Elevator control device and elevator control method

Abstract

To prevent damaging of a mobile body due to door pinching during conveyance of the mobile body such as an autonomously movable robot by an elevator.SOLUTION: An elevator control device comprises: a mode setting unit that sets an operation mode to a mobile body mode in response to a request for placing a mobile body in a car; an operation control unit that stops the car at a boarding floor of the mobile body when the mode setting unit sets the mobile body mode; and a door control unit that closes the door when a prescribed condition is satisfied after opening of the door of the car stopped at the boarding floor in the mobile body mode. The door control unit controls, when door pinching of an object is detected during the closing in the mobile body mode, a door driving speed to be lower than that during normal door closing.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to an elevator control device and an elevator control method.

Background Art

[0002] Recent elevators are required to carry not only passengers but also robots that are mobile bodies capable of autonomous movement. For example, robots for security or cleaning inside a building move inside the building to perform tasks such as security and cleaning, and thus it is preferable to use an elevator to move between floors.

[0003] When an elevator carries a robot, the robot or the robot's control device sends control data of the floor where the robot is present (boarding floor) and the destination floor to which the robot intends to move (target floor) to the elevator's control device via a robot-elevator cooperation system. Then, the elevator's control device makes a movement request for the robot based on the received control data. That is, based on this control data, the elevator control device directs the car towards the floor where the robot is present, and after the robot boards the car, performs control to transport it to the destination floor.

[0004] Patent Document 1 describes a technique for preventing a robot from being sandwiched by a landing door when the robot boards an elevator. That is, Patent Document 1 describes a technique for preventing a robot performing inspection from being sandwiched by a landing door by setting a mode in which the landing door is not fully opened but only partially opened when performing inspection by the robot. )]]

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] When a robot enters an elevator car, it is necessary to avoid as much as possible the robot getting caught in the landing door and the car door in order to prevent damage to the robot. In other words, if the robot comes into contact with the door as it is closing, the impact of the closing door could damage the robot or cause it to fall over.

[0007] For example, in the technology described in Patent Document 1, when a robot that inspects elevator doors boards the elevator, the doors are partially closed when closing to allow the robot to check the operation of the doors and to prevent the robot from getting caught in the doors. However, the technology described in Patent Document 1 cannot be applied when a robot is normally boarding the elevator because it cannot completely close the landing doors. Therefore, in order to prevent the robot from getting caught in the doors when it boards the elevator car and moves to another floor, a control method different from the technology described in Patent Document 1 is required.

[0008] In view of the above, the present invention aims to provide an elevator control device and an elevator control method that can prevent damage to an autonomously moving object, such as the object being caught in the elevator door, when the object is being transported by the elevator. [Means for solving the problem]

[0009] To solve the above problems, for example, the configuration described in the claims may be adopted. This invention includes several means for solving the above-mentioned problems, but to give one example, the elevator control device of the present invention controls the operation of an elevator car that can accommodate a moving object and the opening and closing of the doors, and has the following configuration. In other words, the elevator control device includes a mode setting unit that sets the operating mode to mobile mode upon receiving a request for a mobile body to board the elevator car or detecting that a mobile body has boarded the elevator car; an operation control unit that stops the elevator car at the floor where the mobile body has boarded when the mode setting unit has set it to mobile mode; and a door control unit that opens the doors of the elevator car that has stopped at the floor where it has boarded in mobile mode, and then closes the doors when predetermined conditions are met. Here, the door control unit, when closing in mobile mode Mobile When door jamming is detected, the door drive speed is controlled to a lower speed than the normal door closing speed. If the door is not resolved after a predetermined number of attempts to close the door, or if the door jamming continues for a predetermined period of time, the door control unit turns off the power to the elevator car door drive circuit while the moving object remains jammed in the door. [Effects of the Invention]

