Elevator control device and elevator control system

Abstract

To prevent submergence of a service robot when there is a possibility that a lower story of a building is submerged.SOLUTION: An elevator control device according to an embodiment is communicably connected to a moving body that moves in a building, and controls an elevator installed in the building. An elevator control device includes storage means, reception means, and command means. The storage means stores a current floor where the moving body is present and a target floor of the moving body. The receiving means receives a warning signal indicating that the building is likely to be flooded. When receiving the warning signal, the determination means determines whether or not the current floor is a target floor which may be flooded. When the determination means determines that the current floor is the target floor, the command means transmits a setting command for setting the target floor to a predetermined evacuation floor having a low possibility of flooding to the moving body.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an elevator control device and an elevator control system.

Background Art

[0002] In recent years, it has been considered to provide various services such as a service for transporting (carrying) luggage in a building and a service for guarding the building by moving a moving body such as an autonomous mobile robot (hereinafter referred to as a service robot) in the building. When the building in which the service robot moves is, for example, a multi-story building, the service robot can move between a plurality of floors in the building by using an elevator provided in the building.

[0003] By the way, when flooding of rivers around the building or malfunction of drainage channels occur due to heavy rain or typhoons, the lower floors of the building may be flooded. If such flooding occurs when the service robot is moving on the lower floor of the building, the service robot and the luggage of the service robot may be submerged.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Therefore, the problem to be solved by the present invention is to provide an elevator control device and an elevator control system capable of preventing the service robot from being submerged when the lower floor of the building may be flooded.

Means for Solving the Problems

[0006] An elevator control device according to one embodiment is communicated with a mobile body moving within a building and controls an elevator installed within the building. The elevator control device includes a storage means and a receiving means. Determination means, The system comprises a command means and a storage means that stores the current floor where the mobile body is located and the destination floor of the mobile body. The receiving means receives a warning signal indicating that the building may be flooded. When the determination means receives the warning signal, it determines whether the current floor is a target floor that may be flooded. If the determination means determines that the current floor is a target floor, the command means transmits a setting command to the mobile body to set the destination floor to a predetermined evacuation floor with a low probability of flooding. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is a block diagram showing an example of the configuration of an elevator control system according to the first embodiment. [Figure 2] Figure 2 shows the relationship between the current floor and destination floor of the service robot and the commands transmitted to the service robot in the elevator control system according to the first embodiment. [Figure 3] Figure 3 shows an example of a robot management table according to the first embodiment. [Figure 4] Figure 4 is a flowchart showing an example of the normal coordinated operation of the elevator control system according to the first embodiment. [Figure 5] Figure 5 is a flowchart showing an example of coordinated operation of the elevator control system in response to flooding according to the first embodiment. [Figure 6] Figure 6 is a diagram illustrating a specific example of the elevator control system according to the first embodiment. [Figure 7] Figure 7 is a diagram illustrating a specific example of the elevator control system according to the first embodiment. [Figure 8]Figure 8 is a diagram illustrating a specific example of the elevator control system according to the first embodiment. [Figure 9] Figure 9 is a diagram illustrating a specific example of the elevator control system according to the first embodiment. [Figure 10] Figure 10 is a diagram illustrating a specific example of the elevator control system according to the first embodiment. [Figure 11] Figure 11 is a block diagram showing an example of the configuration of an elevator control system according to the second embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the coordinated operation flow of the elevator control system according to the second embodiment. [Figure 13] Figure 13 is a flowchart showing an example of the operation of an elevator control device according to a modified example. [Modes for carrying out the invention]

[0008] The embodiments will be described below with reference to the drawings. It should be noted that the disclosure is merely an example, and the invention is not limited by the contents described in the embodiments below. Modifications that a person skilled in the art can easily apply are naturally included within the scope of the disclosure. In order to make the explanation clearer, the size, shape, etc. of each part may be schematically represented in the drawings with modifications from the actual embodiments. In some cases, the same reference numerals are used for corresponding elements in multiple drawings, and detailed explanations are omitted.

[0009] (First Embodiment) First, the first embodiment will be described. In this embodiment, it is assumed that a mobile object moves within a building in order to provide various services. This mobile object includes, for example, an autonomous mobile robot (hereinafter referred to as a service robot) that provides services such as transporting luggage within the building or providing security within the building.

[0010] Here, when the building where the service robot moves has multiple floors, the service robot can move between multiple floors by using, for example, an elevator installed in the building. Note that as the building where the service robot moves, commercial facilities, hospitals, railway stations, etc. having multiple floors are assumed.

[0011] FIG. 1 is a block diagram showing an example of the configuration of an elevator control system according to the first embodiment. The elevator control system is composed of a monitoring center 20, an elevator control device 30, and a service robot 40.

[0012] The monitoring center 20 is a facility provided at a location different from the location where the elevator control device 30 is installed. The monitoring center 20 (specifically, a terminal provided in the monitoring center 20) is remotely connected to a plurality of elevator control devices including the elevator control device 30 and transmits and receives various data.

[0013] In addition, the monitoring center 20 receives weather information of each region from the Japan Meteorological Agency or the like, and based on the weather information, predicts the occurrence of heavy rain or typhoon in each region. The weather information is, for example, rainfall prediction, rain cloud occurrence prediction, or heavy rain warning of each region. When the monitoring center 20 predicts the occurrence of heavy rain or typhoon in a certain region, the monitoring center 20 transmits a warning signal indicating that the building in the region may be flooded to the elevator control device provided in the building. For example, when heavy rain or typhoon is predicted in the surrounding area of Building 10, the monitoring center 20 transmits a warning signal to the elevator control device 30 installed in Building 10.

[0014] The elevator control device 30 controls the operation of an elevator installed in a building 10 having a plurality of floors. Further, the elevator control device 30 is communicably connected to a service robot 40 moving within the building 10 via a network (public communication network) such as the Internet. In the example of FIG. 1, the elevator control device 30 is connected to one service robot 40, but when a plurality of service robots are moving within the building 10, it is connected to each of the plurality of service robots.

[0015] The elevator control device 30 includes a remote monitoring device 31, an elevator control unit 32, a robot management unit 33, and a robot interlocking unit 34.

[0016] The remote monitoring device 31 is connected to the monitoring center 20 via a network such as a public communication line. The remote monitoring device 31 has a receiving unit 31a. The receiving unit 31a receives a warning signal from the monitoring center 20. Further, the receiving unit 31a outputs the received warning signal to the elevator control unit 32.

[0017] The elevator control unit 32 controls the operations of the units 31, 33, and 34, and controls the operation of the elevator based on various signals from the units 31, 33, and 34. Specifically, the elevator control unit 32 controls a hoisting machine (not shown) for moving the elevator (car) up and down, controls the opening and closing of the door, controls various devices in the elevator (for example, lighting, etc.), and the like. Further, the elevator control unit 32 controls the operation in cooperation with the service robot 40 by transmitting and receiving various signals to and from the service robot 40.

[0018] For example, the elevator control unit 32 controls the operation of the elevator based on a movement request transmitted by the service robot 40. The movement request is a request from the service robot 40 to move from a floor corresponding to the departure floor to a floor corresponding to the destination floor. The movement request includes information indicating a predetermined robot ID for identifying the service robot 40, the departure floor, and the destination floor. The elevator control unit 32 performs controls such as moving the elevator to the departure floor included in the movement request, loading the service robot 40 onto it, and then moving it to the destination floor.

