Elevator system

Abstract

To provide an elevator system which allows a moving object to quickly get on or off a car. [Solution] The elevator system includes a communication unit that receives, from an autonomously moving object, a notification that the object is getting on or off the car of an elevator device, and information indicating the weight of the object; a calculation unit that calculates the actual re-leveling amount of the car based on the received weight of the object; and an execution unit that raises or lowers the car by the actual re-leveling amount using a hoist that drives the car when part of the object gets on or off the car.

Description

Technical Field

[0001] The present disclosure relates to an elevator system that cooperates with a self-propelled moving body.

Background Art

[0002] Patent Document 1 discloses an elevator control system. The elevator control system includes an elevator and an autonomous mobile vehicle. When the autonomous mobile vehicle gets on the car, the car may sink due to its weight, and a step may occur at the boundary between the car and the landing. The autonomous mobile vehicle detects the amount of the step when boarding the elevator car. The elevator raises or lowers the car based on information from the autonomous mobile body to eliminate the detected step. Therefore, the step can be effectively eliminated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the elevator control system described in Patent Document 1, the elevator attempts to eliminate the step while repeatedly communicating with the autonomous mobile vehicle regarding the amount of the step. Since the autonomous mobile vehicle stops while in the state of boarding the car, there is a risk that the operating efficiency of the elevator may decrease.

[0005] The present disclosure has been made to solve the above problems. An object of the present disclosure is to provide an elevator system that can quickly allow a moving body to board or get off a car.

Means for Solving the Problems

[0006] The elevator system according to this disclosure includes a communication unit that receives notifications from an autonomously moving body indicating that it is boarding or alighting from the elevator car and information indicating the weight of the body; a calculation unit that calculates the amount of releveling of the car based on the received weight of the body; and an execution unit that raises or lowers the car by the amount of releveling using a hoisting machine that drives the car when a part of the body is in the car or when a part of the body is alighting from the car. [Effects of the Invention]

[0007] According to this disclosure, the elevator system raises or lowers the car by a certain amount using a hoisting machine that drives the car when a portion of a moving object enters or exits the car. This allows the moving object to be quickly loaded into or disembarked from the car. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram showing the configuration of a building to which the elevator system in Embodiment 1 is applied. [Figure 2] This is a schematic diagram of what happens when a moving object is placed in a cage that is not releveled. [Figure 3] This is a schematic diagram of what happens when a moving object is placed in a cage that is not releveled. [Figure 4] This is a schematic diagram illustrating what happens when a mobile object disembarks from a cage that is not being releveled. [Figure 5] This is a schematic diagram illustrating what happens when a mobile object disembarks from a cage that is not being releveled. [Figure 6] This is a functional block diagram of the elevator system in Embodiment 1. [Figure 7] This flowchart shows an example of the operations performed by the elevator system in Embodiment 1. [Figure 8] This flowchart shows an example of the operations performed by the elevator system in Embodiment 1. [Figure 9]This figure shows a first example of a detector for an elevator system in Embodiment 1. [Figure 10] This figure shows a second example of a detector for the elevator system in Embodiment 1. [Figure 11] This is a functional block diagram of the elevator system in Embodiment 2. [Figure 12] This is a hardware configuration diagram of the elevator system interlocking device in Embodiment 1 or 2. [Modes for carrying out the invention]

[0009] The embodiments for implementing this disclosure will be described with reference to the attached drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals. The explanation of such parts will be simplified or omitted as appropriate.

[0010] Embodiment 1. Figure 1 is a diagram of the building to which the elevator system in Embodiment 1 is applied. Figures 2 and 3 are schematic diagrams of a moving object in a car that is not releveled. Figures 4 and 5 are schematic diagrams of a moving object disembarking from a car that is not releveled. Figure 6 is a functional block diagram of the elevator system in Embodiment 1.

[0011] As shown in Figure 1, the elevator system 1 includes an elevator device 50 installed in building B. The elevator system 1 also includes a mobile body 3 and a linking device 4. The mobile body 3 moves vertically within building B using the elevator device 50. The linking device 4 assists in the coordination between the mobile body 3 and the elevator device 50.

[0012] The elevator shaft B1 runs through each floor of building B. The machine room B2 is located directly above the elevator shaft B1. Multiple landings B3 are located on each floor of building B. Each of the multiple landings B3 faces the elevator shaft B1.

[0013] In the elevator device 50 of the present embodiment, the hoist 51 is provided in the machine room B2. The hoist 51 is placed on the floor of the machine room B2 via the vibration isolator rubber 52. The main rope 53 is wound around the hoist 51. The car 54 is provided inside the hoistway B1. The car 54 is suspended on one side of the main rope 53 via the shackle spring 55. The control panel 2 of the elevator device 50 is provided in the machine room B2. The control panel 2 controls the entire operation of the elevator device 50.

[0014] In the hoistway B1, a landing plate 56 is provided at a position corresponding to the landing area B3. On the car 54, a landing position detector 57 is provided at a position where it can face the landing plate 56.

[0015] For example, the control panel 2 controls the operation of the hoist 51 to raise or lower the car 54. Specifically, when the hoist 51 rotates, the main rope 53 moves following the hoist 51. The car 54 rises or falls along with the movement of the main rope 53. The control panel 2 controls the landing position of the car 54 based on the result of the landing position detector 57 reading the landing plate 56.

[0016] The mobile body 3 is arranged in the building B. The mobile body 3 moves autonomously. That is, the mobile body 3 generates a movement path towards the set target location based on the detection values of the sensors mounted on itself. The mobile body 3 is a robot that performs tasks such as object transportation and security. Note that the mobile body 3 is not limited to robots that perform these tasks.

[0017] For example, the cooperation device 4 is arranged at a location separate from the building B. The function of the cooperation device 4 may be realized on a cloud server. The cooperation device 4 can communicate with the control panel 2 and the mobile body 3 respectively.

[0018] When the mobile unit 3 uses the elevator device 50 to move vertically, the mobile unit 3 sends a boarding notification to the interoperation device 4 indicating its desire to board the car 54. The boarding notification includes the departure floor and destination floor of the car 54. Based on the boarding notification, the interoperation device 4 sends a call including the destination floor to the control panel 2. The control panel 2 registers the call with the car 54 and dispatches the car 54. The control panel 2 transmits the operating status, including the position of the car 54, to the interoperation device 4. When the interoperation device 4 is ready to board the car 54, it sends a boarding command to the mobile unit 3. Based on the boarding command, the mobile unit 3 boards the car 54. When the mobile unit 3 has finished boarding the car 54, it sends a boarding completion notification to the interoperation device 4. When the control panel 2 receives the boarding completion information from the interoperation device 4, it starts the movement of the car 54.