[0010] According to the present invention, the door drive speed during door closing is reduced in situations where there is a high possibility of trapping a moving object, thereby effectively preventing damage to the robot or tipping over due to the moving object getting caught in the door. Other issues, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0011] [Figure 1] This is a configuration diagram showing an example of an entire system equipped with an elevator control device according to one embodiment of the present invention. [Figure 2] This figure shows an example of the hardware configuration of an elevator control device according to one embodiment of the present invention. [Figure 3] This flowchart shows an example of processing during robot coordinated operation according to one embodiment of the present invention. [Figure 4] This flowchart shows an example of processing when a robot becomes trapped, according to one embodiment of the present invention. [Figure 5] This figure shows an example of operation according to one embodiment of the present invention. [Modes for carrying out the invention]

[0012] Hereinafter, an elevator control device and elevator control method according to one embodiment of the present invention (hereinafter referred to as "this example") will be described with reference to the attached drawings.

[0013] [Overall system configuration] Figure 1 shows an example of the configuration of an elevator system controlled by the elevator control device 10 in this example. The elevator control device 10 is a device for group management of elevators having multiple elevator cars 41, 42, and 43, and comprises a group control device 11, a remote monitoring device 12, and unit control devices 31, 32, and 33 that control each elevator (unit 1, unit 2, and unit 3).

[0014] The group control device 11 manages the operation of each elevator unit as a group and controls them to operate the three elevators efficiently. The group control device 11 also performs mode setting and operation control, which will be described later. The group control device 11 is supplied with operation information from the car call buttons 81a to 81i installed at the landings of each floor of the elevator. Based on the operation of the car call buttons 81a to 81i and the operation of the control panels (not shown) inside the elevator cars 41, 42, and 43, the group control device 11 instructs the unit control devices 31, 32, and 33 to determine the stopping floors for each elevator car 41, 42, and 43.

[0015] The remote monitoring device 12 monitors the operating status of each elevator unit and detects any abnormalities or malfunctions. When the remote monitoring device 12 detects an abnormality or malfunction by monitoring the operating status of the elevator, it notifies the remote monitoring center 1. Furthermore, Remote Monitoring Center 1 may be located in a monitoring center (such as a disaster prevention center) within the building where the elevator is installed, or it may be located in a monitoring center centrally managed by the company contracted to perform elevator maintenance and management.

[0016] The car control devices 31, 32, and 33 control the operation of the cars 41, 42, and 43 of their respective units and the opening and closing of the car doors 51, 52, and 53. The opening and closing of the car doors 51, 52, and 53 are executed by the car control devices 31, 32, and 33 controlling the driving of the door motors 41b, 42b, and 43b installed in the respective cars 41, 42, and 43. In this case, the car control devices 31, 32, and 33 also perform controls such as the opening and closing speeds of the car doors 51, 42, and 53 and the on / off of the drive circuits of the door motors 41b, 42b, and 43b. Further, the car control devices 31, 32, and 33 also perform on / off control of the lighting devices 41a, 42a, and 43a installed in the cars 41, 42, and 43 of their respective units. Although not shown in the figure, sensors for detecting door pinching and the like are installed in the cars 41, 42, and 43, and the car control devices 31, 32, and 33 receive the detection signals of the respective sensors.

[0017] Also, the car control devices 31, 32, and 33 control the lighting of the car arrival lamps installed at the landings 71a~71i, 72a~72i, and 73a~73i of each unit on each floor in conjunction with the arrival of the cars 41, 42, and 43. The control by these car control devices 31, 32, and 33 is executed based on commands from the group management control device 11 or the remote monitoring device 12.

[0018] When the car doors 51, 52, and 53 of the cars 41, 42, and 43 stopped at each stop floor open and close, the opening and closing of the landing doors are also controlled in conjunction with the opening and closing of the car doors 51, 52, and 53. However, here, when explaining the opening and closing of the doors, only the opening and closing of the car doors 51, 52, and 53 will be explained, and the explanation of the landing doors that open and close in conjunction will be omitted.