[0019] Furthermore, the elevator control unit 32 transmits a departure floor arrival notification (i.e., a notification prompting the service robot 40 to board the elevator) to the service robot 40 via the robot interlocking unit 34, indicating that the elevator has arrived at the service robot 40's departure floor. Additionally, when the elevator lands at the service robot 40's destination floor, the elevator control unit 32 transmits a destination floor arrival notification (in other words, a notification prompting the service robot 40 to disembark from the elevator) to the service robot 40 via the robot interlocking unit 34.

[0020] Here, the elevator control unit 32 has a function to switch the elevator's operating mode from normal operation mode to pit flood control operation mode when flooding is detected, for example, by a sensor installed in the pit. "Pit flood control operation mode" is an operating mode in which the elevator is moved to a predetermined evacuation floor and then the elevator operation is stopped. The "evacuation floor" is a floor predetermined as having a low probability of flooding, for example, the top floor. Furthermore, if, for example, maintenance personnel confirm that the flooding in the pit and lower floors has stopped, the elevator control unit 32 will deactivate the pit flood control operation mode and switch back to normal operation mode.

[0021] Furthermore, the elevator control unit 32 outputs warning signals output by the remote monitoring device 31 to the robot management unit 33.

[0022] The robot management unit 33 manages the service robots, including the service robot 40, as they move within the building 10. The robot management unit 33 includes a storage unit 33a, a determination unit 33b, a command unit 33c, and a boarding / alighting determination unit 33d.

[0023] The memory unit 33a stores the robot management table 35 (see Figure 3). The memory unit 33a also updates the information set in the robot management table 35. The robot management table 35 is a table that shows information such as the floor on which a service robot moving within the building 10 is currently located and the destination floor of the service robot. Hereinafter, the floor on which the service robot 40 is currently located will be referred to as the "current floor".

[0024] The determination unit 33b, in response to the warning signal output by the elevator control unit 32, refers to the robot management table 35 to determine whether the current floor of the service robot 40 is a floor that may be flooded. Hereinafter, floors that may be flooded will be referred to as "target floors." Target floors are, for example, the basement and the first floor, and are predetermined according to the structure and location of the building 10. The target floors may also be determined by the monitoring center 20 and transmitted along with the warning signal.

[0025] Furthermore, if the current floor of the service robot 40 is not the target floor, the determination unit 33b determines whether or not the destination floor of the service robot 40 is the target floor.

[0026] The command unit 33c transmits commands for the operation of the service robot 40 to the service robot 40 via the robot interlocking unit 34. Specifically, the command unit 33c transmits one of the following commands to the service robot 40, based on the service robot's current floor and destination floor: a set command, a standby command, or a delete command.

[0027] Figure 2 shows the relationship between the current floor and target floor of the service robot 40 and the commands transmitted to the service robot 40. If the current floor of the service robot 40 is the target floor, the command unit 33c transmits a setting command to the service robot 40, regardless of whether the destination floor is the target floor or not. The setting command is a command to set the destination floor of the service robot 40 to the evacuation floor.

[0028] If the current floor of the service robot 40 is not the target floor (i.e., the current floor of the service robot 40 is a non-target floor) but the destination floor is the target floor, the command unit 33c transmits a standby command to the service robot 40. The standby command is a command to make the service robot 40 wait on the current floor.

[0029] If neither the current floor nor the target floor of the service robot 40 is the target floor, the command unit 33c sends a delete command to the service robot 40. The delete command temporarily removes (excludes) the target floor from the options when the service robot 40 sets a new target floor. of This is a directive. "Temporarily" means, for example, until notification is received from monitoring center 20 indicating that the likelihood of building 10 being flooded has decreased, or until the pit flood control operation is deactivated.

[0030] Returning to Figure 1, the boarding / alighting determination unit 33d determines whether the service robot 40 is inside the elevator. Specifically, the boarding / alighting determination unit 33d detects the boarding and alighting of the service robot 40 in the elevator based on signals transmitted from the service robot 40, which include a boarding signal indicating that the service robot 40 has boarded the elevator and an alighting signal indicating that the service robot 40 has alighted from the elevator.

[0031] For example, when the boarding / alighting determination unit 33d receives a boarding signal transmitted by the service robot 40, it detects that the service robot 40 has boarded the elevator. Also, when the boarding / alighting determination unit 33d receives an alighting signal transmitted by the service robot 40, it detects that the service robot 40 has alighted from the elevator.

[0032] The boarding / alighting determination unit 33d determines that the service robot 40 is inside the elevator (in other words, it detects that the service robot 40 is inside the elevator) if the boarding signal described above is received but the alighting signal described above is not received.

[0033] The robot interlocking unit 34 is a communication interface for communicating with the service robot 40. The robot interlocking unit 34 receives a boarding signal transmitted by the service robot 40 and outputs the boarding signal to the robot management unit 33. Similarly, the robot interlocking unit 34 receives a disembarking signal transmitted by the service robot 40 and outputs the disembarking signal to the robot management unit 33. In addition, the robot interlocking unit 34 receives a movement request transmitted by the service robot 40 and outputs the movement request to the robot management unit 33 and the elevator control unit 32.

[0034] Furthermore, the robot linkage unit 34 transmits a departure floor arrival notification output by the elevator control unit 32 to the service robot 40. Similarly, the robot linkage unit 34 transmits a destination floor arrival notification output by the elevator control unit 32 to the service robot 40. In addition, the robot linkage unit 34 transmits various commands (setting commands, standby commands, and deletion commands, etc.) output by the robot management unit 33 to the service robot 40.

[0035] The service robot 40 is a mobile unit that moves around the building 10 and provides various services. The service robot 40 is equipped with an elevator interlocking unit 41, a target floor setting unit 42, a robot control unit 43, a robot boarding / alighting transmission unit 44, a memory unit 45, and a power supply unit 46.

[0036] The elevator interlocking unit 41 is a communication interface for communicating with the elevator control device 30. The elevator interlocking unit 41 receives various commands transmitted by the elevator control device 30 and outputs them to the destination floor setting unit 42 and the robot control unit 43. The elevator interlocking unit 41 also receives departure floor arrival notifications transmitted by the elevator control device 30 and outputs them to the robot control unit 43. Similarly, the elevator interlocking unit 41 receives destination floor arrival notifications transmitted by the elevator control device 30 and outputs them to the robot control unit 43.

[0037] Furthermore, the elevator interlocking unit 41 transmits the movement request output by the robot control unit 43 to the elevator control device 30. The elevator interlocking unit 41 also transmits the boarding signal output by the robot boarding / alighting transmission unit 44 to the elevator control device 30. Similarly, the elevator interlocking unit 41 transmits the alighting signal output by the robot boarding / alighting transmission unit 44 to the elevator control device 30.

[0038] The destination floor setting unit 42 sets the destination floor for the service robot 40. For example, the destination floor setting unit 42 receives input of a destination from the user and sets the floor where the destination is located as the destination floor. The destination floor setting unit 42 also sets the destination floor for the service robot 40 to the destination floor indicated by the setting command (in this case, the evacuation floor) based on the setting command output by the elevator interlocking unit 41. When a new destination floor is set, the destination floor setting unit 42 outputs information indicating the new destination floor to the robot control unit 43.

[0039] The robot control unit 43 controls the operation of each part 41, 42, and 44, and also controls the operation of the service robot 40 based on various signals from each part 41, 42, and 46.

