Elevator control system and waste collection method

Abstract

To prevent a decrease in elevator operation efficiency due to the running of an autonomous moving body. [Solution] In the elevator control system 1, when the elevator server 210 receives a collection request from a waste box 51, which is a request to collect waste, it sends a movement instruction to the autonomous mobile body server 310 to move the autonomous mobile body to the installation floor included in the collection request, sends a destination floor call for the autonomous mobile body to the control panels 100A, 100B, the control panels 100A, 100B switch the cars 50A, 50B to autonomous mobile body-only operation in which only the autonomous mobile body is on board and moves the autonomous mobile body for waste collection to the floor where it will board, the autonomous mobile body server 310 causes the autonomous mobile body to travel to the car landing, the autonomous mobile body boards the cars 50A, 50B and moves to the installation floor of the waste box 51 to collect the waste, and a travel control unit transports the collected waste to a collection site.

Description

[Technical Field]

[0001] FIELD OF THE INVENTION Embodiments of the present invention relate to elevator control systems and waste collection methods. [Background technology]

[0002] Conventionally, when residents of buildings such as apartment buildings dispose of waste such as garbage, they have to transport it to a designated garbage collection site, but transporting it to the designated location is time-consuming, and using an elevator to transport it can cause discomfort if other residents are also using it. For this reason, technologies for collecting garbage using elevators and technologies for collecting waste using autonomous mobile objects such as robots have been known (see, for example, Patent Document 1 and Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2024-2685 [Patent Document 2] International Publication No. 2017 / 072835 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology of Patent Document 1, the elevator itself is dedicated to transporting garbage, making it difficult for residents to use the elevator. Furthermore, in the technology of Patent Document 2, a robot collects waste and transports it to a collection site, but the specific conditions under which the robot moves are unclear. Therefore, the operation efficiency of the elevator may decrease when the autonomous moving object moves. [Means for solving the problem]

[0005] An elevator control system according to an embodiment includes an autonomous mobile body that can move autonomously in an elevator car installed in a building, a control panel that controls the autonomous mobile body and the car that can carry people, an elevator server that is connected to the control panel via a network and controls the raising and lowering of the cars of all of the elevators in the building, an autonomous mobile body server that is connected to the elevator server and the autonomous mobile body via a network and controls the autonomous mobile body, and one or more waste bins that are installed in predetermined locations within the building and are capable of storing waste. a control system, wherein the elevator server comprises: a first communication unit capable of receiving a collection request from each of the one or more waste bins, the collection request being a request for collection of the waste, the collection request including the installation floor on which the waste is installed and that the amount of the waste has reached a predetermined amount; and a first control unit that, when receiving the collection request from the waste bin, generates a destination floor call for an autonomous moving body indicating a movement request for the elevator car, with the installation floor included in the collection request as a destination floor; and when receiving the collection request from the waste bin, the first communication unit a second communication unit that receives a destination floor call for the autonomous mobile body from the elevator server, and when the control panel receives the destination floor call for the autonomous mobile body, the control panel switches to an autonomous mobile body-only operation in which only the autonomous mobile body is loaded into the elevator server and is operated, and moves the elevator server to a floor where the autonomous mobile body is loaded for the waste collection, and and a second control unit that controls the car to move to the installation floor of the waste bin when the user gets on, and the server for autonomous mobile body has a third communication unit that receives the movement instruction from the server for elevator and transmits the received movement instruction to the autonomous mobile body, and the autonomous mobile body has a fourth communication unit that receives the movement instruction, and when the autonomous mobile body receives the movement instruction, causes the autonomous mobile body to travel to the car boarding point, the user gets on the car, moves to the installation floor of the waste bin, collects the waste from the waste bin, and thena travel control unit that transports the waste to a collection point, The autonomous mobile object server further comprises a determination unit that, when receiving the movement instruction, determines whether the autonomous mobile object is in a state where it can move to the car, and the third communication unit transmits the movement instruction to the autonomous mobile object when the determination unit determines that the autonomous mobile object is in a state where it can move to the car, and the elevator server further comprises a recording unit that records the usage time of the elevator and a determination unit that determines a startup time of the autonomous mobile object based on the usage time, and the first communication unit transmits the determined startup time of the autonomous mobile object to the autonomous mobile object server, and The third communication unit of the server for autonomous mobile objects further receives the start-up time of the autonomous mobile object from the elevator server, and when the judgment unit of the server for autonomous mobile objects receives the movement instruction, judges whether the current time corresponds to the start-up time of the autonomous mobile object and whether the autonomous mobile object is in a state where it can move to the car, and when the judgment unit judges that the current time corresponds to the start-up time of the autonomous mobile object and that the autonomous mobile object is in a state where it can move to the car, the third communication unit of the server for autonomous mobile objects transmits the movement instruction to the autonomous mobile object. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram illustrating an example of the overall configuration of an elevator control system according to the first embodiment. [Figure 2] FIG. 2 is a block diagram illustrating an example of a functional configuration of a control panel according to the first embodiment. [Figure 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of a server in the elevator cloud according to the first embodiment. [Figure 4] FIG. 4 is a block diagram illustrating an example of a functional configuration of a server in the robot cloud according to the first embodiment. [Figure 5] FIG. 5 is a block diagram illustrating an example of a functional configuration of the robot according to the first embodiment. [Figure 6] FIG. 6 is a sequence diagram illustrating an example of the overall flow of the elevator control process according to the first embodiment. [Figure 7] FIG. 7 is a schematic diagram for explaining the overall flow of elevator control processing in waste collection according to the first embodiment. [Figure 8] FIG. 8 is a schematic diagram for explaining the overall flow (continuation) of the elevator control process in waste collection according to the first embodiment. [Figure 9] FIG. 9 is a schematic diagram for explaining the overall flow (continuation) of the elevator control process in waste collection according to the first embodiment. [Figure 10] FIG. 10 is a schematic diagram for explaining the overall flow (continuation) of the elevator control process in waste collection according to the first embodiment. [Figure 11] FIG. 11 is a flowchart showing an example of a procedure for waste recovery processing according to the first embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of a procedure for waste recovery processing according to the first embodiment. [Figure 13] FIG. 13 is a block diagram illustrating an example of a functional configuration of a server in the elevator cloud according to the second embodiment. [Figure 14] FIG. 14 is a sequence diagram showing an example of the overall flow of elevator control processing in waste collection according to the second embodiment. [Figure 15] FIG. 15 is a flowchart showing an example of a procedure for waste recovery processing according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, embodiments will be described with reference to the drawings.