[0019] When the passenger 3 disembarks from the elevator car 54, the interoperation device 4 transmits a disembarkation command to the passenger 3 based on the operating status of the control panel 2. The passenger 3 transmits a disembarkation notification to confirm receipt of the disembarkation command and disembarks from the elevator car 54. When the passenger 3 has finished disembarking from the elevator car 54, it transmits a disembarkation completion notification to the interoperation device 4. When the control panel 2 receives the disembarkation completion information from the interoperation device 4, it terminates the movement of the elevator car 54.

[0020] In the mobile unit 3, because the underside of the housing is designed to be close to the running surface, there may be a limit to the size of the floor step that can be tolerated relative to the running surface. For example, there is a mobile unit 3 in which the allowable step size, which is the size of the floor step that can be tolerated on the running surface during movement, is set to 5 mm. If the mobile unit 3 moves over a step larger than 5 mm, the underside of the housing may ride up onto the step, causing all the wheels to fail to touch the ground, and the mobile unit 3 may become unable to move.

[0021] Furthermore, the mobile unit 3 may be heavy in weight, as may the weight of the cargo it is carrying. If the mobile unit 3 is heavy, the cage 54 on which the mobile unit 3 is riding will sink under its own weight. At this time, a step may be created between the cage 54 and the landing B3.

[0022] Next, Figures 2 and 3 will be used to explain the steps that may occur when the moving body 3 boards the cage 54. Note that the hoisting machine 51 and vibration-damping rubber 52 are not shown in Figures 2 and 3.

[0023] As shown in Figure 2, the floor plate 60 rests on the frame 58 of the car 54 via a car floor rubber 59. The car door 61 of the car 54 opens and closes guided by the sill 62. Furthermore, the car door 61 may be equipped with a sensor 63 for detecting people passing through the car door 61. The car 54 may also be equipped with a camera 64 for taking pictures of the interior. When the car 54 stops at the landing position, the height of the top surface of the floor plate 60 and the floor surface of landing B3 are assumed to be equal.

[0024] Figure 2 shows a perspective view of the car 54 when a portion of the mobile body 3 is resting on the car 54. The state in which a portion of the mobile body 3 is resting on the car 54 means that one or more of the multiple wheels supporting the mobile body 3 are resting on the sill 62 or floorboard 60, and one or more of those wheels are resting on the landing B3. Note that the state in which a portion of the mobile body 3 is resting on the car 54 may also mean that the legs of the mobile body 3 are resting on the car 54 instead of the wheels. A portion of the mobile body 3 may be resting on the car 54 when the mobile body 3 is getting on or off the car 54.

[0025] The load applied to the floor plate 60 of the elevator car 54 is supported by the floor of the machine room B2 via the elevator car floor rubber 59, frame 58, shackle spring 55, main rope 53, hoisting machine 51, and vibration-damping rubber 52. When two of the four wheels of the moving body 3 are on the elevator car 54 and the underside of the housing of the moving body 3 is not in contact with the ground, the elevator car 54 bears approximately half of the weight of the moving body 3. The weight of the moving body 3 causes the elevator car floor rubber 59, shackle spring 55, main rope 53, and vibration-damping rubber 52, which are particularly elastically deformable materials among the materials that transmit the load, to deform. As these materials deform, the floor plate 60 moves downward relative to the floor surface of landing B3, that is, sinks.

[0026] Hereafter, the difference between the height of the sunken floorboard 60 and the height of the floor surface of landing B3 will also be referred to as the amount of sinking of the floorboard 60. The length of time that the elevator car 54 has sunk from its landing position will also be referred to as the amount of sinking of the elevator car 54. The amount of sinking is particularly greatly influenced by the deformation of the main rope 53.

[0027] Conventionally, when the car 54 sinks due to the weight inside, releveling of the car 54 is performed when the amount of sinking exceeds a specified threshold, such as 10 mm. The sinking of the car 54 is detected by the detection result of the landing position detector 57. Releveling of the car 54 includes the operation of the hoisting machine 51 winding up the main rope 53 to move the car 54 upward when the car 54 sinks. For example, during releveling, the car 54 is moved so that the detection result of the landing position detector 57 is at an appropriate position. Even when such releveling is performed, the floor plate 60 remains sunk by the amount that the car floor rubber 59 has been compressed.

[0028] As shown in Figure 3, when the entire mobile body 3 is placed on the cage 54, the total weight of the mobile body 3 is added to the floor plate 60. In this state, releveling may be performed according to the amount of sinking of the cage 54. Even if such releveling is performed, the floor plate 60 remains sunk by the amount that the cage floor rubber 59 has been compressed.

[0029] Figures 4 and 5 show a transparent side view of the car 54 when the mobile body 3 descends from the car 54. The car 54 stops at a predetermined landing position. At this time, the amount of deformation of the car floor rubber 59 becomes the amount of sinking of the floor plate 60.

[0030] When a portion of the moving body 3 descends from the car 54, it is in a state similar to when a portion of the moving body 3 is resting on it. In this state, approximately half of the weight of the moving body 3 is removed from the floor plate 60, which had been supporting the entire weight of the moving body 3. Due to the change in load, the car floor rubber 59, shackle spring 55, main rope 53, and vibration-damping rubber 52 deform in the direction of the restoring force. As these materials deform, the floor plate 60 and the car 54 move upward relative to the floor surface of landing B3, that is, they float up.

[0031] Hereafter, the length by which the cage 54 rises above the landing point will also be referred to as the amount of the cage 54 rises.

[0032] Furthermore, when the deformation of the cage floor rubber 59 is small, the amount of the cage 54 rising and the amount of the cage 54 sinking will be approximately the same. Hereafter, we will assume that the deformation of the cage floor rubber 59 is negligibly small compared to the deformation of the main rope 53, and that the amount of the cage 54 rising and the amount of the cage 54 sinking are the same. Also, the amounts of rising and sinking will refer to the amounts of the cage 54 rising and sinking.