[0019] Also, the robot control server 3 is a server that controls robots, which are autonomously movable mobile bodies, and is installed inside or outside the building. The remote monitoring device 12 of the elevator control device 10 receives a robot cooperation request from the robot control server 3 via the robot-elevator cooperation server 2. The robot cooperation request is a request to allow a robot to board the elevator. This robot cooperation request includes information on the robot's boarding and alighting floors.

[0020] Upon receiving a request from the robot-elevator linkage server 2, the remote monitoring device 12 switches one of the elevator units from normal mode to robot mode, which is dedicated to robot transport, and instructs the elevator to transport the robot. The remote monitoring device 12 also transmits information about the elevator unit transporting the robot to the robot control server 3 via the robot-elevator linkage server 2.

[0021] [Hardware configuration of elevator control system] Figure 2 shows an example of the hardware configuration of the elevator control device 10 in this example. As shown in Figure 2, the elevator control device 10 is configured with a computer. In other words, the computer comprising the elevator control device 10 includes a CPU (Central Processing Unit) 10a, a main memory unit 10b, storage 10c, an input unit 10d, an output unit 10e, and a network interface 10f.

[0022] The CPU 10a is a processor that executes programs stored in the main memory 10b or storage 10c, thereby configuring the main memory 10b to perform tasks such as elevator control. The main memory unit 10b is a storage unit that acts as a work area for executing arithmetic processing under the control of the CPU 10a. The storage unit 10c is a large-capacity storage unit that stores programs and various data.

[0023] The input unit 10d processes input signals such as operation signals from the elevator car call buttons 81a to 81i, operation signals from the control panels installed in elevator cars 41, 42, and 43 of each elevator unit, and detection signals from sensors installed on doors, etc. The output unit 10e performs output processing such as outputting control signals to the elevator cars 41, 42, and 43 of each elevator unit. The network interface 10f performs various communication processes, such as communication between the elevator control device 10 and the remote monitoring center 1, and communication with the robot / elevator coordination server 2.

[0024] Furthermore, the processing units configured in the main memory unit 10b under the control of the CPU 10a include, as shown in the lower part of Figure 2, a mode setting unit 91, an operation control unit 92, a door control unit 93, and a car control unit 94. These processing units 91 to 94 are basically functions of the group control device 11, but they can also be functions of the unit control devices 31, 32, and 33. The functions performed by each of these processing units will be explained in the flowcharts in Figures 3 and 4.

[0025] Furthermore, Figure 2 shows an example where the elevator control device 10 is composed of a single computer. By providing multiple processing function units within this single computer, the group control device 11, remote monitoring device 12, and unit control devices 31, 32, and 33 within the elevator control device 10 shown in Figure 1 may be configured. In contrast, the elevator control device 10 may consist of a group control device 11, a remote monitoring device 12, and unit control devices 31, 32, and 33, each composed of separate computers. When configured with multiple computers in this way, each computer is configured to communicate with each other via a network interface 10f or the like and operate in coordination.

[0026] [Example of processing during robot transport] Figure 3 is a flowchart showing an example of processing when a robot cooperation request is received from the robot-elevator cooperation server 2 to an elevator controlled by the elevator control device 10 in this example. First, the remote monitoring device 12 determines whether or not it has received a robot cooperation request from the robot-elevator cooperation server 2 (step S11). If it does not receive a robot cooperation request in step S11 (NO in step S11), the remote monitoring device 12 waits until it receives a robot cooperation request.

[0027] Then, if a robot cooperation request is received in step S11 (YES in step S11), the remote monitoring device 12 works in cooperation with the group control device 11 to assign a robot to be operated exclusively for robots (step S12). Here, the robot assigned to be operated exclusively for robots is changed from the normal mode for transporting passengers, etc., to the robot mode (mobile mode) for robot transport by the mode setting unit 91 (Figure 2), which performs mode setting processing. Here, we will explain assuming that the elevator car 41 of robot No. 1 has been changed to robot mode.