[0040] The robot control unit 43 generates a movement request based on the destination floor setting by the destination floor setting unit 42 and transmits it to the elevator control device 30 via the elevator interlocking unit 41. A movement request is generated, for example, when the service robot 40 needs to use the elevator when providing various services. Specifically, for example, when a new destination floor is set by the destination floor setting unit 42, the robot control unit 43 determines its current floor from the history of movement requests it has transmitted, generates a movement request indicating the departure floor as the current floor and the new destination floor set by the destination floor setting unit 42 as the destination floor, and transmits it to the elevator control device 30.

[0041] When a movement request is transmitted to the elevator control device 30, the robot control unit 43 controls the operation of the service robot 40 so as to move the service robot 40 from the departure floor to the destination floor indicated by the movement request.

[0042] Furthermore, the robot control unit 43 controls the movement of the service robot 40 so that it boards the elevator, based on the departure floor arrival notification output by the elevator interlocking unit 41. Similarly, the robot control unit 43 controls the movement of the service robot 40 so that it disembarks from the elevator, based on the destination floor arrival notification output by the elevator interlocking unit 41.

[0043] Furthermore, the robot control unit 43 transmits information indicating the remaining power of the service robot 40, which is managed by the power supply unit 46, to the elevator control device 30, for example, along with a movement request.

[0044] Furthermore, the robot control unit 43 outputs a notification to the robot boarding / alighting transmission unit 44 indicating that the boarding / alighting of the service robot 40 has been completed.

[0045] Based on the notification output by the robot control unit 43 that the service robot 40 has finished disembarking, the robot boarding / alighting transmission unit 44 generates a disembarking signal indicating that the service robot 40 has disembarked from the elevator and transmits it to the elevator control device 30 via the elevator interlocking unit 41. In addition, based on the notification output by the robot control unit 43 that the service robot 40 has finished boarding, the robot boarding / alighting transmission unit 44 transmits a boarding signal indicating that the service robot 40 has boarded the elevator to the elevator control device 30 via the elevator interlocking unit 41.

[0046] The memory unit 45 stores setting information, such as a map of the building 10 and information about the target floor set by the target floor setting unit 42. The setting information is referenced by the robot control unit 43 when operating, for example, the service robot 40. The setting information is also rewritten by the robot control unit 43 as needed, for example, when the target floor is changed.

[0047] The power supply unit 46 manages the remaining power of the service robot 40 (more specifically, the remaining power of the battery installed in the service robot 40). When the service robot 40 is connected to the charging spot 50, the power supply unit 46 performs a process to charge the service robot 40.

[0048] The charging spot 50 is a device installed at any location within the building 10 to supply power to the service robot 40. When connected to the service robot 40, the charging spot 50 supplies power to the service robot 40. Although Figure 1 shows only one charging spot 50, multiple charging spots may be installed within the building 10. Furthermore, it is desirable that charging spots 50 be installed on floors designated as evacuation floors.

[0049] Figure 3 shows an example of a robot management table 35. The robot management table 35 is a table for managing the robot ID, departure floor, destination floor, current floor, remaining power, and weight of each of the multiple service robots moving within the building 10.

[0050] A "Robot ID" associated with a particular service robot indicates pre-defined identification information for that service robot. In this case, three service robots are assigned Robot IDs A100, A200, and A300, respectively.

[0051] The "Departure Floor" and "Destination Floor" indicate the departure and destination floors included in the movement request transmitted by the corresponding service robot. When the elevator responds to the movement request and arrives at the destination floor, and the service robot disembarks, the "Departure Floor" and "Destination Floor" are reset and the symbol "-" is set.

[0052] "Current Floor" indicates the floor on which the corresponding service robot is currently located. For example, after a service robot sends a movement request, and before the elevator responds to that request, the service robot is assumed to be waiting on the departure floor, so the same floor level as the departure floor is set as the current floor. On the other hand, after the elevator responds to the movement request and arrives at the destination floor, the service robot is assumed to disembark at that destination floor, so the same floor level as the destination floor is set as the current floor. Note that the current floor of each service robot is not limited to the method described above and may be determined by other methods as well.

[0053] "Power level" indicates the remaining power of the corresponding service robot. The power level is updated, for example, when the remaining power level of the service robot is transmitted along with a movement request.

[0054] "Weight" refers to the weight of the service robot. The weight is stored in association with each service robot when it is introduced into building 10.

[0055] The robot management table 35 may also include other information about each robot (for example, the type and size of the robot).

[0056] Here, we will explain the coordinated operation of the elevator control system under normal circumstances. Figure 4 is a flowchart showing an example of the coordinated operation of the elevator control system when the service robot 40 moves using the elevator.

[0057] The robot control unit 43 of the service robot 40 transmits a movement request, including the robot ID of the service robot 40, the departure floor, and the destination floor information, to the elevator control device 30 via the elevator interlocking unit 41 (step S11).

[0058] When the robot control device 30 receives a movement request from the robot interlocking unit 34 (step S12), the robot management unit 33 (storage unit 33a) updates the robot management table 35 based on the movement request (step S13).

[0059] Specifically, the robot management unit 33 updates the "departure floor" and "destination floor" associated with the service robot 40 in the robot management table 35 to the departure floor and destination floor included in the movement request. In addition, the robot management unit 33 updates the "current floor" associated with the service robot 40 in the robot management table 35 to the same floor as the departure floor included in the movement request.

[0060] The elevator control unit 32 of the elevator control device 30 operates the elevator toward the departure floor indicated in the movement request (step S14). When the elevator arrives at the departure floor of the service robot 40 (YES in step S15), the elevator control unit 32 opens the elevator doors and sends a departure floor arrival notification to the service robot 40 (step S16).

[0061] When the robot control unit 43 of the service robot 40 receives a notification of arrival at the departure floor (step S17), it controls the movement of the service robot 40 so that the service robot 40 boards the elevator (step S18).

[0062] When the boarding of the service robot 40 is completed by the processing in step S18, the robot boarding / alighting transmission unit 44 transmits a boarding signal to the elevator control device 30 via the elevator interlocking unit 41, indicating that the service robot 40 has boarded the elevator (step S19).

[0063] The elevator control unit 32 of the elevator control device 30 receives a boarding signal (step S20), and after confirming that the service robot 40 has boarded successfully, closes the elevator doors and departs (step S21). The elevator control unit 32 then operates the elevator toward the destination floor indicated in the travel request (step S22). When the elevator arrives at the destination floor (YES in step S23), the elevator control unit 32 opens the elevator doors and sends a destination floor arrival notification to the service robot 40 (step S24).

[0064] When the robot control unit 43 of the service robot 40 receives a notification of arrival at the destination floor (step S25), it controls the operation of the service robot 40 so that the service robot 40 disembarks from the elevator (step S26).

[0065] When the disembarkation of the service robot 40 is completed by the processing in step S26, the robot boarding / disembarking transmission unit 44 transmits a disembarkation signal to the elevator control device 30 indicating that the service robot 40 has disembarked from the elevator (step S27).

[0066] When a disembarking signal is received by the robot interlocking unit 34 (step S28), the robot management unit 33 of the elevator control device 30 updates the robot management table 35. Specifically, the robot management unit 33 resets the "departure floor" and "destination floor" associated with the service robot 40 in the robot management table 35, and updates the "current floor" to the destination floor to which the robot has arrived.

[0067] Through the coordinated operation described above, the elevator control device 30 can confirm that the service robot 40 boarded the elevator at the departure floor and disembarked at the destination floor, as well as determine the service robot 40's current floor.

[0068] Next, we will explain the coordinated operation of the elevator control system during flood response. Figure 5 is a flowchart illustrating an example of the coordinated operation of the elevator control system according to the first embodiment. In Figure 5, the explanation assumes that one service robot 40 is moving within the building 10. That is, the robot management table 35 manages only the information corresponding to the service robot 40.

