Elevator control system, control method, and control device

Abstract

To allow a robot to ride in a car while minimizing unnecessary calls as much as possible. [Solution] When a robot is moved between floors using an elevator from the current floor to the destination floor, the robot management device makes a judgment (A) based on an image taken by a camera installed in the car to determine whether there is boarding space for the robot in the car, and if it determines in that judgment (A) that there is boarding space, it makes an allocation request for the robot by sending this information to the elevator control device, with the robot's current floor as the departure floor and the direction of the car's movement at that time as the destination direction.On the other hand, if the robot management device determines in judgment (A) that there is no boarding space, it does not make an allocation request, but makes judgment (A) again based on a new image taken by the camera, and repeats judgment (A) until it can determine that there is boarding space.

Description

Technical Field

[0001] The present invention relates to a control technology for moving a robot between floors using an elevator.

Background Art

[0002] In recent years, robots have been increasingly used for various tasks (such as cleaning, monitoring, and transportation) in buildings (see, for example, Patent Document 1). Along with this, the use of elevators for the inter-floor movement of robots in buildings has been increasing, and the cases where both users and robots use the elevator have been increasing.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In an elevator in which landing buttons (buttons for specifying the destination direction) are installed on each floor, when a user presses a landing button on any floor, the car will arrive at that floor in the direction indicated by the landing button. On the other hand, not only the user who presses the landing button but also users going in the same direction as that user will board the car. Therefore, it is difficult to predict how many users will board at that time. For this reason, in an environment where both users and robots use such an elevator, the following problems may occur.

[0005] If a landing call for a robot is assigned to an elevator car, depending on elevator usage, passengers may board at intermediate floors before the car reaches the robot's destination floor (current floor), leaving no space for the robot. In this case, even if the elevator car arrives at the robot's destination floor, the robot cannot board, rendering the car's stop at that floor wasted. In other words, the landing call for the robot becomes a wasted call. Furthermore, depending on elevator usage, this situation may be repeated, resulting in a long wait before the robot can board the elevator car.

[0006] Therefore, the objective of the present invention is to get the robot into the elevator car while minimizing unnecessary calls. [Means for solving the problem]

[0007] The robot management device according to the present invention has the following configuration (Aspect 1). When the robot management device moves a robot between floors using an elevator from the current floor to the destination floor, it makes a determination (A) based on an image taken by a camera installed inside the elevator car to determine whether or not there is space for the robot to ride in the elevator car. If the robot management device determines in determination (A) that "there is space for the robot to ride in", it sends an assignment request for the robot to the elevator control device, specifying the robot's current floor as the departure floor and the same direction as the elevator car's current direction of movement as the destination direction, thereby causing the control device to assign the robot to an elevator car with the above-mentioned departure floor and destination direction as a single landing call. On the other hand, if the robot management device determines in determination (A) that "there is no space for the robot to ride in", it does not make an assignment request, but instead makes the determination (A) again based on a new image taken by the camera, and repeats the determination (A) until it can determine that "there is space for the robot to ride in".

[0008] According to the above embodiment 1, when it is confirmed that there is a space for a robot to board the elevator car, even if the direction of movement of the elevator car at that time is in the opposite direction to the direction from the robot's current floor to its destination floor, the elevator car can be stopped at the robot's current floor while moving in the opposite direction. This increases the opportunities for the robot to board the elevator car. In addition, by making an assignment request after confirming that there is a space for a robot to board the elevator car, the call to the boarding area that is assigned to the elevator car in response to that request is less likely to be a wasted call. Therefore, the opportunities for the robot to board the elevator car can be increased while minimizing wasted calls.

[0009] The robot management device according to Embodiment 1 described above may have the following configuration (Embodiment 2). After making an assignment request, the robot management device may further determine (B) whether the situation inside the elevator car has changed to a situation where there is no passenger space, based on new images obtained from the camera. If the robot management device determines in determination (B) that the situation has "changed", it may instruct the control device to cancel the assignment of a passenger space call for the robot.

[0010] According to the above embodiment 2, when it is determined that a robot's call to a landing would be a wasted call, the control device can be instructed to cancel the assignment of that landing call to the elevator car, thereby reliably preventing wasted calls. In other words, the elevator car can be stopped at the robot's current floor (boarding floor) in a situation where the robot can be reliably boarded (a situation where there is boarding space).

[0011] The robot management device according to the above embodiment 1 or 2 may have the following configuration (embodiment 3). If the destination direction transmitted in the assignment request is the same as the forward direction from the robot's current floor to the robot's destination floor, the robot management device may, after the robot has finished boarding the elevator car, transmit a request to register an elevator car call for that robot to the control device, specifying the robot's destination floor as the destination floor. On the other hand, if the destination direction transmitted in the assignment request is the opposite of the forward direction, the robot management device may, after the robot has boarded the elevator car, transmit a request to register an elevator car call for that robot to the control device, specifying the robot's destination floor as the destination floor, when the elevator car's direction of movement reverses to the forward direction.

[0012] In elevators, when the direction of movement of the elevator car is reversed, a control system (reset control) is generally performed to erase any remaining car calls registered for that car at that time. Even when such reset control is performed, according to embodiment 3 above, it becomes possible to have the control device perform the registration of car calls for the robot at an appropriate timing so that the car calls are not erased by the reset control.

[0013] The first control system according to the present invention is a control system applicable to an elevator in which a lit-up landing button for specifying the destination direction is installed on each floor, and has the following configuration (Aspect A). The control system comprises an elevator control device and a robot management device according to any of the above aspects 1 to 3. The control device illuminates the button when a user presses a landing button on any floor and assigns the elevator car a landing call, with the floor in which the button is installed as the departure floor and the direction indicated by the button as the destination.

[0014] In the control system according to the above embodiment A, if the control device receives an assignment request for a robot from the robot management device and assigns a landing call, it may control the system so that the landing button on the robot's current floor does not light up until a user presses the landing button (embodiment 4).

[0015] Here, if a user arrives at the boarding area and the boarding button for their desired direction is lit, they will not press that button again. Therefore, if the control unit assigns a boarding call for a robot and lights up the boarding button for the same direction indicated by that call, then users who arrive to go in the same direction Kc will wait at the boarding area without pressing a boarding button. Consequently, if the control unit cancels the boarding call for the robot in this situation, users waiting at the boarding area intending to go in the same direction will find that there is no boarding call.

[0016] On the other hand, according to embodiment 4 described above, when a boarding call is assigned to a robot, it becomes possible to prevent a situation where users who intend to go in the same direction as the destination indicated by that boarding call wait at the boarding station without anyone pressing the boarding button.

[0017] In the control system according to the above embodiment A, if the control device receives an assignment request for a robot from the robot management device and assigns a landing call, it may control the system so that it does not immediately light up the landing button on the robot's current floor, but then lights up the button when the elevator car starts responding to the landing call, or when a user has pressed the button before that (embodiment 5).

[0018] According to embodiment 5 described above, after a boarding call has been assigned to a robot, the boarding button corresponding to the destination direction indicated by the boarding call can be kept off until a user presses the button, limited to the period during which the boarding call assignment may be canceled. In this case as well, similar to embodiment 4 described above, it is possible to prevent a situation where users intending to go in the same direction as the destination direction indicated by the robot's boarding call wait at the boarding station without anyone pressing the boarding button.

[0019] The robot management method according to the present invention has the following configuration (Aspect 6). In the robot management method, when moving a robot between floors from the current floor to the destination floor using an elevator, a determination (A) is made based on an image taken by a camera installed inside the elevator car to determine whether or not there is space for the robot to board inside the elevator car. If the determination (A) determines that "there is space for boarding," an assignment request for the robot is made by sending this information to the elevator control device, with the robot's current floor as the departure floor and the same direction as the elevator car's current direction of movement as the destination direction, thereby causing the control device to assign the robot to an elevator car with the above-mentioned departure floor and destination direction as a single boarding call. On the other hand, if the determination (A) determines that "there is no space for boarding," no assignment request is made, and the determination (A) is made again based on a new image taken by the camera, and this determination (A) is repeated until it can be determined that "there is space for boarding."

[0020] The robot according to the present invention has the following configuration (Aspect 7). When the robot moves between floors from the current floor to the destination floor using an elevator, it makes a determination (A) based on an image taken by a camera installed inside the elevator car to determine whether or not there is a space for the robot to ride in the elevator car. If the robot determines in determination (A) that there is a space for the robot to ride in the elevator car, it sends a request to the elevator control device to assign a landing call for itself, with its current floor as the departure floor and the same direction as the direction the elevator car is moving at that time as the destination direction, thereby causing the control device to assign the elevator car to a single landing call with the above-mentioned departure floor and destination direction. On the other hand, if the robot determines in determination (A) that there is no space for the robot to ride in the elevator car, it does not make an assignment request, but instead makes the determination (A) again based on a new image taken by the camera, and repeats the determination (A) until it can determine that there is a space for the robot to ride in the elevator car.

[0021] In either embodiment 6 or 7 described above, similar to embodiment 1, the opportunities for the robot to board the ride car can be increased while minimizing unnecessary calls.

[0022] A second control system according to the present invention is a control system applicable to elevators and has the following configuration (Aspect 8). The control system comprises an elevator control device and a robot management device. When the robot management device uses the elevator to move a robot from the current floor to the destination floor, it requests the allocation of a landing call for the robot by transmitting the robot's current floor to the control device. When the control device receives an allocation request for a robot from the robot management device, it makes a determination (A) based on an image taken by a camera installed inside the elevator car to determine whether or not there is space for the robot to board the elevator car. If the control device determines in determination (A) that "there is space for the robot to board", it allocates a landing call to the elevator car with the robot's current floor as the departure floor and the same direction as the elevator car's current direction of movement as the destination direction. On the other hand, if the control device determines in judgment (A) that "there is no boarding space," it does not assign a boarding space call, but instead makes judgment (A) again based on the new image obtained from the camera, and repeats judgment (A) until it can determine that "there is boarding space."

[0023] According to embodiment 8 described above, similar to embodiment 1, the opportunities for a robot to board the elevator car can be increased. Furthermore, by confirming that there is space for the robot to board the elevator car before assigning a boarding call for that robot, the boarding call is less likely to be wasted. Therefore, the opportunities for a robot to board the elevator car can be increased while minimizing wasted calls.

[0024] The control system according to the above embodiment 8 may have the following configuration (embodiment 9). After assigning a boarding call for the robot, the control device may further determine (B) whether the situation inside the elevator car has changed to a situation where there is no boarding space, based on the new image obtained from the camera. If the control device determines in determination (B) that the situation has changed, it may cancel the boarding call assignment for the robot.

[0025] According to the above aspect 9, similar to the above aspect 2, it becomes possible to surely prevent the occurrence of unnecessary calls. In other words, it becomes possible to stop the car at the current floor (boarding floor) of the robot in a situation (a situation where there is a boarding space) where the robot can surely board the car.

[0026] The control system according to the above aspect 8 or 9 may have the following configuration (aspect 10). When the destination direction indicated by the landing call is the same direction as the forward direction from the current floor of the robot to the destination floor of the robot, then, after the boarding of the robot on the car is completed, the robot management device may send a registration request for the car call for the robot to the control device with the destination floor of the robot as the destination floor. On the other hand, when the destination direction indicated by the landing call is the opposite direction to the above forward direction, after the robot boards the car, when the moving direction of the car is reversed and becomes the forward direction, the robot management device may send a registration request for the car call for the robot to the control device with the destination floor of the robot as the destination floor. And when receiving the registration request, the control device may register the above destination floor as a car call in the car.

[0027] According to the above aspect 10, similar to the above aspect 3, it becomes possible to register the car call for the robot at an appropriate timing so that the car call is not erased by the reset control.

[0028] The control system according to any one of the above aspects 8 to 10 may be applied to an elevator in which lit landing buttons for designating the destination direction are installed on each floor, and in that case, it may have the following configuration (aspect B). When a user presses a landing button on any floor, the control device may light the button and, for the car, assign a landing call with the floor where the button is installed as the departure floor and the direction indicated by the button as the destination direction.