[0028] When elevator car 41 of unit 1 is switched to robot mode, the operation control unit 92 (Figure 2) performs operation control processing to move elevator car 41 of unit 1 to the robot boarding floor instructed by the robot cooperation request (step S13). Then, the operation control unit 92 determines whether or not elevator car 41 of unit 1 has arrived at the robot boarding floor (step S14). If the elevator car 41 does not arrive at the robot boarding floor in step S14 (NO in step S14), the operation control unit 92 waits until it arrives.

[0029] Then, if the elevator car 41 arrives at the robot boarding floor in step S14 (YES in step S14), the operation control unit 92 sends a door open command for elevator car 41 of unit 1 to the door control unit 93, causing the door to open using the door motor 41b of the elevator car 41 (step S15). In step S15, after the door control unit 93 performs the door opening operation, the operation control unit 92 determines whether a predetermined time t1 has elapsed since the door opened (step S16). This predetermined time t1 is, for example, 30 seconds or 1 minute, and is the time it is assumed that the robot will have completed boarding the elevator car 41.

[0030] If the predetermined time t1 has not elapsed in step S16 (NO in step S16), the operation control unit 92 remains in standby mode. Then, if a predetermined time t1 has elapsed in step S16 (YES in step S16), the operation control unit 92 sends a door closing command for the elevator car 41 of unit 1 to the door control unit 93, causing the door closing operation to be performed by the door motor 41b of the elevator car 41 (step S17). Furthermore, if a sensor installed in the elevator car 41 or the like detects a robot boarding before the predetermined time t1 has elapsed in step S16, the operation control unit 92 may cause the door control unit 93 to execute the door closing operation in step S17 before the predetermined time t1 has elapsed. Also, the door closing operation in step S17 is performed at normal speed. Cases where a door closing operation at a speed other than normal speed is performed will be described later.

[0031] After sending the door closing command, the operation control unit 92 determines whether or not the doors of the elevator car 41 have finished closing (step S18). If the doors have finished closing in step S18 (YES in step S18), the operation control unit 92 drives the elevator car 41 to the destination floor (robot disembarkation floor) (step S19). Furthermore, if the door closing is not completed in step S18 (NO in step S18), the operation control unit 92 determines whether or not a door jam has been detected from the sensor installed on the door 51 of the elevator car 41 (step S20). Here, a door jam is detected when the door 51 of the elevator car 41 collides with an object during the door closing operation while the robot mode, a dedicated operation mode for transporting mobile objects, is set. Detecting this door jam from the output of a sensor installed on the door 51 is just one example; for example, the occurrence of an object jamming may be detected from the image of a camera installed on the elevator car 41. Alternatively, the occurrence of a door jam, corresponding to a collision between the door 51 and the robot, may be detected when the closing operation of the door 51 stops midway without being completed.

[0032] If no door jamming is detected in step S20 (NO in step S20), the operation control unit 92 returns to the decision in step S18. Then, if door jamming is detected in step S20 (YES in step S20), the operation control unit 92 proceeds to the jamming process, which will be described later in Figure 4.

[0033] Figure 4 is a flowchart showing the flow of processing when a vehicle gets stuck. First, the operation control unit 92 sends a door open command for the elevator car 41 to the door control unit 93, causing the door to open using the door motor 41b of the elevator car 41 (step S31). As a result, when door obstruction is detected in step S20, a reversal operation is performed to immediately open the door. In step S31, after the door control unit 93 performs the door opening operation, the operation control unit 92 determines whether a predetermined time t2 has elapsed since the door opened (step S32). This predetermined time t2 is shorter than the predetermined time t1 described earlier, and can be, for example, 15 seconds or 30 seconds. In other words, the predetermined time t2 is the time it is assumed that the robot caught in the door will be able to board the elevator car 41. Here, time t2 is shorter than time t1, but time t2 and time t1 may be the same.