[0033] In both cases, when a portion of the moving body 3 enters the car 54 and when a portion of the moving body 3 exits the car 54, a step difference is created between the floor plate 60 and the floor surface of landing B3 by the amount of sinking and rising. The allowable step difference of the moving body 3 may be smaller than the threshold for releveling. Specifically, the threshold is ±10 mm and the range of step differences for which releveling is performed is -10 mm to +10 mm, but the allowable step difference may be 5 mm. In this case, for example, even if the step difference between the floor plate 6 and the floor surface of landing B3 becomes +8 mm, releveling will not be performed because it is below the threshold. The moving body 3 may enter or exit the car 54 while scraping the bottom surface of its housing on the step. Also, there is a risk that a large step difference will remain temporarily until the releveling of the car 54 is performed.

[0034] Therefore, in the elevator system 1 of this embodiment, when the moving object 3 enters the car 54 or when the moving object 3 exits the car 54, releveling is performed by the necessary amount regardless of the threshold.

[0035] Next, the details of the functional configuration of the elevator system 1 will be explained using Figure 6. The elevator system 1 is further equipped with a detector 10. The detector 10 may be installed on the mobile body 3 or on the elevator device 50. The detector 10 has at least one of the functions of a passenger boarding / alighting detection unit 11 and an abnormality detection unit 12. In this case, the detector 10 having the function of the passenger boarding / alighting detection unit 11 may be installed on either the mobile body 3 or the elevator device 50. In this case, another detector 10 having the function of an abnormality detection unit 12 may be installed on the other of the mobile body 3 or the elevator device 50. Furthermore, the detector 10 may communicate with the coordinating device 4 via the mobile body 3 or via the elevator device 50.

[0036] The boarding / alighting detection unit 11 detects when the mobile body 3 boards the car 54 or when the mobile body 3 alights from the car 54. The abnormality detection unit 12 detects any abnormalities related to the movement of the mobile body 3 when the mobile body 3 boards the car 54 or alights from the car 54.

[0037] The mobile unit 3 includes, functionally, an individual communication unit 31, a sensor unit 32, a weight detection unit 33, and a movement control unit 34. The individual communication unit 31 communicates with the cooperating device 4. The sensor unit 32 acquires detection values ​​from various sensors for autonomous movement. For example, the sensor unit 32 may include a tilt sensor that measures the tilt of the mobile unit 3 in the horizontal direction. The weight detection unit 33 detects the current total weight of the mobile unit 3. For example, if the mobile unit 3 is carrying luggage, the weight detection unit 33 detects the weight of the luggage. The weight detection unit 33 detects the current total weight based on its own weight and the weight of the luggage. The movement control unit 34 controls the movement of the mobile unit 3.

[0038] The coordinating device 4 comprises, functionally, a communication unit 41, a coordinating unit 42, a calculation unit 43, and an execution unit 44. The communication unit 41 communicates with the control panel 2, the mobile unit 3, and the detector 10, respectively. The coordinating unit 42 controls notifications for using the elevator device 50 between the mobile unit 3 and the control panel 2. The calculation unit 43 calculates the main releveling amount, the reserve releveling amount, the additional releveling amount, and the final releveling amount, respectively.

[0039] The calculation unit 43 calculates the amount of sinking or uplift due to the load based on the load to be measured and the physical properties of the object from which elastic deformation is expected, and uses this as the initial releveling amount or final releveling amount. The physical properties of the object include the elastic constants of each object, the length of the main rope 53, etc. For example, the calculation unit 43 uses half of the total weight of the mobile body 3 as the load to be calculated for the initial releveling amount, as the weight when a part of the mobile body 3 is on the cage 54. For example, the calculation unit 43 uses the total weight of the mobile body 3 as the load to be calculated for the final releveling amount, as the weight when the entire mobile body 3 is on the cage 54.

[0040] The calculation unit 43 calculates a preliminary releveling amount so that it is less than or equal to the allowable step height of the moving body 3. After calculating the main releveling amount, the calculation unit 43 calculates a preliminary releveling amount so that it is less than or equal to the main releveling amount. The calculation unit 43 uses the necessary information to calculate the additional releveling amount each time.

[0041] The calculation unit 43 may calculate each releveling amount based on the landing position of the cage 54 when the cage 54 lands. For example, if the cage 54 is moved by a preliminary releveling amount and then moved by the main releveling amount, the cage 54 may be moved as the main releveling amount by the amount obtained by subtracting the value of the preliminary releveling amount that has already been moved from the main releveling amount.

[0042] When the conditions are met, the execution unit 44 transmits commands to the control panel 2 to perform the main releveling, preliminary releveling, additional releveling, and final releveling by the specified amounts, respectively. That is, the execution unit 44 causes the hoisting machine 51 to perform the releveling to raise or lower the cage 54.

[0043] The conditions under which releveling is performed also differ depending on the functions of each piece of equipment. The conditions under which releveling, which involves moving by this amount, is performed may include at least two conditions: a first condition in which the time when the mobile body 3 boards the car 54 can be predicted, and a second condition in which the boarding / alighting detection unit 11 can detect that the mobile body 3 has boarded the car 54.

[0044] Next, using Figure 7, we will explain an example in which releveling is performed according to the first condition. Figure 7 is a flowchart showing an example of the operation performed by the elevator system in Embodiment 1.

[0045] For example, if the positioning accuracy calculated by the movement control unit 34 of the moving body 3 is high, releveling according to the first condition is performed. The flowchart in Figure 7 starts when the moving body 3 decides to use the elevator device 50 to board the car 54. At the start, the moving body 3 is located near landing B3.

[0046] In step S001, the individual communication unit 31 of the mobile body 3 transmits to the coordinating device 4 a notification that it will board the car 54, information on its current total weight detected by the weight detection unit 33, and information on the allowable step height of the mobile body 3.

[0047] Subsequently, in step S002, the coordinating device 4 receives notifications and information from the mobile body 3. The coordinating device 4 transmits a call to the control panel 2 based on the received notification. The calculation unit 43 of the coordinating device 4 calculates the main releveling amount based on the received weight. For example, if the received weight is 500 kg, the calculation unit 43 calculates the amount of sinking corresponding to 250 kg as the main releveling amount. The calculation unit 43 calculates the preliminary releveling amount based on the received allowable step. In this case, the calculation unit 43 may further use the main releveling amount to calculate the preliminary releveling amount.