[0029] In the control system according to the above embodiment B, if the control device receives an assignment request for a robot and assigns a landing call, it may control the system so that the landing button on the robot's current floor does not light up until a user presses the landing button (embodiment 11).

[0030] According to the above embodiment 11, similar to the above embodiment 4, when a boarding call is assigned to a robot, it becomes possible to prevent a situation where users who intend to go in the same direction as the destination indicated by that boarding call wait at the boarding station without anyone pressing the boarding button.

[0031] In the control system according to the above embodiment B, when the control device receives an assignment request for a robot and assigns a landing call, it may control the system so that it does not immediately light up the landing button on the robot's current floor, but then lights up the button when the elevator car starts responding to the landing call, or when a user has pressed the button before that (embodiment 12).

[0032] According to embodiment 12 above, similar to embodiment 5 above, after a boarding call is assigned to a robot, the boarding button corresponding to the destination direction indicated by the boarding call can be kept off until a user presses the button, for a limited period during which the boarding call assignment may be canceled. Therefore, similar to embodiment 11 above, when a boarding call is assigned to a robot, it becomes possible to prevent a situation where users intending to go in the same direction as the destination direction indicated by the boarding call wait at the boarding station without anyone pressing the boarding button. [Effects of the Invention]

[0033] According to the present invention, it becomes possible to get a robot into a vehicle car with as little unnecessary calling as possible. [Brief explanation of the drawing]

[0034] [Figure 1]This is a conceptual diagram showing the overall configuration of the elevator according to the embodiment. [Figure 2] This is a conceptual diagram illustrating (A) robot management data, (B) assignment request management data, and (C) registration request management data used in the embodiment. [Figure 3] This is a conceptual diagram illustrating examples of (A) device management data for the first control unit, (B) device management data for the second control unit, (C) landing call management data and elevator call management data for users, and (D) landing call management data and elevator call management data for the robot, as used in the embodiment. [Figure 4] This is a flowchart illustrating the allocation request process performed in the embodiment. [Figure 5] This is a flowchart illustrating the allocation process performed in the embodiment. [Figure 6] This is a flowchart illustrating the boarding command process performed in the embodiment. [Figure 7] This is a flowchart illustrating the registration request process performed in the embodiment. [Figure 8] This is a flowchart illustrating the registration process performed in the embodiment. [Figure 9] This is a flowchart illustrating the disembarkation command process performed in the embodiment. [Figure 10] This flowchart shows the allocation request process performed in the first modified example. [Figure 11] This flowchart shows the allocation request process performed in the second modified example. [Figure 12] This is a conceptual diagram illustrating the landing call management data used in place of the allocation request management data in the fourth modified example. [Figure 13] This flowchart shows the allocation request process performed in the fourth modified example. [Figure 14] This is a flowchart showing the allocation process performed in the fourth modified example. [Figure 15] This flowchart shows the allocation process performed in the fifth modified example. [Figure 16]This is a flowchart showing the assignment process performed in the sixth modified example. [Modes for carrying out the invention]

[0035] [1] Embodiment [1-1] Overall configuration of the elevator Figure 1 is a conceptual diagram showing the overall configuration of an elevator according to this embodiment. In this embodiment, the elevator has one elevator car G, which is used not only by passengers but also by robots H that perform various tasks (cleaning, monitoring, transport, etc.) in the building where the elevator is installed. In addition, a first operation unit 1 is installed at the landing of each floor of the elevator for passengers to specify their destination direction Kc, and a second operation unit 2 is installed inside the elevator car G for passengers to specify their destination floor Fd. Furthermore, in addition to these components, the elevator is equipped with a robot management device 3 and an elevator control device 4.

[0036] In this embodiment, a control system is constructed by the robot management device 3 and the elevator control device 4 to enable the robot H to board the elevator car G with as little unnecessary calling as possible. The configuration of each part will be described in detail below.

[0037] <1st operation section> The first control unit 1 includes a landing button (up direction button) for specifying the destination direction Kc as upward, and a landing button (down direction button) for specifying the destination direction Kc as downward, on floors other than the end floors which are the top or bottom floors. On the other hand, the first control unit 1 includes only a landing button (down direction button) for specifying the downward direction on the top floor, and only an landing button (up direction button) for specifying the upward direction on the bottom floor.

[0038] When a user operates the first control unit 1 at the landing (by pressing the landing button) to specify their destination direction Kc, that destination direction Kc is transmitted to the elevator control device 4. This sends a request to the elevator control device 4 for the allocation of a landing call X (hereinafter referred to as "landing call Xg") for the user (allocation request from the user). At this time, in order for the elevator control device 4 to recognize that the operated control unit is the first control unit 1, device information Pd1 for identifying that control unit from other control units and devices is also transmitted to the elevator control device 4.

[0039] <Second operation section> The second control unit 2 includes multiple destination buttons, each of which corresponds to one of the multiple floors that can be guided by the elevator of this embodiment.

[0040] When a user operates the second control unit 2 inside the elevator car G (by pressing any destination button) to specify their destination floor Fd, that destination floor Fd is transmitted to the elevator control device 4. This sends a registration request for the user's car call Yg (hereinafter referred to as "car call Yg") to the elevator control device 4 (registration request from the user). At this time, in order to make the elevator control device 4 recognize that the operated control unit is the second control unit 2, device information Pd2, which identifies that control unit from other control units and devices, is also transmitted to the elevator control device 4.

[0041] <Robot Management Device> The robot management device 3 is a device that centrally manages the robots H used in the building where the elevator of this embodiment is installed.

[0042] In this embodiment, the robot management device 3 keeps track of the current floor Fx of each robot H. When a robot H needs to move between floors, it transmits the destination floor Fy to the robot management device 3. At this time, the robot H also transmits robot information Ph to the robot management device 3 to identify itself from other robots H, so that the robot management device 3 can recognize which robot H sent the destination floor Fy.

[0043] When the robot management device 3 receives the destination floor Fy and robot information Ph from any robot H, it requests the elevator control device 4 to assign a landing call X (hereinafter referred to as "landing call Xh") for that robot H at an appropriate timing to minimize wasted calls (assignment request processing; see Figure 4). Subsequently, when the elevator car G arrives at the current floor Fx of robot H in response to the landing call Xh, the robot management device 3 instructs robot H to board the elevator car G (boarding command processing; see Figure 6), and at an appropriate timing after boarding is complete, it requests the elevator control device 4 to register a car call Y (hereinafter referred to as "car call Yh") for that robot H (registration request processing; see Figure 7). Then, when the elevator car G arrives at the destination floor Fy of robot H, the robot management device 3 instructs robot H to disembark from the elevator car G (disembarkation command processing; see Figure 9). Details of these processes will be described later.

[0044] Specifically, the robot management device 3 comprises a storage unit 31 and a control unit 32 (see Figure 1).

[0045] The memory unit 31 is a part composed of memory devices such as ROM and RAM, and stores information necessary for the control processing performed by the robot management device 3. In this embodiment, robot management data Dp and request management data Dq are stored in the memory unit 31 as such information.

[0046] Robot management data Dp is a database for managing multiple pieces of information related to each robot H, linking them together.

[0047] The request management data Dq includes assignment request management data Dq1 and registration request management data Dq2. Here, assignment request management data Dq1 is data for managing information on assignment requests for robot H. Registration request management data Dq2 is data for managing information on registration requests for robot H.

[0048] Figure 2(A) is a conceptual diagram illustrating the robot management data Dp used in this embodiment. In the robot management data Dp, for each robot H, the robot information Ph and current floor Fx of that robot H and the destination when the robot H moves between floors are recorded in a manner that is associated with each other. Here, the current floor Fx associated with each robot H is the floor on which the robot H is located, and is updated each time the robot H moves between floors. In addition, the destination associated with each robot H records the target floor Fy that the robot H has transmitted for inter-floor movement, and this target floor Fy is deleted when the robot H has finished disembarking at that floor.

[0049] As a result, when the robot management device 3 receives robot information Ph along with the destination floor Fy from each robot H, it can identify the current floor Fx of that robot H from the robot information Ph. In this embodiment, the current floor Fx of that robot H is used as the departure floor Fc (boarding floor) when the robot H moves between floors using the elevator car G. Furthermore, by referring to the destination associated with the robot information Ph of each robot H, the robot management device 3 can determine that the robot H is moving between floors if the destination floor Fy is recorded in that destination, and can also determine which floor that destination is. On the other hand, if the destination floor Fy is not recorded in that destination, it can determine that the robot H is being deployed to the current floor Fx.

[0050] Figure 2(B) is a conceptual diagram illustrating the assignment request management data Dq1 used in this embodiment. In the assignment request management data Dq1, each time an assignment request for robot H is made to the elevator control device 4, the robot information Ph of robot H and the information transmitted to the elevator control device 4 in that assignment request (in this embodiment, the departure floor Fc and the destination direction Kc from that floor) are recorded in a corresponding manner. In the example in Figure 2(B), two directions, "up" and "down," are associated as information indicating the destination direction Kc, and it is shown that the direction transmitted as the destination direction Kc is set to "ON," while the other direction is set to "OFF." The assignment request information for each robot H is then deleted from the assignment request management data Dq1 when a registration request for car call Yh for robot H is made to the elevator control device 4 (see step S410 in Figure 7).

[0051] Figure 2(C) is a conceptual diagram illustrating the registration request management data Dq2 used in this embodiment. In the registration request management data Dq2, each time a registration request for robot H is made to the elevator control device 4, the robot information Ph of robot H and the information transmitted to the elevator control device 4 with that registration request (in this embodiment, the destination floor Fd) are recorded in a corresponding manner. Then, the registration request information for each robot H is deleted from the registration request management data Dq2 when the robot H has completed disembarking at the destination floor Fy indicated by that information (see step S606 in Figure 9).

[0052] The control unit 32 is responsible for executing the control processing performed by the robot management device 3 (including assignment request processing, boarding command processing, registration request processing, and disembarking command processing). Specifically, the control unit 32 is composed of processing devices such as a CPU and an MPU, and executes the control processing it is responsible for using software by running the control program installed in the robot management device 3. This control program may be stored in a readable state on a portable storage medium (e.g., flash memory) before being installed in the robot management device 3, or it may be stored in a downloadable state on another server. Furthermore, the control processing performed by the robot management device 3 is not limited to being implemented in software by executing a program, but may also be implemented in hardware by processing circuits built into the robot management device 3.

[0053] <Elevator control device> The elevator control device 4 is a device that controls the operation of the elevator car G. In this embodiment, when the elevator control device 4 receives an assignment request from a user at the landing or from the robot management device 3, it assigns a landing call X (Xg in the case of an assignment request from a user, Xh in the case of an assignment request from the robot management device 3) to the elevator car G (assignment process; see Figure 5), and then causes the elevator car G to perform a response operation to the said landing call X (response process). Details of the assignment process will be described later.

[0054] Furthermore, when the elevator control device 4 receives a registration request from a user inside the elevator car G or from the robot management device 3, it registers the car call Y (Yg in the case of a registration request from a user, and Yh in the case of a registration request from the robot management device 3) to the elevator car G (registration process; see Figure 8), and then causes the elevator car G to perform a response operation to the car call Y (response process). Details of the registration process will be described later.

[0055] Furthermore, in this embodiment, in order to allow the robot H to board the elevator car G with as little unnecessary calling as possible, the elevator control device 4 works in cooperation with the robot management device 3 to perform processing to make this possible. Specifically, this is as follows.

[0056] The elevator car G is equipped with a camera 20 for taking pictures inside the car (see Figure 1), and the elevator control device 4 can, in response to a request from the robot management device 3, return to the robot management device 3 an image Qg obtained by taking a picture of the inside of the elevator car G with the camera 20 at that time. In addition, the elevator control device 4 can, in response to a request from the robot management device 3, return to the robot management device 3 elevator information Pe (such as the operating status of the elevator car G and the usage status of the elevator) that it is aware of at that time.

[0057] In terms of its specific configuration, the elevator control device 4 comprises a storage unit 41 and a control unit 42 (see Figure 1).

