Management device and management method

Abstract

To provide a management device and a management method capable of appropriately allocating, to an elevator, a robot which can supply power in order to solve a confined state due to occurrence of power failure.SOLUTION: A CPU 111 calculates required power required for eliminating a confined state when the confined state in which a door of a car 71 of an elevator 20 cannot be opened due to the occurrence of power failure. The CPU 111 allocates a robot 200 capable of eliminating the confined state among at least one robot 200 as an allocation robot based on predetermined information. The predetermined information includes a residual quantity of a battery 217 mounted on at least one robot 200 and the required power.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a management device and a management method for managing at least one robot equipped with a storage battery. [Background technology]

[0002] Patent Document 1 (WO 2020 / 016925) discloses an elevator system in which an autonomous moving body equipped with a storage battery supplies power to an elevator. In this elevator system, when it is determined that power supply to the elevator is necessary, the autonomous moving body moving inside the building supplies power to the elevator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 016925 Summary of the Invention [Problem to be solved by the invention]

[0004] In the elevator system described in Patent Document 1, if the remaining battery charge of a robot such as an autonomous mobile body is insufficient, it may be possible that sufficient power cannot be supplied to the elevator. For example, a power outage may occur, cutting off the power supply from the commercial power source, causing the elevator car to stop between floors, resulting in a situation where passengers are trapped and unable to exit the car.

[0005] In this case, the car must travel to the nearest floor, then open the doors and allow passengers to disembark. However, if the robot's battery does not have enough remaining power, the car will stop again before reaching the nearest floor, making it impossible to rescue passengers trapped inside the car.

[0006] When multiple elevators are installed, the amount of power required to rescue passengers differs for each elevator depending on the number of passengers in the car (load weight) and the maximum load weight. The elevator system described in Patent Document 1 did not take into consideration whether a robot can supply the elevator with the power required for rescue, or, when multiple robots are installed, which robot should be assigned to which elevator to supply power in order to rescue passengers.

[0007] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to provide a management device and a management method that can suitably assign a robot that can supply power to an elevator in order to resolve a trapped state due to a power outage. [Means for solving the problem]

[0008] The management device according to the present disclosure is a device that manages at least one robot equipped with a storage battery. The management device includes a processor and a memory that stores a program executable by the processor. At least one robot and an elevator are configured so that, when any of the at least one robot is connected to the elevator, power can be supplied to the elevator from the storage battery installed in the robot connected to the elevator. The processor calculates the required power to resolve a trapped state when a power outage occurs and the elevator car door cannot open. The processor assigns a robot among the at least one robot that can resolve the trapped state as an assigned robot based on specified information. The specified information includes the remaining charge of the storage battery installed in the at least one robot and the required power.

[0009] The management method according to the present disclosure is a method for managing at least one robot equipped with a storage battery. The at least one robot and the elevator are configured so that, when any of the at least one robot is connected to the elevator, power can be supplied to the elevator from the storage battery installed in the robot connected to the elevator. The management method includes the steps of: calculating the required power to resolve a trapped state when a power outage occurs and the elevator car is in a state where the doors cannot open; and assigning, as an assigned robot, one of the at least one robots that can resolve the trapped state based on specified information. The specified information includes the remaining charge and required power of the storage battery installed in the at least one robot. [Effects of the Invention]

[0010] According to the present disclosure, in order to resolve a situation in which a person is trapped due to a power outage, a robot capable of supplying power can be suitably assigned to an elevator. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram for explaining an overview of a robot management system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a robot management system. [Figure 3] FIG. 10 is a diagram for explaining a power supply method for a management device, an elevator system, and a robot. [Figure 4] FIG. 10 is a diagram for explaining power supply to an elevator by a robot. [Figure 5] FIG. 10 is a diagram for explaining the load in the car and the running direction. [Figure 6] FIG. 2 is a diagram illustrating an example of an image captured by an information acquisition device. [Figure 7] FIG. 10 is a diagram showing an example of a screen displayed on a user terminal. [Figure 8] 10 is a flowchart of a main process. [Figure 9]10 is a flowchart of a power calculation process. [Figure 10] 10 is a flowchart of a robot allocation process. [Figure 11] 10 is a flowchart of a priority determination process. [Figure 12] 10 is a flowchart of a car information generation process. [Figure 13] 10 is a flowchart of a car information generation process according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. The names and functions of these components are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0013] 1 is a diagram for explaining an overview of a robot management system according to this embodiment. The robot management system includes a management device 100, a plurality of robots 200, an information acquisition device 300, a user terminal 400, and an elevator system 10 (see FIG. 3 described later) provided with a plurality of elevators 20.

[0014] The management device 100 is a server device that manages the robots 200. The number of robots to be managed may be one or more. In this embodiment, the multiple robots 200 and the elevators 20 are configured so that when any of the multiple robots 200 is connected to the elevator 20, power can be supplied to the elevator 20 from a battery (storage battery) 217 ​​mounted on the robot 200 connected to the elevator 20. The number of elevators 20 installed in a building may also be one or more.

[0015] In this example, the management device 100 manages a plurality of robots 200 including a robot 200a (also referred to as "robot A") and a robot 200b (also referred to as "robot B").

[0016] As will be described in detail later, the management device 100 assigns a robot 200 to supply power to the elevator 200 in which the trapped state has occurred, based on the remaining battery power of the robot 200 and the power required to resolve the trapped state (hereinafter, the robot assigned in this manner will also be referred to as the "assigned robot"). In the example of Fig. 1, the battery of robot A is 80% charged, and the battery of robot B is 40% charged.

[0017] The robot 200 is an autonomous mobile robot. The assigned robot 200 (assigned robot) automatically travels to a location where a supply port (connector) installed in the elevator 20 is located, and by connecting to the supply port, the assigned robot can supply power to the elevator 20.

[0018] 1 shows the state inside car 71 of elevator 20 in which a trapped state has occurred. Assume that the inside of car 71 is currently trapped. The trapped state is a state in which car 71 of elevator 20 cannot open its doors (doors 32 of car 71 cannot open) due to a power outage. More specifically, the trapped state refers to a state in which passengers cannot get off car 71 because car 71 cannot run or open its doors due to a power outage.

[0019] A passenger 54 in a wheelchair is riding in the car 71. A display 31 is provided in the car 71 to indicate the floor position of the car 71 and the direction of travel of the car 71 (upward or downward). Here, the "floor position" indicates the floor on which the car 71 is located. For example, in a four-story building, the floor position is indicated as either the first, second, third, or fourth floor.

[0020] An information acquisition device 300 is installed inside the car 71. The information acquisition device 300 is, for example, a mobile terminal. The information acquisition device 300 is capable of capturing images of the inside of the car 71, including the display 31 and the passengers 54, and measuring the acceleration of the car 71. The management device 100 calculates car information based on the information acquired from the information acquisition device 300. The management device 100 calculates the required power based on the car information. This will be described in more detail below using FIGS. 6 and 12.

[0021] Furthermore, a two-dimensional code 33 is attached to the wall surface of the car 71. The passenger 54 can read the two-dimensional code 33 using the user terminal 400 used by the passenger 54. The user terminal 400 is, for example, a smartphone.

