Elevator control device and group management control device

Abstract

To provide an elevator control device capable of suppressing regenerative power during times when power usage in a building is low, thereby reducing the burden on the building's power supply equipment. [Solution] An elevator control device according to one embodiment is communicatively connected to a robot control device that controls the operation of multiple robots within a building, and includes a power regeneration device, a storage means, a power usage acquisition means, a regenerative power control means, and a notification means. The storage means stores weight information indicating the weight of each robot. The power usage acquisition means acquires the amount of power usage within the building. If the acquired amount of power usage is less than a certain value, the regenerative power control means calculates a load capacity to limit the amount of regenerative power to an amount appropriate for the acquired amount of power usage, and selects from the robots a robot appropriate for the load capacity based on the weight information. The notification means issues a command to the robot control device to load the selected robot into a car.

Description

[Technical Field]

[0001] An embodiment of the present invention relates to an elevator control device and a group management control device. [Background technology]

[0002] Generally, in an elevator, a car and a counterweight are suspended from both ends of a rope wound around the rotating shaft of a hoist (electric motor), and the car moves up and down in the opposite direction to the counterweight via the rope in a bucket-like manner as the hoist rotates. The drive control of the hoist is performed by an elevator control device installed in the machine room of the building where the elevator is installed.

[0003] Here, for example, if the load of a car moving downward in the hoistway (the weight of the car and the passengers riding in the car) is heavier than the counterweight, the above-mentioned hoisting machine functions as a generator and generates electricity. Similarly, if the load of a car moving upward in the hoistway is lighter than the counterweight, electricity is generated in a similar manner. The electricity generated by the hoisting machine functioning as a generator in this way is called regenerative power, and elevator operation that generates this regenerative power is called regenerative operation. By utilizing the regenerative power generated by such regenerative operation, the amount of electricity used during normal operation can be reduced.

[0004] However, during times such as nighttime when the amount of electricity used within a building (power consumption) is low, if the amount of regenerative power generated by regenerative operation is large, the regenerative power returning to the power supply equipment will place a burden on the building's power supply equipment, causing the power supply equipment to malfunction. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-171920 [Patent Document 2] Japanese Patent Application Laid-Open No. 2001-171921 Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, the problem that the present invention aims to solve is to provide an elevator control device and a group management control device that can suppress regenerative power and reduce the burden on the building's power supply equipment when the amount of power used within the building is low. [Means for solving the problem]

[0007] An elevator control device according to one embodiment is communicatively connected to a robot control device that controls the operation of multiple autonomous robots arranged in a building, and includes a power regeneration device, a storage device, a power usage acquisition device, a regenerative power control device, and a notification device. The storage device stores weight information indicating the weight of each of the robots. The power usage acquisition device acquires the amount of power usage used by facilities within the building. If the acquired amount of power usage is less than a certain value determined based on the maximum amount of regenerative power generated by operation of the elevator, the regenerative power control device calculates a load capacity for suppressing the current amount of regenerative power to an amount of regenerative power appropriate for the acquired amount of power usage, and selects at least one robot from the robots that is appropriate for the load capacity based on the weight information. The notification device issues a command to the robot control device to load the selected robot into a car. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of an elevator system including a group management control device according to an embodiment. [Figure 2] FIG. 2 is a diagram showing an example of the configuration of a robot according to the embodiment. [Figure 3] FIG. 3 is a diagram showing an example of a robot table in the embodiment. [Figure 4]FIG. 4 is a flowchart showing an example of a process for suppressing the amount of regenerative power in the embodiment. [Figure 5] FIG. 5 is a diagram for explaining an example of a process for placing a robot in a car in order to reduce the amount of regenerative power during a time period when the amount of power used in the entire building is low, such as at night, in this embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of a process in which a robot is placed in a car to reduce the amount of regenerative power in this embodiment, but the car needs to respond to a call going down, and the robot is then removed from the car. [Figure 7] Figure 7 is a diagram illustrating an example of a process for causing a robot that has previously been in a car to disembark in order to reduce regenerative power during times when the building's electricity consumption is above a certain value, such as during the daytime in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the drawings. It should be noted that the disclosure is merely an example, and the invention is not limited to the contents described in the following embodiments. Modifications that can be easily conceived by a person skilled in the art are naturally included in the scope of the disclosure. For clearer explanation, the size, shape, etc. of each part may be changed from the actual embodiment and shown schematically in the drawings. In multiple drawings, corresponding elements may be given the same reference numerals, and detailed explanations may be omitted.