[0008] (First embodiment) Fig. 1 is a diagram showing an example of the overall configuration of an elevator control system 1 according to a first embodiment. As shown in Fig. 1, the elevator control system 1 of this embodiment mainly includes control panels 100A and 100B provided for each of a plurality of elevators 2A and 2B in a building 3, controllers 150A and 150B provided for each of the plurality of elevators 2A and 2B, a control room 160, waste bins 51 provided on each floor of the building 3, a collection point 180 provided in the building 3, a server 210 in an elevator cloud 200, a server 310 in a robot cloud 300, a monitoring center 400, and an elevator company 700.

[0009] In this embodiment, a plurality of elevators 2A and 2B are installed in a building 3 (an example of a building) such as an apartment building. In the example of Fig. 1, two elevators 2A and 2B are shown, but the system may be configured with only one elevator or three or more elevators.

[0010] Elevators 2A, 2B each have a car 50A, 50B in their respective hoistways 20A, 20B. Additionally, each hoistway 20A, 20B also has a hoisting machine and a counterweight (not shown). The cars 50A, 50B and the counterweight are supported so as to be able to rise and fall freely on a pair of guide rails (not shown) erected in each of the hoistways 20A, 20B, and move up and down via ropes.

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

[0012] The cars 50A and 50B are provided with operation panels 4A and 4B, cameras 7A and 7B, load sensors 8A and 8B, and ejectors 55A and 55B. The operation panels 4A, 4B accept various operations from users and issue various notifications to the elevator car 50. The operation panels 4A, 4B are provided with push buttons, non-contact sensors, speakers, LCD displays, etc. (none of which are shown) for specifying destination floors and opening and closing the doors of the elevator cars 50A, 50B. The operation panels 4A, 4B are also connected to the control panels 100A, 100B by wire or wirelessly. When users 5A, 5B press the destination floor push button or when detected by a non-contact sensor, a destination floor call is sent to the control panels 100A, 100B.

[0013] Here, the destination floor call is operation data that is performed by a user in the elevator car 50 to move the elevator car 50 to a desired destination floor. The destination floor call specifies a destination floor.

[0014] Furthermore, in this embodiment, a destination floor call for the robot is transmitted from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150. The destination floor call for the robot is operation data in which the robot ID of the robot 500 that wishes to use the elevator 2, the departure floor, and the destination floor (also referred to as the target floor) are specified, and the car 50 is moved to the specified departure floor and directed from the departure floor to the specified destination floor.

[0015] A platform call is operation data that a platform user performs to make a car 50 heading in either the up or down direction arrive at the platform. The platform call specifies the destination direction and the floor where the platform call is made (i.e., the departure floor).

[0016] Cameras 7A and 7B photograph the interiors of cars 50A and 50B and send the captured images to control panels 100A and 100B. When the doors of cars 50A and 50B are open at the platform, cameras 7A and 7B are capable of capturing images of the platform and send the captured images to control panels 100A and 100B.

[0017] The load sensors 8A and 8B are provided on the bottom of the cars 50A and 50B and detect the weight of the car 50. When a user 5A or a robot 500A or 500B is inside the car 50A or 50B, the load sensors 8A and 8B detect the weight of the car 50 itself, as well as the weight of the user 5A and the robot 500A or 500B. The load sensors 8A and 8B send the detected weights as detection signals to the control panels 100A and 100B.

[0018] The sprayers 55A and 55B are provided on the ceilings of the cars 50A and 50B, respectively. The sprayers 55A and 55B are connected to the control panels 100A and 100B by wire or wirelessly. The sprayers 55A and 55B spray deodorizer into the cars 50A and 50B, respectively, in response to instructions from the control panels 100A and 100B.

[0019] A landing is provided on each floor. The landing is a place where users and robot 500 wait for the arrival of elevator cars 50A and 50B of elevators 2A and 2B. A camera 9 is provided on the wall of the landing on each floor. Camera 9 captures an image of the landing and transmits the captured image to control panels 100A and 100B.

[0020] On each floor, a waste box 51 is provided at a predetermined location away from the landing. The waste box 51 is used to store waste such as garbage. As shown in FIG. 1, the waste box 51 is provided with a load sensor 53 and a communication unit 52.

[0021] The load sensor 53 is a sensor that detects the amount of waste contained in the waste box 51, and may be, for example, a load sensor that detects the weight of the waste. The load sensor 53 is an example of a detection unit.

[0022] The communication unit 52 is a communication device having a predetermined communication protocol. The communication unit 52 of this embodiment transmits a collection request for waste collection, including the amount of waste detected by the loading sensor 53 and the floor on which its waste bin 51 is installed, to the server 210 in the elevator cloud 200. The communication unit 52 is an example of a fifth communication unit.

[0023] Control panels 100A and 100B and controllers 150A and 150B are provided inside the elevator shafts 20A and 20B, respectively. The control panels 100A and 100B are connected wirelessly or by wire to operation panels 4A and 4B provided on the cars 50A and 50B.

[0024] The control panels 100A and 100B control the operation of the cars 50A and 50B in the elevators 2A and 2B, respectively. The control panels 100A and 100B are connected to the controllers 150A and 150B, respectively, by wire or wirelessly. The control panels 100A and 100B will be described in detail later.

[0025] Each of the controllers 150A, 150B is connected to a server 210 in the elevator cloud 200 via a network. The controllers 150A, 150B are intermediary devices that control communication between the control panels 100A, 100B and the server 210 and have an interface function and a hub function for intermediating various signals exchanged between the control panels 100A, 100B and the server 210. Each of the controllers 150A, 150B is configured as a computer that includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc.

[0026] The manager of building 3 is present in control room 160 and issues various instructions to control panels 100A and 100B. The manager of control room 160 also receives various instructions from control panels 100A and 100B by email or the like via a PC or terminal device.

[0027] Furthermore, in the building 3, a collection area 180 is provided in an inconspicuous place, for example, on the lobby floor. The collection area 180 is a place where waste such as garbage collected in waste bins 51 on each floor of the building 3 is collected together.

[0028] Furthermore, in the building 3, a waiting area (not shown) is provided in a corner of the lobby floor, for example, so that the robots 500A, 500B, and 500C that are not performing work can wait in the waiting area.