[0058] The memory unit 41 is a part composed of memory devices such as ROM and RAM, and stores information necessary for the control processing performed by the elevator control device 4. In this embodiment, such information stored in the memory unit 41 includes device management data Dr, landing call management data Dx, and car call management data Dy.

[0059] The device management data Dr includes device management data Dr1 for the first operation unit 1 and device management data Dr2 for the second operation unit 2. Here, device management data Dr1 is a database for managing multiple pieces of information related to each operation unit 1 by linking them together. Device management data Dr2 is a database for managing multiple pieces of information related to each operation unit 2 by linking them together.

[0060] The landing call management data Dx includes landing call management data DxG for users and landing call management data DxH for robot H. Similarly, the car call management data Dy includes car call management data DyG for users and car call management data DyH for robot H. Here, landing call management data DxG and car call management data DyG are data for managing landing call Xg and car call Yg information for users, respectively. Landing call management data DxH and car call management data DyH are data for managing landing call Xh and car call Yh information for robot H, respectively.

[0061] Figure 3(A) is a conceptual diagram illustrating the device management data Dr1 for the first operation unit 1 used in this embodiment. In the device management data Dr1, the device information Pd1 and installation floor Fs of the first operation unit 1 are recorded in a manner that is associated with each other.

[0062] As a result, when the elevator control device 4 receives device information Pd1 along with the destination direction Kc from any of the first control units 1, it can identify the installation floor Fs of the said first control unit 1 (the control unit that specified the destination direction Kc) from the device information Pd1. In this embodiment, the installation floor Fs of the said first control unit 1 is used as the departure floor Fc (boarding floor) of the user who operated that control unit to specify the destination direction Kc.

[0063] Figure 3(B) is a conceptual diagram illustrating the device management data Dr2 for the second control unit 2 used in this embodiment. In the device management data Dr2, for each second control unit 2, the device information Pd2 of that control unit and the car information Pg of the elevator car G in which the control unit is installed are recorded in a manner that is associated with each other. In this embodiment, since there is only one elevator car G, only one set of information for the second control unit 2 installed in that elevator car G is recorded in the device management data Dr2.

[0064] As a result, when the elevator control device 4 receives device information Pd2 along with the destination floor Fd from the second control unit 2, it can identify the elevator car G (the elevator car G for which the destination floor Fd was specified) where the second control unit 2 is installed from the device information Pd2. Therefore, when the elevator control device 4 registers the destination floor Fd received from the second control unit 2 as the car call Yg, it can identify the elevator car G to which it should be registered.

[0065] Figure 3(C) is a conceptual diagram illustrating the user-use landing call management data DxG and car call management data DyG used in this embodiment.

[0066] In the landing call management data DxG (see the left diagram in Figure 3(C)), the assignment status is associated with each elevator floor, and further with each direction in which the elevator car G can move from that floor. This status indicates whether or not a landing call Xg has been assigned to the elevator car G, with each pair of floors and directions designated as the departure floor Fc and destination direction Kc, respectively (in other words, whether or not a user pressed the landing button for that direction on that floor). In the example in Figure 3(C), the assignment status for each direction from each floor is updated to "ON" when a landing call Xg has been assigned to each pair of floors and directions designated as the departure floor Fc and destination direction Kc, respectively, and updated to "OFF" when that landing call Xg is deleted.

[0067] Furthermore, the car call management data DyG (see the right diagram in Figure 3(C)) associates the registration status for each elevator floor with whether or not a car call Yg with that floor as the destination floor Fd has been registered for the elevator car G (in other words, whether or not a user pressed the destination button for that floor). In the example in Figure 3(C), it is shown that the registration status for each floor is updated to "ON" when a car call Yg with that floor as the destination floor Fd is registered, and updated to "OFF" when that car call Yg is deleted.

[0068] Figure 3(D) is a conceptual diagram illustrating the landing call management data DxH and the cage call management data DyH for the robot H used in this embodiment.

[0069] In the landing call management data DxH (see the upper diagram in Figure 3(D)), each time a landing call Xh is assigned to a robot H, the robot information Ph of that robot H, the departure floor Fc and destination direction Kc indicated by that landing call Xh are recorded in a corresponding manner. In the example in Figure 3(D), two directions, "up" and "down," are associated as information indicating the destination direction Kc, and it is shown that the direction indicated by the landing call Xh as the destination direction Kc is set to "ON," while the other direction is set to "OFF." The information for each robot H's landing call Xh is then deleted from the landing call management data DxH (deletion of the landing call Xh) when the landing call Xh has finished its role (for example, when the elevator car G arrives at the departure floor Fc indicated by that landing call Xh with the destination direction Kc indicated by that landing call Xh).

[0070] Furthermore, in the elevator call management data DyH (see the lower diagram in Figure 3(D)), each time an elevator call Yh is registered for robot H, the robot information Ph of robot H and the destination floor Fd indicated by that elevator call Yh are recorded in a corresponding manner. Then, the information for each elevator call Yh for robot H is deleted from the elevator call management data DyH (deletion of elevator call Yh) when the elevator call Yh has finished its role (for example, when elevator car G arrives at the destination floor Fd indicated by that elevator call Yh).

[0071] The control unit 42 is responsible for executing the control processing (including allocation processing, registration processing, and response processing) performed by the elevator control device 4. Specifically, the control unit 42 is composed of processing devices such as a CPU and an MPU, and executes the control processing it is responsible for using software by running the control program installed in the elevator control device 4. This control program may be stored in a readable state on a portable storage medium (e.g., flash memory) before being installed in the elevator control device 4, or it may be stored in a downloadable state on another server. Furthermore, the control processing performed by the elevator control device 4 is not limited to being implemented in software by executing a program, but may also be implemented in hardware by processing circuits built into the elevator control device 4.

[0072] [1-2] Control processes performed in the elevator [1-2-1] Assignment request processing performed by the robot management device Figure 4 is a flowchart showing the assignment request process performed in this embodiment. This assignment request process is initiated each time the robot management device 3 receives the target floor Fy and robot information Ph from any robot H. Here, the robot H that sent this information will be referred to as the "target robot Hk". The information received by the robot management device 3 at that time (including the target floor Fy and robot information Ph) will be collectively referred to as "received information Pr1".

[0073] When the assignment request process begins, the robot management device 3 uses the robot management data Dp (see Figure 2(A)) to find a robot information Ph that matches the robot information Ph in the received information Pr1, and then extracts the current floor Fx associated with it (step S101). Furthermore, the robot management device 3 records the destination floor Fy in the received information Pr1 as the destination in the robot management data Dp, associating it with the found robot information Ph. This records in the robot management data Dp that the target robot Hk is moving between floors toward the destination floor Fy. In the example in Figure 2(A), robot H, whose robot information Ph is "H-01", has sent a destination floor Fy, "8th floor", in order to move between floors from the current floor Fx, "3rd floor".

[0074] Next, the robot management device 3 obtains an image Qg taken by camera 20 of the inside of elevator car G from the elevator control device 4 in order to understand the situation inside the elevator car G at that time (step S102). Specifically, the robot management device 3 requests the elevator control device 4 to return the image Qg. In response to the request from the robot management device 3, the elevator control device 4 returns the image Qg obtained by taking a picture of the inside of elevator car G with camera 20 at that time, and the robot management device 3 receives the image Qg.

[0075] Furthermore, in step S102, the robot management device 3 also obtains information from the elevator control device 4 to determine the direction of movement Kg of the elevator car G at that time (hereinafter referred to as "direction of movement Kgt"). Specifically, as will be described later (see the section explaining the boarding command process), the robot management device 3 obtains elevator information Pe (such as the operating status of the elevator car G and the usage status of the elevator) from the elevator control device 4 as needed. Therefore, in step S102, the robot management device 3 extracts the direction of movement Kgt of the elevator car G from the elevator information Pe at that time (current time).

[0076] After step S102, the robot management device 3 determines whether or not there is a space for the target robot Hk to ride in the elevator car G based on the image Qg acquired in step S102 (step S103).

[0077] For example, the robot management device 3 recognizes users inside the elevator car G through image analysis and estimates the size of the available space excluding those users. If the robot management device 3 detects through image analysis that the user is carrying large luggage, it may further exclude the luggage when estimating the available space. The robot management device 3 then determines whether there is space for the target robot Hk to board the elevator car G by determining whether the estimated space is greater than or equal to the space required for the target robot Hk to board. In this case, the space required for the target robot Hk to board may be a fixed value set so that any robot H can board, or it may be a value set according to the size and shape of each robot H.

[0078] In elevators, it is common practice to use load sensors or similar devices to detect when the elevator is full. However, even if the elevator is not full, depending on the size and shape of the robot H, it may not be able to board the elevator car G. In other words, there may be enough space for a passenger to board, but not enough space for the robot H to board. Even in such cases, as described above, by making the decision in step S103 based on the image Qg, it becomes possible to accurately determine whether or not there is space for the robot H to board.

[0079] If the robot management device 3 determines in step S103 that there is "boarding space available (Yes)", it requests the elevator control device 4 to assign a landing call Xh for the target robot Hk (step S104). Specifically, the robot management device 3 uses the current floor Fx (the current floor Fx of the target robot Hk) extracted in step S101 as the departure floor Fc, and the same direction as the direction of movement Kgt (the direction of movement Kg of the elevator car G at that time) obtained in step S102 as the destination direction Kc, and transmits this information, along with the robot information Ph of the target robot Hk, to the elevator control device 4. The robot management device 3 then records the information transmitted to the elevator control device 4 (robot information Ph, departure floor Fc, destination direction Kc) in the assignment request management data Dq1, as assignment request information, in a corresponding state (see Figure 2(B)). In the example shown in Figure 2(B), the target robot Hk, whose robot information Ph is "H-01", is shown in step S102 when the movement direction Kgt obtained is "up". After step S104, the robot management device 3 terminates the assignment request process.

[0080] On the other hand, if the robot management device 3 determines in step S103 that there is "no space for passengers (No)", it does not make an allocation request for the target robot Hk (step S104), returns to step S102, acquires the image Qg and movement direction Kgt from the elevator control device 4 at that time, and then makes the determination in step S103 again. The robot management device 3 then repeats the processes in steps S102 and S103 until it can determine in step S103 that there is "space for passengers (Yes)".

[0081] With this assignment request process, when it is confirmed that there is a space for the target robot Hk to board the elevator car G, even if the direction of movement Kg of the elevator car G at that time is in the opposite direction Kt to the forward direction Ks from the target robot Hk's current floor Fx to its destination floor Fy, the elevator car G can be stopped at the target robot Hk's current floor Fx while moving in the opposite direction Kt. This increases the opportunities for the target robot Hk to board the elevator car G. In addition, by making an assignment request after confirming that there is a space for the target robot Hk to board the elevator car G, the landing call Xh that is assigned to the elevator car G in response to that request is less likely to be a wasted call. Therefore, the opportunities for the target robot Hk to board the elevator car G can be increased while minimizing wasted calls.

[0082] [1-2-2] Assignment process performed by the elevator control device Figure 5 is a flowchart showing the assignment process performed in this embodiment. This assignment process is initiated when a request for the assignment of a landing call X is received from the user (first operation unit 1) or the robot management device 3 to the elevator control device 4.

[0083] In the following, the information received by the elevator control device 4 each time an allocation request is made will be collectively referred to as "received information Pr2". Specifically, if the allocation request is from a user (first operation unit 1) (allocation request for landing call Xg for the user), this received information Pr2 will be a set of information including the destination direction Kc and device information Pd1. If the allocation request is from a robot management device 3 (allocation request for landing call Xh for robot H), this received information Pr2 will be a set of information including the departure floor Fc, destination direction Kc, and robot information Ph.

[0084] When the allocation process begins, the elevator control device 4 determines whether the received allocation request is from the user (first operation unit 1) or the robot management device 3 by determining which information, device information Pd1 or robot information Ph, is included in the received information Pr2 (step S200).