[0048] Subsequently, in step S003, the control panel 2 stops the car 54 at the landing position on the floor where the mobile unit 3 is waiting. In this state, the amount of sinking of the car 54 is set to 0. The coordinating device 4 receives the operation information of the car 54 and transmits a boarding instruction to the mobile unit 3.

[0049] Subsequently, in step S004, the movement control unit 34 estimates the time when a part of the moving body 3 is on the car 54. That is, if the moving body 3 is on wheels, the movement control unit 34 estimates the time when at least one of the wheels moves from the threshold of the landing B3 to the threshold 62 of the car 54, while the entire moving body 3 is on the landing B3. The individual communication unit 31 transmits the estimated time to the coordinating device 4.

[0050] Subsequently, in step S005, the execution unit 44 of the linkage device 4 raises the cage 54 by a pre-releveling amount using the hoisting machine 51. That is, the linkage device 4 pre-lifts the cage 54 by the allowable step before a portion of the moving body 3 is placed on the cage 54.

[0051] Subsequently, in step S006, the execution unit 44 determines whether or not it is time for a part of the mobile body 3 to be placed on the cage 54. If it is not time, the operation in step S006 is repeated.

[0052] In step S006, when it is time for a portion of the moving body 3 to rest on the car 54, the operation in step S007 is performed. In step S007, the execution unit 44 raises the car 54 by the amount of this releveling at that time. That is, the car 54 rises approximately simultaneously with the timing when it sinks down by the weight of a portion of the moving body 3. As a result, the height difference between the landing B3 and the car 54 can be suppressed. Furthermore, if the amount of this releveling includes the amount of elastic deformation of the car floor rubber 59, the car 54 can be raised by the amount of sinking that cannot be detected by the landing position detector 57.

[0053] Subsequently, in step S008, the abnormality detection unit 12 performs abnormality detection processing when the mobile body 3 is placed on the cage 54. The execution unit 44 determines whether or not the abnormality detection unit 12 has detected an abnormality related to the movement of the mobile body 3.

[0054] For example, if the abnormality detection unit 12 is provided on the mobile body 3, the abnormality detection process may detect abnormalities related to movement, such as the mobile body 3 being tilted more than specified in the horizontal direction, the mobile body 3 having poor balance of movement torque, or an object hitting the bottom surface of the mobile body 3's housing. In this case, the coordinating device 4 may consider that the mobile body 3 has detected an abnormality related to movement.

[0055] For example, if the abnormality detection unit 12 is provided in the elevator device 50, the results captured by the camera 64 may indicate that the moving body 3 has stopped at an unintended position, or that the moving body 3 has collided with a sensor provided on the side of the threshold 62, etc., and these can be detected as abnormalities related to the movement through the abnormality detection process.

[0056] If no abnormality is detected in step S008, the operation in step S009 is performed. In step S009, the execution unit 44 determines whether the movement of the mobile body 3 is complete, that is, whether the entire mobile body 3 is in the car 54. For example, if a notification of boarding completion is received from the mobile body 3, it is determined that the movement of the mobile body 3 is complete. If the entire mobile body 3 is not yet in the car 54 in step S009, the operations from step S008 onwards are performed.

[0057] If it is determined in step S009 that the entire mobile body 3 is inside the car 54, that is, after the entire mobile body 3 is inside the car 54, the operation in step S010 is performed. In step S010, the execution unit 44 raises the car 54 by the final releveling amount. By releveling the car 54 by the final releveling amount, it becomes easier for other mobile bodies or people to board the car 54, for example.

[0058] Subsequently, in step S011, the coordinating device 4 sends a notification to the control panel 2 indicating that boarding is complete. The control panel 2 then departs the elevator car 54 to the destination floor.

[0059] If an abnormality is detected in step S008 regarding the movement of the mobile body 3, the operation in step S012 is performed. In step S012, the execution unit 44 performs additional releveling. In the additional releveling process, the execution unit 44 raises or lowers the car 54 by the additional releveling amount calculated by the calculation unit 43. In this case, the additional releveling amount may be a positive or negative value. In addition, the additional releveling amount may be calculated based on the information detected by the abnormality detection unit 12. For example, the additional releveling amount may be calculated so that the detected value of the tilt sensor of the mobile body 3 approaches the horizontal direction. For example, while moving the car 54, feedback from external sensors such as the tilt sensor of the mobile body 3 may be received each time, and the additional releveling amount may be calculated sequentially.

[0060] Furthermore, even if, in step S007, the car 54 rises by the amount of this releveling, exceeding the permissible step difference, an abnormality can be detected in step S008. In this case, additional releveling is performed in step S012, and the car 54 can board the car 54.

[0061] After the operation in step S012, the operations from step S008 onwards are performed.

[0062] After the operation in step S011, the flowchart operation ends.

[0063] Furthermore, the operation in step S012 may be performed as appropriate after step S007, even if no abnormality is detected in step S008. That is, additional releveling of the car 54 may be performed as appropriate between the time a portion of the mobile body 3 boards the car 54 and the time when the entire mobile body 3 boards the car 54. Also, in step S012, the coordinating device 4 may transmit a command to the mobile body 3 to stop until the abnormality is resolved.

[0064] In step S004, the calculation unit 43 may calculate the time when a portion of the mobile body 3 is on the car 54 instead of the movement control unit 34. In this case, the calculation unit 43 may estimate the time when a portion of the mobile body 3 is on the car 54 based on the current position of the mobile body 3, the speed of the mobile body 3, and the time when the mobile body 3 starts moving. The communication unit 41 acquires each piece of information from the mobile body 3. If a waiting position for the mobile body 3 at the landing B3 is set in advance, that waiting position may be used as the position of the mobile body 3.

[0065] Furthermore, the action of the first condition is also performed when the mobile body 3, which is riding in the cage 54, disembarks from the cage 54. In this case as well, the same actions as in the flowchart of Figure 7 should be performed. Specifically, the following actions are performed.

[0066] In step S001, the individual communication unit 31 sends a notification that the passenger is getting off the car 54, instead of a notification that the passenger is getting on the car 54.

[0067] In step S003, after the car 54 has stopped at the landing position, the interoperation device 4 transmits a disembarkation instruction to the mobile body 3. In this state, the amount of sinking of the car 54 is set to 0.