[0029] The server 210 in the elevator cloud 200 issues various control instructions for the cars 50A and 50B of the elevators 2A and 2B to the control panels 100A and 100B via the controllers 150A and 150B, and also receives various instructions and data from the control panels 100A and 100B via the controllers 150A and 150B. The server 210 in the elevator cloud 200 is connected to a monitoring center 400 (an in-house server) and a server 310 in the robot cloud 300 via a network.

[0030] An in-house server (not shown) is installed in the monitoring center 400. The in-house server is a server installed in an affiliated company of the elevator 11, and collects information necessary for maintenance management and remote monitoring of the elevator 2 from the elevators 2A and 2B. This allows maintenance personnel to deal with the malfunction by referring to the information necessary for maintenance management collected in the in-house server of the monitoring center 400. Furthermore, when functions or services are executed through the elevator cloud 200, the in-house server of the monitoring center 400 can be accessed as needed to refer to building and elevator information, or the maintenance personnel can obtain information necessary for elevator management.

[0031] The server 310 of the robot cloud 300 receives various instructions and various data from the server 210 of the elevator cloud 200. The server 310 of the robot cloud 300 is connected to multiple robots 500A, 500B, and 500C in the building 3 via a network, and transmits various instructions to each of the multiple robots 500A, 500B, and 500C. The server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300 will be described in detail later.

[0032] The elevator company 700 is a company that provides the elevator 2, and a server 710 is provided within the elevator company 700.

[0033] The number of elevators is not limited, and three or more elevators are installed in building 3. Therefore, the number of elevator shafts 20A, 20B, cars 50A, 50B, control panels 100A, 100B, and controllers 150A, 150B also varies depending on the number of elevators 2A, 2B. Here, when the multiple elevators 2A, 2B, the multiple elevator shafts 20A, 20B, the multiple cars 50A, 50B, the multiple control panels 100A, 100B, and the multiple controllers 150A, 150B are not distinguished from one another, they are referred to as elevator 2, hoistway 20, car 50, control panel 100, and controller 150. When the operation panels 4A, 4B, cameras 7A, 7B, load sensors 8A, 8B, and jetting devices 55A, 55B are not distinguished from one another, they are referred to as operation panel 4, camera 7, load sensor 8, and jetting device 55.

[0034] Next, the control panel 100 will be described in detail. FIG. 2 is a block diagram showing an example of the functional configuration of the control panel 100 according to the first embodiment. The control panel 100 has a typical computer configuration, and as shown in FIG. 2, mainly comprises a control unit 120, a communication unit 102, and a storage unit 110.

[0035] 2, the control panel 100 is connected by wire or wirelessly to a load sensor 8, a camera 7 inside the car 50, and a camera 9 at the landing. The load sensor 8 (8A, 8B) is provided in the car 50 as described above. The camera 7 is provided near the ceiling of the car 50 so as to be able to capture images of the inside of the car 50 and, when the door of the car 50 is open, the landing.

[0036] The storage unit 110 is a storage medium (that is, a memory device) such as a ROM or RAM, etc. The storage unit 110 stores a management database 111 (hereinafter referred to as "management DB 111").

[0037] The management DB 111 is a database in which various data for using the elevator 2 is registered. For example, the management DB 111 registers the robot IDs of the robots 500 that can ride the elevator 2 controlled by the control panel 100. Here, the robot ID is information for identifying the robot 500.

[0038] The communication unit 102 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the control panel 100 and the controller 150. That is, the communication unit 102 transmits and receives various data to and from other control panels 100 and the server 210 of the elevator cloud 200 via the controller 150. The communication unit 102 also transmits and receives various instructions and notifications to and from the mobile terminal, PC, etc. of the manager of the control room 160.

[0039] In this embodiment, the communication unit 102 receives a destination floor call for the robot from the server 210 in the elevator cloud 200. Here, the destination floor call for the robot specifies a departure floor and a destination floor. The departure floor is the floor where the robot 500 boards the car 50 to collect waste. The destination floor is the floor where the waste bin 51 specified in the collection request is installed. The communication unit 102 is an example of a second communication unit.

[0040] The control unit 120 is made up of a hardware processor (CPU) and mainly includes a normal operation control unit 121 and a robot-linked operation control unit 122, as shown in FIG.

[0041] The normal operation control unit 121 controls the normal operation. Normal operation is an operation in which no robot is on board and only people are on board the elevator 50. The normal operation control unit 121 performs group management control of the elevator 50.

[0042] Here, group management control refers to control for allocating the car 50 that is closest to a departure floor, such as a floor where a call for the car 50 is made. In this embodiment, the normal operation control unit 121 performs group management control in cooperation with the other control panels 100 by, for example, inquiring of the control panels 100 of other elevators 2 about the departure floor and the current position and elevation status of the car 50 and receiving the response.

[0043] The robot interlocking operation control unit 122 controls the robot interlocking operation. Robot-linked driving is driving in which the robot 500 rides in the car 50. Robot-linked driving includes robot-only driving in which no person rides in the car 50, and non-robot-only driving in which a person can ride in the car 50. Robot-linked driving is sometimes referred to as robot driving.

[0044] In this embodiment, the robot-linked operation control unit 122 switches to robot-only operation when the communication unit 102 receives a second movement instruction, i.e., a robot destination floor call, to have the robot 500 board the car 50 to collect waste. The robot-linked operation control unit 122 then moves the car 50 to the departure floor specified in the robot destination floor call, i.e., the floor where the robot 500 will board to collect waste. Once the robot 500 boards the car 50, the robot-linked operation control unit 122 then controls the car 50 to move to the destination floor specified in the robot destination floor call, i.e., the floor where the waste bin 51 is installed.

[0045] Furthermore, the robot-linked operation control unit 122 moves the car 50 carrying the robot 500 that collected waste from the waste bin 51 from the floor where the waste bin 51 is installed to the floor where the collection point is located. Then, the robot-linked operation control unit 122 controls the spraying device 55 to spray a deodorizer into the car 50 after the robot 500 gets off the car 50 on the floor where the collection point is located.

[0046] The robot interlocking operation control unit 122 is an example of a second control unit.

[0047] Next, the server 210 in the elevator cloud 200 will be described in detail. 3 is a block diagram showing an example of the functional configuration of the server 210 in the elevator cloud 200 according to the first embodiment. As shown in FIG. 3, the server 210 mainly includes a control unit 211, a communication unit 212, and a storage unit 220 as a general computer configuration. The server 210 is an example of an elevator server.

[0048] The storage unit 220 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 220 stores various programs.