[0085] If the elevator control device 4 determines in step S200 that "device information Pd1" is included, it can determine that the received assignment request is from a user (first operation unit 1). In this case, the elevator control device 4 first uses the device management data Dr1 to find the device information Pd1 in the received information Pr2 that matches the device information Pd1 recorded therein, extracts the corresponding installation floor Fs, and sets that installation floor Fs as the user's departure floor Fc. Then, the elevator control device 4 uses the departure floor Fc and the destination direction Kc in the received information Pr2 as a single landing call Xg and assigns the landing call Xg to the elevator car G (step S201). The elevator control device 4 then reflects the information of the landing call Xg (departure floor Fc and destination direction Kc) in the landing call management data DxG (see the left diagram in Figure 3(C)). After that, the elevator control device 4 completes the assignment process.

[0086] On the other hand, if the elevator control device 4 determines in step S200 that "robot information Ph" is included, it can determine that the received assignment request is from the robot management device 3. In this case, the elevator control device 4 treats the departure floor Fc and destination direction Kc in the received information Pr2 as a single landing call Xh and assigns the said landing call Xh to the elevator car G (step S202). The elevator control device 4 then records the information of the landing call Xh (departure floor Fc and destination direction Kc) in the landing call management data DxH, associating it with the robot information Ph in the received information Pr2 (see the upper diagram in Figure 3(D)). After that, the elevator control device 4 terminates the assignment process.

[0087] [1-2-3] Boarding command processing performed by the robot management device Figure 6 is a flowchart showing the boarding command process performed in this embodiment.

[0088] In this embodiment, the robot management device 3 acquires elevator information Pe (such as the operating status of the elevator car G and the usage status of the elevator) from the elevator control device 4 at any time. Specifically, the robot management device 3 requests the elevator control device 4 to return the elevator information Pe at any time, and receives the elevator information Pe returned from the elevator control device 4 in response to that request. Furthermore, based on the acquired elevator information Pe, the robot management device 3 keeps track of the current position and direction of movement Kg (including the departure direction Kx from the stopping floor) of the elevator car G at any time. Therefore, when the elevator car G arrives at any floor, the robot management device 3 can determine this and identify the floor number Fg of the arrival floor and the next departure direction Kx from that arrival floor Fg.

[0089] When the robot management device 3 detects that the elevator car G has arrived at any floor, it initiates the boarding command process shown in Figure 6 and the disembarking command process shown in Figure 9 (described later) to allow robots H to board and disembark at the arrival floor Fg as needed. In some cases, it may be necessary to have two robots H (robot H at the landing and robot H inside the elevator car G) board and disembark at the same arrival floor Fg. Therefore, in order to ensure that two robots H can board and disembark smoothly even in such cases, the robot management device 3 may first execute the disembarking command process (see Figure 9), and then execute the boarding command process (see Figure 6) after that process is completed.

[0090] When boarding command processing begins, the robot management device 3 determines whether or not it is necessary to board robot H at the arrival floor Fg. Specifically, the robot management device 3 first determines whether the stopping of the elevator car G at the arrival floor Fg is likely to be a stop for boarding robot H (i.e., a stop in response to a landing call Xh for robot H; more specifically, a stop at the destination direction Kc indicated by the landing call Xh to the departure floor Fc indicated by the landing call Xh), by determining whether the arrival floor Fg of the elevator car G matches any of the departure floors Fc recorded in the assignment request management data Dq1 (see Figure 2(B)) (in other words, the departure floor Fc transmitted in the assignment request (= robot H's current floor Fx)) (step S301).

[0091] If the robot management device 3 determines in step S301 that there is a "no match," it can use that determination to decide that the stopping of the elevator car G at the arrival floor Fg is not for the purpose of boarding robot H. In this case, since there is no need to board robot H at the arrival floor Fg, the robot management device 3 terminates the boarding command process.

[0092] If the robot management device 3 determines "Yes" in step S301, it can use that determination to conclude that the stopping of elevator car G at arrival floor Fg may be a stop for the purpose of boarding robot H. However, since direction is not considered in this determination, it cannot be definitively concluded that the stopping of elevator car G at arrival floor Fg is a stop for the purpose of boarding robot H.

[0093] Therefore, in order to determine whether the stopping of the elevator car G at the arrival floor Fg is for the purpose of boarding the robot H, the robot management device 3 uses the assignment request corresponding to the departure floor Fc, which was determined to be a "match (Yes)" in step S301, as a focus request, and further determines whether the departure direction Kx of the elevator car G from the arrival floor Fg matches the destination direction Kc transmitted in that focus request by referring to the information of the focus request recorded in the assignment request management data Dq1 (step S302).

[0094] Then, if the robot management device 3 determines in step S302 that it "matches (Yes)", it can determine that the elevator car G stopped at the arrival floor Fg (in this case, the departure floor Fc indicated by the said arrival floor Xh) in the direction Kc indicated by the landing call Xh for robot H, and therefore it can determine that the stopping of the elevator car G at the arrival floor Fg is a stop for the purpose of boarding robot H.

[0095] On the other hand, if the robot management device 3 determines in step S302 that there is a "no match," it can use that determination to decide that the stopping of the elevator car G at the arrival floor Fg is not for the purpose of boarding robot H. In this case as well, since there is no need to board robot H at the arrival floor Fg, the robot management device 3 terminates the boarding command processing.

[0096] According to this process (steps S301 and S302), the robot management device 3 can determine whether or not the elevator car G has arrived at the departure floor Fc in response to the landing call Xh from the robot H, without notification from the elevator control device 4.

[0097] If the robot management device 3 determines in step S302 that there is a "match (Yes)", it identifies the robot H to be boarded using the robot information Ph corresponding to the attention request (see Figure 2(B)) and commands that robot H (here, this robot H will be called "target robot Hk") to board the elevator car G (step S303).

[0098] As a result, the target robot Hk starts boarding the elevator car G in response to a command from the robot management device 3, and when boarding is complete, it notifies the robot management device 3 of the completion of boarding. Meanwhile, after step S303, the robot management device 3 determines whether or not it has received notification of boarding completion from the target robot Hk, and thus determines whether or not the target robot Hk has completed boarding the elevator car G (step S304). The robot management device 3 also repeatedly executes step S304 until it can determine that "completion (Yes)" is complete in step S304.

[0099] If the robot management device 3 determines in step S304 that the process is "completed (Yes)", it sends the robot information Ph of the target robot Hk, along with a boarding completion signal Sx to the elevator control device 4 to indicate that the target robot Hk has completed its boarding (step S305). When the elevator control device 4 receives the boarding completion signal Sx, it departs the elevator car G from the destination floor Fg after the doors have closed.

[0100] Subsequently, the robot management device 3 transitions from the boarding command processing to the registration request processing described below (see Figure 7) in order to send a registration request for the car call Yh for the target robot Hk to the elevator control device 4 at the appropriate time.

[0101] [1-2-4] Registration request processing performed by the robot management device Figure 7 is a flowchart showing the registration request process performed in this embodiment. Here, too, the assignment request corresponding to the departure floor Fc that was determined to be a "match (Yes)" in step S301 of Figure 6 will be called the "focus request," and the robot H that is the target of that focus request will be called the "target robot Hk."

[0102] In the registration request process, the robot management device 3 first extracts the current floor Fx and target floor Fy of the target robot Hk from the robot management data Dp (see Figure 2(A)) using the robot information Ph of the target robot Hk, and then determines the direction from the current floor Fx to the target floor Fy as the forward direction Ks for the target robot Hk (step S400).

[0103] Next, the robot management device 3 extracts the destination direction Kc transmitted in the attention request from the assignment request management data Dq1 (see Figure 2(B)) as the departure direction Kx of the elevator car G from the arrival floor Fg (in this case, the current floor Fx of the target robot Hk), and then determines whether that destination direction Kc is the same direction as the forward direction Ks (forward direction Ks for the target robot Hk) determined in step S400 (step S401).

[0104] If the robot management device 3 determines in step S401 that the directions are the same (Yes), it can then determine that the target floor Fy of the target robot Hk is in that direction. In this case, the robot management device 3 immediately (in other words, at almost the same time as the target robot Hk completes boarding at the arrival floor Fg) sends a registration request for the elevator call Yh for the target robot Hk to the elevator control device 4 (step S410). Specifically, the robot management device 3 uses the target floor Fy of the target robot Hk, which was extracted when determining the forward direction Ks in step S400, as the destination floor Fd, and transmits this information, along with the robot information Ph of the target robot Hk, to the elevator control device 4. The robot management device 3 then records the information transmitted to the elevator control device 4 (robot information Ph, destination floor Fd) in the registration request management data Dq2, as registration request information, in a corresponding state (see Figure 2(C)). In the example in Figure 2(C), for the target robot Hk whose robot information Ph is "H-01", "8th floor" is extracted from the robot management data Dp (see Figure 2(A)) as its target floor Fy, and this is recorded as the destination floor Fd.

[0105] Furthermore, in step S410, the robot management device 3 deletes the information of the target request (the allocation request for the target robot Hk) that has completed its role by executing the registration request from the allocation request management data Dq1. After that, the robot management device 3 terminates the registration request processing.

[0106] On the other hand, if the robot management device 3 determines in step S401 that the directions are "not the same (Yes)", it can use that determination to conclude that the destination direction Kc transmitted in the attention request (i.e., the departure direction Kx of the elevator car G) is in the opposite direction Kt to the forward direction Ks for the target robot Hk, and therefore the target floor Fy of the target robot Hk is not in that direction.

[0107] In this case, for the elevator car G to reach the target floor Fy of the target robot Hk, it is necessary to reverse its direction of movement Kg to the forward direction Ks at some floor after departing in the reverse direction Kt from the arrival floor Fg.

[0108] In elevators, when the direction of movement Kg of the elevator car G reverses, a control mechanism (hereinafter referred to as "reset control") is generally implemented to erase any remaining car calls Y registered for that elevator car G at that time. Therefore, if the robot management device 3 determines in step S401 that the directions are "not the same (Yes)" and immediately requests the registration of a car call Yh for the target robot Hk, that car call Yh will remain registered until the direction of movement Kg of the target elevator car Gk reverses, and will then be erased (reset) by the reset control.

[0109] Therefore, in this embodiment, if the robot management device 3 determines in step S401 that the direction is not the same (Yes), it makes a registration request for the car call Yh at an appropriate timing so that the car call Yh is not erased by the reset control. Specifically, the robot management device 3 determines whether the direction of movement Kg of the elevator car G has reversed based on the elevator information Pe described above (step S402). The robot management device 3 also repeatedly executes step S402 until it determines in step S402 that the direction has reversed (Yes). Then, if the robot management device 3 determines in step S402 that the direction has reversed (Yes), it moves to step S410 and makes a registration request for the car call Yh for the target robot Hk to the elevator control device 4.

[0110] This registration request process makes it possible to have the elevator control device 4 register the car call Yh for the target robot Hk at an appropriate time, even when the reset control described above is performed, so that the car call Yh is not erased by the reset control.

[0111] [1-2-5] Registration process performed by the elevator control device Figure 8 is a flowchart showing the registration process performed in this embodiment. This registration process is initiated when a registration request for elevator car call Y is received from the user (second operation unit 2) or the robot management device 3 to the elevator control device 4.

[0112] In the following, the information received by the elevator control device 4 each time a registration request is made will be collectively referred to as "received information Pr3". Specifically, if the registration request is from a user (second operation unit 2) (a registration request for car call Yg for the user), this received information Pr3 will be a set of information including the destination floor Fd and device information Pd2. If the registration request is from a robot management device 3 (a registration request for car call Yh for robot H), this received information Pr3 will be a set of information including the destination floor Fd and robot information Ph.

[0113] When the registration process begins, the elevator control device 4 determines whether the received registration request is from the user (second operation unit 2) or the robot management device 3 by determining which information, device information Pd2 or robot information Ph, is included in the received information Pr3 (step S500).

[0114] If the elevator control device 4 determines in step S500 that "device information Pd2" is included, it can determine that the received registration request is from a user (second operation unit 2). In this case, the elevator control device 4 registers the destination floor Fd in the received information Pr3 as the car call Yg in the elevator car G (step S501). Then, the elevator control device 4 reflects the information of the car call Yg (destination floor Fd) in the car call management data DyG (see the right diagram in Figure 3(C)). After that, the elevator control device 4 completes the registration process.