[0068] In step S004, the movement control unit 34 estimates the time when a part of the moving body 3 descends from the cage 54. That is, the movement control unit 34 estimates the time when at least one of the wheels first moves from the threshold 62 of the cage 54 to the threshold of the landing B3.

[0069] In step S005, the execution unit 44 lowers the cage 54 by a pre-releveling amount using the hoisting machine 51. That is, the cage 54 is pre-sunk by the allowable step amount before a part of the moving body 3 descends from the cage 54.

[0070] In step S007, the execution unit 44 determines whether it is time for a portion of the moving body 3 to descend from the car 54. If it is, in step S008, the execution unit 44 lowers the car 54 by the amount of the releveling. That is, the car 54 descends approximately simultaneously with the timing at which it rises by the weight of a portion of the moving body 3. As a result, the height difference between the landing B3 and the car 54 can be suppressed.

[0071] In step S008, the abnormality detection unit 12 performs abnormality detection processing when the mobile body 3 descends from the cage 54.

[0072] In step S009, the execution unit 44 determines whether the disembarkation of the mobile body 3 is complete, that is, whether the entire mobile body 3 has disembarked from the car 54. If the disembarkation of the mobile body 3 is complete, in step S010, the execution unit 44 lowers the car 54 by the final releveling amount. By releveling the car 54 by the final releveling amount, for example, it becomes easier for other mobile bodies or people to board the car 54 or disembark from the car 54.

[0073] Furthermore, if control is performed to raise or lower the car 54 by the amount specified in this releveling procedure when boarding and alighting, one or more of the other releveling procedures, such as preliminary releveling, additional releveling, and final releveling, do not need to be performed.

[0074] Next, using Figure 8, we will explain an example in which releveling is performed according to the second condition. Figure 8 is a flowchart showing an example of the operation performed by the elevator system in Embodiment 1.

[0075] For example, if the positioning accuracy calculated by the movement control unit 34 of the moving body 3 is low, and the boarding / alighting detection unit 11 is provided in the elevator system 1, then releveling according to the second condition will be performed. The flowchart in Figure 8 starts when the moving body 3 decides to use the elevator device 50 to board the car 54. At the start, the moving body 3 is located near landing B3.

[0076] The actions from steps S001 to S003 are the same as those in the flowchart for the first condition. Also, after step S003, the actions in step S004 are skipped and the actions in step S005 are performed instead.

[0077] After step S005, in step S101, the boarding / alighting detection unit 11 performs boarding / alighting detection processing. The execution unit 44 determines whether or not it has been detected that a part of the mobile body 3 has entered the car 54. Note that detection of a part of the mobile body 3 entering the car 54 means that it may be detected just before the part of the mobile body 3 enters the car 54, or it may be detected that a part of the mobile body 3 has entered the car 54. In other words, in the boarding / alighting detection processing, it is sufficient to detect either just before the part of the mobile body 3 enters the car 54, the moment the part enters, or immediately after the part enters. If it is not detected in step S101 that a part of the mobile body 3 has entered the car 54, the operation of step S101 is repeated.

[0078] If it is detected in step S101 that a part of the moving body 3 is on the car 54, the operation in step S102 is performed. In step S102, the execution unit 44 raises the car 54 by the amount of this releveling.

[0079] Subsequently, the operations from step S008 onwards are performed, similar to the flowchart for the first condition.

[0080] Furthermore, the action described in the second condition is also performed when the mobile body 3, which is riding in the car 54, disembarks from the car 54. In this case as well, the same actions as in the flowchart in Figure 8 should be performed. Specifically, the following actions are performed.

[0081] In step S101, the boarding / alighting detection unit 11 performs boarding / alighting detection processing. The execution unit 44 determines whether or not it has been detected that a part of the mobile body 3 has descended from the car 54. Note that detection of a part of the mobile body 3 descending from the car 54 may mean that the moment just before the part of the mobile body 3 descends from the car 54 is detected, or that the moment when a part of the mobile body 3 has descended from the car 54 is detected. In other words, in the boarding / alighting detection processing, it is sufficient to detect either the moment just before the part of the mobile body 3 descends from the car 54, the moment when the part descends, or immediately after the part descends. If it is not detected in step S101 that a part of the mobile body 3 has descended from the car 54, the operation of step S101 is repeated.

[0082] If it is detected in step S101 that a part of the moving body 3 has descended from the car 54, the operation in step S102 is performed. In step S102, the execution unit 44 lowers the car 54 by the amount of this releveling.

[0083] Next, using Figures 9 and 10, we will explain examples of the boarding / alighting detection unit 11 and the boarding / alighting detection process. The following first and second examples both show cases in which the boarding / alighting detection unit 11 is installed in the elevator device 50. Figure 9 shows a first example of the detector for the elevator system in Embodiment 1. Figure 10 shows a second example of the detector for the elevator system in Embodiment 1. Note that the moving body 3 is not shown in Figures 9 and 10.

[0084] As shown in Figure 9, the detector 10 and the boarding / alighting detection unit 11 are multi-beam door sensors installed on the car door 61. That is, the boarding / alighting detection unit 11 is the sensor 63. The boarding / alighting detection unit 11 can detect when a moving body 3 is passing between the car doors 61. In the boarding / alighting detection process, when the state changes from one in which no object is detected between the car doors 61 to one in which an object is detected, the boarding / alighting detection unit 11 detects that a part of the moving body 3 is entering the car 54 or that a part of the moving body 3 is exiting the car 54.

[0085] As shown in Figure 10, the detector 10 and the boarding / alighting detection unit 11 are Hall motion sensors installed on the three-sided frame of the landing B3. The boarding / alighting detection unit 11 can detect when the moving body 3 is passing between the three-sided frame, i.e., the landing doors. In the boarding / alighting detection process, when the state changes from one in which no object is detected by the Hall motion sensor to one in which an object is detected, the boarding / alighting detection unit 11 detects that a part of the moving body 3 is entering the car 54 or that a part of the moving body 3 is exiting the car 54. Alternatively, in the boarding / alighting detection process, the boarding / alighting detection unit 11 may also detect, based on the detection result of the Hall motion sensor, when an object approaches the threshold 62, that a part of the moving body 3 is entering the car 54 or that a part of the moving body 3 is exiting the car 54.