[0049] The communication unit 212 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the server 210 and the controller 150 of the control panel 100, and communication processing between the server 210 and the server 310 in the robot cloud 300.

[0050] In this embodiment, the communication unit 212 can receive a collection request from each of one or more waste bins 51, the collection request including the floor on which the waste bin is installed and information that the amount of waste has reached a predetermined amount. When the communication unit 212 receives a collection request from a waste bin 51, the communication unit 212 transmits a movement instruction to the server 310 in the robot cloud 300, the movement instruction being an instruction to move the robot 500 to the installation floor included in the collection request to collect the waste. Furthermore, when the communication unit 212 receives a collection request from the waste box 51, it transmits to the control panel 100 a destination floor call for the robot generated by the control unit 211, which will be described later. The communication unit 212 is an example of a first communication unit.

[0051] The control unit 211 is made up of a hardware processor (CPU). When the communication unit 212 receives a collection request from the waste bin 51, the control unit 211 generates a destination floor call for the robot, specifying the installation floor included in the collection request as the destination floor and a floor at which the robot 500 that collects the waste can board the car 50 as the departure floor.

[0052] Next, the server 310 in the robot cloud 300 will be described in detail. FIG. 4 is a block diagram showing an example of the functional configuration of the server 310 in the robot cloud 300 according to the first embodiment. As shown in FIG. 4, the server 310 mainly includes a control unit 311, a communication unit 312, a determination unit 313, and a storage unit 320, as a typical computer configuration. The server 310 is an example of a server for an autonomous mobile object.

[0053] The storage unit 320 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 320 stores various programs.

[0054] The communication unit 312 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the server 310 and the server 210 in the elevator cloud 200 , and communication processing between the server 310 and the robot 500 .

[0055] In this embodiment, the communication unit 312 receives a movement instruction for the robot 500 that collects waste from the server 210 of the elevator cloud 200, and transmits the received movement instruction to the robot 500. More specifically, the communication unit 312 transmits the received movement instruction to the robot 500 that has been determined by the determination unit 313, which will be described later, to be in a state where it can move to the car 50 and selected. The communication unit 312 is an example of a third communication unit.

[0056] When the communication unit 312 receives a movement instruction, the judgment unit 313 judges whether the robot 500 is in a condition to move to the car 50, and selects the mobile robot 500 as the robot 500 to collect the waste.

[0057] The control unit 311 is made up of a hardware processor (CPU) and controls various processes related to the robot 500.

[0058] Next, the robot 500 will be described in detail. 5 is a block diagram showing an example of the functional configuration of a robot 500 according to the first embodiment. As shown in FIG. 5, the robot 500 mainly includes a camera 506, various sensors 505, a control unit 501, a communication unit 502, a traveling control unit 509, a drive unit 503, and a storage unit 510.

[0059] The camera 506 captures images of the surroundings of the robot 500 and transmits the captured images to the server 310 of the robot cloud 300. The robot 500 may be configured to further transmit the captured images to the control panel 100. The camera 506 is an example of an imaging unit.

[0060] The various sensors 505 include, but are not limited to, a human sensor, an acceleration sensor, a load sensor, and the like.

[0061] The storage unit 510 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 510 stores various programs.

[0062] The communication unit 502 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the robot 500 and the server 310 in the robot cloud 300. In this embodiment, the communication unit 502 receives a movement instruction from the server 310 in the robot cloud 300.

[0063] The control unit 501 is made up of a hardware processor (CPU). When the elevator 2 is in operation, the control unit 501 reads and executes various programs from the storage unit 510, thereby executing various operations in the elevator 2.

[0064] The driving unit 503 is a motor or the like that drives the robot 500 to move. The travel control unit 509 controls the drive unit 503 to control the travel of the robot 500. In this embodiment, when the communication unit 502 receives a movement instruction, the robot 500 travels to the elevator of the car 50, gets on the car 50, moves to the floor where the waste bin 51 is installed, collects waste from the waste bin 51, and transports the collected waste to a collection point.

[0065] In addition, when there is one elevator 2 and a passenger gets into the car 50, the travel control unit 509 stops collecting waste if it detects, based on the image captured by the camera 506, that the car 50 is wheelchair-compatible and that the handicap button has been pressed.

[0066] After collecting the waste from the waste box 51, the travel control unit 509 causes the vehicle to board the car 50, travel to a collection point, and dispose of the collected waste at the collection point.

[0067] After collecting waste from the waste bin 51, the travel control unit 509 determines whether or not the waste in the waste bin 51 on another floor can be transported by, for example, comparing the amount of waste held by the robot 500 with the maximum load capacity of the robot 500. If the travel control unit 509 determines that the waste can be transported, it causes the robot 500 to board the elevator 50 and move to the waste bin 51 on the other floor to collect the waste.

[0068] The above configuration of the robot 500 is an example, and the robot 500 may further include an audio output unit such as a speaker and an input unit such as a touch panel.

[0069] Next, an elevator control process performed by the elevator control system 1 of this embodiment configured as above will be described. FIG. 6 is a sequence diagram showing an example of the overall flow of elevator control processing in waste collection according to the first embodiment. 7 to 10 are schematic diagrams for explaining the overall flow of elevator control processing in waste collection according to the first embodiment.

[0070] 7, it is assumed that a waste bin 51 is provided on each floor and a collection area 180 is provided on the first floor. When the load sensor 53 of the waste bin 51 detects that the waste is equal to or greater than a predetermined amount, for example, that the waste bin 51 is full, the communication unit 52 transmits a collection request including the floor on which the waste bin 51 is installed to the server 210 of the elevator cloud 200 (S102).

[0071] In the server 210 of the elevator cloud 200, when the communication unit 212 receives the collection request from the waste bin 51, the control unit 211 generates a destination floor call for the robot (S103). Then, the communication unit 212 transmits the destination floor call for the robot to the control panel 100 (S104). The communication unit 212 also transmits a movement instruction for the robot 500 to the server 310 of the robot cloud 300 (S105). This movement instruction also includes the installation floor of the waste bin 51 included in the collection request.

[0072] In the server 310 of the robot cloud 300, when the communication unit 312 receives a movement instruction from the server 210 of the elevator cloud 200, the determination unit 313 checks the status of the robot 400 (S106). For example, the determination unit 313 determines whether there is a robot 500 that can collect waste based on the time of day, etc. Then, the determination unit 313 selects a robot 500 that can collect waste (S107). Next, the communication unit 312 transmits a movement instruction to the selected robot 500 (S108).

