation mode (step S32).

[0036] Next, the elevator operation control unit 11 determines whether the current floor of the elevator car 1 detected by the car stop position detection unit 12 matches the robot boarding floor included in the elevator use command and whether the robot has arrived at the robot boarding floor (step S33). If it is determined in step S33 that the elevator has not arrived at the floor where the robot is to board (No in step S33), the elevator operation control unit 11 generates a car call command to the floor where the robot is to board (step S34).

[0037] Furthermore, if it is determined in step S33 that the robot has arrived at the robot boarding floor (Yes in step S33), the elevator operation control unit 11 determines whether or not it has received a boarding completion signal from the robot 30 (step S35). If it has received a boarding completion signal from the robot 30 in step S35 (Yes in step S35), the elevator operation control unit 11 registers the robot disembarking floor as the destination floor (step S36).

[0038] If an elevator use command is not received in step S31 (No in step S31), after creating a car call command in step S34, after registering the robot disembarkation floor as the destination floor in step S36, or if a robot boarding completion signal is not received in step S35 (No in step S35), the elevator operation control unit 11 checks the call registration status (step S37).

[0039] Next, the elevator operation control unit 11 determines whether or not a call has been registered (step S38). If a call has been registered in step S38 (Yes in step S38), the elevator operation control unit 11 causes the car 1 to travel to the call registration floor (step S39). Then, the elevator operation control unit 11 starts floor landing control of the car 1 (step S40). After starting the floor landing control in step S40, and when there is no call registration in step S38 (No in step S38), the elevator operation control unit 11 determines whether it is in the robot-linked operation mode (step S41). If the robot-linked operation mode is selected in step S41 (Yes in step S41), the elevator operation control unit 11 determines whether the car 1 has landed at the robot boarding floor or the robot disembarking floor (step S42).

[0040] If the elevator has landed at the robot boarding floor or the robot disembarking floor in step S42 (Yes in step S42), the elevator operation control unit 11 determines whether or not the situation requires floor landing position deviation correction operation based on the detection signal from the stop position detection unit 12 while the car door 1a and the hall door 6 remain closed (step S43). A situation requiring floor landing position deviation correction operation here is a situation where the error between the stop positions of the hall floor and the floor of the car 1 exceeds the first threshold value and is between the second threshold value, as explained above.

[0041] When it is determined in step S43 that a floor landing position deviation correction operation is necessary (Yes in step S43), the elevator operation control unit 11 performs a floor landing position deviation correction operation with the car door 1a and the hall door 6 in a closed state (step S44). After performing the landing position deviation correction operation in step S44, and when the landing position deviation correction operation is not required in step S43 (No in step S43), the elevator operation control unit 11 performs the landing completion process (step S45), starts opening the car door 1a and the landing door 6, and completes the door opening (step S46). When the door is opened, the communication unit 17 of the elevator system 10 in this example sends a notification of the completion of the door opening to the robot control server 20. If the robot 30 is about to exit the car 1, the robot control server 20 instructs the robot 30 to exit the car 1.

[0042] On the other hand, if the robot-linked operation mode is not selected in step S41 (No in step S41), or if the elevator has landed on a floor other than the robot boarding floor or the robot disembarking floor in step S42 (No in step S42), the elevator operation control unit 11 starts opening the car door 1a and the landing door 6 (step S47). Then, the elevator operation control unit 11 determines whether or not a landing position deviation correction operation is required based on the detection signal from the stop position detection unit 12 (step S48).

[0043] When it is determined in step S48 that a floor landing position deviation correction operation is necessary (Yes in step S48), the elevator operation control unit 11 performs a floor landing position deviation correction operation (step S49). After performing the floor landing position deviation correction operation in step S49, and when the floor landing position deviation correction operation is not required in step S48 (No in step S48), the elevator operation control unit 11 performs floor landing completion processing (step S50).

[0044] [Effects of this embodiment] As described above, according to the elevator system of this example, when the robot 30 gets on or off, the landing position deviation correction operation is performed before the door opens. Therefore, the robot 30 can get on or off without fail when there is no step between the car 1 and the landing. This effectively prevents the robot 30 from getting on or off and falling over when there is a step between the car 1 and the landing. Furthermore, when the elevator lands on a floor other than the floor where the robot boards or disembarks, the doors are opened with priority, and then the floor landing position deviation correction operation is performed, so that the doors are opened quickly after the elevator lands, the time until the doors open can be shortened, and the elevator can be operated efficiently.

[0045] In particular, in the elevator system of this example, the operating mode is a robot-linked operating mode, and when the robot 30 is on board the car 1 or is about to board or disembark, a landing position deviation correction operation is performed before the door opens, so that the robot 30 can reliably board or disembark on a stepped floor.

[0046] Furthermore, after the completion of door opening is output from the elevator operation control unit that issues instructions to disembark from the car, the robot control server 20 performs disembarkation processing from the car, so that the door is opened when the landing position is in an appropriate state, and the robot 30 can disembark smoothly from the car 1.

[0047] Furthermore, when the robot-linked operation mode is not selected, that is, when the position of the robot 30 monitored by the moving body state monitoring unit 14 is not inside the elevator car 1, and when the robot 30 is not about to board the elevator car 1, a door-open command is issued and then floor-level operation is performed, thereby enabling the doors to be opened quickly when passengers board or disembark.

[0048] Furthermore, even when it is detected that there is a moving object scheduled to board at the stopping floor, an instruction to open the car door is given after the floor alignment operation is completed, so that even when the robot 30 boards the car 1, a landing position deviation correction operation can be performed before the door opens, allowing for appropriate control.