[0010] FIG. 1 is a block diagram showing the configuration of an elevator system including a group management control device according to one embodiment, in which the group management control device and an autonomously traveling robot are connected to each other so that they can communicate with each other via a robot control device.

[0011] The commercial power supply 1 is electrically connected to the elevator control devices 2a to 2c, the drive devices 3a to 3c, and the group management control device .

[0012] The elevator control device 2a is called, for example, a control panel, and controls the operation of the car 6a via the drive device 3a in accordance with commands from the group management control device 10. The elevator control devices 2b and 2c operate in a similar manner, so their explanation will be omitted here. In the following, when there is no need to distinguish between the elevator control devices 2a, 2b, and 2c, they will be referred to as the elevator control device 2. The elevator control device 2 is made up of a computer equipped with a CPU, ROM, RAM, etc.

[0013] The drive device 3a supplies the power required to drive the hoisting machine 4a in accordance with a drive command from the elevator control device 2a. The drive device 3a includes a power regeneration device 31a that regenerates the power generated during regenerative operation of the elevator into the commercial power source 1.

[0014] The hoisting machine 4a is composed of a synchronous motor (motor) and rotates by power supplied from the drive device 3a. A rope 5a is wound around the hoisting machine 4a via a sheave (not shown), and one end of the rope 5a is connected to a car 6a and the other end to a counterweight 7a. When the hoisting machine 4a rotates, the car 6a and the counterweight 7a move up and down in a bucket-like manner via the rope 5a. The hoisting machines 4b and 4c have the same configuration as the hoisting machine 4a, so their explanation will be omitted here. Hereinafter, unless there is any need to distinguish between the hoists 4a to 4c, they will be referred to as the hoisting machine 4. Similarly, unless there is any need to distinguish between the counterweights 7a to 7c, they will be referred to as the counterweight 7.

[0015] Under the control of the elevator control device 2a, the car 6a moves up and down in the elevator shaft driven by the hoist 4a, thereby moving passengers and robots to each floor. A load sensor 61a is provided at the bottom of the car 6a, and information indicating the load of the car 6a detected by the load sensor 61a is sent to the elevator control device 2a. Since the cars 6b and 6c have the same configuration, in the following description, the cars 6a to 6c will be referred to as the car 6 unless otherwise distinguished. Similarly, in the following description, the load sensors 61a to 61c will be referred to as the load sensor 61 unless otherwise distinguished.

[0016] The group management control device 10 is electrically connected to the commercial power source 1, and performs group management control of the operation of each of the cars 6a to 6c via the elevator control devices 2a to 2c. The group management control device 10 is configured by a computer equipped with a CPU, ROM, RAM, etc., and includes a memory unit 11, a power usage acquisition unit 12, a regenerative power control unit 13, a communication unit 14, an allocation control unit 15, and a car load acquisition unit 16.

[0017] The memory unit 11 stores hall calls registered by operating hall call buttons (not shown) installed at the halls of each floor, and car calls registered by operating car call buttons (not shown) installed in the car 6. The memory unit 11 also stores destination calls including the departure floor and destination floor of the robot 22 registered via the robot control device 21, and a robot table T1. The robot table T1 stores identification information for each robot 22, location information indicating the current location, and information indicating weight, all associated with each other. Note that multiple robots may be collectively shown as the movements of each robot.

[0018] The power usage acquisition unit 12 acquires the amount of power usage used by the facilities in the building from the commercial power supply 1. The power usage acquisition unit 12 acquires, for example, the amount of power usage of the entire building in which the elevator is installed.