[0073] In the selected robot 500, when the communication unit 502 receives the movement instruction, the travel control unit 509 controls the drive unit 503 to move to the front of the elevator 2 (S109), as shown in Fig. 8. Next, the robot 500 executes a waste collection process (S110). The waste collection process will be described in detail later.

[0074] During the waste collection process, when the robot 500 sends an operating instruction to the server 310 of the robot cloud 300 (S112), the sending instruction is sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S113), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 (S114).

[0075] In the control panel 100, when the communication unit 102 receives an operation instruction via the controller 150, the robot-linked operation control unit 122 switches the operation of the elevator 2 to robot-only operation (S115). Next, the robot-linked operation control unit 122 assigns a car 50 (S116) and moves the assigned car 50 (S117). During this process, the robot 500 performs waste collection processing as shown in FIG. 9.

[0076] When the robot 500 dismounts from the car 50 to collect the waste and dispose of it in a collection area, the robot interlocking operation control unit 122 of the control panel 100 issues a command to ventilate and deodorize the inside of the car 50, as shown in FIG. 10, and causes the spraying device 55 to spray a deodorizer (S118).

[0077] During the waste collection process, when the robot 500 sends an instruction to cancel dedicated operation to the server 310 of the robot cloud 300 (S119), the instruction to cancel dedicated operation is sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S120), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 (S121).

[0078] In the control panel 100, when the communication unit 102 receives the instruction to cancel the dedicated operation via the controller 150, the robot-linked operation control unit 122 cancels the robot-dedicated operation and switches to normal operation (S122). Then, the process ends.

[0079] Next, the waste recovery process in S110 will be described. 11 and 12 are flowcharts showing an example of a procedure for waste recovery processing according to the first embodiment.

[0080] When the robot 500 arrives in front of the elevator 2, the control unit 501 determines whether multiple elevators 2 are installed based on the image captured by the camera 506 (S201). If only one elevator 2 is installed (S201: No), the communication unit 502 sends a robot-only operation instruction for that elevator 2 to the server 310 of the robot cloud 300 (S207, S112). As described above, the operation instruction is sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200, and from the server 210 of the elevator cloud 200 to the control panel 100 (S113, S114), and the control panel 100 switches to robot-only operation (S115).

[0081] Next, the robot 500 gets into the car 50, and the control unit 501 determines whether the car 50 is wheelchair-compatible or not based on the presence or absence of handrails for wheelchairs, etc., from the image captured by the camera 506 (S208). If the car 50 is not wheelchair-compatible (S208: No), the process proceeds to S203.

[0082] On the other hand, if the elevator car 50 is wheelchair-accessible (S208: Yes), the control unit 501 determines whether or not operation has been stopped due to pressing of the handicap button based on the image captured by the camera 506 (S209). If operation has not been stopped due to pressing of the handicap button (S209: No), the process proceeds to S203.

[0083] On the other hand, if the operation is stopped due to pressing the handicap button (S209: Yes), the traveling control unit 509 of the robot 500 controls the driving unit 503 to stop the operation (S210), and restarts the operation after 5 minutes (S211). Then, the process returns to S209.

[0084] If multiple elevators 2 are installed in S201 (S201: Yes), the communication unit 502 transmits to the control panel 100 an instruction to operate one elevator exclusively for robots and an instruction to operate the other elevators normally (S202, S112). As described above, the operation instructions are transmitted from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200, and from the server 210 of the elevator cloud 200 to the control panel 100 (S113, S114), and the operation is switched in the control panel 100 (S115).

[0085] Then, the robot 500 gets into the car 50 that is now exclusively operated for robots, and moves to the target floor (destination floor).

[0086] In S203, the control unit 501 of the robot 500 determines whether or not the robot 500 has arrived at the destination floor (i.e., the floor where the waste bin 51 to be disposed of is installed) (S203). If the robot 500 has not arrived at the destination floor (S203: No), the robot 500 waits in the car 50.

[0087] When the robot 500 arrives at the destination floor (S203: Yes), the travel control unit 509 causes the robot 500 to dismount from the car 50, head toward the waste box 51, and collect the waste (S204).

[0088] Next, in the robot 500, the travel control unit 509 determines whether or not waste can be collected from waste bins 51 on other floors (S205). If waste on other floors can be collected (S205: Yes), the travel control unit 509 moves to the other floor using the elevator 2 and collects the waste (S206). If waste on other floors cannot be collected (S205: No), the process of S206 is not performed.

[0089] Next, the travel control unit 509 of the robot 500 uses the elevator 2 to move to a floor where the collection point 180 is located (the first floor in the example of FIGS. 7 to 10) (S212). Then, the travel control unit 509 places the collected waste at the collection point 180 (S213).

[0090] Next, the travel control unit 509 determines whether there is waste accumulated on other floors based on whether another movement instruction has been received by the communication unit 502 (S214). If there is waste accumulated on other floors (S214: Yes), the process proceeds to S204, and the process from S204 is repeatedly executed.

[0091] If there is no waste accumulated on other floors (S214: No), the travel control unit 509 controls the drive unit 503 to return the robot 500 to the standby location (S215). Next, the communication unit 502 transmits a dedicated operation cancellation instruction to the server 310 of the robot cloud 300 (S216, S119). As described above, the dedicated operation cancellation instruction is transmitted from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200, and from the server 210 of the elevator cloud 200 to the control panel 100 (S120, S121), and the robot-dedicated operation is cancelled in the control panel 100 (S122). Then, the process returns to the caller.

[0092] As described above, in the elevator control system 1 according to this embodiment, when one or more waste bins 51 detect that the amount of waste has reached a predetermined amount, the one or more waste bins 51 each transmit a collection request, which is a request for waste collection, including the installation floor on which the waste is installed and the fact that the amount of waste has reached the predetermined amount, to the server 210 of the elevator cloud 200. When the server 210 of the elevator cloud 200 receives a collection request from one or more waste bins 51, the server 210 of the elevator cloud 200 generates a destination floor call for the robot indicating a movement request for the car 50, with the installation floor included in the collection request as the destination floor, transmits a movement instruction to the server 310 of the robot cloud 300, which is an instruction to move the robot to the installation floor included in the collection request to collect the waste, and transmits the destination floor call for the robot to the control panel 100. Furthermore, when the control panel 100 receives a destination floor call for the robot from the server 210 of the elevator cloud 200, it switches to robot-only operation in which only the robot is on board the car 50, moves the car 50 to a floor where a robot for waste collection will board, and once the robot is on board, controls the car 50 to move to a floor where a waste bin 51 is installed. Furthermore, the server 310 of the robot cloud 300 receives a movement instruction from the server 210 of the elevator cloud 200 and transmits the received movement instruction to the robot 500. When the robot 500 receives the movement instruction, it causes the robot 500 to travel to the boarding point of the car 50, the robot gets on the car 50, moves to the floor where the waste bin 51 is installed, collects waste from the waste bin 51, and transports the collected waste to the collection site 180.