[0022] The passenger 54 can connect to the management device 100 from the user terminal 400 by accessing the URL specified by the two-dimensional code 33. Then, the user terminal 400 notifies the management device 100 of information about the inside of the car (urgency of rescue), so that the robot 200 rescues the car 71 with priority. Details will be described later with reference to Figs. 7 and 11.

[0023] 2 is a diagram illustrating an example of a hardware configuration of a robot management system. As described above, the robot management system includes a management device 100, a robot 200, an information acquisition device 300, a user terminal 400, and an elevator system 10.

[0024] The management device 100 includes a CPU (Central Processing Unit) 111, a memory 112, and a communication interface 113. These are connected to each other via a bus so that they can communicate with each other.

[0025] The memory 112 may be configured to include a read-only memory (ROM), a random access memory (RAM), and a storage unit. The storage unit is a non-volatile storage device. The storage unit may be, for example, a hard disk drive (HDD) or a solid state drive (SSD).

[0026] The CPU 111 loads programs stored in the ROM into the RAM and executes them to realize various functions of the management device 100. The ROM stores programs that describe the processing procedures of the management device 100. The RAM serves as a working area when the CPU executes programs, and temporarily stores programs, data used to execute programs, and the like.

[0027] The management device 100 can be connected to the robot 200, the information acquisition device 300, the user terminal 400, and the elevator system 10 via the communication interface 113. The management device 100 communicates with the robot 200, the information acquisition device 300, and the user terminal 400 wirelessly, and with the elevator system 10 via a wired connection.

[0028] The robot 200 in this embodiment is an autonomously mobile vacuum cleaner (cleaning robot). The robot 200 is equipped with a battery 217 and can move on a floor to be cleaned using the power stored in the battery 217. The robot 200 can clean the floor using a cleaning member while moving autonomously.

[0029] Furthermore, robot 200 can operate elevator 20 using battery 217 during a power outage. In this manner, in this embodiment, robot 200 used for cleaning the interior of a building is effectively utilized to operate elevator 20 during a power outage. Note that robot 200 may be, for example, a robot for transporting luggage, a guide robot, a robot used only during a power outage, or a robot used for any other purpose.

[0030] The robot 200 includes a CPU 211, a memory 212, a communication device 213, a camera 214, a display unit 221, a drive unit 231, and a battery 217. These are connected to each other via a bus so that they can communicate with each other. Similarly, the memory 212 may be configured to include a ROM, a RAM, and a storage unit.

[0031] The CPU 211 loads programs stored in the ROM into the RAM and executes them to realize various functions of the robot 200. The ROM stores programs describing the processing procedures of the robot 200. The display unit 221 displays various information. The display unit 221 is, for example, a liquid crystal display or a display.

[0032] The communicator 213 in this embodiment is a wireless communication device. The robot 200 can be connected to the management device 100 via the communicator 213. In addition, the management device 100 can identify the position of the robot 200 using the communicator 213.

[0033] The communicator 213 transmits a signal for detecting the position of the robot 200 using a communication method that complies with, for example, the BLE (Bluetooth Low Energy; "Bluetooth" is a registered trademark) communication standard. Instead of the BLE communication standard, a communication method that complies with the UWB (Ultra Wide Band) communication standard or the like may be used. The communicator 213 also transmits to the management device 100, for example, an ID for identifying the robot 200, a signal indicating the start / end of cleaning by the robot 200, and the like, using a communication method that complies with a wireless communication standard such as LTE (Long Term Evolution).

[0034] Furthermore, for example, a plurality of communication devices (not shown, hereinafter referred to as "installed communication devices") are placed at an appropriate distance from each other on the ceiling of a building. The installed communication devices receive signals transmitted from the robot 200 and detect the reception strength thereof using a communication method that complies with the same communication standard as the communication device 213 of the robot 200. The position of the robot 200 on the floor can be determined from the reception strength at the installed communication device. The installed communication devices are connected to the management device 100 by wire. The installed communication devices output the reception strength of the signals received from the robot 200 to the management device 100. In this way, the management device 100 identifies the position of the robot 200.

[0035] Alternatively, instead of an "installed communication device," multiple cameras (not shown; hereinafter referred to as "installed cameras") installed on the ceiling of the building may be used. The installed cameras capture images of the building, including the floors. Images of the robot 200 are included in the images captured by the installed cameras. The installed cameras are connected to the management device 100 by wire. The installed cameras output data representing the captured images to the management device 100. The management device 100 identifies the position of the robot 200 from the captured images using known image analysis technology.

[0036] The management device 100 receives an ID for identifying the robot 200 and various information output from the robot, which are transmitted from the communication device 213. Furthermore, the management device 100 can transmit, via the communication device 213, a signal to instruct the robot 200 to perform cleaning, or a signal to instruct the robot 200 to supply power to the elevator 20 in the event of a power outage.

[0037] CPU 211 controls the operation of robot 200. When cleaning, it controls drive unit 231 and a cleaning member (not shown) so that robot 200 cleans while moving autonomously. The cleaning member is provided on the bottom surface of robot 200 and is used to suck up dust on the floor (floor surface). The cleaning member includes, for example, a suction port, a blower for sucking dust from the suction port, a rotating brush provided at the suction port, and a motor for driving the rotating brush.

[0038] Camera 214 captures images of the surroundings of robot 200 and outputs the captured images to CPU 211. CPU 211 controls drive unit 231 and cleaning members based on the captured images from camera 214 and cleaning area information so that robot 200 performs cleaning while moving autonomously.

[0039] The driving unit 231 generates a driving force for the robot 200 to move. The driving unit 231 includes, for example, wheels for the robot 200 to move on and a motor for driving the wheels. The driving unit 231 can be operated by receiving a supply of power from the battery 217. The battery 217 supplies power for the driving unit 231 and other devices of the robot 200 to operate.

[0040] When the robot 200 connects to the elevator 20 to supply power, the drive unit 231 is driven based on an instruction from the management device 100 to travel to a position where a power supply connector of the elevator 20 is located. Then, based on an image captured by the camera 214, the connector on the robot 200 side is connected to a connector on the elevator 20 side. Then, power is supplied from the battery 217 to the elevator 20. Details of these operations will be described later using FIG. 3 and subsequent figures.

[0041] The information acquisition device 300 includes a CPU 311, a memory 312, a communication interface 313, a camera 314, and an acceleration sensor 315. These are connected to each other via a bus so that they can communicate with each other. Similarly, the memory 312 may be configured to include a ROM, a RAM, and a storage unit.

[0042] The CPU 311 loads programs stored in the ROM into the RAM and executes them to realize various functions of the information acquisition device 300. The ROM stores programs describing the processing procedures of the information acquisition device 300. The information acquisition device 300 can be connected to the management device 100 via a communication interface 313.

[0043] As described above, the information acquisition device 300 is installed inside the car 71. The acceleration sensor 315 is a sensor for measuring the acceleration of the car 71. The acceleration information measured by the acceleration sensor 315 is transmitted to the management device 100. The camera 314 captures an image of the inside of the car 71. The image captured by the camera 314 is transmitted to the management device 100.

[0044] The user terminal 400 includes a CPU 411, a memory 412, a communication interface 413, a camera 414, an input unit 420, and a display unit 421. These are connected to each other via a bus so that they can communicate with each other. Similarly, the memory 412 may be configured to include a ROM, a RAM, and a storage unit.