[0115] On the other hand, if the elevator control device 4 determines in step S500 that "robot information Ph" is included, it can determine that the received registration request is from the robot management device 3. In this case, the elevator control device 4 registers the destination floor Fd in the received information Pr3 as the car call Yh in the elevator car G (step S502). Then, the elevator control device 4 records the car call Yh information (destination floor Fd) in the car call management data DyH, associating it with the robot information Ph in the received information Pr3 (see the lower diagram in Figure 3(D)). After that, the elevator control device 4 terminates the registration process.

[0116] [1-2-6] Disembarkation command processing performed by the robot management device Figure 9 is a flowchart showing the disembarkation command process performed in this embodiment. When the disembarkation command process begins, the robot management device 3 determines whether or not it is necessary to disembark robot H at the arrival floor Fg. Specifically, the robot management device 3 first determines whether the stopping of the elevator car G at the arrival floor Fg is a stop for the purpose of disembarking robot H (i.e., a stop in response to the car call Yh for robot H; more specifically, a stop at the destination floor Fd indicated by the car call Yh), by determining whether the arrival floor Fg of the elevator car G matches any of the destination floors Fd recorded in the registration request management data Dq2 (see Figure 2(C)) (in other words, the destination floor Fd transmitted in the registration request (= robot H's target floor Fy)) (step S601).

[0117] If the robot management device 3 determines in step S601 that there is a "no match," it can use that determination to decide that the stopping of the elevator car G at the arrival floor Fg is not for the purpose of disembarking the robot H. In this case, the robot management device 3 determines that there is no need to disembark the robot H at the arrival floor Fg and terminates the disembarkation command process.

[0118] On the other hand, if the robot management device 3 determines in step S601 that it "matches (Yes)", it can use that determination to decide that the stopping of the elevator car G to the arrival floor Fg is for the purpose of allowing the robot H to disembark.

[0119] According to this process (step S601), the robot management device 3 can determine whether or not the elevator car G has arrived at the destination floor Fd in response to the elevator car call Yh from the robot H, without notification from the elevator control device 4.

[0120] If the robot management device 3 determines in step S601 that there is a "match (Yes)", it will instruct robot H to disembark from elevator car G. In this step, it will refer to the registration request management data Dq2 (see Figure 2(C)) to identify the robot H that is to be disembarked using the robot information Ph corresponding to the destination floor Fd for which it was determined to be a "match (Yes)" in step S601, and will command that robot H (here, this robot H will be called "target robot Hk") to disembark from elevator car G (step S602).

[0121] As a result, the target robot Hk begins to disembark from the elevator car G in response to a command from the robot management device 3, and when disembarkation is complete, it notifies the robot management device 3 of the completion of disembarkation. Meanwhile, after step S602, the robot management device 3 determines whether or not it has received notification from the target robot Hk that disembarkation is complete, and thus determines whether or not the disembarkation of the target robot Hk has been completed (step S603). The robot management device 3 also repeatedly executes step S603 until it can determine that "Completion (Yes)" in step S603.

[0122] If the robot management device 3 determines in step S603 that the process is "completed (Yes)", it sends the robot information Ph of the target robot Hk, along with a disembarkation completion signal Sy to the elevator control device 4 to indicate that the target robot Hk has completed disembarking (step S604).

[0123] Furthermore, the robot management device 3 updates the robot management data Dp with the current floor Fx of the target robot Hk and the destination floor (target floor Fy) associated with that current floor Fx, and then deletes the destination floor Fy recorded there from the destination (step S605). The robot management device 3 also deletes the registration request information (registration request for the target robot Hk) that has completed its role due to the target robot Hk disembarking from the registration request management data Dq2 (step S606). After that, the robot management device 3 terminates the disembarkation command processing.

[0124] This type of control process makes it possible to move robot H between floors while minimizing unnecessary calls.

[0125] [2] Variant [2-1] First variation As in the embodiment described above, even if an allocation request is made after confirming that there is a boarding space for the target robot Hk in the elevator car G using the allocation request process in Figure 4, it is possible that a passenger may board at an intermediate floor before the elevator car G reaches the target robot Hk's current floor Fx (boarding floor), leaving no boarding space for the target robot Hk. If the boarding space for the target robot Hk is thus gone, even if the elevator car G arrives at the target robot Hk's current floor Fx (boarding floor), the target robot Hk cannot board, and the elevator car G's stop at that floor becomes wasted. In other words, the boarding call Xh for the target robot Hk becomes a wasted call. Therefore, the allocation request process performed by the robot management device 3 may be appropriately modified to the following process.

[0126] Figure 10 is a flowchart showing the assignment request process performed in the first modified example. In the assignment request process of this modified example, after step S104 (assignment request), the robot management device 3, based on elevator information Pe acquired from the elevator control device 4 at any time, determines whether the current status of the elevator allows for the cancellation of the landing call Xh (landing call Xh for the target robot Hk) that was assigned by the elevator control device 4 in response to the assignment request in step S104, by determining whether the elevator car G has started responding to the landing call Xh (step S110).

[0127] If the robot management device 3 determines in step S110 that the process has not started (No), it can use that determination to determine that the current elevator situation allows for the cancellation of the landing call Xh. In this modified example, the robot management device 3 utilizes the period during which the elevator is in such a state to appropriately instruct the elevator control device 4 to cancel the landing call Xh, thereby reliably preventing the occurrence of unnecessary calls. Specifically, this is done as follows.

[0128] The robot management device 3 first determines whether the status of the available space inside elevator car G has changed. Here, the status of the available space inside elevator car G may change when elevator car G stops at any floor.

[0129] Therefore, the robot management device 3 determines whether or not the elevator car G has stopped at any floor based on the elevator information Pe (step S111A). If the robot management device 3 determines in step S111A that the elevator car G has not stopped (No), it returns to step S110. On the other hand, if the robot management device 3 determines in step S111A that the elevator car G has stopped at any floor (Yes), it obtains a new image Qg taken by camera 20 of the inside of the elevator car G at that time from the elevator control device 4 in order to newly grasp the situation inside the elevator car G at the time when passengers have finished boarding and alighting at that floor and the doors have been closed (step S111B).

[0130] Next, the robot management device 3 determines whether the situation inside the elevator car G has changed to a situation where there is no space to board, based on the new image Qg acquired in step S111B, in order to determine whether the boarding call Xh needs to be canceled (step S112). As an example, the robot management device 3 determines whether the size of the empty space inside the elevator car G estimated by image analysis has become smaller than the size required for the target robot Hk to board.

[0131] If the robot management device 3 determines in step S112 that "changed (Yes)", it can determine that it is no longer possible to have the target robot Hk board the elevator car G, and therefore it is necessary to cancel the landing call Xh. In this case, the robot management device 3 sends a cancellation signal Sc to the elevator control device 4 to instruct it to cancel the assignment of landing call Xh for the target robot Hk (step S113). At this time, the robot management device 3 sends the robot information Ph of the target robot Hk along with the cancellation signal Sc to the elevator control device 4 so that the elevator control device 4 recognizes which robot H's landing call Xh assignment needs to be canceled.

[0132] When the elevator control device 4 receives a cancellation signal Sc and robot information Ph from the robot management device 3, it deletes the information of the landing call Xh corresponding to the robot information Ph from the landing call management data DxH (deletion of landing call Xh).

[0133] This process allows the elevator control device 4 to cancel the assignment of the landing call Xh to the elevator car G as soon as it is determined that the landing call Xh of the target robot Hk would otherwise be a wasted call, thereby reliably preventing wasted calls. In other words, the elevator car G can be stopped at the current floor Fx (boarding floor) of the target robot Hk in a situation where the target robot Hk can be sure to board (a situation where there is boarding space).

[0134] After step S113, the robot management device 3 returns to step S102 to make another assignment request for the target robot Hk, and repeats the process from step S102.

[0135] On the other hand, if the robot management device 3 determines in step S110 that the process has been started (Yes), it can use that determination to conclude that the current elevator situation does not allow for the cancellation of the landing call Xh. In this case, the robot management device 3 terminates the assignment request process without sending a cancellation signal Sc (step S113).

[0136] Furthermore, if the robot management device 3 determines in step S112 that "no change (No)", it can determine that the situation inside the elevator car G remains such that the target robot Hk can board. In this case, the robot management device 3 returns to step S110 and repeats the process from step S110. The robot management device 3 then repeatedly executes the processes from steps S110 to S112 until it obtains a determination result of either "started (No)" in step S110 or "changed (Yes)" in step S112.

[0137] [2-2] Second variation In the embodiment described above, the assignment request processing performed by the robot management device 3 may be appropriately modified to the following processing.

[0138] Figure 11 is a flowchart showing the assignment request process performed in the second modified example. In this modified example, if the robot management device 3 determines in step S103 that there is "no boarding space (No)", it determines, based on the elevator information Pe acquired at that time, whether a user's car call Yg with the target robot Hk's current floor Fx (boarding floor) as the destination floor Fd is registered in the elevator car G (step S105). Here, if the robot management device 3 determines in step S105 that it is "registered (Yes)", it can determine that stopping the elevator car G at the target robot Hk's current floor Fx is not a waste, even if the target robot Hk is unable to board at that floor, because a user will be disembarking at that floor. Therefore, if the robot management device 3 determines in step S105 that it is "registered (Yes)", it proceeds to step S104 and makes an assignment request for the target robot Hk's landing call Xh to the elevator control device 4.

[0139] On the other hand, if the robot management device 3 determines in step S105 that the robot is "not registered (No)", it does not make an assignment request for the target robot Hk (step S104), returns to step S102, acquires the image Qg and movement direction Kgt from the elevator control device 4 at that time, and then makes the determination again in step S103. The robot management device 3 then repeats the processes of steps S102, S103, and S105 until it can determine in step S103 that there is "passenger space available (Yes)" or in step S105 that the robot is "registered (Yes)".

[0140] Furthermore, in this modified example, the boarding command processing performed by the robot management device 3 (see Figure 6) may be appropriately modified to the following processing.

[0141] In this modified example, if the robot management device 3 determines that an allocation request made in a situation where there is no passenger space (an allocation request made in step S104 after determining in step S105 that it is "registered (Yes)") is a request for attention, and determines in step S302 that it "matches (Yes)", then in order to newly grasp the situation inside the elevator car G at the time the passenger has finished disembarking, it acquires a new image Qg taken by camera 20 inside the elevator car G at that time from the elevator control device 4, and based on the image Qg, it determines whether or not there is a passenger space for the target robot Hk inside the elevator car G.

[0142] Then, if the robot management device 3 determines that there is "boarding space" based on the above judgment, it proceeds to step S303 and commands the target robot Hk to board the elevator car G. On the other hand, if the robot management device 3 determines that there is "no boarding space" based on the above judgment, it sends a boarding cancellation signal to the elevator control device 4 along with the robot information Ph of the target robot Hk to cancel the boarding. When the elevator control device 4 receives the boarding cancellation signal, it deletes the landing call Xh for the target robot Hk without registering the corresponding car call Yh.

[0143] This process allows the target robot Hk to board the elevator car G without wasting its stop at the current floor Fx (boarding floor), depending on the situation (i.e., if boarding space becomes available). As a result, the target robot Hk can be boarded into the elevator car G efficiently.

[0144] Furthermore, this modification can also be applied to the first modification described above.

[0145] [2-3] Third variation In any of the embodiments described above to the second modified example, if the robot management device 3 determines in step S103 of the assignment request processing that "there is a boarding space (Yes)" and makes an assignment request for the target robot Hk in step S104, it may then determine whether a passenger's boarding call Xg, with the same floor and direction as the assignment request, has been assigned to the boarding device Xg, between the time the boarding device arrives at the departure floor Fc transmitted in the assignment request and the boarding device G arrives at the departure floor Fc.