[0069] When the monitoring center 20 predicts heavy rain or a typhoon in a certain area based on weather information (step S30), it transmits a warning signal to an elevator control device installed in a building located in that area, indicating that the building may be flooded (step S31). Here, it is assumed that the monitoring center 20 predicts heavy rain in the area where building 10 is located and transmits a warning signal to an elevator control device 30 installed inside building 10.

[0070] When a warning signal is received by the remote monitoring device 31 (receiving unit 31a) of the elevator control device 30 (step S32), the determination unit 33b refers to the robot management table 35 (step S33). Specifically, the determination unit 33b reads the robot management table 35 from the storage unit 33a and refers to the robot management table 35.

[0071] The determination unit 33b determines whether the current floor of the service robot 40 is the target floor (step S34). In other words, the determination unit 33b determines whether the target floor is set in the "current floor" corresponding to the service robot 40 in the robot management table 35.

[0072] In step S34, if it is determined that the current floor of the service robot 40 is the target floor (YES in step S34), the command unit 33c sends a setting command to the service robot 40 via the robot interlocking unit 34 to set the target floor as the evacuation floor (step S35).

[0073] In step S34, if it is determined that the current floor of the service robot 40 is not the target floor (NO in step S34), the determination unit 33b determines whether the destination floor of the service robot 40 is the target floor (step S36). Specifically, the determination unit 33b refers to the "destination floor" corresponding to the service robot 40 in the robot management table 35 and determines whether the target floor is set.

[0074] In the process of step S36, if it is determined that the destination floor of the service robot 40 is the target floor (YES in step S36), the command unit 33c sends a standby command to the service robot 40 to wait on the current floor (step S37). When the command unit 33c sends a standby command, the elevator control unit 32 cancels the request for the service robot 40 to move so as not to direct the elevator toward the service robot 40's departure floor.

[0075] In the process of step S36, if the target floor of the service robot 40 is not the target floor (NO in step S36), the command unit 33c sends a delete command to temporarily remove the target floor from the options when the service robot 40 sets a new target floor (step S38).

[0076] Subsequently, the storage unit 33a updates the robot management table 35 as needed (step S39). Specifically, when a setting command or standby command is transmitted by the command unit 33c, the storage unit 33a resets the "departure floor" and "destination floor" corresponding to the service robot 40 in the robot management table 35.

[0077] If there are multiple service robots in building 10 other than service robot 40, the processing in steps S33 to S39 will be performed for each of those multiple service robots.

[0078] When the service robot 40 receives various commands (step S40), it operates based on those commands (step S41).

[0079] Specifically, when a setting command is received by the elevator interlocking unit 41 of the service robot 40, the destination floor setting unit 42 sets the destination floor of the service robot 40 to the evacuation floor. Subsequently, the robot control unit 43 generates a movement request indicating the current floor as the departure floor and the evacuation floor as the destination floor, and transmits it to the elevator control device 30 via the elevator interlocking unit 41. Thereafter, through coordinated processing between the service robot 40 and the elevator control device 30 (see Figure 4), the service robot 40 moves to the evacuation floor.

[0080] Furthermore, when the elevator control device 30 receives a disembarking signal from the service robot 40 on an evacuation floor, it sends a standby command to put the service robot 40 into standby mode on that floor. Upon receiving the standby command, the service robot 40 enters standby mode near the landing of that evacuation floor. Standby mode means that the service robot is waiting for a notification from the elevator control device 30 indicating that the possibility of flooding on the target floor has been eliminated (for example, a notification to cancel the setting command).

[0081] When a standby command is received by the elevator interlocking unit 41, the destination floor setting unit 42 resets the destination floor set for the service robot 40. As a result, the robot control unit 43 interrupts the movement of the service robot 40, which was moving toward the destination floor, and puts the service robot 40 into a standby state at the current floor.

[0082] If a deletion command is received by the elevator interlocking unit 41, the destination floor setting unit 42 temporarily removes the target floor from the options available when the service robot 40 sets a new destination floor. As a result, the service robot 40 is unable to set the target floor as a new destination floor.

[0083] Furthermore, the elevator control device 30 will cancel various commands when the risk of flooding on the target floor has been eliminated. "When the risk of flooding on the target floor has been eliminated" means, for example, when the elevator control device 30 receives notification from the monitoring center 20 that heavy rain or a typhoon has passed the area surrounding the building 10, or when it cancels the pit flood control operation.

[0084] Specifically, when the risk of flooding on the target floor is eliminated, the elevator control device 30 sends a notification to the service robot 40 that it has canceled the setting command, thereby canceling the standby state on the evacuation floor. "Cancelling the standby state" means enabling the service robot 40 to set a new destination floor.

[0085] Furthermore, the elevator control device 30 sends a notification to the service robot 40 that it has canceled the standby command, thereby canceling the standby state on the current floor.

[0086] Furthermore, the elevator control device 30 sends a notification to the service robot 40 that the deletion command has been canceled, allowing the service robot 40 to select the target floor from the options when setting a new destination floor.

[0087] Next, a specific example of the elevator control system according to this embodiment will be described with reference to Figures 6 to 10. Figures 6 to 10 schematically show an elevator control system including one elevator 11 installed in a building 10 with three above-ground floors and one basement floor, for a total of four floors. In Figures 6 to 10, the basement floor and the first floor are set as target floors, and the third floor is set as the evacuation floor. A charging spot 50 is installed on the third floor, which is the evacuation floor.

[0088] First, with reference to Figures 6 to 8, we will explain the case where the current floor of the service robot 40 is the target floor. As shown in Figure 6, the service robot 40 is assumed to be moving on the basement floor 1, which is the target floor. At this time, if heavy rain or a typhoon is predicted in the vicinity of the building 10 and a warning signal is sent from the monitoring center 20 to the elevator control device 30 (step A1), the elevator control device 30 sends a setting command to the service robot 40 (step A2).

[0089] When the service robot 40 receives a setting command, it sets the destination floor to the evacuation floor (in this case, the 3rd floor) (step A3). It then sends a movement request to the elevator control device 30, indicating the basement 1st floor (current floor) as the departure floor and the 3rd floor (evacuation floor) as the destination floor (step A4). Upon receiving the movement request, the elevator control device 30 moves the elevator 11 to the service robot 40's departure floor (basement 1st floor).

[0090] As shown in Figure 7, when the elevator 11 arrives (lands) on the first basement floor, the elevator control device 30 opens the doors of the elevator 11 and sends a notification of arrival at the departure floor to the service robot 40 (step A5).

[0091] When the service robot 40 receives a notification of arrival at the departure floor, it moves into the elevator 11 (step A6). Once boarding the elevator 11 is complete, the service robot 40 transmits a boarding signal to the elevator control device 30 (step A7).

[0092] When the elevator control device 30 receives a boarding signal, it closes the doors of the elevator 11 and moves it to the evacuation floor (3rd floor).

[0093] As shown in Figure 8, when elevator 11 arrives at the evacuation floor, elevator control device 30 opens the elevator doors and sends a notification of arrival at the destination floor to service robot 40 (step A8).

[0094] When the service robot 40 receives notification of arrival at the destination floor, it moves outside the elevator 11 (i.e., disembarks from the elevator 11) (step A9). Once disembarking from the elevator is complete, the service robot 40 transmits a disembarkation signal to the elevator control device 30 (step A10). The service robot 40 will remain on standby near the landing of the evacuation floor until the possibility of flooding on the target floor has been eliminated.