[0045] The CPU 411 loads programs stored in the ROM into the RAM and executes them to realize various functions of the user terminal 400. The ROM stores programs describing the processing procedures of the user terminal 400. The user terminal 400 can be connected to the management device 100 via a communication interface 413.

[0046] The input unit 420 accepts input from the user. The input unit 420 is, for example, a touch panel, but may also be a keyboard or a mouse. The display unit 421 displays various types of information. The display unit 421 is, for example, a liquid crystal display or a display.

[0047] The user terminal 400 reads the two-dimensional code 33 placed inside the car 71 using the camera 414, and thereby becomes able to access the management device 100.

[0048] FIG. 3 is a diagram for explaining a power supply method among the management device 100, the elevator system 10, and the robot 200. As shown in FIG.

[0049] The elevator system 10 includes a power source 11 (commercial power source) and a plurality of elevators 20. The plurality of elevators 20 includes elevators 20a to 20c. The elevator 20a is also referred to as "No. 1," the elevator 20b is also referred to as "No. 2," and the elevator 20c is also referred to as "No. 3." In this embodiment, it is assumed that N elevators 20 are installed (No. 1 to No. N are installed).

[0050] The car 71 of the elevator 20 is installed in a hoistway provided in a building. The car 71 travels in the hoistway and moves between a plurality of floors.

[0051] Each elevator 20 includes a CC control unit 22, a hoisting machine 23, a car device 24, and a connector 25. Elevator 20a (No. 1) also includes a GC control unit 21. Power is supplied to each of these devices from power source 11 via cables 41 to 43. In the event of a power outage, power supply from power source 11 will stop, and power will no longer be supplied to all of these devices.

[0052] A machine room is provided directly above the elevator shaft. The machine room contains a hoisting machine 23 and a control panel. The control panel contains a CC control unit 22 and a GC control unit 21. A car device 24 is provided in the car.

[0053] The elevator system 10 is provided with a GC control unit 21 and a CC control unit 22 as control units for controlling the elevator, such as the operation of the car 71.

[0054] The GC control unit (also referred to as a "group management control device") 21 is a device that controls multiple elevators (elevators 20a to 20c, etc.). The CC control unit (also referred to as an "individual elevator management control device") 22 is a device that controls each elevator (any of elevators 20a to 20c, etc.). The GC control unit 21 and each CC control unit 22 communicate with each other and exchange various data related to the elevators.

[0055] The hoist 23 is a motor that drives to raise and lower the car 71. The car device 24 is various devices installed on the car, including the display 31 shown in FIG. 1. The connector 25 is a supply port for supplying power from the robot 200 in the event of a power outage. Details will be explained using FIG. 4 and subsequent figures.

[0056] The management device 100 is also normally supplied with power from the power supply 11. The management device 100 is connected to an uninterruptible power supply (UPS) 101. Even if a power outage occurs and power supply 11 stops supplying power, the management device 100 is configured to continue to receive power from the UPS 101 for a certain period of time.

[0057] The robot 200 includes a battery 217 and a connector 218. Since the robot 200 is an autonomous mobile robot, it can move to the location where the connector 25 is installed, such as the elevators 20a to 20c, and connect the connector 218 to the connector 25.

[0058] This allows power to be supplied from the battery 217 of the robot 200 to each device of the elevator 20. In the example of Fig. 3, the connector 218 of the robot 200 is connected to the connector 25 of the elevator 20a (No. 1). This allows power to be supplied from the battery 217 of the robot 200 to the GC control unit 21, CC control unit 22, hoisting machine 23, and car device 24 of the elevator 20a (No. 1). When the robot 200 is connected to the connector 25 of the elevator No. 2, it supplies power to the CC control unit 22, hoisting machine 23, and car device 24 of the elevator No. 2.

[0059] The management device 100 can communicate with the elevators 20a to 20c, etc. The management device 100 can communicate with the GC control unit 21 of the elevator 20a. The GC control unit 21 can communicate with each CC control unit 22 of the elevators 20a to 20c. The management device 100 can acquire data held by the GC control unit 21 or the CC control unit 22.

[0060] For example, the CC control unit 22 acquires the floor position of each car 71. The management device 100 can receive the information on the floor position acquired by the CC control unit 22 via the GC control unit 21. The information acquired in this manner is stored in the memory 112 of the management device 100.

[0061] Furthermore, the management device 100 is capable of communicating with the robot 200. This allows the management device 100 to acquire information from the robot 200 and output various commands to the robot 200.

[0062] Fig. 4 is a diagram for explaining power supply to the elevators by the robot 200. Fig. 4 shows the elevator hall on the first floor. Here, the halls for elevator 20a (No. 1), elevator 20b (No. 2), and elevator 20c (No. 3) are shown.

[0063] Assume that a power outage is currently occurring and people are trapped in elevators 1 and 3. The doors 26 of elevators 20a to 20c (elevators 1 to 3) are closed (door-closed state). A connector 25 is provided on the left side of each of doors 26 of elevators 20a to 20c.

[0064] When the allocating robot connects to a supply port (connector 25) installed in the elevator 20, power can be supplied from a battery 217 mounted on the allocating robot to the elevator 20 that is the power supply target. The management device 100 commands the allocating robot to travel to a location where the connector 25 is provided, and then connect to the connector 25 to supply power to the elevator 20 that is the power supply target.

[0065] Assume that robot 200a (robot A) is assigned to unit No. 1. Robot 200a is currently traveling toward unit No. 1. Robot 200a is attempting to supply power to unit No. 1 by connecting connector 218 to connector 25 of unit No. 1.

[0066] Assume that robot 200b (robot B) is assigned to robot No. 3. Robot 200b has connector 218 connected to connector 25 of robot No. 3. Robot 200b is in a state of supplying power to robot No. 3.

[0067] The display units 221 of the robots 200a and 200b display information about the elevator 20. In elevator No. 1, it is displayed that a person is trapped. In elevator No. 2, it is displayed that a person is not trapped and that elevator No. 2 is currently out of service. In elevator No. 3, it is displayed that a person is trapped and is currently being rescued. Here, "rescuing" indicates that power is being supplied from the robot 200 to the elevator 20, and that the elevator 20 is moving toward the nearest floor or opening the doors 26.

[0068] 5 is a diagram for explaining the load in the car and the running direction. In this embodiment, the elevator 20 is assumed to be a balancing rope type elevator.

[0069] The elevator 20 includes a car 71, a weighing device 72, a counterweight (balance weight) 73, a rope 74, a hoist 23 (motor), and a deflector pulley 75. A rope (main rope) 74 is hung on the hoist 23 and the deflector pulley 75, and the car 71 and the counterweight 73 are suspended from both ends of the rope 74.

[0070] By driving the hoisting machine 23, the elevator 20 can make the car 71 installed in the hoistway travel upward (also called the "UP direction") or downward (also called the "DN direction"), and can stop the car 71 by using a brake.

[0071] The weight of the car 71 including passengers can be measured using a scale device 72. The elevator 20 is designed so that the weight of the counterweight 73 and the weight of the car 71 including passengers are balanced when the car 71 is loaded with 50% of its maximum load weight.

[0072] In this embodiment, the car 71 has a maximum load capacity of 390 kg and can accommodate six passengers. In this embodiment, the weight of each passenger is 65 kg. In this case, when 50% of the capacity (three people) is inside the car 71, the weight of the counterweight 73 and the weight of the car 71 including the passengers are balanced.