[0019] The regenerative power control unit 13 controls the amount of regenerative power generated during regenerative operation of the car 6. Specifically, when the current amount of power usage throughout the building acquired by the power usage acquisition unit 12 is less than a certain value, the regenerative power control unit 13 calculates a load amount for suppressing the current amount of regenerative power to an amount of regenerative power appropriate for that amount of power usage. Note that the above-mentioned certain value is a value determined based on the maximum amount of regenerative power generated by the regenerative operation of the elevator car 6. The regenerative power control unit 13 selects at least one robot from the robots 22 that is appropriate for that load amount based on the calculated load amount and the weight information of each robot 22 stored in the robot table T1 of the memory unit 11. The regenerative power control unit 13 controls the robot control device 21 to suppress the amount of regenerative power generated by having the selected robot 22 board the elevator car.

[0020] When there is no need to suppress the amount of regenerative power, the regenerative power control unit 13 controls the amount of regenerative power generated by causing the robot riding in the car 6 to dismount from the car 6.

[0021] The communication unit 14 communicates with the robot control device 21 via the network 20. For example, when a robot is selected by the regenerative power control unit 13, the communication unit 14 transmits a command to the robot control device 21 to cause the selected robot to board the car 6.

[0022] When a call is stored in the memory unit 11, the allocation control unit 15 determines an assigned car to which the call is to be allocated from among the cars 6, and causes the assigned car to respond to the departure floor of the call.

[0023] The car load acquisition unit 16 acquires information indicating the live load of the car 6 from the load sensor 61 of the car 6 via the elevator control device 2. The car load acquisition unit 16 transmits the acquired information indicating the live load of the car 6 to the regenerative power control unit 13.

[0024] The robot control device 21 is communicably connected to the group management control device 10 via the network 20 and controls the operation of the robot 22. When the robot 22 gets on or off the car 6, the robot control device 21 transmits destination call information including information on the departure floor (boarding floor) and destination floor (disembarking floor) to the group management control device 10. Upon receiving a command to have the robot 22 selected by the group management control device 10 board the car 6, the robot control device 21 controls the selected robot 22 to board the car 6.

[0025] The robots 22A to 22E are autonomous robots that perform tasks such as delivering luggage, guarding, and cleaning, and can move between floors of a building using a car 6. Hereinafter, unless there is a need to distinguish between the robots 22A to 22E, they will be referred to as robot 22. The robot 22 acts according to instructions from the robot control device 21.

[0026] FIG. 2 is a block diagram showing the functional configuration of the robot 22. The robot 22 includes a control unit 221, a sensor 222, a communication device 223, an operation unit 224, a display unit 225, a memory unit 226, a drive unit 227, and the like.

[0027] The control unit 221 is made up of a CPU, and by starting a predetermined program, works in conjunction with the elevator system to perform control for autonomous movement within a predetermined area including each floor of a building. The sensor 222 is, for example, a laser range finder, an ultrasonic range sensor, a dual camera, or a LIDAR (Laser Imaging Detection and Ranging). The robot 22 moves while avoiding obstacles using this sensor 222, and detects an empty space in the car 6 to board.

[0028] The communication device 223 communicates wirelessly with the robot control device 21. The operation unit 224 is a section for performing operations for inputting various data, such as inputting a destination. The display unit 225 displays various data. The memory unit 226 stores in advance map information including the movement route of the robot 22 in addition to programs. The drive unit 227 includes a motor for driving wheels installed on the bottom of the robot 22.

[0029] FIG. 3 is an example of the robot table T1 stored in the storage unit 11. As shown in FIG. The robot table T1 stores, in association with each other, identification information of each robot 22 placed within the building, location information indicating the current location of each robot 22, and weight information indicating the weight of each robot 22.

[0030] The first line of the robot table T1 associates robot identification information: RA, location information: 1F, and weight information: 133 kg. This indicates that a robot 22 with identification information RA and weighing 133 kg is currently located on the first floor. The second line of the robot table T1 associates robot identification information: RB, location information: 2F, and weight information: 95 kg. This indicates that a robot 22 with identification information RB and weighing 95 kg is currently located on the second floor. Note that the third to fifth lines of the robot table T1 can be similarly explained, so detailed explanations will be omitted here.

[0031] In addition, when a destination call is registered to move a robot 22 having identification information RA to the 4th floor, the group management control device 10 controls the elevator car 6 to move the robot 22 to the 4th floor, and then updates the location information of the robot 22 having identification information RA to the 4th floor in the robot table T1.