[0093] For this reason, in this embodiment, when there is a request to collect waste from the waste box 51, a cloud such as the server 210 of the elevator cloud 200 or the server 310 of the robot cloud 300 is used to switch the elevator 2 to robot-only operation and have the robot 500 collect the waste. Therefore, in this embodiment, the conditions for the robot 500 to move to collect waste are clearly defined, and it is possible to prevent a decrease in the operating efficiency of the elevator 2 due to the movement of the robot 500.

[0094] Furthermore, in the elevator control system 1 according to this embodiment, when the server 310 of the robot cloud 300 receives a movement instruction, it determines whether the robot 500 is in a situation where it can move to the car 50, and if it determines that the robot 500 is in a situation where it can move to the car 50, it sends a movement instruction to the robot 500.

[0095] For this reason, in this embodiment, it is determined whether the robot 500 is in a state where it can move to the car 50, and if it is in a state where it can move, the robot 500 is made to collect waste. Therefore, in this embodiment, the conditions for the robot 500 to move to collect waste are clearly defined, and it is possible to further prevent a decrease in the operating efficiency of the elevator 2 due to the movement of the robot 500.

[0096] In addition, in the elevator control system 1 according to this embodiment, when the robot 500 gets on the car 50 in a case where there is only one elevator 2, if the robot 500 detects, based on the image captured by the camera 506, that the car 50 is wheelchair-accessible and that the handicap button has been pressed, the robot 500 will stop collecting waste.

[0097] For this reason, in this embodiment, there is one elevator 2, the car 50 is wheelchair-accessible, and when the handicap button is pressed, waste collection is stopped. Therefore, the conditions under which the robot 500 stops waste collection are clearly defined, and the operation efficiency of the elevator 2 can be further prevented from decreasing due to the robot 500 running.

[0098] Furthermore, in the elevator control system 1 according to this embodiment, the car 50 is provided with a sprayer 55 that sprays a deodorizer, and the control panel 100 moves the car 50 carrying the robot 500 that collected waste from the waste bin 51 from the floor where the waste bin 51 is installed to the floor where the collection point 180 is located, and after the robot 500 gets off the car 50 on the floor where the collection point 180 is located, causes the sprayer 55 to spray the deodorizer. After collecting waste from the waste bin 51, the robot 500 gets on the car 50 and moves to the collection point 180, where it disposes of the collected waste.

[0099] Therefore, in this embodiment, after the waste is collected and transported to the collection site 189, the inside of the car 50 can be kept clean by ventilating and spraying a deodorizer.

[0100] Furthermore, in the elevator control system 1 according to this embodiment, after the robot 500 collects waste from the waste box 51, it determines whether it can transport waste from the waste box 51 on another floor, and if it can, it boards the elevator car 50 and moves to the waste box 51 on that other floor to collect the waste.

[0101] Therefore, in this embodiment, the utilization efficiency of the robot 500 can be improved by collecting waste from waste bins 51 on other floors as well.

[0102] (Second embodiment) In the first embodiment, the time period for waste collection was not specifically set, but in this second embodiment, the usage time of elevator 2 is recorded, and the time for waste collection processing is set as the start time, and then the waste collection processing is carried out.

[0103] The configurations of the elevator control system 1, the waste bin 51, the control panel, the server 310 of the robot cloud 300, and the robot 500 are the same as those in the first embodiment.

[0104] Fig. 13 is a block diagram showing an example of the functional configuration of a server 1210 in the elevator cloud 200 according to the second embodiment. As shown in Fig. 13, the server 1210 mainly includes a control unit 211, a communication unit 212, a recording unit 1211, a determination unit 1212, and a storage unit 220. Here, the functions and configurations of the control unit 211, the communication unit 212, and the storage unit 220 are the same as those in the first embodiment.

[0105] The recording unit 1211 records the usage time of the elevator 2 in the storage unit 220. The determination unit 1212 determines the activation time of the robot 500 based on the usage time recorded in the storage unit 220. For example, the determination unit 1212 can determine the activation time of the robot 500 to be a nighttime period when the elevator 2 is less frequently used (e.g., from 8:00 PM to 6:00 AM the next day).

[0106] Furthermore, the communication unit 212 of this embodiment transmits the activation time of the robot 500 determined by the determination unit 1212 to the server 310 in the robot cloud 300.

[0107] In the server 310 of the robot cloud 300 according to this embodiment, the communication unit 312 receives the activation time of the robot 500 from the server 210 in the elevator cloud 200. When the communication unit 312 receives a movement instruction, the determination unit 313 determines whether the current time corresponds to the activation time of the robot 500 and whether the robot 500 is in a state where it can move to the car 50. When the determination unit 313 determines that the current time corresponds to the activation time of the robot 500 and that the robot 500 is in a state where it can move to the car 50, the communication unit 312 selects the robot 500 as a robot that will collect waste and transmits a movement instruction to the selected robot 500.

[0108] When the robot 500 according to this embodiment runs during a nighttime period as the activation time, the running control unit 509 sets the running speed to be slower than the speed when the robot 500 runs during a time other than the nighttime period as the activation time.

[0109] Next, an elevator control process performed by the elevator control system 1 of this embodiment configured as above will be described. FIG. 14 is a sequence diagram showing an example of the overall flow of elevator control processing in waste collection according to the second embodiment.

[0110] First, in the server 210 of the elevator cloud 200, each time the elevator 2 is used, the recording unit 1211 records the usage time of the elevator 2 in the memory unit 220 (S301). Next, the determination unit 1212 refers to the usage time of the elevator 2 recorded in the memory unit 220 and sets the activation time of the robot 500 to a time when the elevator 2 is not being used (S302). Next, the communication unit 212 transmits the activation time of the robot 500 determined by the determination unit 1212 to the server 310 of the robot cloud 300 (S303). In the server 310 of the robot cloud 300, the communication unit 312 receives the activation time of the robot 500 and stores it in the memory unit 320.