[0146] If the robot management device 3 determines that the robot is "assigned" based on the above judgment, it can use that judgment to determine that there is a risk that the robot Hk may not be able to board the current floor Fx (boarding floor) of the target robot Hk because a passenger will also be boarding. Therefore, in the boarding command processing (see Figure 6), if the above assignment request for the target robot Hk becomes a focus request and the robot management device 3 determines that it "matches (Yes)" in step S302, it may acquire a new image Qg taken by the camera 20 inside the elevator car G at the time the passenger has finished boarding from the elevator control device 4 in order to newly grasp the situation inside the elevator car G at that time, and based on the image Qg, it may determine whether or not there is space for the target robot Hk to board inside the elevator car G.

[0147] If the robot management device 3 determines, based on the above judgment, that there is "boarding space available," it may proceed to step S303 and instruct the target robot Hk to board the elevator car G. On the other hand, if the robot management device 3 determines, based on its judgment, that there is "no boarding space available," it may send a boarding cancellation signal to the elevator control device 4 along with the robot information Ph of the target robot Hk to cancel the boarding. When the elevator control device 4 receives a boarding cancellation signal, it can delete the landing call Xh for the target robot Hk without registering the corresponding car call Yh.

[0148] This process makes it possible to avoid situations where elevator operation is delayed because the target robot Hk detects a user inside the elevator car G and is unable to board (in other words, the target robot Hk is in a deadlock state).

[0149] [2-4] Fourth variation In the embodiment described above, the control system may be appropriately modified so that the timing of assigning the landing call Xh for robot H is determined on the elevator control device 4 side. This will be explained in detail below.

[0150] <Robot Management Device> In this modified example, the storage unit 31 of the robot management device 3 stores landing call management data Dq3 instead of the assignment request management data Dq1. Here, this landing call management data Dq3 is data for managing the assignment information (assignment information) that was made for robot H by the elevator control device 4. Specifically, the landing call management data Dq3 contains the same information as the information in the landing call management data DxH (see the upper diagram in Figure 3(D)) stored in the storage unit 41 of the elevator control device 4.

[0151] Figure 12 is a conceptual diagram illustrating the landing call management data Dq3 used in place of the assignment request management data Dq1 in the fourth modification. In the landing call management data Dq3, each time the elevator control device 4 assigns a landing call Xh for robot H, the assignment information transmitted from the elevator control device 4 (robot information Ph of robot H and the departure floor Fc and destination direction Kc indicated by the landing call Xh) is recorded in a corresponding manner. In the example in Figure 12, similar to the example in the upper diagram of Figure 3(D), two directions, "up" and "down," are associated as information indicating the destination direction Kc, and it is shown that the direction indicated by the landing call Xh as the destination direction Kc is set to "ON," while the other direction is set to "OFF." The landing call Xh information for each robot H in the landing call management data Dq3 is deleted when a registration request for a car call Yh for that robot H is made to the elevator control device 4.

[0152] <Assignment request processing performed by the robot management device> Figure 13 is a flowchart showing the assignment request process performed in the fourth modified example. In the assignment request process of this modified example, the robot management device 3 performs the same process as in step S101 in Figure 4 (step S121), and then requests the elevator control device 4 to assign a landing call Xh for the target robot Hk (step S122). Specifically, the robot management device 3 transmits the current floor Fx (the current floor Fx of the target robot Hk) extracted in step S121 to the elevator control device 4 along with the robot information Ph of the target robot Hk.

[0153] When the elevator control device 4 receives the above assignment request, it performs the assignment process described later (see Figure 14) to assign the landing call Xh for the target robot Hk at an appropriate timing to minimize unnecessary calls, and transmits the assignment information (assignment information) to the robot management device 3 (see step S224 in Figure 14).

[0154] Therefore, after step S122, the robot management device 3 determines whether or not it has received assignment information for the target robot Hk from the elevator control device 4 (step S123). The robot management device 3 repeats step S123 until it can determine that it has received the information (Yes).

[0155] Then, if the robot management device 3 determines in step S123 that it has "received (Yes)", it records the received assignment information (the robot information Ph of the target robot Hk, and the departure floor Fc and destination direction Kc indicated by the landing call Xh for that target robot Hk) in the landing call management data Dq3 in a corresponding manner (step S124). After that, the robot management device 3 terminates the assignment request process.

[0156] <Assignment process performed by the elevator control unit> Figure 14 is a flowchart showing the assignment process performed in the fourth modified example. In this modified example, if the assignment request that triggers the start of this assignment process is a request from the robot management device 3 (an assignment request for landing call Xh for robot H), then the information Pr2 received from the robot management device 3 will be a set of information including the current floor Fx and robot information Ph.

[0157] Then, if the elevator control device 4 determines in step S200 that "robot information Ph" is included, it determines the appropriate timing for assigning a landing call Xh to the robot H identified by that robot information Ph (here, this robot H will be called "target robot Hk") in order to minimize the occurrence of unnecessary calls.

[0158] Specifically, the elevator control device 4 first acquires an image Qg taken by camera 20 of the inside of the elevator car G in order to understand the situation inside the elevator car G at that time (the present moment) (step S221). Furthermore, the elevator control device 4 extracts information from the elevator information Pe that it has on hand in order to understand the direction of movement Kgt of the elevator car G at that time (the present moment).

[0159] After step S221, the elevator control device 4 determines whether or not there is space for the target robot Hk to board the elevator car G based on the image Qg acquired in step S221 (step S222). For example, the elevator control device 4 determines whether or not there is space for the target robot Hk to board the elevator car G by determining whether the size of the empty space inside the elevator car G estimated by image analysis is greater than or equal to the size required for the target robot Hk to board. In this case, the size required for the target robot Hk to board may be a fixed value set so that any robot H can board, or a value set according to the size and shape of each robot H may be used.

[0160] By making the decision in step S222 based on the image Qg in this way, it becomes possible to accurately determine whether or not there is a space for the robot H to ride in.

[0161] If the elevator control device 4 determines in step S222 that there is "passenger space available (Yes)", it sets the current floor Fx (the current floor Fx of the target robot Hk) in the received information Pr2 as the departure floor Fc, and sets the destination direction Kc to the same direction as the direction of movement Kgt (the direction of movement Kg of the elevator car G at that time) obtained in step S221, and assigns these (departure floor Fc and destination direction Kc) to the elevator car G as a single landing call Xh (step S223). The elevator control device 4 then records the information of the landing call Xh (departure floor Fc and destination direction Kc) in the landing call management data DxH, associating it with the robot information Ph in the received information Pr2 (see the upper diagram in Figure 3(D)).

[0162] After step S223, the elevator control device 4 transmits the assignment information (assignment information) performed in step S222 to the robot management device 3 (step S224). Specifically, the elevator control device 4 transmits the robot information Ph of the target robot Hk, and the departure floor Fc and destination direction Kc indicated by the landing call Xh for the target robot Hk to the robot management device 3. After that, the elevator control device 4 terminates the assignment process.

[0163] On the other hand, if the elevator control device 4 determines in step S222 that there is "no boarding space (No)", it does not assign a landing call Xh for the target robot Hk (step S223), but returns to step S221, acquires the image Qg and movement direction Kgt at that point, and then makes the determination again in step S222. The elevator control device 4 then repeats the processing in steps S221 and S222 until it can determine in step S222 that there is "boarding space (Yes)".

[0164] With this allocation process, when it is confirmed that there is a space for the target robot Hk to board the elevator car G, even if the direction of movement Kg of the elevator car G at that time is the opposite direction Kt to the forward direction Ks for the target robot Hk, the elevator car G can be stopped at the current floor Fx of the target robot Hk while moving in the opposite direction Kt. This increases the opportunities for the target robot Hk to board the elevator car G. In addition, by assigning the landing call Xh after confirming that there is a space for the target robot Hk to board the elevator car G, the landing call Xh is less likely to be a wasted call. Therefore, the opportunities for the target robot Hk to board the elevator car G can be increased while minimizing wasted calls.

[0165] <Road boarding command processing and registration request processing performed by the robot management device> In the boarding command processing and registration request processing of this modified example, the robot management device 3 performs the boarding command processing in Figure 6 and the registration request processing in Figure 7 by using the landing call management data Dq3 (see Figure 12) instead of the assignment request management data Dq1. Specifically, when the robot management device 3 performs these processes, in step S301 in Figure 6, it determines whether the arrival floor Fg of the elevator car G matches any of the departure floors Fc recorded in the landing call management data Dq3, and uses the landing call Xh corresponding to the departure floor Fc that it determined to "match (Yes)" in step S301 as the focus call instead of the focus request. As a result, even in this modified example, it becomes possible to register the elevator car call Yh for the target robot Hk at an appropriate timing so that the elevator car call Yh is not erased by the reset control.

[0166] [2-5] Fifth variation As in the fourth modified example described above, even if the allocation process in Figure 14 confirms that there is a boarding space for the target robot Hk within the elevator car G before the allocation is performed, it is possible that a passenger may board at an intermediate floor before the elevator car G reaches the target robot Hk's current floor Fx (boarding floor), leaving no boarding space for the target robot Hk. In this case, even if the elevator car G arrives at the target robot Hk's current floor Fx (boarding floor), the target robot Hk cannot board, and the elevator car G's stop at that floor becomes wasted. In other words, the landing call Xh for the target robot Hk becomes a wasted call. Therefore, the allocation process performed by the elevator control device 4 may be appropriately modified to the following process.

[0167] Figure 15 is a flowchart showing the assignment process performed in the fifth modified example. In the assignment process of this modified example, after step S224 (transmission of assignment information), the elevator control device 4 determines, based on the elevator information Pe it has obtained, whether the current status of the elevator allows for the cancellation of the landing call Xh (landing call Xh for the target robot Hk) that was assigned in step S223, by determining whether the elevator car G has started responding to the landing call Xh (step S230).

[0168] If the elevator control device 4 determines in step S230 that the elevator has not been started (No), it can use that determination to determine that the current elevator situation allows for the cancellation of the landing call Xh. In this modified example, the elevator control device 4 can take advantage of the period during which the elevator is in such a state to appropriately cancel the landing call Xh, thereby reliably preventing the occurrence of unnecessary calls. Specifically, this is done as follows.

[0169] The elevator control device 4 first determines whether the condition of the available space inside elevator car G has changed. Here, the condition of the available space inside elevator car G may change when elevator car G stops at any floor.

[0170] Therefore, the elevator control device 4 determines whether or not the elevator car G has stopped at any floor based on the elevator information Pe (step S231A). If the elevator control device 4 determines in step S231A that the elevator car G has not stopped (No), it returns to step S230. On the other hand, if the elevator control device 4 determines in step S231A that the elevator car G has stopped at any floor (Yes), it acquires a new image Qg taken by the camera 20 inside the elevator car G at that time in order to newly grasp the situation inside the elevator car G when passengers have finished boarding and alighting at that floor and the doors have been closed (step S231B).

[0171] Next, the elevator control device 4 determines whether the situation inside the elevator car G has changed to a situation where there is no space to board, based on the new image Qg acquired in step S231B, in order to determine whether the landing call Xh needs to be canceled (step S232). As an example, the elevator control device 4 determines whether the size of the empty space inside the elevator car G estimated by image analysis has become smaller than the size required for the target robot Hk to board.

[0172] If the elevator control device 4 determines in step S232 that "changed (Yes)", it can determine that it is no longer possible to have the target robot Hk board the elevator car G, and therefore it is necessary to cancel the landing call Xh. In this case, the elevator control device 4 cancels the assignment of landing call Xh for the target robot Hk (step S233).

[0173] Furthermore, the elevator control device 4 sends a cancellation notification signal Sd to the robot management device 3 to inform it that it has canceled the assignment of landing call Xh for the target robot Hk (step S234). At this time, the elevator control device 4 sends the robot information Ph of the target robot Hk along with the cancellation notification signal Sd to the robot management device 3 so that the robot management device 3 can recognize which robot H's landing call Xh assignment has been canceled. After that, the elevator control device 4 terminates the assignment process.

[0174] When the robot management device 3 receives a cancellation notification signal Sd and robot information Ph from the elevator control device 4, it deletes the assignment information (landing call Xh information) corresponding to the robot information Ph from the landing call management data Dq3. In this case, the robot management device 3 performs the assignment request process (see Figure 13) again for the robot H identified by the received robot information Ph.