[0049] [Variations] The embodiments described above have been described in detail to make the present invention easier to understand, and are not necessarily limited to those having all of the configurations described. Furthermore, the configurations and processes described in the above-described embodiments can be modified or changed in various ways.

[0050] For example, in the above-described embodiment, the robot 30 performs actions such as autonomous movement based on commands from the robot control server 20. Alternatively, the robot 30 may directly perform actions such as autonomous movement, and the elevator control device 10 may communicate with the robot 30. In this case, the robot 30 performs actions such as boarding the car 1 based on commands from the elevator control device 10, such as a command to complete door opening.

[0051] Furthermore, in the above-described embodiment, the case where the autonomously mobile robot 30 uses an elevator has been described, but the present invention can also be applied to cases where a mobile body other than a robot uses an elevator. Furthermore, in the above-described embodiment, the landing position deviation correction operation is performed before the door opens both when the robot 30 boards the elevator car 1 and gets off at the destination floor, and when the robot 30 boards the elevator car 1. However, it is also possible to perform the landing position deviation correction operation only when the robot 30 is boarding the elevator car 1, for example.

[0052] Furthermore, in the configuration shown in FIG. 1, the elevator control device 10 is equipped with a robot status monitoring unit 14 and the like, and performs processing in cooperation with the robot, but similar processing may also be performed by modifying a program implemented in the control device of an existing elevator system. In this case, the program may be stored in a non-volatile storage or memory within the computer shown in FIG. 2, or may be stored in an external memory, an IC card, an SD card, an optical disk, or other recording medium and transferred. Furthermore, a part or all of the elevator control device 10 may be realized by dedicated hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0053] In addition, the configuration diagram shown in Figure 1 shows only the control lines and information lines that are considered necessary for explanation, and does not necessarily show all the control lines and information lines in the product. In reality, it can be considered that almost all components are interconnected. Also, with regard to the flowcharts shown in Figures 3 and 4, the processing order may be changed or multiple processes may be executed simultaneously as long as the processing results are the same. [Explanation of symbols]

[0054] 1...car, 1a...car door, 2...hoisting machine, 4...pulley, 5...main rope, 6...landing door, 7...position detection plate, 8...stop position detection device, 9...rotary encoder, 10...elevator system, 10a...CPU, 10b...ROM, 10c...RAM, 10d...non-volatile storage, 10e...network interface, 10f...input unit, 11...elevator operation control unit, 12...stop position detection unit, 13...elevator status monitoring unit, 14...robot status monitoring unit, 15...remote control unit, 17...communication unit, 20...robot control server, 30...robot

Claims

1. An elevator system capable of carrying a moving body, a stop position detection unit that detects whether an error between the stop position of the landing floor and the floor of the car exceeds a first threshold value and is between a second threshold value; a moving body state monitoring unit that monitors whether the moving body is riding in the elevator; an elevator operation control unit that, when it is detected from the information received from the moving body state monitoring unit that the moving body is riding in the elevator car, performs floor alignment operation to move the elevator car so that the error becomes smaller than the first threshold value when an error in the stop position detected by the stop position detection unit exceeds the first threshold value and is between the second threshold value; a server that controls the mobile object or a communication unit that communicates with the mobile object, When the moving body state monitoring unit detects through communication in the communication unit that there is a moving body to be boarded at a stopping floor, it instructs the elevator operation control unit to perform floor matching operation, and the elevator operation control unit instructs the elevator car door to open after completing the floor matching operation. Elevator system.

2. When the moving body state monitoring unit detects that the moving body is boarded and the stop position detection unit detects that the error between the stop position of the landing floor and the floor of the car exceeds a first threshold and is between a second threshold, the moving body state monitoring unit instructs the elevator operation control unit to perform floor matching operation, and the elevator operation control unit instructs the car door to open after the floor matching operation is completed.

10. The elevator system of claim 1.

3. The communication unit performs a process of disembarking from the elevator car on the server or the moving body after the elevator operation control unit outputs a notification that the door has been opened.

3. The elevator system of claim 2.

4. When the moving body state monitoring unit detects a state in which the moving body is not on board and a state in which the moving body is not about to board, the elevator operation control unit performs the floor alignment operation after issuing an instruction to open the car door.

10. The elevator system of claim 1.

5. Through communication by the communication unit, the moving body state monitoring unit acquires the destination floor of the moving body being boarded, and the elevator operation control unit performs the floor matching operation after issuing an instruction to open the door of the moving body when the car stops at a floor other than the destination floor.

4. The elevator system of claim 3.

6. An elevator control method for controlling an elevator capable of carrying a moving body, comprising: a stop position detection process for detecting whether an error between the stop position of the landing floor and the floor of the car exceeds a first threshold value and is between a second threshold value; a moving object state monitoring process for monitoring whether the moving object is riding in the elevator; an elevator operation control process that performs floor alignment operation to move the car so that the error becomes smaller than the first threshold value when it is detected that the moving body is riding in the car from the information received by the moving body state monitoring process and the error of the stop position detected by the stop position detection process is between the first threshold value and the second threshold value; a communication process for communicating with a server that controls the mobile object or the mobile object; When the mobile object state monitoring process detects based on the communication process that there is a mobile object to be boarded at a stopping floor, the elevator operation control process issues an instruction to execute floor matching operation, and the elevator operation control process issues an instruction to open the car door after the floor matching operation is completed. Elevator control method.

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