[0086] In addition to the first and second examples, the detector 10 and the boarding / alighting detection unit 11 may also be contact sensors provided on the threshold 62 or a camera 64. For example, the boarding / alighting detection unit 11 may be a contact sensor provided on the side of the threshold 62 on the landing B3 side. For example, if the detector 10 is a camera 64, the boarding / alighting detection unit 11 may detect when a part of the mobile body 3 enters the car 54 or when a part of the mobile body 3 exits the car 54, based on the position of the image of the mobile body 3 captured by the camera 64.

[0087] The detector 10 may also be installed on the moving body 3. For example, the boarding / alighting detection unit 11 is a variety of sensors or a camera used for the movement of the moving body 3. The boarding / alighting detection unit 11 may detect when a part of the moving body 3 enters the car 54 or when a part of the moving body 3 exits the car 54 by detecting when the moving body 3 passes over a boundary portion of the car 54, such as a threshold 62. Alternatively, the boarding / alighting detection unit 11 may be a radio wave receiver. The radio wave receiver may detect when a part of the moving body 3 enters the car 54 or when a part of the moving body 3 exits the car 54 based on the received strength of the landing radio waves from a beacon installed at the landing B3 and the car radio waves installed on the car 54.

[0088] According to Embodiment 1 described above, the elevator system 1 comprises a communication unit 41, a calculation unit 43, and an execution unit 44. The calculation unit 43 calculates the releveling amount based on the weight previously sent from the moving body 3. The execution unit 44 raises or lowers the car 54 by the releveling amount when a part of the moving body 3 enters the car 54 or when a part of the moving body 3 exits the car 54, thereby performing the releveling of the car 54. For example, when a part of the moving body 3 enters the car 54 or when a part of the moving body 3 exits the car 54, it means that a part of the moving body 3 is in the car 54 and the other part of the moving body 3 is not in the car 54. Therefore, there is no need to perform special communication when the moving body 3 enters or exits the car 54. As a result, the moving body 3 can be quickly loaded into or unloaded from the car 54.

[0089] Furthermore, in the elevator control system described in Patent Document 1, the moving body 3 requires special functions such as a function to detect steps and a function to communicate with the elevator device based on the detected steps. In elevator system 1, the moving body 3 only needs to transmit information indicating its weight. Therefore, even a moving body 3 with a simple configuration can be controlled to board the elevator device 50.

[0090] Furthermore, generally, releveling of the elevator car 54 is often not detected unless the amount of sinking or rising of the car 54 exceeds a threshold. In this case, if the allowable step height of the moving body 3 is smaller than the threshold, there is a risk that the operation of the moving body 3 will stop without releveling being performed. In elevator system 1, the car 54 is moved by this releveling amount regardless of the amount the car 54 actually moves. Therefore, it is possible to prevent the moving body 3 from becoming unable to move due to a step height.

[0091] Furthermore, when the first condition is applicable, the communication unit 41 receives the time when a portion of the mobile body 3 enters the car 54 from the mobile body 3, or the time when a portion of the mobile body 3 exits the car 54. Alternatively, the calculation unit 43 estimates the time. The execution unit 44 raises or lowers the car 54 by the amount of the releveling at that time. As a result, the elevator system 1 can perform the releveling with more precise timing.

[0092] Furthermore, the elevator system 1 also includes an entry / exit detection unit 11. The entry / exit detection unit 11 may be a sensor provided on the moving body 3. The entry / exit detection unit 11 may be a sensor provided on the elevator device 50 that detects when an object has passed through the car door 61. The entry / exit detection unit 11 may be provided on the elevator device 50 that detects when the moving body 3 has passed through the car door 61 from video footage taken inside the car 54. When the second condition, in which the entry / exit detection unit 11 is present, is applicable, the execution unit 44 raises or lowers the car 54 by the amount of this releveling when entry or exit of the moving body 3 is detected. Therefore, even if the time used in the first condition cannot be calculated, this releveling can be performed at a more accurate timing.

[0093] Furthermore, the execution unit 44 may raise or lower the car 54 by a pre-releveling amount before a portion of the moving body 3 enters or leaves the car 54. The pre-releveling amount is set within the allowable step height of the moving body 3. In this way, the elevator system 1 can suppress the occurrence of steps within the range in which the moving body 3 can enter or leave.

[0094] Furthermore, after performing the main releveling, the execution unit 44 raises or lowers the car 54 by an additional releveling amount. In particular, the calculation unit 43 may calculate the additional releveling amount so that the detected value of the tilt sensor of the moving body 3 approaches the horizontal direction. Therefore, even if a step of a different amount than expected occurs after a part of the moving body 3 enters or leaves the car 54, the elevator system 1 can control the car 54 to eliminate the step.

[0095] Furthermore, if an abnormality is detected in the movement of the moving body 3, the execution unit 44 raises or lowers the car 54 by an additional releveling amount. This abnormality may also be detected by an abnormality detection unit 12 provided on the moving body 3. Therefore, the elevator system 1 can, in particular, detect a step that causes an abnormality in the movement of the moving body 3, and can control the car 54 to eliminate the step.

[0096] Furthermore, the calculation unit 43 calculates the amount of sinking of the car 54 when a part of the moving body 3 is on the car 54 and the other part of the moving body 3 is not on the car 54 as the main releveling amount. In addition, the calculation unit 43 calculates the amount of sinking when the entire moving body 3 is on the car 54 as the final releveling amount. As the final releveling, the execution unit 44 moves the car 54 so that it rises or falls from the landing position by the final releveling amount. In this way, the elevator system 1 can adjust the position of the car 54 so that objects other than the moving body 3 can easily get on and off the car 54.

[0097] Embodiment 2. Figure 11 is a functional block diagram of the elevator system in Embodiment 2. Parts identical or corresponding to those in Embodiment 1 are denoted by the same reference numerals. Descriptions of these parts are omitted.

[0098] In Embodiment 2, the elevator system 1 further utilizes a weighing device 65 provided in the car 54. The weighing device 65 measures the weight of an object placed on the floor plate 60 as a weighed value.

[0099] For example, the calculation unit 43 may use the weighing value measured by the weighing device 65 when calculating the additional releveling amount. As an example, in step S012 of the flowchart in Figure 7, the calculation unit 43 calculates the additional releveling amount so that the current weighing value of the weighing device 65 approaches half of the total weight of the mobile body 3. This is because, for example, if the weighing value is less than half of the total weight, even though it is assumed that half of the wheels of the mobile body 3 are on the cage 54, it is possible that the bottom surface of the housing of the mobile body 3 is riding on one of the thresholds.