[0175] This process allows the system to cancel the assignment of the elevator car G to the elevator car G as soon as it is determined that the landing call Xh of the target robot Hk would otherwise be a wasted call, thereby reliably preventing wasted calls. In other words, the elevator car G can be stopped at the current floor Fx (boarding floor) of the target robot Hk in a situation where the robot Hk can be sure to board (a situation where there is boarding space).

[0176] If the elevator control device 4 determines in step S230 that the process has been started (Yes), it can then determine that the current elevator situation does not allow for the cancellation of the landing call Xh. In this case, the elevator control device 4 terminates the assignment process without canceling the landing call Xh (step S233).

[0177] Furthermore, if the elevator control device 4 determines in step S232 that "no change (No)", it can determine that the situation inside the elevator car G remains such that the target robot Hk can board. In this case, the elevator control device 4 returns to step S230 and repeats the process from step S230. The elevator control device 4 then repeatedly executes the processes from steps S230 to S232 until it obtains a determination result of either "started (No)" in step S230 or "changed (Yes)" in step S232.

[0178] [2-6] Sixth variation In the fourth modified example described above, the allocation process performed by the elevator control device 4 may be appropriately modified to the following process.

[0179] Figure 16 is a flowchart showing the assignment process performed in the sixth modified example. In this modified example, if the elevator control device 4 determines in step S222 that there is "no boarding space (No)", it determines, based on the elevator information Pe at that time, whether a user's car call Yg with the target robot Hk's current floor Fx (boarding floor) as the destination floor Fd is registered in the elevator car G (step S225). Here, if the elevator control device 4 determines in step S225 that it is "registered (Yes)", it can determine that stopping the elevator car G at the target robot Hk's current floor Fx is not a waste, even if the target robot Hk is unable to board at that floor, because a user will be disembarking at that floor. Therefore, if the elevator control device 4 determines in step S225 that it is "registered (Yes)", it proceeds to step S223 and assigns the landing call Xh for the target robot Hk to the elevator car G.

[0180] On the other hand, if the elevator control device 4 determines in step S222 that the robot Hk is "not registered (No)", it does not assign a landing call Xh for the target robot Hk (step S223), but returns to step S221, acquires the image Qg and movement direction Kgt at that point, and then makes the determination again in step S222. The elevator control device 4 then repeats the processes of steps S221, S222, and S225 until it can determine in step S222 that there is "a passenger space (Yes)" or in step S225 that the robot is "registered (Yes)".

[0181] Furthermore, in this modified example, the boarding command processing performed by the robot management device 3 (see Figure 6) may be appropriately modified to the following processing.

[0182] In this modified example, if a landing call Xh made in a situation where there is no passenger space (a landing call Xh that was determined to be "registered (Yes)" in step S225 of Figure 16 and assigned in step S223) becomes a call of interest, and if it is determined to be a "match (Yes)" in step S302, the robot management device 3 acquires an image Qg taken by camera 20 of the inside of the elevator car G at that time from the elevator control device 4 in order to grasp the situation inside the elevator car G when the passenger has finished disembarking, and based on the image Qg, it determines whether or not there is a passenger space for the target robot Hk inside the elevator car G.

[0183] Then, if the robot management device 3 determines that there is "boarding space" based on the above judgment, it proceeds to step S303 and commands the target robot Hk to board the elevator car G. On the other hand, if the robot management device 3 determines that there is "no boarding space" based on the above judgment, it sends a boarding cancellation signal to the elevator control device 4 along with the robot information Ph of the target robot Hk to cancel the boarding. When the elevator control device 4 receives the boarding cancellation signal, it deletes the landing call Xh for the target robot Hk without registering the corresponding car call Yh.

[0184] This process allows the target robot Hk to board the elevator car G without wasting its stop at the current floor Fx (boarding floor), depending on the situation (i.e., if boarding space becomes available). As a result, the target robot Hk can be boarded into the elevator car G efficiently.

[0185] Furthermore, this modification method can also be applied to the fifth modification described above.

[0186] [2-7] Seventh variation In any of the fourth to sixth modifications described above, if the elevator control device 4 determines in step S222 of the assignment process that "there is space for boarding (Yes)" and assigns a landing call Xh for the target robot Hk in step S223, the robot management device 3 may then determine, before the elevator car G arrives at the departure floor Fc indicated by the landing call Xh, whether a landing call Xg of a user whose departure floor Fc and destination direction Kc are the same floor and direction as the landing call Xh has been assigned to the elevator car G.

[0187] Furthermore, if the robot management device 3 determines in the above judgment that it is "assigned," it can use that judgment to determine that there is a risk that the target robot Hk may not be able to board the elevator at the current floor Fx (boarding floor) of the target robot Hk because a passenger will also be boarding.Therefore, in the boarding command processing (see Figure 6), if the above-mentioned landing call Xh for the target robot Hk becomes a call of interest and the robot management device 3 determines in step S302 that it "matches (Yes)," the robot management device 3 may, in order to grasp the situation inside the elevator car G when the passenger has finished boarding, acquire an image Qg taken by the camera 20 inside the elevator car G from the elevator control device 4 at that time, and based on the image Qg, determine whether or not there is space for the target robot Hk to board inside the elevator car G.

[0188] If the robot management device 3 determines, based on the above judgment, that there is "boarding space available," it may proceed to step S303 and instruct the target robot Hk to board the elevator car G. On the other hand, if the robot management device 3 determines, based on its judgment, that there is "no boarding space available," it may send a boarding cancellation signal to the elevator control device 4 along with the robot information Ph of the target robot Hk to cancel the boarding. When the elevator control device 4 receives a boarding cancellation signal, it can delete the landing call Xh for the target robot Hk without registering the corresponding car call Yh.

[0189] This process makes it possible to avoid situations where elevator operation is delayed because the target robot Hk detects a user inside the elevator car G and is unable to board (in other words, the target robot Hk is in a deadlock state).

[0190] [2-8] Eighth variation In the first and fifth modified examples described above, until the elevator car G starts responding to the landing call Xh for the target robot Hk, each time the elevator car G stops at any floor, a determination is made based on a new image Qg to determine whether the situation inside the elevator car G has changed to a situation where there is no passenger space (steps S110-S112 in Figure 10, steps S230-S232 in Figure 15). If the determination is made that the situation has changed (Yes), the assignment of the landing call Xh for the target robot Hk is canceled at that time (step S113 in Figure 10, step S233 in Figure 15). On the other hand, if the landing call Xh is not canceled, then, depending on the situation where passengers get on or off at another stopping floor before the elevator car G starts responding to that landing call Xh, the situation inside the elevator car G may return to a situation where there is passenger space.

[0191] Therefore, in both the first and fifth modified examples, it may be determined, based on a new image Qg, whether the situation inside the elevator car G has changed to a situation where there is no passenger space, only immediately before the elevator car G begins responding to the landing call Xh for the target robot Hk. Here, "immediately before the elevator car G begins responding to the landing call Xh" means the period from when the departure floor Fc indicated by the landing call Xh becomes a candidate for the next stopping floor of the elevator car G until it is determined to be that next stopping floor.

[0192] With this process, even if the situation inside the elevator car G becomes one where there is no passenger space, if the situation then returns to one where there is passenger space, the assignment of the landing call Xh for the target robot Hk can be retained, and as a result, there is no need to resubmit the request for the assignment of the landing call Xh for the target robot Hk.

[0193] [2-9] Variation 9 In all of the embodiments and modifications described above, the landing buttons included in the first operation unit 1 on each floor may be buttons that can be illuminated. The elevator control device 4 may illuminate the button when a user presses a landing button on any floor and assign a landing call Xg to the elevator car G, with the floor Fs where the button is located as the departure floor Fc and the direction indicated by the button as the destination direction Kc. On the other hand, if the elevator control device 4 receives an assignment request for robot H from the robot management device 3 and assigns a landing call Xh, it may control the system so that the button on the robot H's current floor Fx is not illuminated until a user presses the landing button.

[0194] Here, if a user arrives at the landing and the landing button for their intended direction is lit, they will not press that button again. Therefore, if the elevator control device 4 assigns a landing call Xh to robot H and lights up the landing button for the same direction as the destination Kc indicated by that landing call Xh, then users who subsequently arrive to go in the same direction as Kc will wait at the landing without pressing a landing button. Therefore, if the elevator control device 4 cancels the landing call Xh for robot H in this situation, users waiting at the landing intending to go in the same direction will find themselves without a landing call Xg.

[0195] On the other hand, according to the ninth modification, when a landing call Xh is assigned to robot H, it becomes possible to prevent a situation where users who intend to go in the same direction as the destination direction Kc indicated by that landing call Xh wait at the landing without anyone pressing the landing button.

[0196] [2-10] 10th variation In the ninth modified example described above, if the elevator control device 4 receives an assignment request for robot H from the robot management device 3 and assigns a landing call Xh, it may control the elevator so that it does not immediately light up the landing button on the current floor Fx of robot H, but then lights up the button when the elevator car G starts responding to the landing call Xh, or when a user presses the button before that point.

[0197] According to this 10th modification, after a boarding call Xh has been assigned to robot H, the boarding button corresponding to the destination direction Kc indicated by the boarding call Xh can be kept off until a user presses the button, limited to the period during which the assignment of the boarding call Xh may be canceled. In this case as well, similar to the 9th modification described above, it becomes possible to prevent a situation where users intending to go in the same direction as the destination direction Kc indicated by robot H's boarding call Xh wait at the boarding station without anyone pressing a boarding button.

[0198] [2-11] 11th variation In any of the embodiments and modifications described above, each robot H may be appropriately modified to perform the control processing (including assignment request processing, boarding command processing, registration request processing, and disembarking command processing) performed by the robot management device 3 on behalf of the robot management device 3. In this case, each robot H will communicate with the elevator control device 4 without going through the robot management device 3. As a result, each robot H will be able to use the elevator autonomously in cooperation with the elevator control device 4.

[0199] The above-described embodiments and modifications should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims, rather than by the above-described embodiments and modifications. Furthermore, the scope of the present invention is intended to include all modifications within the meaning and scope equivalent to the claims.

[0200] From the embodiments and modifications described above, the subject matter of the invention is not limited to the elevator control system, the robot management device 3, and the robot H, but may also be extracted individually from parts or all of the control processes (including control methods corresponding to said control processes) and programs performed by them. Furthermore, parts or all of the elevator described above may also be extracted as the subject matter of the invention. [Explanation of symbols]

[0201] 1 1st operation section 2 2nd operation section 3. Robot Management Device 4. Elevator control device G Car H Robot X boarding area call Y Calling 20 cameras 31, 41 Storage section 32, 42 Control Unit Dp Robot Management Data Dq Request Management Data Dr. Device Management Data Dx boarding area call management data Dy Basket Call Management Data FC Departure Floor Fd Destination Floor Fg Arrival Floor Fs installation floor Fx Current Floor Fy Destination Floor Hk Target Robot Kc destination direction Kg Moving direction Ks Forward Kt reverse direction Kx Departure Direction PE Elevator Information Pg Shopping Cart Information Ph Robot Information Qg image Sc cancellation signal Sd cancellation notification signal Sx ride completion signal Sy alighting completion signal Xg, Xh boarding area call Yg, Yh cage calling Dq1 Assignment Request Management Data DQ2 Registration Request Management Data DQ3 Boarding Station Call Management Data Dr1, Dr2 Device Management Data DxG, DxH Landing Call Management Data DyG, DyH cage call management data Kgt Moving direction Pd1, Pd2 Device Information Pr1, Pr2, Pr3 Received Information

Claims

1. A control system applicable to an elevator in which a lit-up landing button for specifying the destination direction is installed on each floor, comprising a control device for the elevator and a robot management device, The robot management device is When using an elevator to move a robot from the current floor to the destination floor, a determination (A) is made based on images taken by a camera installed inside the elevator car to determine whether or not there is space for the robot to board inside the elevator car. If the judgment (A) above determines that there is a passenger space, the assignment request for the robot is made by transmitting the information to the elevator control device, with the robot's current floor as the departure floor and the same direction as the elevator car's current direction of movement as the destination direction, thereby causing the control device to assign the elevator car to a single landing call with the departure floor and destination direction as the destination. If the judgment (A) above determines that there is no passenger space, the judgment (A) above is performed again based on the new image obtained from the camera without making the allocation request, and this judgment (A) is repeated until it is determined that there is a passenger space. The control device is If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when the robot management device receives the assignment request for the robot and assigns the landing call, the elevator control system will not illuminate the landing button on the robot's current floor until a user presses the landing button.