[0073] Here, the load inside the car is defined as the load weight / maximum load weight [%]. When six people are on board, the load weight = 65 kg x 6 people = 390 kg (full load = maximum load weight). The load inside the car = (65 kg x 6 people) / (65 kg x 6 people) = 100%.

[0074] When three people are on board, the load inside the car is (65 kg x 3 people) / (65 kg x 6 people) = 50%. Similarly, when one person is on board, the load inside the car is 17%, and when there are no passengers, the load inside the car is 0%.

[0075] As shown in Figure 5(a), when one person is on board, the load inside the car is 17% (<50%). As a result, the counterweight 73 is heavier than the car 71. Therefore, if the brake is simply released, the car 71 will travel in the UP direction.

[0076] In the example of Figure 5(a), it is assumed that car 71 has stopped between the second floor 77 and the third floor 78 due to a power outage. The distance traveled by car 71 in the UP direction until it arrives (lands) on the third floor 78 is assumed to be distance L1. When it arrives (lands) on the third floor 78, the door of car 71 becomes able to open.

[0077] On the other hand, the distance that car 71 travels in the DN direction until it arrives (lands) at second floor 77 is assumed to be distance L2. When car 71 arrives at second floor 77, the door of car 71 can be opened. Here, distance L1 > distance L2.

[0078] To resolve the trapped state, the car 71 should be driven to at least the nearest floor, the second or third floor, and then the door should be opened. However, since the battery capacity of the robot 200 is also limited, it is desirable to resolve the trapped state using as little power as possible.

[0079] For this reason, in this embodiment, the doors are opened after the car is run to the nearest floor where the least amount of power is used to resolve the trapped state (hereinafter also referred to as the "low-load nearest floor") In the example of Figure 5(a), less power is used when running in the UP direction than in the DN direction, so the car 71 is run to the third floor to resolve the trapped state. In other words, the third floor is the low-load nearest floor.

[0080] As shown in Figure 5(b), when six passengers are on board, the load inside the car is 100% (>50%). As a result, the car 71 is heavier than the counterweight 73. Therefore, if the brake is simply released, the car 71 will travel in the DN direction.

[0081] In the example of Figure 5(b), less power is used when traveling in the DN direction than in the UP direction, so the car 71 is made to travel to the second floor to resolve the trapped state. In other words, the second floor is the nearest floor with low load.

[0082] As shown in Figure 5(c), when three passengers are on board, the load inside the car is 50%. Therefore, the car 71 and counterweight 73 are balanced. In this case, even if the brake is released, the car 71 will not travel in either the UP or DN direction. Therefore, the power used per unit travel distance will not change regardless of the direction in which the car is traveled.

[0083] However, the distance to the third floor 78 is L1, and the distance to the second floor 77 is L2, which is shorter than L1. For this reason, in the example of Figure 5(c), less power is used when traveling to the second floor, which is the shorter distance, so car 71 is made to travel to the second floor to resolve the trapped state. In other words, the second floor is the nearest floor with low load.

[0084] In the balancing rope type elevator described above, for example, when the load in the car is 100%, only the output required for brake release and operation (power supply to the control panel, etc., operation control power) is required, and since it is regenerative braking operation, no large amount of power is required. On the other hand, when the load in the car is 50%, the weight of the counterweight 73 and the weight of the car 71 are balanced, so a large amount of power is required to move the car 71.

[0085] The elevator 20 is not limited to the counterbalanced rope type elevator described above, but may also be a hydraulic elevator or a drum elevator. In the case of a hydraulic elevator, only the control power and the valve control power are required, and the driving force is obtained by dropping a load in the DN direction, so only the time required for rescue operation (which increases depending on the distance to the landing) affects the required power. In the case of a drum elevator, the brake is released and the elevator moves in the DN direction under its own weight, so only the time required for rescue operation affects the required power.

[0086] Fig. 6 is a diagram showing an example of an image captured by the information acquisition device 300. Image 80 is an image of the inside of the car 71 captured by the information acquisition device 300 shown in Fig. 1. The information acquisition device 300 constantly captures images of the inside of the car 71 regardless of whether a power outage has occurred. The information acquisition device 300 is equipped with a battery (not shown) and is therefore operable even during a power outage.

[0087] Image 80 shows five passengers 53 on board with doors 32 closed (door closed state). Image 80 also shows on display 31 that car 71 is traveling in the UP direction on the second floor (floor position = 2nd floor, traveling direction = UP direction).

[0088] The management device 100 periodically (for example, every 100 msec) acquires images captured by the information acquisition device 300. Then, the management device 100 extracts the door open / closed state, position, traveling direction, and number of passengers of the car 71 from the acquired images using a known image analysis technique.

[0089] In this example, information such as the door status of car 71 = door closed, floor location = 2nd floor, running direction = UP, and number of passengers = 5 is extracted. Furthermore, the load inside the car is calculated from the number of passengers. As mentioned above, in the case of a six-passenger car, the load inside the car = (65 kg x 5 passengers) / (65 kg x 6 passengers = 390 kg) = 83% is calculated.

[0090] The management device 100 can also acquire acceleration information detected by an acceleration sensor 315 provided in the information acquisition device 300. The management device 100 estimates the distance to the nearest floor from the acceleration, the door open / close state, the floor position, and the traveling direction.

[0091] For example, suppose the car is traveling in the UP direction from the second floor to the third floor. If the car is currently stopped on the second floor with the door open, the traveling direction = UP, floor position = second floor, door open / closed state = door open, and acceleration = 0 (state A). After that, the door open / closed state = door closed (state B), and when acceleration > 0 (state C), the car enters the traveling state.

[0092] Furthermore, the floor position becomes the third floor (state D), and after the acceleration becomes less than 0 (state E), the acceleration becomes 0 (state F), the door open / close state becomes the door open state (state G), and the door opens and stops on the third floor. Using this information, the distances L1 and L2 to the nearest floor can be estimated as shown in Figure 5.

[0093] Specifically, in the above series of states A to G, states B to F are traveling states. Here, in this embodiment, as described above, the "floor position" indicates which floor the car is on (for example, any one of the first to fourth floors). In contrast, the car position indicates a more specific position. For example, the car position may indicate the distance from the lowest floor (first floor).

[0094] For example, the distance to the nearest floor may be calculated based on the measured time from state B (floor position = 2nd floor, running direction = UP). The car 71 runs based on a certain speed pattern (speed curve) (the relationship between car position and speed is specified). Therefore, the specific car position can be calculated by applying the measured time from state B (measurement is performed up to state F) to this speed pattern (associating the relationship between time and distance). Using the car position and distance information between each floor, the distance to the nearest floor, such as L1 and L2 in Figure 5, can be calculated.

[0095] In addition, the specific car position can be calculated using the value obtained by integrating the acceleration twice (value corresponding to the position) starting from state B (floor position = 2nd floor, running direction = UP). In this case, if the above speed pattern information is also combined, the car position can be calculated more accurately.

[0096] In this way, in this embodiment, information about the car's position (car position, distance to the nearest floor) is estimated based on information including an image of the position display (floor position, running direction) captured by camera 314. Alternatively, information about the car's position (car position, distance to the nearest floor) is estimated based on information including an image of the position display (floor position, running direction) captured by camera 314 and acceleration measured by acceleration sensor 315.