[0034] If the predetermined time t2 has not elapsed in step S32 (NO in step S32), the operation control unit 92 remains in standby mode. Then, if a predetermined time t2 has elapsed in step S32 (YES in step S32), the operation control unit 92 sends a low-speed door closing command for the elevator car 41 to the door control unit 93, causing the door closing operation to be performed by the door motor 41b of the elevator car 41 (step S33). The low-speed door closing here refers to a speed significantly slower than the normal speed, such as half or one-third of the normal speed.

[0035] In step S33, after sending a door closing command in low-speed mode to the door control unit 93, the operation control unit 92 determines whether or not the doors of the elevator car 41 have finished closing (step S34). If the doors have finished closing in step S34 (YES in step S34), the operation control unit 92 drives the elevator car 41 to the destination floor (robot disembarkation floor) (step S35). Furthermore, if the door closing is not completed in step S34 (NO in step S34), the operation control unit 92 determines whether or not a door jam has been detected from the sensor installed on the door 51 of the elevator car 41 (step S36). If no door jamming is detected in step S36 (NO in step S36), the operation control unit 92 returns to the decision in step S34.

[0036] Then, if door entrapment is detected in step S36 (YES in step S36), the operation control unit 92 determines whether the number of times entrapment has been detected is the specified number (step S37). The specified number here is, for example, 3 times or 5 times. If the number of detections of impingement in step S37 is not the specified number (NO in step S37), the operation control unit 92 returns to the door opening operation in step S31.

[0037] Furthermore, in step S37, if the number of times an impingement has been detected reaches a predetermined number (YES in step S37), the car operation control unit 94 sends a command to turn off the power to the drive circuit of the door motor 41b while the door is impinged, and also sends a command to turn off the lighting device 41a of the car 41 (step S38). Alternatively, instead of determining the number of times an impingement has been detected, the power to the drive circuit of the door motor 41b and the lighting device 41a may be turned off when a predetermined time has elapsed since the first impingement detection and the impingement detection has continued (i.e., the time during which the door is repeatedly opened and closed). Following the power off of the door motor 41b and the lighting device 41a, the remote monitoring device 42 notifies the remote monitoring center 1 of the occurrence of an abnormality in the elevator car 41 of unit 1 (step S39). This notification indicates that the door jamming occurred in robot mode.

[0038] [Specific examples of robots getting stuck in doors] Figure 5 shows specific examples of robots using elevators and getting stuck in doors. First, as shown in the upper left of Figure 5, let's assume that robot 4 is attempting to board the elevator car at the landing 71a and has reached the door 51. In this state, after a predetermined time t1 has elapsed since the door opened, the door 51 begins closing operation SP1 at normal speed.

[0039] In this closing operation, as shown in the upper right of Figure 5, the robot 4, upon reaching the door 51, becomes trapped by the door 51. Note that in this example of Figure 5, since the door 51 is a double door, it shows an example where both the left and right sides of the robot 4 are trapped by the door 51. However, in the case of a single door, the robot 4 would be trapped with only one side in contact with the door 51.

[0040] When this door-entrapment situation occurs, the door 51 performs an opening operation SP2, as shown in the left of the middle section of Figure 5. The speed at this time is also the normal speed. Then, after a predetermined time t2 has elapsed since the door was opened due to being caught in the door, the door 51 starts closing again SP3, as shown on the right side of the middle section of Figure 5. This closing operation SP3 is performed at a slower speed than the normal speed (such as half the normal speed).

[0041] Here, if the robot 4 completes its movement into the elevator car 41 within the predetermined time t2, the door will not get caught. However, if for some reason the robot 4 is unable to move autonomously, the robot 4 will get caught in the door 51 again, as shown in the lower left of Figure 5. If the door jamming is not resolved even after repeated opening and closing of the door 51, the car control unit 94, in the state where door jamming has occurred as shown in the lower left of Figure 5, turns off the power to the drive circuit of the door motor 41b and turns off the lighting device 41a inside the elevator car 41. Then, with the power to the drive circuit of the door motor 41b and the lighting turned off, the remote monitoring device 42 notifies the remote monitoring center 1 of the occurrence of an abnormality (robot door jamming).