[0095] Next, with reference to Figure 9, we will explain the case where the destination floor for the service robot 40 is the target floor. As shown in Figure 9, the service robot 40 is assumed to have sent a request to the elevator control device 30 to move from the 2nd floor to the 1st floor (target floor) (step A11). At this time, when a warning signal is sent from the monitoring center 20 to the elevator control device 30 (step A12), the elevator control device 30 sends a standby command to the service robot 40 (step A13).

[0096] When the service robot 40 receives a standby command, it resets the target floor currently set for the service robot 40 and enters a standby state on the current floor (2nd floor) (step A14).

[0097] Next, with reference to Figure 10, we will explain the case where the current floor of the service robot 40 is not the target floor. As shown in Figure 10, assume that the service robot 40 is moving on a floor that is not the target floor (in this case, the 2nd floor). At this time, when a warning signal is sent from the monitoring center 20 to the elevator control device 30 (step A15), the elevator control device 30 sends a delete command to the service robot 40 (step A16).

[0098] When the service robot 40 receives a delete command, it temporarily removes the target floor from the options available when setting a new target floor for the service robot 40 (step A17).

[0099] In the example shown in Figure 10, the case where the service robot 40 has not sent a movement request to the elevator control device 30 was described. However, the same applies when the service robot 40 has made a movement request to move from a floor other than the target floor to another floor other than the target floor (for example, a movement request from the 2nd floor to the 3rd floor). In other words, the elevator control device 30 sends a delete command to the service robot 40, causing the service robot 40 to temporarily remove the target floor from the options when setting a new destination floor.

[0100] As described above, in this embodiment, when there is a possibility of flooding in the building 10 and the service robot 40 is on the target floor, the destination floor of the service robot 40 is set to the evacuation floor. This allows the service robot 40 to proceed to the evacuation floor, preventing the service robot 40 and its cargo from being submerged in water.

[0101] Furthermore, in this embodiment, if the target floor of the service robot 40 is set to the target floor when there is a possibility of flooding in the building 10, the service robot 40 is made to wait on the current floor. In addition, in this embodiment, if the service robot 40 is on a floor other than the target floor, or if the target floor of the service robot 40 is a floor other than the target floor, the target floor is not set as the new target floor for the service robot 40. In this way, by preventing the service robot 40 from heading towards the target floor which may be submerged, it is possible to prevent the service robot 40 and its cargo from being submerged.

[0102] Furthermore, after the elevator control device 30 has the service robot 40 disembark at the evacuation floor, it may move the service robot 40 to a pre-set evacuation location on that floor, rather than having the service robot 40 wait near the landing. Specifically, the elevator control device 30 sends a notification of arrival at the destination floor to the service robot 40 at the evacuation floor, and also sends a movement command to the service robot 40 that includes location information of the evacuation location. After disembarking at the evacuation floor, the service robot 40 moves to the evacuation location based on the movement command. The elevator control device 30 may also send this movement command when it receives a disembarkation signal from the service robot 40.

[0103] Furthermore, the elevator control device 30 may move the service robot 40 to the charging spot 50 depending on the charging status of the service robot 40. Specifically, if the remaining power of the service robot 40 received along with the movement request is below a predetermined value, the elevator control device 30 sends a notification of arrival at the destination floor to the service robot 40 on the evacuation floor, and also sends a movement command to the service robot 40 that includes the location information of the charging spot 50 on the evacuation floor. The service robot 40 moves to the charging spot 50 based on this movement command. The elevator control device 30 may also send this movement command when it receives a disembarking signal from the service robot 40. This prevents secondary damage such as the service robot 40 running out of charge while waiting on the evacuation floor and being unable to move thereafter.

[0104] Furthermore, if the elevator control device 30 causes the service robot 40 to disembark at a floor other than its original destination floor (an evacuation floor), it may store the original destination floor (before it was set as an evacuation floor) as an error log in the service robot 40, and after the risk of flooding on that floor has been eliminated, it may cause the service robot 40 to resend a request to move to the original destination floor.

[0105] Specifically, for example, the command unit 33c of the elevator control device 30 sends a reset command along with a setting command. When the service robot 40 receives the reset command, it stores the destination floor before setting it as an evacuation floor. Then, when the risk of flooding on the target floor is gone, the command unit 33c of the elevator control device 30 sends a notification to the service robot 40 that sent the reset command, informing it that the risk of flooding on the target floor is gone. When the service robot 40 receives this notification, it reads the destination floor before setting it as an evacuation floor from the error log and sends a movement request with that destination floor set to the elevator control device 30.

[0106] In this way, by storing the destination floor before the change as an error log, service interrupted due to predicted heavy rain or typhoons can be automatically resumed as soon as the elevator is restored.

[0107] Furthermore, if the boarding / alighting determination unit 33d of the elevator control device 30 detects that the service robot 40 is inside the elevator when a warning signal is received, the command unit 33c may send a change command to change the destination floor of the service robot 40 to, for example, the evacuation floor. In this case, the service robot 40, upon receiving the change command, will move to the evacuation floor by sending a movement request to the elevator control device 30 indicating the evacuation floor as the destination floor. After disembarking at the evacuation floor, the service robot 40 will enter a waiting state at the evacuation floor.

[0108] Furthermore, if the service robot 40, which has received a setting command and a standby command, is carrying a package, it may also notify the user at the destination of the package. This allows the user at the destination to understand that the service robot 40 will be waiting on the evacuation floor or the current floor, and that delivery may be delayed. Note that the above notification may only be given for certain items that are particularly susceptible to delivery delays (e.g., food and beverages).

[0109] Furthermore, if the elevator control device 30 receives a warning signal and a large number of service robots are moving on the target floor and it is not possible to transport all of them to the evacuation floor at once, it may continue to evacuate the multiple service robots until pit flood control operation is initiated. In this case, the elevator control device 30 transports the multiple service robots on the target floor to the evacuation floor in multiple stages.

[0110] Specifically, the elevator control device 30 selects the service robot to board on the first trip, depending on the size of the elevator (car) and the elevator's maximum load capacity. For example, the elevator control device 30 refers to the "weight" associated with each of the multiple service robots on the target floor in the robot management table 35, and selects the service robot to board on the first trip so that the sum of these weights does not exceed the elevator's maximum load capacity. The elevator control device 30 sends setting commands only to the selected service robot. When selecting a service robot, the elevator control device 30 may also prioritize selecting a service robot that is carrying luggage.

[0111] After the service robots have moved to the evacuation floor, the elevator control device 30 selects the next service robot to board from the remaining service robots on the target floor and sends a setting command. The elevator control device 30 repeats these processes until pit flood control operation begins. This allows the elevator control device 30 to evacuate as many service robots as possible from the target floor.

[0112] Furthermore, if there is a possibility that the target floor will be flooded, the elevator control device 30 may send a command to designated service robots, such as security robots and evacuation guidance robots, to move toward the target floor.

[0113] In the first embodiment described above, the monitoring center 20 determined whether or not there was a possibility of flooding based on weather information, but the elevator control device 30 may determine the possibility of flooding of the building 10 from other information. For example, the elevator control device 30 may determine that there is a possibility of flooding by receiving a notification from the monitoring center 20 indicating that buildings in the vicinity of the building 10 have been flooded.