2. A control system applicable to an elevator having illuminated landing buttons for specifying the destination direction installed on each floor, comprising: a control device for the elevator; and a robot management device. The robot management device is When using an elevator to move a robot from the current floor to the destination floor, a determination (A) is made based on images taken by a camera installed inside the elevator car to determine whether or not there is space for the robot to board inside the elevator car. If the judgment (A) above determines that there is a passenger space, the assignment request for the robot is made by transmitting the information to the elevator control device, with the robot's current floor as the departure floor and the same direction as the elevator car's current direction of movement as the destination direction, thereby causing the control device to assign the elevator car to a single landing call with the departure floor and destination direction as the destination. If the judgment (A) above determines that there is no passenger space, the judgment (A) above is performed again based on the new image obtained from the camera without making the allocation request, and this judgment (A) is repeated until it is determined that there is a passenger space. The control device is If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when the robot management device receives the assignment request for the robot and assigns the landing call, the elevator control system does not immediately illuminate the landing button on the robot's current floor, but then illuminates the button when the elevator car starts responding to the landing call, or when a user has pressed the button before that point.

3. The robot management device is After making the aforementioned allocation request, a further determination (B) is made based on the new images obtained from the camera to determine whether the situation inside the elevator car has changed to a situation where there is no passenger space. The elevator control system according to claim 1 or 2, wherein if it is determined in the judgment (B) above that a change has occurred, the control device cancels the assignment of the landing call for the robot.

4. The robot management device is If the destination direction transmitted in the aforementioned assignment request is the same as the forward direction from the current floor to the destination floor, then when the robot has completed boarding the elevator car, a request to register the elevator car call for that robot is transmitted to the control device with the robot's destination floor as the destination floor. The elevator control system according to claim 1 or 2, wherein if the destination direction transmitted in the assignment request is opposite to the forward direction, after the robot boards the elevator car, when the direction of movement of the elevator car reverses to become the forward direction, a request to register a car call for that robot is transmitted to the control device with the robot's target floor as the destination floor.

5. A method for controlling an elevator control device and a robot management device in an elevator where illuminated landing buttons for specifying the destination direction are installed on each floor, In the robot management device, When using an elevator to move a robot from the current floor to the destination floor, a determination (A) is made based on images taken by a camera installed inside the elevator car to determine whether or not there is space for the robot to board inside the elevator car. If the judgment (A) above determines that there is a passenger space, the assignment request for the robot is made by transmitting the information to the elevator control device, with the robot's current floor as the departure floor and the same direction as the elevator car's current direction of movement as the destination direction, thereby causing the control device to assign the elevator car to a single landing call with the departure floor and destination direction as the destination. If the judgment (A) above determines that there is no passenger space, the judgment (A) above is performed again based on the new image obtained from the camera without making the allocation request, and this judgment (A) is repeated until it is determined that there is a passenger space. In the control device, If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when the robot management device receives the assignment request for the robot and assigns the landing call, the elevator control method ensures that the landing button on the robot's current floor is not illuminated until a user presses the landing button.

6. A method for controlling an elevator control device and a robot management device in an elevator where a litable landing button for specifying the destination direction is installed on each floor, In the robot management device, When using an elevator to move a robot from the current floor to the destination floor, a determination (A) is made based on images taken by a camera installed inside the elevator car to determine whether or not there is space for the robot to board inside the elevator car. If the judgment (A) above determines that there is a passenger space, the assignment request for the robot is made by transmitting the information to the elevator control device, with the robot's current floor as the departure floor and the same direction as the elevator car's current direction of movement as the destination direction, thereby causing the control device to assign the elevator car to a single landing call with the departure floor and destination direction as the destination. If the judgment (A) above determines that there is no passenger space, the judgment (A) above is performed again based on the new image obtained from the camera without making the allocation request, and this judgment (A) is repeated until it is determined that there is a passenger space. In the control device, If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when the robot management device receives the assignment request for the robot and assigns the landing call, the elevator control method further includes not immediately lighting up the landing button on the robot's current floor, but then lighting up the button when the elevator car starts responding to the landing call, or when a user has pressed the button before that point.

7. A control system applicable to an elevator in which a lit-up landing button for specifying the destination direction is installed on each floor, The elevator control device, A robot management device that, when using the elevator to move a robot from the current floor to the destination floor, requests the assignment of a landing call for the robot by transmitting the robot's current floor to the control device, Equipped with, The control device is When the robot management device receives the aforementioned assignment request for the robot, it makes a determination (A) whether or not there is a space for the robot to ride in the elevator car based on the image obtained from a camera installed inside the elevator car. If the judgment (A) above determines that there is a boarding space, the current floor will be designated as the departure floor, and the destination direction will be the same as the direction in which the elevator car is moving at that time, and a boarding call will be assigned to the elevator car. If the judgment (A) determines that there is no boarding space, the boarding area call is not assigned, and the judgment (A) is repeated based on the new image obtained from the camera, and this judgment (A) is repeated until it is determined that there is a boarding space. If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when an assignment request for the robot is received and the landing call is assigned, the elevator control system will not illuminate the landing button on the robot's current floor until a user presses the landing button.

8. A control system applicable to an elevator in which a lit-up landing button for specifying the destination direction is installed on each floor, The elevator control device, A robot management device that, when using the elevator to move a robot from the current floor to the destination floor, requests the assignment of a landing call for the robot by transmitting the robot's current floor to the control device, Equipped with, The control device is When the robot management device receives the aforementioned assignment request for the robot, it makes a determination (A) whether or not there is a space for the robot to ride in the elevator car based on the image obtained from a camera installed inside the elevator car. If the judgment (A) above determines that there is a boarding space, the current floor will be designated as the departure floor, and the destination direction will be the same as the direction in which the elevator car is moving at that time, and a boarding call will be assigned to the elevator car. If the judgment (A) determines that there is no boarding space, the boarding area call is not assigned, and the judgment (A) is repeated based on the new image obtained from the camera, and this judgment (A) is repeated until it is determined that there is a boarding space. If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when the elevator control system receives the assignment request for the robot and assigns the landing call, it does not immediately illuminate the landing button on the robot's current floor, but then illuminates the button when the elevator car starts responding to the landing call, or when a user has pressed the button before that point.

9. The control device is After assigning a boarding area call to the robot, a further determination (B) is made based on the new images obtained from the camera to determine whether the situation inside the elevator car has changed to a situation where there is no boarding space. The elevator control system according to claim 7 or 8, wherein if it is determined in the judgment (B) above that a change has occurred, the assignment of the landing call to the robot is canceled.

10. The robot management device is If the destination direction indicated by the aforementioned boarding call is the same as the direction from the current floor to the destination floor, then, when the robot has finished boarding the elevator car, a request to register the elevator car call for that robot is sent to the control device with the robot's destination floor as the destination floor. If the destination direction indicated by the aforementioned boarding call is opposite to the forward direction, after the robot boards the elevator car and the elevator car reverses direction to become the forward direction, a request to register the elevator car call for that robot is sent to the control device with the robot's target floor as the destination floor. The elevator control system according to claim 7 or 8, wherein when the control device receives the registration request, it registers the destination floor as a car call for the elevator car.

11. A method for controlling an elevator control device and a robot management device in an elevator where illuminated landing buttons for specifying the destination direction are installed on each floor, In the robot management device, when moving a robot from the current floor to the destination floor using the elevator, a request for the assignment of a landing call for the robot is made by transmitting the robot's current floor to the control device. In the control device, When the robot management device receives the aforementioned assignment request for the robot, it makes a determination (A) whether or not there is a space for the robot to ride in the elevator car based on the image obtained from a camera installed inside the elevator car. If the judgment (A) above determines that there is a boarding space, the current floor will be designated as the departure floor, and the destination direction will be the same as the direction in which the elevator car is moving at that time, and a boarding call will be assigned to the elevator car. If the judgment (A) determines that there is no boarding space, the boarding area call is not assigned, and the judgment (A) is repeated based on the new image obtained from the camera, and this judgment (A) is repeated until it is determined that there is a boarding space. If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when an assignment request for the robot is received and the landing call is assigned, the elevator control method ensures that the landing button on the robot's current floor is not illuminated until a user presses the landing button.

12. A method for controlling an elevator control device and a robot management device in an elevator where a litable landing button for specifying the destination direction is installed on each floor, In the robot management device, when moving a robot from the current floor to the destination floor using the elevator, a request for the assignment of a landing call for the robot is made by transmitting the robot's current floor to the control device. In the control device, When the robot management device receives the aforementioned assignment request for the robot, it makes a determination (A) whether or not there is a space for the robot to ride in the elevator car based on the image obtained from a camera installed inside the elevator car. If the judgment (A) above determines that there is a boarding space, the current floor will be designated as the departure floor, and the destination direction will be the same as the direction in which the elevator car is moving at that time, and a boarding call will be assigned to the elevator car. If the judgment (A) determines that there is no boarding space, the boarding area call is not assigned, and the judgment (A) is repeated based on the new image obtained from the camera, and this judgment (A) is repeated until it is determined that there is a boarding space. If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when the allocation request for the robot is received and the landing call is assigned, the elevator control method further includes not immediately lighting up the landing button on the robot's current floor, but then lighting up the button when the elevator car starts responding to the landing call, or when a user has pressed the button before that point.

13. A control device applicable to an elevator in which a lit-up landing button for specifying the destination direction is installed on each floor, When the robot management device uses the elevator to move a robot from the current floor to the destination floor, it requests the allocation of a landing call for the robot by transmitting the robot's current floor to the control device. The control device is When the robot management device receives the aforementioned assignment request for the robot, it makes a determination (A) whether or not there is a space for the robot to ride in the elevator car based on the image obtained from a camera installed inside the elevator car. If the judgment (A) above determines that there is a boarding space, the current floor will be designated as the departure floor, and the destination direction will be the same as the direction in which the elevator car is moving at that time, and a boarding call will be assigned to the elevator car. If the judgment (A) determines that there is no boarding space, the boarding area call is not assigned, and the judgment (A) is repeated based on the new image obtained from the camera, and this judgment (A) is repeated until it is determined that there is a boarding space. If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when an assignment request for the robot is received and the landing call is assigned, the elevator control device will not illuminate the landing button on the robot's current floor until a user presses the landing button.

14. A control device applicable to an elevator in which a lit-up landing button for specifying the destination direction is installed on each floor, When the robot management device uses the elevator to move a robot from the current floor to the destination floor, it requests the allocation of a landing call for the robot by transmitting the robot's current floor to the control device. The control device is When the robot management device receives the aforementioned assignment request for the robot, it makes a determination (A) whether or not there is a space for the robot to ride in the elevator car based on the image obtained from a camera installed inside the elevator car. If the judgment (A) above determines that there is a boarding space, the current floor will be designated as the departure floor, and the destination direction will be the same as the direction in which the elevator car is moving at that time, and a boarding call will be assigned to the elevator car. If the judgment (A) determines that there is no boarding space, the boarding area call is not assigned, and the judgment (A) is repeated based on the new image obtained from the camera, and this judgment (A) is repeated until it is determined that there is a boarding space. If a user presses the aforementioned boarding button on any floor, the button will light up, and the boarding call will be assigned to the elevator car, with the floor where the button is located as the departure floor and the direction indicated by the button as the destination. On the other hand, when the elevator control device receives the assignment request for the robot and assigns the landing call, it does not immediately illuminate the landing button on the robot's current floor, but then illuminates the button when the elevator car starts responding to the landing call, or when a user has pressed the button before that point.

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