[0032] Here, we will explain regenerative operation and powered operation. Regenerative operation is operation that does not require power, for example, to move the car 6 downward when the load on the car 6 (the weight of the car 6 and the passengers riding in the car 6) is heavier than the counterweight 7, or to move the car 6 upward when the load on the car 6 is lighter than the counterweight 7. When regenerative operation is performed, the hoist 4 functions as a generator to generate power. On the other hand, powered operation is operation that requires power, for example, to move the car 6 upward when the load on the car 6 is heavier than the counterweight 7, or to move the car 6 downward when the load on the car 6 is lighter than the counterweight 7.

[0033] The power generated by regenerative operation (hereinafter referred to as regenerated power) is returned (regenerated) to the commercial power supply 1 via the power regeneration device 31 of the drive unit 3. During times such as daytime when the overall power consumption of the building is high, the amount of power consumed can be reduced by utilizing the regenerated power. However, during times such as nighttime when the overall power consumption of the building is low, the power regenerated to the commercial power supply 1 is likely to cause a sudden change in voltage in the commercial power supply 1. If a sudden change in voltage occurs in the commercial power supply 1, for example, an overvoltage state may occur, which may place a burden on the equipment that constitutes the commercial power supply 1 and cause the equipment that constitutes the commercial power supply 1 to malfunction.

[0034] Therefore, in the group management control device 10 according to this embodiment, when the amount of power used in the building is small, the amount of regenerative power is suppressed, making it possible to reduce the burden on the power supply equipment of the building.

[0035] Next, the operation of this system will be described. 4 is a flowchart showing the operation of this system. The processing shown in this flowchart is mainly executed by the group management control device 10.

[0036] The power usage acquisition unit 12 of the group management control device 10 acquires the current amount of power usage of the entire building (step S1). The processing of step S1 is executed every time a fixed time elapses or every time a predetermined condition is satisfied.

[0037] The regenerative power control unit 13 acquires the maximum amount of regenerative power generated during regenerative operation of the elevator (step S2). The maximum amount of regenerative power is, for example, the amount of regenerative power when the elevator operates upward from the lobby floor to the top floor with the car 6 empty, and is a value determined in advance based on the weight of the car 6 and the weight of the counterweight 7.

[0038] The regenerative power control unit 13 determines whether the amount of power usage for the entire building acquired in the processing of step S1 is less than a certain value determined by the maximum amount of regenerative power (step S3). The certain value is set so that when the maximum amount of regenerative power is regenerated to the commercial power source 1, no sudden change in voltage occurs in the commercial power source 1. If the amount of power usage is less than the certain value, regenerating the regenerative power to the commercial power source 1 will cause a sudden change in voltage in the commercial power source 1, resulting in an overvoltage state and placing a strain on the equipment that makes up the commercial power source 1. If the amount of power usage for the entire building is equal to or greater than the certain value, no sudden change in voltage will occur in the commercial power source 1 even if the regenerative power is regenerated to the commercial power source 1, and the commercial power source 1 will not be burdened.

[0039] If the amount of power used in the entire building is less than a certain value, that is, if there is a possibility that the regenerated power will place a burden on the commercial power supply 1 (Yes in step S3), the regenerative power control unit 13 calculates a power suppression amount to make the amount of regenerated power appropriate for the current amount of power used (step S4). The amount of regenerated power appropriate for the current amount of power used is an amount of power that does not cause a sudden change in voltage even if power is regenerated to the commercial power supply 1, and does not place a burden on the commercial power supply 1 (that is, an amount of power that the commercial power supply 1 can withstand).

[0040] The regenerative power control unit 13 calculates the load capacity required for the car 6 (hereinafter also referred to as the load capacity corresponding to the car 6) based on the power suppression amount calculated in the processing of step S4 (step S5). During the regenerative operation of the car 6 in the upward direction, the smaller the load on the car 6, the greater the difference in weight between the car 6 and the counterweight 7, and the greater the amount of regenerative power generated. In other words, by having the robot 22 ride on the car 6 and increasing the load on the car 6, the amount of regenerative power generated during the regenerative operation of the car 6 in the upward direction can be suppressed.