[0114] (Second Embodiment) Next, a second embodiment will be described. In the first embodiment, if there was a possibility that the building 10 would be flooded, the elevator control device 30 determined whether the current floor of the service robot 40 was the target floor, etc. In the second embodiment, the service robot 40, rather than the elevator control device 30, determines whether its current floor is the target floor, etc., which is different from the first embodiment.

[0115] Note that components and processes similar to those in the first embodiment are denoted by the same reference numerals, and their detailed descriptions are omitted. The following description will mainly focus on components and processes that differ from those in the first embodiment.

[0116] Figure 11 is a block diagram showing an example of the configuration of an elevator control system according to the second embodiment. The elevator control system consists of a monitoring center 20, an elevator control device 30, and a service robot 40.

[0117] The elevator control device 30 includes a remote monitoring device 31, an elevator control unit 32, a robot management unit 33, and a robot interlocking unit 34. The remote monitoring device 31, elevator control unit 32, and robot interlocking unit 34 are the same as in the first embodiment.

[0118] The robot management unit 33 includes a command unit 33c and a boarding / alighting determination unit 33d. When the command unit 33c receives a warning signal, it transmits an evacuation command, including information on the target floor and evacuation floor, to the service robot 40 moving within the building 10 via the robot interlocking unit 34. The boarding / alighting determination unit 33d determines whether or not the service robot 40 is inside the elevator.

[0119] The service robot 40 includes an elevator interlocking unit 41, a target floor setting unit 42, a robot control unit 43, a robot boarding / alighting transmission unit 44, a storage unit 45, a power supply unit 46, and a determination unit 47. The elevator interlocking unit 41, the robot boarding / alighting transmission unit 44, the storage unit 45, and the power supply unit 46 are the same as in the first embodiment.

[0120] When the determination unit 47 receives an evacuation command from the elevator control device 30 via the elevator interlocking unit 41, it determines whether the current floor where the service robot 40 is located is the target floor. If the current floor is not the target floor, it determines whether the destination floor is the target floor.

[0121] The target floor setting unit 42 sets the target floor for the service robot 40. The target floor setting unit 42 sets the target floor for the service robot 40 according to the determination of the determination unit 47. Specifically, if the determination unit 47 determines that the current floor of the service robot 40 is the target floor, the target floor is set to an evacuation floor included in the evacuation command.

[0122] Furthermore, if the determination unit 47 determines that the target floor set for the service robot 40 is the target floor, the target floor setting unit 42 resets the target floor setting.

[0123] Furthermore, if the determination unit 47 determines that the current floor and the target floor are not target floors, the target floor is temporarily removed from the options when setting a new target floor.

[0124] The robot control unit 43 generates a movement request in accordance with the target floor setting by the target floor setting unit 42, and transmits the movement request to the elevator control device 30 via the elevator interlocking unit 41. If the target floor setting is reset by the target floor setting unit 42, the robot control unit 43 puts the service robot 40 into a standby state at its current location (i.e., the current floor).

[0125] Figure 12 is a flowchart showing an example of the coordinated operation flow of the elevator control system according to the second embodiment.

[0126] When the monitoring center 20 predicts heavy rain or a typhoon in a certain area based on weather information (step S50), it transmits a warning signal to an elevator control device installed in a building located in that area, indicating that the building may be flooded (step S51). Here, it is assumed that the monitoring center 20 predicts heavy rain in the area where building 10 is located and transmits a warning signal to an elevator control device 30 installed inside building 10.

[0127] When a warning signal is received by the remote monitoring device 31 (receiving unit 31a) of the elevator control device 30 (step S52), the command unit 33c transmits an evacuation command to the service robot 40 (step S53). The evacuation command includes information on the target floor and the evacuation floor.

[0128] When an evacuation command is received by the elevator interlocking unit 41 of the service robot 40 (step S54), the determination unit 47 determines whether the current floor of the service robot 40 is the target floor or not (step S55).

[0129] In step S55, if it is determined that the current floor of the service robot 40 is the target floor (YES in step S55), the destination floor setting unit 42 sets the destination floor of the service robot 40 to the evacuation floor (step S56). The robot control unit 43 then generates a movement request indicating the robot ID of the service robot 40, the current floor as the departure floor, and the evacuation floor as the destination floor, and transmits the movement request to the elevator control device 30 via the elevator interlocking unit 41.

[0130] In the process of step S55, if it is determined that the current floor of the service robot 40 is not the target floor (NO in step S55), the determination unit 47 determines whether the target floor is the target floor or not (step S58).

[0131] In the process of step S58, if it is determined that the destination floor for the service robot 40 is the target floor (YES in step S58), the robot control unit 43 has the service robot 40 wait on the current floor (step S59). Also, if the robot control unit 43 has already sent a movement request, it sends a notification to the elevator control device 30 to cancel the said movement request (step S60).

[0132] In the process of step S58, if it is determined that the target floor of the service robot 40 is not the target floor (NO in step S58), the target floor setting unit 42 temporarily removes the target floor from the selection of target floors for the service robot 40 (step S61).

[0133] When a new movement request is transmitted from the service robot 40, the elevator control device 30 operates the elevator in response to the movement request. For example, the elevator control device 30 operates the elevator in response to a movement request transmitted by the service robot 40 during the processing in step S57. That is, the service robot 40 is moved from the target floor to the evacuation floor through coordinated processing between the service robot 40 and the elevator control device 30 (see Figure 4). The service robot 40, having moved to the evacuation floor, enters a standby state at that floor.

[0134] Furthermore, if the elevator control device 30 receives a notification from the service robot 40 to cancel a movement request, it cancels the movement request. In addition, if the elevator control device 30 has not received a movement request or a notification to cancel a movement request, it operates the elevator based on a movement request from the service robot 40 that has already been registered (i.e., a movement request that indicates floors other than the target floor as the departure floor and destination floor).

[0135] If there are multiple service robots in the building 10 in addition to the service robot 40, the command unit 33c of the elevator control device 30 will send an evacuation command to each of the multiple service robots. The multiple service robots that receive the evacuation command will then each perform the processing in steps S54 to S61.

[0136] As described above, in the second embodiment, the service robot 40, upon receiving an evacuation command from the elevator control device 30, determines whether to set the destination floor as the evacuation floor and whether to wait on the current floor. As a result, in the second embodiment, it is not necessary to implement a function in the elevator control device 30 to know the current floor of the service robot 40, and a function to prevent the service robot 40 from being submerged in water can be more easily introduced into the elevator control device 30 than in the first embodiment.

[0137] Furthermore, after disembarking at an evacuation floor, the service robot 40 may move to a pre-set evacuation location on that floor. Specifically, the elevator control device 30 transmits a notification of arrival at the destination floor to the service robot 40 at the evacuation floor, and also transmits location information of the evacuation location to the service robot 40. Based on this location information, the service robot 40 moves to the evacuation location. Note that the location information of the evacuation location may not be transmitted from the elevator control device 30, but may be pre-stored in the service robot 40, for example, in its memory unit 45.

[0138] Furthermore, after disembarking at the evacuation floor, the service robot 40 may move to the charging spot 50 depending on its charging status. Specifically, if the service robot 40's remaining power is below a predetermined value when it disembarks at the evacuation floor, it requests location information of the charging spot 50 from the elevator control device 30. In response to this request, the elevator control device 30 transmits the location information of the charging spot 50 on the evacuation floor to the service robot 40. Based on this location information, the service robot 40 moves to the charging spot 50. Note that the location information of the charging spot 50 on the evacuation floor may not be transmitted from the elevator control device 30, but may be stored in advance in the service robot 40, for example, in its memory unit 45. This prevents the service robot 40 from running out of power while waiting at the evacuation floor, even if the elevator control device 30 is unaware of the service robot 40's charging status, as it can automatically move to the charging spot 50.