[0097] 7 is a diagram showing an example of a screen displayed on the user terminal 400. As described with reference to FIG. 1, if a trapped state occurs, a passenger in the car 71 can read the two-dimensional code 33 using the user terminal 400 (smartphone) and access the management device 100.

[0098] When the management device 100 is accessed, a screen such as that shown in Fig. 7 is displayed on the display unit 421 of the user terminal 400 owned by the passenger 53. The two-dimensional code 33 in the car 71 is linked to the name of the building and the name of the car. The screen displays that the name of the building that the passenger 53 is using is "ABC Building" and that the passenger 53 is currently riding in "Car No. 3."

[0099] On this screen, the display unit 421 displays "Please enter the number of passengers," prompting the user to enter the number of passengers in the car 71. In this example, the passenger 53 uses the input unit 420 to enter that the number of passengers is "5."

[0100] Furthermore, the display unit 421 displays "Please check the relevant items" to prompt the user to input information about the passengers in the car 71. The check items include "Wheelchair" indicating that there is a passenger in a wheelchair, "Elderly" indicating that there is an elderly person on board, "Infant" indicating that there is an infant on board, "Pregnant woman" indicating that there is a pregnant woman on board, and "Illness" indicating that there is an unwell passenger.

[0101] In this example, there are passengers in wheelchairs and those who are in poor health, so passenger 53 uses input unit 420 to check "wheelchair" and "poor health."

[0102] Then, when the "Send" button is clicked, the above information is sent to the management device 100. This enables the management device 100 to acquire passenger information from the information input at the user terminal 400. Based on this passenger information, the management device 100 prioritizes the rescue of cars 71 with a high degree of urgency (see FIG. 11 described later).

[0103] The processing executed in this embodiment will be described below with reference to flowcharts shown in Figs. 8 to 13. Fig. 8 is a flowchart of the main processing. The management device 100 executes the main processing. For example, the main processing may be started when the power to the management device is turned on. Hereinafter, "step" may also be simply referred to as "S".

[0104] 8, when the main processing starts, the management device 100 determines in S101 whether a power outage (switching to the UPS 101) has occurred. If the management device 100 determines that a power outage has occurred (YES in S101), the processing proceeds to S102. On the other hand, if the management device 100 does not determine that a power outage has occurred (NO in S101), the processing returns to S101 again. In other words, if a power outage has occurred, the processing from S102 onwards is executed.

[0105] The UPS 101 can detect whether a power outage has occurred (whether the supply of power from the commercial power source (power source 11) has stopped). The management device 100 can determine whether a power outage has occurred based on information from the UPS 101.

[0106] In S102, the management device 100 acquires car information. The car information is information generated in the car information generation process shown in Fig. 12 or 13, which will be described later. The car information includes the load in the car, the car position, door open / close information, etc.

[0107] In S103, the management device 100 sets i=0. In S104, the management device 100 adds 1 to i (i++). In S105, the management device 100 determines whether or not a person is trapped based on the door opening / closing information and the load inside the car of car No. i. In this way, the management device 100 determines whether or not a person is trapped, starting from car No. 1.

[0108] Specifically, if the doors of car i are closed and the load inside the car is greater than 0%, it is determined that a passenger is trapped. If the load inside the car is greater than 0%, it can be determined that there is a passenger inside car 71. Furthermore, if the doors of car 71 are closed when a power outage occurs, it can be determined that a passenger is trapped inside car 71 and cannot get off.

[0109] If the management device 100 determines in S106 that a person is trapped (YES in S106), the process proceeds to S107, where the management device 100 executes the power calculation process (FIG. 9). On the other hand, if the management device 100 does not determine that a person is trapped (NO in S106), the process proceeds to S108.

[0110] The power calculation process is a process for calculating the power required to release the trapped state, and as described above, the power required for the car 71 in which the trapped state has occurred is calculated.

[0111] In S108, the management device 100 determines whether i=N (the number of installed cars). If the management device 100 determines that i=N (YES in S108), the process proceeds to S109. On the other hand, if the management device 100 does not determine that i=N (NO in S108), the process proceeds to S104.

[0112] In this embodiment, the management device 100 calculates the required power required to release a trapped state when a trapped passenger occurs for all of the cars 71 from No. 1 to No. N installed in the building.

[0113] In S109, the management device 100 executes the robot allocation process (FIG. 10) and returns to S101. The robot allocation process is a process of determining which robot 200 to allocate to supply power to the car 71 (elevator 20) in which the confinement has occurred (determining the allocated robot), and issuing a command to the allocated robot to supply power to the car 71 (elevator 20) in which the confinement has occurred.

[0114] By executing the robot allocation process, the robot 200 operates to resolve the trapped state. Then, the process returns to S101, and when the next power outage occurs, the robot will be allocated again.

[0115] 9 is a flowchart of the power calculation process. The management device 100 determines the floor with the least power consumption (the floor nearest to the lowest load) based on car information including information on the weight of the car 71 (for example, the load in the car) and information on the position of the car 71 (for example, the car position).

[0116] When the power calculation process starts, the management device 100 determines in S201 the load in the car, the running direction from the car position, and the running distance to the nearest floor with a low load.

[0117] For example, as shown in Figure 5(a), when the load in the car is less than 50%, the running direction is determined to be UP. Then, the running distance to the nearest floor (= nearest floor with low load) when running in the UP direction is determined based on the car position (distance from the first floor). In the example of Figure 5(a), the running distance to the nearest floor with low load is L1.

[0118] As shown in Figure 5(b), when the load in the car is greater than 50%, the running direction is determined to be the DN direction. Then, the running distance to the nearest floor (= nearest floor with low load) when running in the DN direction is determined based on the car position (distance from the first floor). In the example of Figure 5(b), the running distance to the nearest floor with low load is L2.

[0119] As shown in Figure 5(c), when the load in the car is 50% (the weight of the car 71 is balanced with the weight of the counterweight 73), if L1>L2, the running direction is determined to be the DN direction. In the example of Figure 5(c), the running distance to the nearest low-load floor is L2.

[0120] When the load inside the car is 50% and L1 < L2, the traveling direction is determined to be the UP direction. That is, the traveling direction is determined so that the car travels to the nearest floor with a short distance from the car 71 to the landing. In this case, the traveling distance to the nearest floor with a low load is L1.

[0121] Note that the state where the weight of the car 71 and the weight of the counterweight 73 are balanced as shown in Fig. 5(c) is not limited to the case where the load inside the car is 50%, and for example, it may be defined with a width of several percent such as the load inside the car being 47 - 53%.

[0122] In S202, the management device 100 calculates the power required for traveling to the nearest floor with a low load. In other words, when the car 71 is not stopped at any of the plurality of stoppable floors where the door can be opened, the management device 100 calculates the power required for the car 71 to travel to the floor with the least power consumption by traveling (the nearest floor with a low load) among the plurality of stoppable floors.

[0123] In the cases of Figs. 5(a) and 5(b), with only the brake released, the car 71 can travel to the nearest floor with a low load, so no power is required for traveling to the nearest floor with a low load. However, when speed control is performed to control the speed to be constant, the corresponding power is required. In this case, the power required for traveling = the power required per unit traveling distance × the distance to the nearest floor with a low load.