[0041] The regenerative power control unit 13 selects a robot suitable for the load capacity based on the load capacity corresponding to the car 6 calculated in the processing of step S5 and the weight information stored in the robot table T1 (step S6). At this time, the regenerative power control unit 13 selects a robot 22 so that the robot 22 has a weight at least equal to or greater than the corresponding load capacity. This is because if the load capacity is insufficient, the amount of regenerative power cannot be sufficiently suppressed, and the generated power may be regenerated into the commercial power source 1, thereby placing a burden on the commercial power source 1.

[0042] The regenerative power control unit 13 notifies the robot control device 21 of a command to have the robot 22 selected in the processing of step S6 board the corresponding car 6 (step S7). When the robot control device 21 receives the command from the group management control device 10, it controls the selected robot 22 to board the car 6. If it is necessary to move the car 6 to board the selected robot 22, the allocation control unit 15 moves the car 6 via the elevator control device 2 to the floor where the robot 22 will board. The robot 22 that has boarded the car 6 will remain in the car 6 unless the robot control device 21 controls the robot 22 to disembark. At this time, the position information of the selected robot 22 in the robot table T1 is updated to the car number of the car 6 in which the selected robot 22 is boarding.

[0043] After the robot 22 gets on the car 6 by the processing of step S7, if a call going in a downward direction is assigned to the car 6 (Yes in step S8), the car load acquisition unit 16 acquires the load of the car 6 in order to calculate the amount of regenerative power generated by the car 6 operating in a downward direction (step S9). The load of the car 6 includes the weight of the car 6 and the weight of the user who gets on the car 6 as a result of the car 6 responding to the call.

[0044] The regenerative power control unit 13 calculates the amount of regenerative power generated by the car 6 moving downward, based on the load of the car 6 acquired in the processing of step S9 (step S10). Note that if the acquired load of the car 6 is lighter than the counterweight 7, that is, if the car is in powered operation, which does not generate regenerative power, the amount of regenerative power generated is calculated as 0.

[0045] The regenerative power control unit 13 determines whether the amount of regenerative power calculated in the process of step S10 is less than a tolerance value (step S11). The tolerance value is a value set so that a sudden change in voltage does not occur in the commercial power source 1 when regenerative power is regenerated to the commercial power source 1, and is determined based on the current amount of power usage in the entire building.

[0046] If the calculated amount of regenerative power is less than the allowable value (Yes in step S11), even if the power generated by regenerative operation of the elevator car 6 is regenerated to the commercial power source 1, no sudden voltage change will occur in the commercial power source 1 and no burden will be placed on the commercial power source 1, so the group management control device 10 ends the processing here.

[0047] On the other hand, if the calculated amount of regenerative power is greater than or equal to the allowable value (No in step S11), if the power generated by regenerative operation of the elevator car 6 is regenerated to the commercial power source 1, there is a risk that a sudden voltage change will occur in the commercial power source 1, placing a burden on the commercial power source 1, so the group management control device 10 executes the processing of step S14 described below.

[0048] Returning to step S8, if the downward call is not assigned to the car 6 carrying the robot 22 (No in step S8), that is, if the upward call is assigned to that car 6, the amount of regenerative power can be reduced, and the group management control device 10 ends the processing here.

[0049] Furthermore, returning to step S3, if the amount of power usage in the entire building is equal to or greater than a certain value (No in step S3), the regenerative power control unit 13 determines whether the car 6 is responding to a call (step S12). If the car 6 is responding to a call (Yes in step S12), the group management control device 10 ends the processing shown in the flowchart.

[0050] If the car 6 is not responding to a call (No in step S12), the regenerative power control unit 13 refers to the position information in the robot table T1 and determines whether a previously selected robot 22 is currently riding in the car 6 (step S13). If there is a robot 22 whose position information in the robot table T1 is the robot number of the car 6, the regenerative power control unit 13 determines that a previously selected robot 22 is currently riding in the car 6.