[0111] Thereafter, as in the first embodiment, the loading sensor 53 of the waste bin 51 detects that the waste bin 51 is full of waste (S101), and a collection request is sent from the communication unit 52 of the waste bin 51 to the server 210 of the elevator cloud 200 (S102). As in the first embodiment, the server 210 of the elevator cloud 200 generates a destination floor call for the robot (S103), sends the destination floor call for the robot to the control panel 100 (S104), and sends a movement instruction for the robot 500 to the server 310 of the robot cloud 300 (S105).

[0112] In the server 310 of the robot cloud 300, when the communication unit 312 receives a movement instruction from the server 210 of the elevator cloud 200, the determination unit 313 checks the status of the robot 500 and whether the current time corresponds to the activation time of the robot 500 (S306). If the current time corresponds to the activation time of the robot 500, the determination unit 313 selects a robot 500 that can collect waste (S107). The subsequent processing from S108 onwards is performed in the same manner as in the first embodiment. However, the waste collection processing (S316) differs from the first embodiment.

[0113] FIG. 15 is a flowchart showing an example of a procedure for waste recovery processing according to the second embodiment. When the robot 500 moves in front of the elevator 2, the travel control unit 509 determines whether the current time is in the nighttime period (e.g., from 8 PM to 6 AM) (S401). If the current time is not in the nighttime period (S401: No), the travel control unit 509 sets the travel speed of the robot 500 to the normal speed, which is the speed for daytime periods (S403).

[0114] On the other hand, if the current time is in the nighttime zone in S401 (S401: Yes), the traveling control unit 509 sets the traveling speed of the robot 500 to a speed that is slower than the normal speed (S402). The subsequent processing from S201 onwards is performed in the same manner as in the first embodiment.

[0115] As described above, in the elevator control system 1 according to this embodiment, the server 210 of the elevator cloud 200 records the usage time of the elevator 2, determines the activation time of the robot 500 based on the usage time, and transmits the determined activation time of the robot 500 to the server 310 of the robot cloud 300. The server 310 of the robot cloud 300 receives the activation time of the robot 500 from the server 210 of the elevator cloud 200, and when receiving a movement instruction, determines whether the current time corresponds to the activation time of the robot 500 and whether the robot 500 is in a situation where it can move to the car 500, and transmits the movement instruction to the robot 500 when the current time corresponds to the activation time of the robot 500 and it is determined that the robot 500 is in a situation where it can move to the car 500.

[0116] Therefore, in this embodiment, the activation time of the robot 500 is determined based on the usage time of the elevator 2, and the robot 500 is caused to collect waste at the determined time, so that the activation time can be determined to be a time when the usage time of the elevator 2 is low. Therefore, according to this embodiment, congestion in the elevator 2 can be avoided, and a decrease in the operating efficiency of the elevator 2 can be further prevented.

[0117] Furthermore, in the elevator control system 1 according to this embodiment, the activation time is during the nighttime hours, and when the robot 500 travels during the nighttime hours, the travel speed is set to be slower than the speed when traveling during times other than the nighttime hours. Therefore, according to this embodiment, the robot 500 travels at a slower speed during the nighttime hours than during the daytime hours, allowing the robot 500 to travel quietly during the nighttime hours.

[0118] In the above embodiment, a plurality of waste bins 51 are provided on each floor, but this is not limited to this. A single waste bin may be provided on any floor, or multiple waste bins 51 may be provided on one floor.

[0119] The control programs executed by the control panel 100, the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300, and the robot 500 according to the above-described embodiment and modifications are provided in advance in a ROM or the like.

[0120] Each control program executed by the control panel 100, the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300, and the robot 500 in the above embodiments and modified examples may be configured to be provided by being recorded in an installable or executable format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk).

[0121] Furthermore, the control programs executed by the control panel 100, the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300, and the robot 500 according to the above embodiments and modified examples may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network.

[0122] In addition, each control program executed by the control panel 100, the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300, and the robot 500 according to the above embodiments and modified examples may be configured to be provided or distributed via a network such as the Internet.

[0123] Each control program executed by the control panel 100, the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300, and the robot 500 in the above-described embodiments and modifications has a modular structure including each of the functional units described above, and in actual hardware, the CPU reads and executes each control program from the ROM, loading each of the above units onto the main memory device, and generating each of the functional units onto the main memory device.

[0124] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0125] 1... elevator control system, 2, 2A, 2B... elevator, 3... building, 4, 4A, 4B... operation panel, 5A... user, 7, 7A, 7B... camera, 8, 8A, 8B... load sensor, 20, 20A, 20B... elevator shaft, 50, 50A, 50B... car, 51... waste box, 53... load sensor, 55, 55A, 55B... injection device, 100, 100A, 100B... control panel, 120, 211, 311, 501... control unit, 52, 102, 212, 312, 502... communication unit, 110, 220, 320, 510... Memory unit, 111... management DB, 121... normal operation control unit, 122... robot linked operation control unit, 150, 150A, 150B... controller, 160... control room, 180... collection area, 200... elevator cloud, 1210, 210... server (elevator server), 300... robot cloud, 310... server (autonomous moving body server), 313... judgment unit, 500, 500A, 500B, 500C... robot (autonomous moving body), 503... drive unit, 509... travel control unit, 1211... recording unit, 1212... determination unit.