[0100] For example, the calculation unit 43 may predict a predicted time progression based on information about the total weight of the moving body 3 and information about the time when part of the moving body 3 is placed on the cage 54 or when part of the moving body 3 is dismounted from the cage 54. The predicted time progression shows the time progression in which the weighing value of the weighing device 65 changes from a certain starting time until the moving body 3 is placed on the cage 54 or dismounted from the cage 54. In this case, the anomaly detection unit 12 detects an anomaly related to the movement of the moving body 3 if there is a discrepancy between the actual time progression of the weighing value measured by the weighing device 65 and the predicted time progression. For example, if the difference between the weighing value predicted in the predicted time progression and the weighing value in the actual time progression is greater than a predetermined threshold, the anomaly detection unit 12 determines that the two time progressions are diverging.

[0101] If an abnormality is detected in this manner, the calculation unit 43 may calculate an additional releveling amount so that the current weighing value of the weighing device 65 approaches the value shown in the predicted time trend.

[0102] According to the embodiment 2 described above, the calculation unit 43 calculates an additional releveling amount so that the weighing value of the weighing device 65 approaches half the weight received from the moving body 3. As a result, the elevator system 1 can effectively eliminate the condition in which the step is in contact with the moving body 3.

[0103] Furthermore, the calculation unit 43 calculates a predicted time trend. The calculation unit 43 calculates the amount of additional releveling so that the current weighing value of the weighing device 65 approaches the value shown in the predicted time trend. In particular, when the execution unit 44 performs additional releveling, it raises or lowers the car 54 until the weighing value is close to the value shown in the predicted time trend. As a result, the elevator system 1 can perform additional releveling so that the moving body 3 is in the expected position.

[0104] Next, using Figure 12, we will explain an example of the hardware that makes up the collaborative device 4. Figure 12 is a hardware configuration diagram of the elevator system's interlocking device in Embodiment 1 or 2.

[0105] Each function of the collaborative device 4 can be realized by a processing circuit. For example, the processing circuit comprises at least one processor 100a and at least one memory 100b. For example, the processing circuit comprises at least one dedicated hardware 200.

[0106] When the processing circuit comprises at least one processor 100a and at least one memory 100b, each function of the cooperative device 4 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the cooperative device 4 by reading and executing the program stored in at least one memory 100b. At least one processor 100a is also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, minidisc, DVD, etc.

[0107] If the processing circuit includes at least one dedicated hardware 200, the processing circuit may be implemented as, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the cooperative device 4 may be implemented by a processing circuit. For example, each function of the cooperative device 4 may be implemented together by a processing circuit.

[0108] For each function of the linked device 4, some may be implemented by dedicated hardware 200, and others by software or firmware. For example, the function of the execution unit 44 performing various judgments may be implemented by a processing circuit as dedicated hardware 200, while functions other than the function of the execution unit 44 performing various judgments may be implemented by at least one processor 100a reading and executing a program stored in at least one memory 100b.

[0109] In this way, the processing circuit realizes each function of the linked device 4 through hardware 200, software, firmware, or a combination thereof.

[0110] Although not shown in the diagram, the functions of the control panel 2 and the mobile unit 3 are also realized by processing circuits equivalent to those that realize the functions of the linkage device 4.

[0111] Furthermore, at least some of the functions of the linked device 4 may be implemented on a cloud server. In this case, the processing circuit is composed of multiple sub-circuits. These multiple sub-processing circuits are provided in each of the multiple devices that make up the cloud server. The multiple devices that make up the cloud server may each be located in a different building.

[0112] Furthermore, at least some of the functions of the coordinating device 4 may be provided in the control panel 2. For example, if all the functions of the coordinating device 4 are provided in the control panel 2, the elevator system 1 may be realized by direct communication between the control panel 2 and the mobile unit 3.

[0113] Furthermore, a mobile body control device that controls the movement of the mobile body 3 may be provided between the coordinating device 4 and the mobile body 3. In this case, the coordinating device 4 receives information about the mobile body 3 from the mobile body control device. The coordinating device 4 transmits information to the mobile body 3 via the mobile body control device.