[0051] If the selected robot 22 is currently riding in the car 6 (Yes in step S13), the regenerative power control unit 13 notifies the robot control device 21 of a command to cause the previously selected robot 22 to dismount from the car 6 (step S14). When the previously selected robot 22 dismounts from the car 6, the position information of the robot 22 in the robot table T1 is updated to the floor where the robot dismounted. When the processing of step S14 is executed, the group management control device 10 ends the processing shown in the flowchart.

[0052] On the other hand, if the selected robot 22 is not currently riding in the car 6 (No in step S13), the group management control device 10 ends the processing shown in the flowchart.

[0053] In the processing of step S9 described above, the load of the car 6 is acquired by the load sensor 61 as an example, but may be acquired by other methods. For example, if a camera capable of photographing the interior of the car 6 and the landing is provided, the weight of the passengers riding in the car 6 may be estimated based on the number of adults and children and the average weight of the adults and children obtained by analyzing the captured image. In this case, the load of the car 6 can be acquired before the passengers have boarded the car 6, so that the amount of regenerative power generated can be calculated immediately, and it can be determined whether or not to have the robot 22 disembark before the car 6 closes its doors and starts moving.

[0054] FIG. 5 is a diagram for explaining an example of a process for having the robot 22 ride in the car 6 in order to reduce the amount of regenerative power during a time period when the amount of power used in the entire building is low, such as at night. 5, robot 22A having identification information RA is located on the first floor, robot 22B having identification information RB on the second floor, robot 22C having identification information RC on the third floor, robot 22D having identification information RD on the fifth floor, and robot 22E having identification information RE on the sixth floor. Because it is nighttime, the amount of power used in the entire building is less than the amount of power used during the daytime, and is less than a certain value determined based on the maximum amount of regenerative power.

[0055] Because the amount of power used in the entire building is less than a certain value, the regenerative power control unit 13 calculates the amount of power suppression required to make the amount of regenerative power appropriate for the current amount of power used. Based on the calculated amount of power suppression, the load capacity corresponding to each of the cars 6a to 6c is calculated. Based on the calculated load capacity corresponding to each of the cars 6a to 6c and the weight information in the robot table T1, a robot 22 appropriate for the load capacity corresponding to each of the cars 6a to 6c is selected.

[0056] For example, if the load capacity corresponding to car 6a is 130 kg, robot 22A is selected. If the load capacity corresponding to car 6b ​​is 150 kg, robot 22B and robot 22C are selected. If the load capacity corresponding to car 6c is 160 kg, robot 22B and robot 22C are selected.

[0057] When a robot suitable for the load capacity corresponding to each of the cars 6a to 6c is selected, the group management control device 10 causes the selected robot 22 to ride in at least one car 6. In the example of FIG. 5, the group management control device 10 causes the robot 22A to ride in car 6a of car A. At this time, the position information of the robot 22A in the robot table T1 is updated to car A.

[0058] The group management control device 10 can reduce the amount of regenerative power generated during regenerative operation by assigning calls going upward to the elevator car 6a of car A in which the robot 22A is riding, thereby reducing the burden on the commercial power source 1 caused by the regenerative power.

[0059] Furthermore, the group management control device 10 may cause the car 6 that does not have the robot 22 on board and is lighter than the counterweight 7 to respond to a call in which the car 6 is heading downward. In this case, the car 6 operates in powered operation, so no regenerative power is generated and the commercial power source 1 is not burdened.

[0060] Figure 6 is a diagram illustrating an example of a process in which a robot 22 is placed on a car 6 to reduce the amount of regenerative power, but the car 6 needs to respond to a call going downward, and the robot 22 is then dismounted from the car 6. In the example of Figure 6, it is assumed that robot 22A, which has been placed on board by the process of Figure 5, and multiple users are riding in car 6a of car A, and the load of car 6a of car A is heavier than counterweight 7a. Robots 22B to 22E, car 6b ​​of car B, and car 6c of car C are located on the same floors as in Figure 5. As in Figure 5, it is nighttime, and the amount of power used in the entire building is less than a certain value determined based on the maximum amount of regenerative power.