Claims

1. An elevator control system comprising: an autonomous mobile body capable of autonomously moving in an elevator car installed in a building; a control panel for controlling the autonomous mobile body and the car in which people can ride; an elevator server connected to the control panel via a network and controlling the raising and lowering of the cars of all of the elevators in the building; an autonomous mobile body server connected to the elevator server and the autonomous mobile body via a network and controlling the autonomous mobile body; and one or more waste bins installed in a predetermined location in the building and capable of storing waste, The elevator server includes: a first communication unit capable of receiving a collection request from each of the one or more waste containers, the collection request including the floor on which the waste is placed and information indicating that the amount of the waste has reached a predetermined amount; and a first control unit that, when receiving the collection request from the waste box, generates a destination floor call for the autonomous moving body indicating a movement request for the car, with the installation floor included in the collection request as a destination floor; when the first communication unit receives the collection request from the waste box, it transmits to the server for autonomous mobile body a movement instruction that is an instruction to move the autonomous mobile body to the installation floor included in the collection request in order to collect the waste, and transmits a destination floor call for the autonomous mobile body to the control panel; The control panel includes: a second communication unit that receives a destination floor call for the autonomous moving object from the elevator server; a second control unit that, when receiving a destination floor call for the autonomous moving body, switches to an autonomous moving body-only operation in which only the autonomous moving body is loaded into the car and operates, moves the car to a floor where the autonomous moving body for collecting the waste will load, and once the autonomous moving body is loaded, controls the car to move to the installation floor of the waste box; The autonomous mobile object server a third communication unit that receives the movement instruction from the elevator server and transmits the received movement instruction to the autonomous moving body; The autonomous moving body is a fourth communication unit that receives the movement instruction; a travel control unit that, when receiving the movement instruction, causes the autonomous mobile body to travel to the elevator platform of the car, the user to board the car, travel to the floor where the waste bin is installed, collects the waste from the waste bin, and transports the collected waste to a collection point; Equipped with The autonomous mobile object server a determination unit that, when receiving the movement instruction, determines whether the autonomous moving body is in a state where it can move to the elevator car, the third communication unit transmits the movement instruction to the autonomous moving body when the determination unit determines that the autonomous moving body is in a situation where it can move to the elevator car; The elevator server includes: a recording unit that records the usage time of the elevator; a determination unit that determines a startup time of the autonomous moving body based on the usage time, the first communication unit transmits the determined startup time of the autonomous moving body to the autonomous moving body server; the third communication unit of the autonomous moving body server further receives a startup time of the autonomous moving body from the elevator server; When the determination unit of the server for the autonomous moving body receives the movement instruction, the determination unit determines whether the current time corresponds to a start time of the autonomous moving body and whether the autonomous moving body is in a situation where it can move to the elevator car; the third communication unit of the server for the autonomous moving body transmits the movement instruction to the autonomous moving body when the determination unit determines that the current time corresponds to the start-up time of the autonomous moving body and that the autonomous moving body is in a situation where it can move to the elevator car; Elevator control system.

2. Each of the one or more waste bins comprises: a detection unit that detects when the waste reaches a predetermined amount; a fifth communication unit that transmits the collection request to the elevator server when the detection unit detects that the amount of waste has reached a predetermined amount; 10. The elevator control system of claim 1, comprising:

3. The startup time is during the nighttime hours, When traveling during the nighttime hours, the traveling control unit of the autonomous moving body sets a traveling speed to be slower than a traveling speed during times other than the nighttime hours.

10. The elevator control system of claim 1.

4. The autonomous moving body is an imaging unit; When the elevator is one unit, if the travel control unit detects, when a passenger gets into the elevator car, that the elevator car is wheelchair-accessible and that a handicap button has been pressed based on an image captured by the imaging unit, the travel control unit stops collection of the waste.

10. The elevator control system of claim 1.

5. The car is provided with an injection device for injecting a deodorizer, The second control unit of the control panel the car in which the autonomous moving body that collected the waste from the waste box is riding is moved from the installation floor of the waste box to a floor where a collection area is located, and after the autonomous moving body gets off the car at the floor where the collection area is located, the deodorizer is sprayed from the spraying device; The travel control unit of the autonomous mobile body further collects the waste from the waste box, then gets into the car, travels to the collection point, and disposes of the collected waste at the collection point.

10. The elevator control system of claim 1.

6. The travel control unit of the autonomous mobile body further determines whether or not the waste can be transported from the waste bin on another floor after collecting the waste from the waste bin, and if the waste can be transported, gets into the car, moves to the waste bin on the other floor, and collects the waste.

6. The elevator control system of claim 5.

7. A waste collection method executed in an elevator control system including: an autonomous mobile body capable of autonomously moving in an elevator car installed in a building; a control panel for controlling the autonomous mobile body and the car in which people can ride; an elevator server connected to the control panel via a network and controlling the raising and lowering of the cars of all of the elevators in the building; an autonomous mobile body server connected to the elevator server and the autonomous mobile body via a network and controlling the autonomous mobile body; and one or more waste bins installed in a predetermined location in the building and capable of containing waste, The elevator server receives a collection request from each of the one or more waste bins, the collection request including the floor on which the waste is placed and information indicating that the amount of the waste has reached a predetermined amount; a step in which, when the elevator server receives the collection request from the waste box, the elevator server generates a destination floor call for the autonomous moving body indicating a movement request for the elevator car, with the installation floor included in the collection request as a destination floor; a step in which, when the elevator server receives the collection request from the waste box, the elevator server transmits to the autonomous mobile object server a movement instruction that instructs the autonomous mobile object to move to the installation floor included in the collection request in order to collect the waste, and transmits a destination floor call for the autonomous mobile object to the control panel; a step in which the control panel receives a destination floor call for the autonomous moving body from the elevator server; When the control panel receives a destination floor call for the autonomous mobile body, the control panel switches to an autonomous mobile body-only operation mode in which only the autonomous mobile body is on board the car and operates the car, moves the car to a floor where the autonomous mobile body for collecting the waste will board, and once the autonomous mobile body has boarded, controls the car to move to the floor where the waste box is installed; the autonomous moving body server receiving the movement instruction from the elevator server and transmitting the received movement instruction to the autonomous moving body; a step of the autonomous moving body receiving the movement instruction; When the autonomous moving body receives the movement instruction, the autonomous moving body travels to the elevator platform of the car, the user boards the elevator, moves to the floor where the waste box is installed, collects the waste from the waste box, and transports the collected waste to a collection point; a step in which the autonomous moving body server determines whether or not the autonomous moving body is in a state in which it can move to the elevator car when the autonomous moving body server receives the movement instruction; a step in which the autonomous moving body server transmits the movement instruction to the autonomous moving body when the autonomous moving body determines that the autonomous moving body is in a situation where it can move to the elevator car; The elevator server records the usage time of the elevator; a step in which the elevator server determines a start-up time of the autonomous moving body based on the usage time; a step in which the elevator server transmits the determined activation time of the autonomous moving body to the autonomous moving body server; a step in which the autonomous moving body server receives a start time of the autonomous moving body from the elevator server; a step in which, when the autonomous moving body server receives the movement instruction, it determines whether the current time corresponds to a start time of the autonomous moving body and whether the autonomous moving body is in a state where it can move to the elevator car; a step in which the autonomous moving body server transmits the movement instruction to the autonomous moving body when the current time corresponds to the start-up time of the autonomous moving body and when the autonomous moving body is determined to be in a state in which it can move to the car; A waste recovery method comprising:

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