[0139] Furthermore, if the service robot 40 disembarks at a floor other than its original destination floor (an evacuation floor), it may store the original destination floor (before it was set as an evacuation floor) as an error log, and after the risk of flooding on that floor has been eliminated, it may resend a movement request to the elevator control device 30 to move to the original destination floor.

[0140] Specifically, for example, when the service robot 40 sets the destination floor as an evacuation floor in response to an evacuation command, it stores the destination floor before it was set as an evacuation floor as an error log. Then, when the service robot 40 receives notification from the elevator control device 30 that the risk of flooding on the target floor has disappeared, it reads the destination floor before it was set as an evacuation floor from the error log and sets that destination floor as the new destination floor for the service robot 40. In this way, by storing the destination floor before the change as an error log, the provision of services that were interrupted due to predicted heavy rain or typhoons can be automatically resumed when the elevator is restored.

[0141] (modified version) The following describes modifications of this embodiment. In the modifications, the operation of the elevator control device 30 when it has sent a departure floor arrival notification to the service robot 40 when it is boarding the elevator on the target floor, but has not received a boarding signal from the service robot 40, will be described. In addition, the operation of the operation when it has sent a destination floor arrival notification to the service robot 40 when it is disembarking the service robot 40 on the evacuation floor, but has not received a disembarking signal from the service robot 40, will be described.

[0142] Figure 13 is a flowchart showing an example of the operation of the elevator control device 30 according to a modified example. Here, we assume that the elevator control device 30 according to the second embodiment transmits an evacuation command to the service robot 40. Note that the elevator control device 30 according to the first embodiment also performs the same processing as in Figure 13 when it transmits a setting command to the service robot 40.

[0143] When the elevator control device 30 receives a movement request from the service robot 40 in response to an evacuation command (step S71), it operates the elevator toward the departure floor (in this case, the target floor) indicated in the movement request (step S72). When the elevator arrives at the departure floor (target floor) of the service robot 40 (step S73), the elevator control device 30 sends a departure floor arrival notification to the service robot 40 (step S74).

[0144] The elevator control device 30 controls the elevator to close the elevator doors after a certain period of time has elapsed since the doors were opened. At this time, the elevator control device 30 checks whether or not it was able to receive a boarding signal from the service robot 40 (step S75).

[0145] If, during the process in step S75, it is confirmed that the elevator has not received a boarding signal from the service robot 40 (NO in step S75), the elevator control device 30 controls the elevator doors to reopen (step S76), then sends a departure floor arrival notification to the service robot 40 again (step S74), and then repeats the process in step S75 described above.

[0146] If, in the process of step S75, it is confirmed that a disembarking signal has been received from the service robot 40 (YES in step S75), the elevator control device 30 confirms that the boarding of the service robot 40 has been completed successfully (normally), closes the elevator doors, and departs for the destination floor (in this case, the evacuation floor) (step S77).

[0147] The elevator control device 30 again operates the elevator based on the movement request (step S78), and when it arrives at the evacuation floor (YES in step S79), it sends a notification of arrival at the destination floor to the service robot 40 (step S80).

[0148] The elevator control device 30 controls the elevator to close the elevator doors after a certain period of time has elapsed since the doors were opened. At this time, the elevator control device 30 checks whether or not it has received a disembarking signal from the service robot 40 (step S81).

[0149] If, during the process of step S81, it is confirmed that a disembarkation signal has not been received from the service robot 40 (NO in step S81), the elevator control device 30 controls the elevator doors to reopen (step S82), then sends a notification of arrival at the destination floor to the service robot 40 again (step S80), and then repeats the process of step S81 described above.

[0150] In step S81, if it is confirmed that a disembarking signal has been received from the service robot 40 (YES in step S81), the elevator control device 30 confirms that the boarding of the service robot 40 has been completed successfully (normally), closes the elevator doors, and if there is another movement request, departs to the floor corresponding to that other movement request (step S83), and ends the process here.

[0151] By executing the processes in steps S75 and S76 described above, the elevator control device 30 executes the process of sending a departure floor arrival notification to the service robot 40 again, allowing the service robot 40 to board the elevator after the doors have been reopened. This prevents situations where, for example, the communication conditions are poor when the process in step S74 is executed, and the service robot 40 is unable to properly receive the departure floor arrival notification sent from the elevator control device 30, resulting in the service robot being left behind on the target floor.

[0152] Furthermore, by executing the processes in steps S81 and S82 described above, the elevator control device 30 can again execute the process of sending a destination floor arrival notification to the service robot 40, allowing the service robot 40 to disembark from the elevator after the doors have been reopened. This prevents situations where, for example, the communication conditions are poor when the process in step S80 is executed, and the service robot 40 is unable to properly receive the destination floor arrival notification sent from the elevator control device 30, thus preventing it from being left inside the elevator.

[0153] Furthermore, when the elevator doors are reopened at the evacuation floor as a result of the process in step S82 described above, the elevator control device 30 controls the display device installed on the landing side (for example, an indicator that shows the floor number) to display a notification that the elevator is currently unavailable due to the evacuation of robots in anticipation of heavy rain or a typhoon. This prevents users from mistakenly boarding the elevator after its doors have been reopened.

[0154] According to at least one embodiment described above, it is possible to provide an elevator control device and elevator control system that can prevent a service robot from being submerged in water when there is a possibility of flooding on the lower floors of a building.

[0155] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of Symbols]

[0156] 10...Building, 20...Monitoring center, 30...Elevator control device, 31...Remote monitoring device, 31a...Receiver, 32...Elevator control unit, 32...Elevator control unit, 33...Robot management unit, 33a...Storage unit, 33b...Determination unit, 33c...Command unit, 33d...Boarding / alighting determination unit, 34...Robot interlocking unit, 35...Robot management table, 40...Service robot, 41...Elevator interlocking unit, 42...Target floor setting unit, 43...Robot control unit, 44...Robot boarding / alighting transmission unit, 45...Storage unit, 46...Power supply unit, 47...Determination unit, 50...Charging spot.

Claims

1. An elevator control device that is communicatively connected to a mobile body moving within a building and controls an elevator installed within the building, A storage means for storing the current floor where the mobile object is located and the destination floor of the mobile object, A receiving means for receiving a warning signal indicating that the building may be flooded, When the aforementioned warning signal is received, a determination means for determining whether the current floor is a target floor that may be flooded, If the determination means determines that the current floor is the target floor, the system includes a command means for transmitting a setting command to the mobile unit to set the target floor as a predetermined evacuation floor with a low probability of flooding. If the current floor is not the target floor, the determination means further determines whether the target floor is the target floor. The command means is an elevator control device that, when the destination floor is the target floor, transmits a standby command to the moving body to cause the moving body to wait on the current floor.

2. If the current floor and the target floor are not the target floor, the command means transmits a deletion command to the mobile unit to temporarily remove the target floor from the options when the mobile unit sets a new target floor. The elevator control device according to claim 1.

3. An elevator control device that is communicatively connected to a mobile body moving within a building and controls an elevator installed within the building, A storage means for storing the current floor where the mobile object is located and the destination floor of the mobile object, A receiving means for receiving a warning signal indicating that the building may be flooded, When the aforementioned warning signal is received, a determination means for determining whether the current floor is a target floor that may be flooded, If the determination means determines that the current floor is the target floor, a setting command is transmitted to the mobile body to set the target floor to a predetermined evacuation floor with a low probability of flooding, and when transmitting the setting command, a command means is transmitted to the mobile body to transmit a movement command to move to a predetermined evacuation location on the evacuation floor. An elevator control device equipped with the following.