[0042] Therefore, according to the elevator system in this example, if an accident occurs in which the robot 4 becomes trapped in the door 51, only the initial door closure will be at normal speed, but subsequent door closures will be at a slower speed, minimizing the impact when the door 51 comes into contact with the robot 4. This minimizes the risk of damage to the robot 4 or tipping over due to contact with the door 51.

[0043] Furthermore, if the door jamming persists even after multiple attempts to open and close it, the power to the door motor 41b's drive circuit is turned off while the door is jammed. This prevents any force from being applied in the direction of closing the door 51, effectively preventing damage to the robot 4. Furthermore, since the robot 4 waits while trapped in the door 51, it is possible to prevent passengers from mistakenly boarding the elevator when a malfunction occurs. In this case, the lighting device 41a of the elevator car 41 is also turned off, so the inside of the elevator car 41 becomes dark, making it clear that the elevator is out of service and preventing passengers from mistakenly boarding it. When this door jamming occurs, the remote monitoring center 1 is notified of the abnormality, preventing passengers from misusing the vehicle and enabling the swift dispatch of personnel.

[0044] [Differentiation] The embodiments described above are detailed explanations provided to facilitate understanding of the present invention, and are not necessarily limited to systems comprising all the configurations described. Furthermore, the configurations and processes described in the above embodiments can be modified or altered in various ways.

[0045] For example, the above-described embodiment explained the process when an autonomously mobile robot uses an elevator, but the present invention can be applied to various forms of autonomously mobile bodies when they use elevators. For example, the present invention can also be applied when a cargo handling device such as an autonomously operated forklift uses an elevator.

[0046] Furthermore, in the configuration shown in Figure 1, a robot-elevator linkage server 2 is provided, and the elevator control device 10 communicates with the robot control server 3 via this robot-elevator linkage server 2 to set the robot mode, etc. Alternatively, the elevator control device 10 could communicate directly with a mobile object such as a robot. Furthermore, in the above-described embodiment, the elevator control device 10 sets a robot mode (mobile mode) based on instructions from the robot-elevator linkage server 2, and then closes the door at a slow speed when it detects that a robot or other object is caught in the door. Alternatively, the elevator control device 10 may set a robot mode when it detects that a robot is about to board the elevator car and then take action to deal with the door getting caught. The elevator control device 10 itself can detect that a robot is about to board the elevator car, for example, by looking at images from cameras installed in the elevator car or landing.

[0047] Furthermore, as shown in Figure 1, the application to a system with multiple elevators (cars) for group management is just one example; the present invention may also be applied to an elevator control device equipped with a single elevator.

[0048] Furthermore, while the above-described embodiment explained how to deal with door jamming when a robot (mobile body) boards the elevator car, if a similar door jam occurs when the robot (mobile body) disembarks from the elevator car, the door may be closed at a slow speed, as explained in the flowchart of Figure 4.

[0049] Furthermore, in the above-described embodiment, a notification is sent to the remote monitoring center 1 when a door jam occurs. However, the notification of a door jam could also be sent to a terminal (such as a smartphone) held by a worker inside the building.

[0050] Furthermore, in the configuration diagrams of Figures 1 and 2, only control lines and information lines deemed necessary for explanation are shown, and not all control lines and information lines are necessarily shown in the actual product. In reality, it can be assumed that almost all components are interconnected. Also, in the flowcharts shown in Figures 3 and 4, the processing order may be changed or multiple processes may be executed simultaneously, as long as the processing result is the same.