[0124] Also, in the case of Fig. 5(c), since the car 71 does not move even when the brake is released, the power required for traveling to drive the hoist 23 to make the car 71 travel to the nearest floor with a low load = the power required per unit traveling distance × the distance to the nearest floor with a low load.

[0125] In S203, the management device 100 calculates the power required to解除 the confinement state. The required power is, in addition to the power required for traveling obtained in S202, the power required to open the door of the car 71, the power required to operate the control panel (GC control unit 21 and CC control unit 22), the power required to operate the car device 24, etc.

[0126] 10 is a flowchart of the robot allocation process. The management device 100 assigns the robot 200 that can resolve the locked-in state as the assigned robot based on information including the remaining charge of the battery 217 and the required power.

[0127] When the robot allocation process starts, in S301, the management device 100 acquires the remaining battery power of each robot 200. For example, in the example of Fig. 1, the remaining battery power of robot A is 80% (80% of the maximum power that robot A can supply), and the remaining battery power of robot B is 40%.

[0128] In S302, the management device 100 acquires the required power for each cage 71 in which a trapped passenger has occurred. Here, the required power calculated in the power calculation process is acquired.

[0129] In S303, the management device 100 assigns (determines) the robot 200 whose remaining battery power does not fall below a predetermined amount (for example, 10%) even when the required power is supplied. For example, in the above example, robot A has a larger remaining battery power than robot B.

[0130] In a situation like that shown in Figure 5(c), if it is necessary to open the door of car 71 after running robot No. 1 to the nearest low-load floor (second floor), and the remaining battery power of robot B (40%) is insufficient but the remaining battery power of robot A (80%) can cover it, robot A is assigned as the assigned robot to robot No. 1.

[0131] On the other hand, if Robot No. 3 is stopped on the third floor but is trapped because the doors are closed, it does not need power to move but does need power to open the doors. If the remaining battery power of Robot B can be used to free Robot No. 3 from this trapped state, then Robot B can be assigned as the assigned robot.

[0132] Since the robot 200 supplies power after traveling to the platform, the robot 200 must be allocated so that the remaining battery power does not reach 0, taking into account at least the power required for traveling to the platform.

[0133] In S304, the management device 100 commands the assigned robots to supply power. In the above example, the management device 100 commands robot A to supply power to robot No. 1, and commands robot B to supply power to robot No. 3.

[0134] In S305, the management device 100 determines whether or not one assigned robot will supply power to multiple cages 71. If the management device 100 determines that one assigned robot will supply power to multiple cages 71 (YES in S305), the processing proceeds to S306. On the other hand, if the management device 100 does not determine that one assigned robot will supply power to multiple cages 71 (NO in S305), the robot allocation processing ends.

[0135] The management device 100 executes the priority determination process in S306. For example, when robot A is assigned to robots No. 1 and No. 3 because robot B has insufficient remaining battery power, the priority determination process is executed.

[0136] The assigned robot supplies power to the elevators 20 in the order determined in the priority determination process. In the above example, if the priority of elevator No. 1 is higher than the priority of elevator No. 3, robot A supplies power to elevator No. 1 and then to elevator No. 3.

[0137] In S307, the management device 100 instructs the assigned robots on the order of power supply. In the above example, the management device 100 instructs robot A to supply power to robot No. 1 first, and then to robot No. 3.

[0138] In S308, the management device 100 determines whether all of the trapped-in cases have been resolved. If the management device 100 determines that all of the trapped-in cases have been resolved (YES in S308), it ends the robot allocation process. On the other hand, if the management device 100 does not determine that all of the trapped-in cases have been resolved (NO in S308), it proceeds to S309.

[0139] In the above example, when the assigned robot supplies power to cars 1 and 3 where the entrapment occurred, and all passengers have disembarked from both cars (load inside the car = 0%), it is determined that all entrapment has been resolved.

[0140] In S309, the management device 100 determines whether or not information from a user ("passenger information") has been received. If the management device 100 determines that information from a user has been received (YES in S309), the processing proceeds to S306. On the other hand, if the management device 100 does not determine that information from a user has been received (NO in S309), the processing proceeds to S308.

[0141] 1 and 7, if passengers 53, 54 in the car 71 transmit passenger information (information from the users) such as the number of passengers and passengers in poor health or wheelchairs from the user terminal 400 (smartphone) after the entrapment has occurred, the process returns to S306 and the priority determination process is performed again. In this way, in this embodiment, the priority is reviewed each time passenger information for each car 71 is transmitted.

[0142] 11 is a flowchart of the priority determination process. When power is supplied to multiple cars 71 by one allocation robot, the management device 100 is configured to instruct the allocation robot to supply power to the multiple cars 71 in descending order of priority. As will be described below, the priority is determined based on passenger information including the number of passengers, passenger attributes, and passenger status.

[0143] When the priority determination process starts, the management device 100 determines in S401 whether or not information (passenger information) has been received from a user. If the management device 100 determines that passenger information has been received (YES in S401), the process proceeds to S402. On the other hand, if the management device 100 does not determine that passenger information has been received (NO in S401), the process proceeds to S403.

[0144] In S402, the management device 100 acquires passenger information from the received information. In the example of Fig. 7, the acquired passenger information indicates that the number of passengers on the third car is five, that the passenger attributes include passengers in wheelchairs, and that the passenger conditions include passengers who are in poor health.

[0145] In S404, the management device 100 determines the priority based on the acquired passenger information and ends the priority determination process. For example, if there is a passenger who is unwell, the priority may be set to the highest. Alternatively, the priority may be set to a high value depending on the number of items corresponding to unwell, pregnant women, wheelchair users, elderly people, and infants (or the number of applicable persons). If there are no such passengers, the priority of the car 71 with the most passengers may be set to a high value. In this way, in this embodiment, the priority is determined depending on the urgency of the passengers in the car 71.

[0146] In the above example, there are passengers in wheelchairs and passengers who are unwell on board No. 3. On the other hand, there are no such passengers on board No. 1. Therefore, priority is determined in the order of No. 3, No. 1.

[0147] Furthermore, if information from the user (passenger information) is not acquired, this information may be inferred based on information from the information acquisition device 300. For example, as described with reference to FIG. 6, known image analysis technology may be used to detect that there are five passengers on board in image 80. Furthermore, areas corresponding to passengers may be extracted from the image, and based on the size, shape, etc. of the extracted area, it may be possible to determine whether the passenger is in a wheelchair, a small child, a collapsed passenger (unwell), etc.

[0148] In S403, the management device 100 determines the priority based on the number of passengers and wheelchair calls, and ends the priority determination process. If the management device 100 can acquire information from the GC control unit 21 as in this embodiment, it can acquire from the GC control unit 21 the load weight of each car 71 (see the explanation of FIG. 5) and whether or not there is a wheelchair car call.

[0149] 5, the car 71 has a maximum load capacity of 390 kg and can carry six people (65 kg x 6 people). In this case, for example, if the load capacity is 65 kg, the number of passengers is calculated as 1 person (= 65 kg / 65 kg), and if the load capacity is 390 kg, the number of passengers is calculated as 6 people (= 390 kg / 65 kg).

[0150] In this embodiment, a wheelchair car call button (not shown) is installed inside the car 71. A wheelchair passenger presses the wheelchair car call button to register their destination floor. Then, the management device 100 can determine whether a wheelchair passenger is in the car 71 by obtaining wheelchair car call information from the GC control unit 21.