[0061] Here, it is assumed that the group management control device 10 assigns a downward call to the car 6a of car A. When the car 6a of car A, which is heavier than the counterweight 7a, moves downward, the car 6a of car A operates in regenerative mode. For this reason, the group management control device 10 acquires the load of the car 6a of car A and calculates the amount of regenerative power generated by the regenerative operation of the car 6a of car A based on the acquired load of the car 6a of car A. When the amount of regenerative power generated by the car 6a of car A is equal to or greater than the allowable value, the group management control device 10 causes the robot 22A to disembark from the car 6a of car A.

[0062] In this way, when the amount of regenerative power increases when the on-board robot 22 gets on the car 6, and the regenerative power generated in the car 6 places a burden on the commercial power source 1, the amount of regenerative power generated during regenerative operation can be reduced by having the robot 22 dismount.

[0063] The group management control device 10 may stop the elevator car 6 at the next floor to allow the robot 22 to disembark. Depending on the amount of regenerative power generated, the group management control device 10 may also allow the robot 22 to disembark at the floor where the next passenger disembarks. In this case, it is possible to prevent a decrease in operation efficiency.

[0064] Figure 7 is a diagram illustrating an example of a process for causing a robot 22 that has previously been on board a car 6 to disembark in order to reduce regenerative power during times such as daytime when the amount of electricity used by the building is above a certain value. In the example of Figure 7, robot 22A, which was previously placed in car 6a to reduce the amount of regenerative power, is waiting inside car 6a of vehicle A, and robots 22B to 22E are located on the same floors as in Figure 5. No calls have been assigned to any of cars 6a to 6c, and car 6a of vehicle A is waiting on the first floor, car 6b ​​of vehicle B on the third floor, and car 6c of vehicle C on the fourth floor. The amount of power used in the entire building is greater than the amount of power used during the nighttime hours and is equal to or greater than a certain value determined based on the maximum amount of regenerative power.

[0065] Because the amount of power used in the entire building is equal to or greater than a certain value, no sudden change in voltage occurs even when power is regenerated to the commercial power source 1. In other words, since there is no need to suppress the amount of regenerated power by having the robot 22 ride in the car 6, the robot 22 that previously rode in the car 6 is made to dismount in order to suppress the amount of regenerated power. In the example of Figure 7, the group management control device 10 causes the robot 22A riding in car 6a of car A to dismount.

[0066] In this way, when there is no problem in regenerating power to the commercial power source 1, the robot 22 that was previously on the car 6 is made to dismount in order to reduce the amount of regenerated power.

[0067] In the past, a method was proposed in which the driving direction of the car 6 was changed while it was in operation in order to reduce the amount of regenerative power. However, in this embodiment, the amount of regenerative power is reduced by having the robot 22 board the car 6 or by having the robot 22 disembark from the car 6, so that the amount of regenerative power can be reduced without changing the driving direction of the car 6 while it is in operation.

[0068] In this embodiment, the group management control device 10 has various functions, but the elevator control device 2 may have various functions. Even in the elevator control device 2 that controls the operation of one car, there may be cases where the regenerative power is not stored due to a failure of the battery that stores the regenerative power, and the power is regenerated to the commercial power source 1, thereby placing a burden on the commercial power source 1. Therefore, the elevator control device 2 has the robot 22 ride in the car 6 to suppress the amount of regenerative power, thereby reducing the burden on the commercial power source 1.

[0069] In addition, in this embodiment, the group management control device 10 causes the robot 22 to board or disembark from the elevator car by sending a command to the robot control device 21, but if direct communication with the robot 22 is possible, it may also send a command to the robot 22 to cause it to board or disembark.

[0070] It should be noted that the various functions possessed by the group management control device 10 in this embodiment may be possessed by a device that is externally attached to the group management control device 10 and that is capable of communicating with the group management control device 10.

[0071] In this embodiment, nighttime is taken as an example of the situation, but other examples of the situation are possible, such as the following.

[0072] During times such as nighttime when there are fewer users, security operation is performed, and it is expected that only one user will be riding in the car 6, resulting in a large amount of regenerative power generated during regenerative operation. According to this embodiment, the robot 22 can assign a car 6 that has already boarded to a call registered during security operation, thereby suppressing the amount of regenerative power generated during regenerative operation.