4. An elevator control device that is communicatively connected to a mobile body moving within a building and controls an elevator installed within the building, A storage means for storing the current floor where the mobile object is located and the destination floor of the mobile object, A receiving means for receiving a warning signal indicating that the building may be flooded, When the aforementioned warning signal is received, a determination means for determining whether the current floor is a target floor that may be flooded, If the determination means determines that the current floor is the target floor, a setting command is transmitted to the mobile unit to set the target floor to a predetermined evacuation floor with a low probability of flooding. If the setting command is transmitted and the remaining power of the mobile unit is below a predetermined value, a command means transmits a movement command to the mobile unit to move to a charging spot installed on the evacuation floor. An elevator control device equipped with the following.

5. An elevator control device that is communicatively connected to a mobile body moving within a building and controls an elevator installed within the building, A storage means for storing the current floor where the mobile object is located and the destination floor of the mobile object, A receiving means for receiving a warning signal indicating that the building may be flooded, When the aforementioned warning signal is received, a determination means for determining whether the current floor is a target floor that may be flooded, If the determination means determines that the current floor is the target floor, a setting command is transmitted to the mobile unit to set the target floor to a predetermined evacuation floor with a low probability of flooding. If the mobile unit sets the target floor to the evacuation floor based on the setting command and disembarks before moving to the original target floor, the command means causes the mobile unit to save the original target floor as a log. After the risk of flooding at the target floor has been eliminated, a reset command is transmitted to the mobile unit to reset the original target floor shown in the log as the new target floor for the mobile unit. An elevator control device equipped with the following.

6. An elevator control system in which a mobile body that moves within a building and an elevator control device that controls an elevator installed within the building are communicated with each other, The elevator control device is A receiving means for receiving a warning signal indicating that the building may be flooded, The system includes a command means that, upon receiving the aforementioned warning signal, transmits an evacuation command to the mobile unit, which includes information on target floors that may be flooded and predetermined evacuation floors that are less likely to be flooded. The aforementioned moving body is When the aforementioned evacuation order is received, a determination means for determining whether the current floor where the moving object is located is the target floor, If the determination means determines that the current floor is the target floor, the system comprises a target floor setting means for setting the target floor of the moving body to the evacuation floor. If the current floor is not the target floor, the determination means further determines whether the destination floor is the target floor, and if the destination floor is the target floor, it waits on the current floor. Elevator control system.

7. The target floor setting means temporarily removes the target floor from the options when setting a new target floor if the current floor and the target floor are not the target floor. The elevator control system according to claim 6.

8. An elevator control system in which a mobile body that moves within a building and an elevator control device that controls an elevator installed within the building are communicated with each other, The elevator control device is A receiving means for receiving a warning signal indicating that the building may be flooded, The system includes a command means that, upon receiving the aforementioned warning signal, transmits an evacuation command to the mobile unit, which includes information on target floors that may be flooded and predetermined evacuation floors that are less likely to be flooded. The aforementioned moving body is When the aforementioned evacuation order is received, a determination means for determining whether the current floor where the moving object is located is the target floor, If the determination means determines that the current floor is the target floor, the system comprises a target floor setting means for setting the target floor of the moving body to the evacuation floor. When the elevator control device transmits the evacuation command, it transmits location information of a predetermined evacuation location on the evacuation floor to the moving body. After the mobile unit disembarks from the elevator at the evacuation floor, it moves to the evacuation location based on the location information. Elevator control system.

9. An elevator control system in which a mobile body that moves within a building and an elevator control device that controls an elevator installed within the building are communicated with each other, The elevator control device is A receiving means for receiving a warning signal indicating that the building may be flooded, The system includes a command means that, upon receiving the aforementioned warning signal, transmits an evacuation command to the mobile unit, which includes information on target floors that may be flooded and predetermined evacuation floors that are less likely to be flooded. The aforementioned moving body is When the aforementioned evacuation order is received, a determination means for determining whether the current floor where the moving object is located is the target floor, If the determination means determines that the current floor is the target floor, the system comprises a target floor setting means for setting the target floor of the moving body to the evacuation floor. When the remaining power of the mobile body falls below a predetermined value, it requests location information of a charging spot installed on the evacuation floor from the elevator control device, and after disembarking from the elevator on the evacuation floor, it moves to the charging spot based on the location information from the elevator control device. Elevator control system.

10. An elevator control system in which a mobile body that moves within a building and an elevator control device that controls an elevator installed within the building are communicated with each other, The elevator control device is A receiving means for receiving a warning signal indicating that the building may be flooded, The system includes a command means that, upon receiving the aforementioned warning signal, transmits an evacuation command to the mobile unit, which includes information on target floors that may be flooded and predetermined evacuation floors that are less likely to be flooded. The aforementioned moving body is When the aforementioned evacuation order is received, a determination means for determining whether the current floor where the moving object is located is the target floor, The system includes a target floor setting means that, if the determination means determines that the current floor is the target floor, the destination floor of the mobile body is set to the evacuation floor; if a predetermined floor is already set as the target floor, the predetermined floor is saved as a log when the destination floor is set to the evacuation floor; and when the risk of flooding on the target floor is eliminated, the predetermined floor shown in the log is set as the new target floor. Elevator control system.

11. An elevator control system in which a mobile body that moves within a building and an elevator control device that controls an elevator installed within the building are communicated with each other, The elevator control device is A receiving means for receiving a warning signal indicating that the building may be flooded, The system includes a command means that, upon receiving the aforementioned warning signal, transmits an evacuation command to the mobile unit, which includes information on target floors that may be flooded and predetermined evacuation floors that are less likely to be flooded. The aforementioned moving body is When the aforementioned evacuation order is received, a determination means for determining whether the current floor where the moving object is located is the target floor, If the determination means determines that the current floor is the target floor, the system comprises a target floor setting means for setting the target floor of the moving body to the evacuation floor. The elevator control device transmits a departure floor arrival notification to the mobile vehicle, which has set the destination floor as the evacuation floor in response to the evacuation command, indicating that the elevator has arrived at the current floor. If, within a certain period of time after transmitting the departure floor arrival notification, the device does not receive a boarding signal indicating that the mobile vehicle has boarded the elevator, it retransmits the departure floor arrival notification to the mobile vehicle. Elevator control system.

12. An elevator control system in which a mobile body that moves within a building and an elevator control device that controls an elevator installed within the building are communicated with each other, The elevator control device is A receiving means for receiving a warning signal indicating that the building may be flooded, The system includes a command means that, upon receiving the aforementioned warning signal, transmits an evacuation command to the mobile unit, which includes information on target floors that may be flooded and predetermined evacuation floors that are less likely to be flooded. The aforementioned moving body is When the aforementioned evacuation order is received, a determination means for determining whether the current floor where the moving object is located is the target floor, If the determination means determines that the current floor is the target floor, the system comprises a target floor setting means for setting the target floor of the moving body to the evacuation floor. The elevator control device transmits a destination floor arrival notification to the mobile vehicle, which has been set to the evacuation floor in response to the evacuation command, indicating that the elevator has arrived at the evacuation floor. If, within a certain period of time after transmitting the destination floor arrival notification, the device does not receive a disembarkation signal indicating that the mobile vehicle has disembarked from the elevator, it retransmits the destination floor arrival notification to the mobile vehicle. Elevator control system.

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