[0151] For example, a higher priority may be set for a car 71 in which a wheelchair car call is registered. If no such passenger exists, a higher priority may be set for a car 71 with a larger number of passengers. For example, if a wheelchair car call is registered in car No. 3 but no wheelchair car call is registered in car No. 1, the priority is determined in the order of car No. 3, car No. 1.

[0152] In this embodiment, the management device 100 can acquire information about the car 71 from an information acquisition device 300 (mobile terminal) installed in the car 71. The management device 100 can also acquire information about the car 71 from a GC control unit 21 (CC control unit 22) installed in the control panel.

[0153] However, the configuration is not limited to the above, and the management device 100 may be configured to be able to acquire information from either the information acquisition device 300 or the GC control unit 21. The management device 100 can determine the robot to be assigned based on information from the information acquisition device 300, or can determine the robot to be assigned based on information from the GC control unit 21. Furthermore, even if the management device 100 is unable to acquire information from the user terminal 400, it can calculate the priority by acquiring information from the GC control unit 21.

[0154] For example, an elevator manufacturer can understand what kind of signals can be obtained from the GC control unit 21, and therefore can build a robot management system that calculates priorities and determines assigned robots without obtaining information from the information acquisition device 300 and the user terminal 400.

[0155] On the other hand, elevator manufacturers or maintenance companies that are not related to the above manufacturers may not necessarily be able to freely acquire information by connecting to the GC control unit 21. In such cases, by installing an information acquisition device 300 (mobile terminal) in the car 71 and acquiring information from the user terminal 400, it is possible to construct a robot management system that calculates priorities and determines assigned robots without connecting to the GC control unit 21.

[0156] Below, a flowchart of the car information generation process for generating car information in the latter case (not connecting to the GC control unit 21 and using information from the information acquisition device 300) will be described using Fig. 12. On the other hand, as a variation of the latter case, a flowchart of the car information generation process for generating car information in the former case (connecting to the GC control unit 21 and using this information, but not using the information acquisition device 300) will be described using Fig. 13.

[0157] 12 is a flowchart of the car information generation process. As shown in FIG. 6, the camera 314 provided in the information acquisition device 300 installed in the car 71 captures images of the passengers in the car 71 and also captures images of the display 31.

[0158] The display 31 displays information related to the position of the car 71. Specifically, the display 31 displays the floor position of the car 71 and the traveling direction of the car 71. In addition, the acceleration sensor 315 provided in the information acquisition device 300 measures the acceleration of the car 71.

[0159] When the car information generation process starts, the management device 100 acquires, in S501, an image captured by the camera 314 and an acceleration detected by the acceleration sensor 315 for each car.

[0160] In S502, the management device 100 extracts floor information from the image. Specifically, in the example of Fig. 6, floor position = 2 and running direction = UP direction are extracted as floor information. In S503, the management device 100 estimates the number of passengers from the image. Specifically, in the example of Fig. 6, the number of passengers is estimated to be 5.

[0161] In S504, the management device 100 calculates the car load from the maximum load weight and the number of passengers. Specifically, in the example of Fig. 6, the car load = (65 kg x 5 passengers) / 390 kg = 83% is calculated.

[0162] In S505, the management device 100 estimates the position of the car from the time-series data of the acceleration and floor information. Specifically, as explained in Fig. 6, the time-series data is each of the data in states A to G in the explanation of Fig. 6.

[0163] In S506, the management device 100 stores the car information including the car position and the car load of each car in the memory 112, and ends the car information generation process.

[0164] In this way, the management device 100 estimates the number of passengers (number of passengers) as passenger information based on the images of passengers captured by the camera 314, and further estimates the load in the car as information related to the weight of the car 71 based on the maximum load weight and the number of passengers. The management device 100 estimates the car position as information related to the position of the car 71 based on information including the image of the display 31 captured by the camera 314. The car position may be estimated based on acceleration information measured by the acceleration sensor 315 in addition to the image captured by the camera 314.

[0165] 13 is a flowchart of car information generation processing according to a modified example. In this modified example, the management device 100 can acquire or generate car information from the control units (GC control unit 21, CC control unit 22).

[0166] When the car information generation process starts, in S601 the management device 100 connects to the GC control unit 21. In S602, the management device 100 acquires the car position, scale information, and maximum loading capacity of each car.

[0167] In S603, the management device 100 calculates the car load from the scale information and the maximum load weight acquired from the scale device 72. For example, it is assumed that the load weight is calculated to be 325 kg based on the scale information. If the maximum load weight is 390 kg, the car load is calculated as 325 kg / 390 kg=83%.

[0168] In S604, the management device 100 stores the car position and the car load of each car in the memory 112, and ends the car information generation process.

[0169] In this embodiment, one robot 200 is assigned to one or more elevators 20. However, this is not limiting, and if the trapped state cannot be resolved by the power supply from one robot 200, multiple robots 200 may be assigned to one elevator 20.

[0170] In addition, in this embodiment, connector 25 is provided at the landing on the first floor, but this is not limiting and connector 25 may be provided at the landing on any floor or at the landing on each floor. When connector 25 is provided at the landing on each floor, cleaning robots arranged on each floor can be utilized.

[0171] In this embodiment, for a car 71 in which no one is trapped or a car 71 for which rescue has been completed, the management device 200 transmits a pause signal to the GC control unit 21. By transmitting the pause signal, the car 71 closes the door and pauses operation. In this case, as shown in FIG. 4, the display unit 221 of the robot 200 indicates that the car 71 is unmanned and paused.

[0172] The robot 200 may also be provided with a power generation function. For example, the robot 200 may generate power by operating an engine provided therein, or may generate power using sunlight. The power thus generated may be supplied to the elevator 20.

[0173] As described above, in the management device 100 of this embodiment, by connecting any one of at least one robot 200 to the elevator 20, power can be supplied to the elevator 20 from the battery 217 mounted on the robot 200 connected to the elevator 20. When a power outage occurs and a person is trapped in the car 71 of the elevator 20, where the doors cannot be opened, the CPU 111 of the management device 100 calculates the required power to resolve the trapped state. Based on predetermined information, the CPU 111 assigns, as an assigned robot, a robot 200 out of the at least one robot 200 that can resolve the trapped state. The predetermined information includes the remaining charge of the battery 217 mounted on the at least one robot 200 and the required power.

[0174] In this way, in order to resolve a situation where a person is trapped in the elevator 20 due to a power outage, a robot 200 that can supply power can be suitably assigned to the elevator 20.

[0175] If a person becomes trapped due to a power outage, it is possible to communicate with the maintenance company's information center from inside the car 71 via telephone lines. However, if a large-scale power outage occurs and a maintenance worker is dispatched from the maintenance company to perform a rescue, it may take, for example, half a day due to a lack of manpower. In contrast, with the configuration of this embodiment, the robots 200 located in the building can respond immediately, making it possible to quickly resolve the trapped state. Furthermore, since a robot 200 with sufficient battery power is assigned, it is possible to prevent a situation in which the car 71 stops again due to a lack of battery during a rescue attempt, causing a secondary disaster.

[0176] Each of the at least one robot 200 is an autonomous mobile robot 200. The trapped state is a state in which passengers cannot get off the car 71 because the car 71 cannot move or open its doors due to a power outage. When the assigned robot connects to a supply port (connector 25) installed in the elevator 20, power can be supplied to the elevator 20 from a battery 217 mounted on the assigned robot. The CPU 111 commands the assigned robot to move to a location where the connector 25 is installed, and then connect to the connector 25 to supply power to the elevator 20.