[0073] In addition, the communication unit 14 may communicate with a mobile device, such as a smartphone, that can register user calls, and a dedicated call may be registered from the mobile device. In many cases, a user boards a train using a dedicated call, and it is expected that the amount of regenerative power will be large. According to this embodiment, even when a dedicated call is registered using a mobile device, the robot 22 can assign a car 6 that the user has boarded in advance to the dedicated call, thereby reducing the amount of regenerative power generated during regenerative operation.

[0074] According to at least one of the embodiments described above, it is possible to provide an elevator control device and a group management control device that can suppress regenerative power and reduce the burden on the building's power supply equipment when power usage within the building is low.

[0075] 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 embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0076] 1...Commercial power supply, 2a to 2c...Elevator control device, 3a to 3c...Drive device, 4a to 4c...Hoisting machine, 5a to 5c...Rope, 6a to 6c...Car, 7a to 7c...Counterweight, 10...Group management control device, 11...Memory unit, 12...Power usage acquisition unit, 13...Regenerative power control unit, 14...Communication unit, 15...Allocation control unit, 16...Cara load acquisition unit, 21...Robot control device, 22...Robot, 31a to 31c...Power regeneration device, 61a to 61c...Load sensor, T1...Robot table.

Claims

1. An elevator control device that is communicably connected to a robot control device that controls the operation of a plurality of autonomous robots arranged in a building and that is equipped with a power regeneration device, a storage means for storing weight information indicating the weight of each of the robots; an electric power usage acquisition means for acquiring the amount of electric power usage used by the facilities in the building; a regenerative power control means for calculating a load amount for suppressing the current amount of regenerative power to an amount of regenerative power appropriate for the acquired amount of power usage when the acquired amount of power usage is less than a certain value determined based on a maximum value of the amount of regenerative power generated by operation of the elevator, and for selecting at least one robot appropriate for the load amount from among the robots based on the weight information; a notification means for notifying the robot control device of a command to have the selected robot board the car; An elevator control device comprising:

2. Further provided is a car load acquisition means for acquiring the load of the car, When a new downward call is assigned to the car in which the selected robot is riding, the regenerative power control means calculates the amount of regenerative power generated during operation of the car based on the acquired load of the car, and when the calculated amount of regenerative power is equal to or greater than an allowable value for regenerative power determined based on the acquired amount of power usage, determines that it is necessary for the selected robot to disembark, When the regenerative power control means determines that the selected robot needs to dismount, the notification means notifies the robot control device of a command to cause the selected robot to dismount from the elevator car. The elevator control device according to claim 1.

3. The power usage acquisition means acquires a new current amount of power usage of the building after the selected robot gets on the elevator. the regenerative power control means determines that the selected robot needs to dismount when the acquired current amount of power usage of the building is equal to or greater than the certain value; When the regenerative power control means determines that the selected robot needs to dismount, the notification means notifies the robot control device of a command to cause the selected robot to dismount from the elevator car. The elevator control device according to claim 1.

4. The constant value is a value that is set so as not to impose a burden on the power supply equipment of the building due to voltage changes when the regenerative power is regenerated to the power supply of the building. The elevator control device according to claim 1.

5. An elevator group management control device that is communicably connected to a robot control device that controls the operation of a plurality of autonomous robots arranged in a building, is equipped with a power regeneration device, and controls the operation of a plurality of elevator cars, a storage means for storing weight information indicating the weight of each of the robots; an electric power usage acquisition means for acquiring the amount of electric power usage used by the facilities in the building; a regenerative power control means for calculating an amount of regenerative power suitable for the obtained amount of power used when the obtained amount of power used is less than a certain value determined based on a maximum amount of regenerative power generated by operation of the elevator, calculating a load amount for each of the cars to suppress the current amount of regenerative power to the calculated amount of regenerative power, and selecting at least one robot suitable for the load amount from among the robots based on the weight information; a notification means for notifying the robot control device of a command to have the selected robot board the elevator car; an allocation control means for allocating a car in which the selected robot is riding when an upward call is registered, and for allocating a car in which the selected robot is not riding when a downward call is registered; A group management control device comprising:

6. The constant value is a value that is set so as not to impose a burden on the power supply equipment of the building due to voltage changes when the regenerative power is regenerated to the power supply of the building. The group management control device according to claim 5 .

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