[0051] Furthermore, the use of a computer as the elevator control device, as shown in Figure 2, is just one example; other configurations are also possible. For example, part or all of the elevator control device may be implemented using dedicated hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0052] Furthermore, if the elevator control system is configured using a computer, the computer needs to implement a program that performs the processes described in the flowcharts in Figures 3 and 4. This program can be stored in the program's memory, or it can be stored on an external memory, IC card, SD card, optical disc, or other recording medium and transferred to the computer. [Explanation of symbols]

[0053] 1…Remote monitoring center, 2…Robot / elevator linkage server, 3…Robot control server, 4…Robot, 10…Elevator control device, 10a…CPU, 10b…Main memory unit, 10c…Storage, 10d…Input unit, 10e…Output unit, 10f…Network interface, 11…Group control device, 12…Remote monitoring device, 31,32,33…Unit control device, 41,42,43…Elevator car, 41a,42a,43a…Lighting device, 41b,42b,43b…Door motor, 51,52,3…Door, 71a,72a,73a…Landing, 71a~71i…Call button, 91…Mode setting unit, 92…Operation control unit, 93…Door control unit, 94…Car control unit

Claims

1. This is an elevator control device that controls the operation of the elevator car, which can accommodate a moving object, and the opening and closing of the doors. A mode setting unit sets the operating mode to mobile mode upon receiving a request for the mobile body to board the elevator car or detecting that the mobile body has boarded the elevator car. When the mode setting unit sets the mobile vehicle mode, the operation control unit stops the elevator car at the boarding floor of the mobile vehicle, The system includes a door control unit that, after opening the doors of an elevator car stopped at the boarding floor in the aforementioned mobile mode, closes the doors when predetermined conditions are met, When the door control unit detects that the moving body is caught in the door during the closing operation in the moving body mode, it controls the door drive speed to a lower speed than the door drive speed during normal door closing. If the door closing control is performed a predetermined number of times and the door jamming of the moving body is not resolved, or if the door jamming condition continues for a predetermined time, the door control unit turns off the power to the elevator car door drive circuit while the moving body remains jammed in the door. Elevator control device.

2. The aforementioned door jamming is a state in which, during the closing operation of the door in the moving body mode, a condition is detected in which the door collides with the moving body, causing the door to open. The elevator control device according to claim 1.

3. When the power to the elevator car door drive circuit is turned off, the elevator car lights are controlled to turn off. The elevator control device according to claim 1.

4. With the power to the elevator car door drive circuit turned off, the system reports the occurrence of an abnormality to the elevator's monitoring center or a designated terminal. The elevator control device according to claim 3.

5. The door control unit also controls the door drive speed to a lower speed than the initial door closing speed when it detects that the moving body is caught in the door during the closing operation, even when the moving body stops at the disembarking floor. The elevator control device according to claim 1.

6. The mode setting unit sets the mobile mode by receiving information on the boarding and alighting floors of the mobile unit from the mobile elevator linkage server that links the mobile unit and the elevator. The elevator control device according to claim 1.

7. This is an elevator control method that controls the operation of the elevator car, which can accommodate a moving object, and the opening and closing of the doors. When a request for the mobile body to board the elevator car is received or when it is detected that the mobile body has boarded the elevator car, a mode setting process is performed to set the operating mode to mobile body mode, When the mobile vehicle mode is set by the mode setting process described above, the operation control process involves stopping the elevator car at a specific floor where the mobile vehicle is seated, The door of the elevator car stopped at the specified floor in the moving vehicle mode is opened, and when predetermined conditions are met, the door is closed; and when door jamming of the moving vehicle is detected during the closing operation in the moving vehicle mode, the door drive speed is controlled to a lower speed than the normal door drive speed when closing the door; and this includes a door control process. If the door control process attempts to close the door again a predetermined number of times but the door jamming of the moving body is not resolved, or if the door jamming condition persists for a predetermined time, the door control process will turn off the power to the elevator car door drive circuit while the moving body remains jammed in the door. Elevator control method.

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