[0177] In this way, the autonomous mobile robot 200 can travel to a position where it can connect with the elevator 20 and supply power to the elevator 20. For example, an autonomous mobile cleaning robot can be used to supply power to the elevator 20 in which a person is trapped, thereby reducing the installation cost of the robot.

[0178] The required power includes a first power and a second power. The first power is the power required for the car 71 to travel to the floor among the multiple stoppable floors at which the power consumption for travel is the least when the car 71 is not stopped at any of the multiple stoppable floors at which the doors can be opened. The second power is the power required for the car 71 to open the door. The CPU 111 determines the floor at which the power consumption is the least based on car 71 information including information about the weight of the car 71 and information about the position of the car 71. In this way, the trapped state can be resolved with the minimum amount of power required.

[0179] The elevator 20 is provided with a control unit (GC control unit 21, CC control unit 22) that controls the operation of the car 71. The CPU 111 acquires car information from the control unit (GC control unit 21, CC control unit 22). The memory 112 stores the car information. In this way, the information from the control unit (GC control unit 21, CC control unit 22) of the elevator 20 can be utilized to resolve the trapped state.

[0180] A camera 314 is installed in the car 71 to capture images of the interior of the car 71. The camera 314 captures images of passengers in the car 71 and also captures an image of a position display that displays information about the position of the car 71. The CPU 111 estimates information about the weight of the car 71 based on information including the images of passengers captured by the camera 314. The CPU 111 estimates information about the position of the car 71 based on information including the image of the position display captured by the camera 314. In this way, even when information from the control unit of the elevator 20 cannot be used, installing the camera 314 makes it possible to resolve a trapped state.

[0181] An acceleration sensor 315 that measures the acceleration of the car 71 is installed in the car 71. The CPU 111 estimates information about the position of the car 71 based on information including an image of the position display captured by the camera 314 and the acceleration measured by the acceleration sensor 315. By installing the camera 314 and the acceleration sensor 315, information about the position of the car 71 can be estimated with greater accuracy.

[0182] When power is supplied to multiple cars 71 by the assigned robot, the CPU 111 instructs the assigned robot to supply power to the multiple cars 71 in descending order of priority. The priority is determined based on passenger information including passenger attributes and passenger status. In this way, the trapped state can be resolved in descending order of the car 71 that requires rescue with the greatest urgency.

[0183] The CPU 111 estimates passenger information based on the images of the passengers captured by the camera 314. In this way, by utilizing information from the control units (GC control unit 21, CC control unit 22) of the elevator 20, it is possible to resolve the trapped state in order of the car 71 that needs rescue most urgently.

[0184] The management device 100 can wirelessly communicate with the user terminal 400 operated by the passenger. The CPU 111 acquires passenger information from information input by the user terminal 400 on the terminal. In this way, the trapped state can be resolved in order of the car 71 with the highest urgency, based on the information from the trapped passenger. In this case, the trapped state can be resolved in order of the car 71 with the highest urgency, without using information from the control unit of the elevator 20.

[0185] The embodiments disclosed herein are merely examples and are not limited to the above. The scope of the present invention is defined by the claims, and it is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0186] 10 elevator system, 11 power supply, 20, 20a-c elevator, 21 GC control unit, 22 CC control unit, 23 hoist, 24 car device, 25 connector, 26 door, 31 display, 32 door, 33 two-dimensional code 33, 41 cable, 53, 54 passenger, 71 car, 72 weighing device, 73 counterweight, 74 rope, 75 deflector, 77, 78 floor, 80 image, 100 management device, 101 UPS, 111, 211, 311, 411 CPU, 112, 212, 312, 412 memory, 113, 413 communication interface, 213 communication device, 200, 200a, 200b robot, 214, 314, 414 camera, 217 battery, 218 connector, 221 Display unit, 231 drive unit, 300 information acquisition device, 313 acceleration sensor, 400 user terminal, 420 input unit, 421 display unit.

Claims

1. A management device that manages at least one robot equipped with a storage battery, a processor; a memory that stores a program executable by the processor; the at least one robot and the elevator are configured such that, by connecting any one of the at least one robot to an elevator, power can be supplied to the elevator from a storage battery mounted on the robot connected to the elevator; The processor: When a power outage occurs and the elevator car is trapped and the doors cannot be opened, the required power to resolve the trapped state is calculated; assigning a robot that can resolve the confinement state from among the at least one robot as an assigned robot based on predetermined information; The predetermined information includes the remaining charge of a storage battery mounted on the at least one robot and the required power.

2. each of the at least one robot is an autonomous mobile robot; The trapped state is a state in which passengers cannot get off the car because the car cannot run or open its doors due to a power outage, By connecting the allocation robot to a supply port installed in the elevator, power can be supplied to the elevator from a storage battery installed in the allocation robot, The management device according to claim 1 , wherein the processor instructs the allocation robot to travel to a location where the supply port is provided, and then connect to the supply port to supply power to the elevator.

3. the required power includes a first power and a second power; the first power is power required for the car to travel to a floor among the plurality of stoppable floors where power consumption due to travel is the least when the car is not stopped at any of the plurality of stoppable floors where the door can be opened, the second power is power for the car to open a door, The management device according to claim 1 or 2, wherein the processor determines the floor with the least power consumption based on car information including information about the weight of the car and information about the position of the car.

4. The elevator is provided with a control unit that controls the operation of the car, The processor acquires the car information from the control unit, The management device according to claim 3 , wherein the memory stores the car information.

5. A camera for capturing images of the inside of the car is installed in the car, the camera captures an image of a passenger in the elevator car and a position display that displays information about the position of the elevator car; The processor: Inferring information about the weight of the car based on information including images of the passengers captured by the camera; The management device according to claim 3 , wherein information relating to the position of the car is estimated based on information including an image of the position display captured by the camera.

6. a sensor for measuring acceleration of the car is installed in the car; The management device according to claim 5 , wherein the processor estimates information relating to the position of the car based on information including an image of the position display captured by the camera and the acceleration measured by the sensor.

7. When power is supplied to multiple cages by the allocation robot, the processor instructs the allocation robot to supply power to the multiple cages in descending order of priority. The management device according to claim 5 or 6, wherein the priority is determined based on passenger information including attributes of the passengers and states of the passengers.

8. The management device according to claim 7 , wherein the processor estimates the passenger information based on an image of the passenger captured by the camera.

9. the management device is capable of wirelessly communicating with the terminal operated by the passenger, The management device according to claim 7 , wherein the processor acquires the passenger information from information input by the passenger on the terminal.

10. A management method for managing at least one robot equipped with a storage battery, comprising: the at least one robot and the elevator are configured such that, by connecting any one of the at least one robot to an elevator, power can be supplied to the elevator from a storage battery mounted on the robot connected to the elevator; a step of calculating a required power to resolve a trapped state in a case where a power outage occurs and the elevator car is in a trapped state where the doors cannot be opened; and assigning a robot that can resolve the confinement state from among the at least one robot as an assigned robot based on predetermined information, The management method, wherein the predetermined information includes the remaining charge of a storage battery mounted on the at least one robot and the required power.

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