[0114] To summarize the above explanation, the possible configurations of the technology relating to this disclosure include the configurations listed below as appendices. (Note 1) A communication unit that receives notifications from an autonomously moving mobile body that it is boarding or alighting from an elevator car, and information indicating the weight of the mobile body, A calculation unit that calculates the amount of the cage to be releveled based on the weight of the received moving body, When a part of the moving body is placed on the cage or when a part of the moving body is removed from the cage, the hoisting machine that drives the cage raises or lowers the cage by the amount of the releveling, An elevator system equipped with this system. (Note 2) The communication unit receives from the mobile body the time when a part of the mobile body enters the cage or the time when the mobile body exits the cage. The execution unit raises or lowers the car by the amount of the releveling when it receives from the moving body the time when a part of the moving body is on the car or when a part of the moving body is removed from the car. The elevator system described in Appendix 1. (Note 3) The calculation unit estimates the time when a part of the moving body enters the basket or the time when a part of the moving body exits the basket, based on the position of the moving body, the speed of the moving body, and the time when the moving body starts moving. The execution unit raises or lowers the cage by the amount of the releveling amount at the time estimated by the calculation unit when a part of the moving body is on the cage or when a part of the moving body is dismounted from the cage. The elevator system described in Appendix 1. (Note 4) Boarding / alighting detection unit that detects when a part of the mobile body enters the basket or when a part of the mobile body exits the basket. Furthermore, When the boarding / alighting detection unit detects that a part of the moving body is on the car or that a part of the moving body is dismounting from the car, the execution unit raises or lowers the car by the amount of the releveling. The elevator system described in Appendix 1. (Note 5) The boarding / alighting detection unit is a sensor provided on the moving body. The elevator system described in Appendix 4. (Note 6) The boarding / alighting detection unit is a sensor provided in the elevator device that detects when an object has passed through the car door of the elevator car. The elevator system described in Appendix 4. (Note 7) The boarding / alighting detection unit is provided in the elevator device and detects from video footage taken inside the elevator car that the moving object has passed through the elevator car door. The elevator system described in Appendix 4. (Note 8) The communication unit receives information from the mobile body regarding the allowable step height, which is the size of the floor step height that the mobile body is allowed to allow when it is moving. The execution unit raises or lowers the cage by the hoisting machine by a pre-releveling amount set within the allowable step before a part of the moving body is placed on the cage or before a part of the moving body is lowered from the cage. An elevator system as described in any one of the items from Appendix 1 to Appendix 7. (Note 9) The execution unit, after the basket has risen or fallen by the initial releveling amount, uses the hoisting machine to raise or lower the basket by an additional releveling amount. An elevator system as described in any one of the items from Appendix 1 to Appendix 8. (Note 10) The communication unit receives the detected value from the tilt sensor that measures the tilt of the moving body with respect to the horizontal direction. The calculation unit calculates the additional releveling amount so that the value detected by the tilt sensor approaches the horizontal direction. The elevator system described in Appendix 9. (Note 11) The calculation unit calculates the additional releveling amount such that the weighing value of the weighing device provided in the basket approaches half the weight received from the moving body. The elevator system described in Appendix 9. (Note 12) If the moving body detects an abnormality related to movement after the basket has risen or fallen by the amount of the initial releveling, the execution unit raises or lowers the basket by the amount of the additional releveling based on the abnormality detected by the moving body. The elevator system described in any one of the appendices 9 through 11. (Note 13) An abnormality detection unit provided in the elevator device, which detects abnormalities in the movement of the moving body when the moving body enters the car or exits the car. Furthermore, If the abnormality detection unit detects an abnormality after the cage has risen or fallen by the amount of the main releveling, the execution unit raises or lowers the cage by the amount of the additional releveling. An elevator system described in any one of the appendices 9 through 12. (Note 14) The communication unit receives the time when a part of the mobile body enters the cage or the time when a part of the mobile body exits the cage. The calculation unit predicts the predicted time change of the weight inside the basket from the time the moving body is placed on the basket until the moving body is placed on the basket or until the moving body is placed off the basket, based on the weight and time received from the moving body. If the predicted time progression calculated by the calculation unit deviates from the time progression of the weighed value measured by the weighing device of the basket, the execution unit raises or lowers the basket by the amount of the additional releveling. An elevator system described in any one of the appendices 9 through 13. (Note 15) The execution unit raises or lowers the basket until the weighed value measured by the weighing device is close to the predicted time progression, as the additional releveling amount. The elevator system described in Appendix 14. (Note 16) The calculation unit calculates the amount by which the basket sinks when a part of the moving body is resting on the basket and the other part of the moving body is not resting on the basket as the main releveling amount. An elevator system as described in any one of the items from Appendix 1 to Appendix 15. (Note 17) The calculation unit calculates the amount by which the basket sinks when the entire moving body is on the basket as the final releveling amount. The execution unit moves the cage by the hoisting machine after the entire moving body is on the cage or after the entire moving body has dismounted from the cage, so that the cage rises or falls from the landing position by the final releveling amount. The elevator system described in Appendix 16. [Explanation of symbols]

[0115] 1 Elevator system, 2 Control panel, 3 Moving body, 4 Interlocking device, 10 Detector, 11 Boarding / Alighting detection unit, 12 Anomaly detection unit, 31 Individual communication unit, 32 Sensor unit, 33 Weight detection unit, 34 Movement control unit, 41 Communication unit, 42 Interlocking unit, 43 Calculation unit, 44 Execution unit, 50 Elevator device, 51 Hoisting machine, 52 Vibration-damping rubber, 53 Main rope, 54 Car, 55 Shackle spring, 56 Landing plate, 57 Landing position detector, 58 Frame, 59 Car floor rubber, 60 Floor plate, 61 Car door, 62 Threshold, 63 Sensor, 64 Camera, 65 Weighing device, 100a Processor, 100b Memory, 200 Hardware, B Building, B1 Elevator, B2 Machine Room, B3 Landing

Claims

1. A communication unit that receives notifications from an autonomously moving mobile body that it is boarding or alighting from an elevator car, and information indicating the weight of the mobile body, A calculation unit that calculates the amount of the cage to be releveled based on the weight of the received moving body, When a part of the moving body is placed on the cage or when a part of the moving body is removed from the cage, the hoisting machine that drives the cage raises or lowers the cage by the amount of the releveling, An elevator system equipped with this system.

2. The communication unit receives from the mobile body the time when a part of the mobile body enters the cage or the time when a part of the mobile body exits the cage. The execution unit raises or lowers the car by the amount of the releveling when it receives from the moving body the time when a part of the moving body is on the car or when a part of the moving body is removed from the car. The elevator system according to claim 1.

3. The calculation unit estimates the time when a part of the moving body enters the basket or the time when a part of the moving body exits the basket, based on the position of the moving body, the speed of the moving body, and the time when the moving body begins to move. The execution unit raises or lowers the cage by the amount of the releveling amount at the time estimated by the calculation unit when a part of the moving body is on the cage or when a part of the moving body is dismounted from the cage. The elevator system according to claim 1.

4. Boarding / alighting detection unit that detects when a part of the mobile body enters the basket or when a part of the mobile body exits the basket. Furthermore, When the boarding / alighting detection unit detects that a part of the moving body is on the car or that a part of the moving body is dismounting from the car, the execution unit raises or lowers the car by the amount of the releveling. The elevator system according to claim 1.

5. The boarding / alighting detection unit is a sensor provided on the moving body. The elevator system according to claim 4.

6. The boarding / alighting detection unit is a sensor provided in the elevator device that detects when an object has passed through the car door of the elevator car. The elevator system according to claim 4.

7. The boarding / alighting detection unit is provided in the elevator device and detects from video footage taken inside the elevator car that the moving object has passed through the elevator car door. The elevator system according to claim 4.

8. The communication unit receives information from the mobile body regarding the allowable step height, which is the size of the floor step height that the mobile body is allowed to allow when it is moving. The execution unit raises or lowers the cage by the hoisting machine by a pre-releveling amount set within the allowable step before a part of the moving body is placed on the cage or before a part of the moving body is lowered from the cage. The elevator system according to any one of claims 1 to 7.

9. The execution unit, after the basket has risen or fallen by the initial releveling amount, uses the hoisting machine to raise or lower the basket by an additional releveling amount. The elevator system according to any one of claims 1 to 7.

10. The communication unit receives the detected value from the tilt sensor that measures the tilt of the moving body with respect to the horizontal direction. The calculation unit calculates the additional releveling amount so that the value detected by the tilt sensor approaches the horizontal direction. The elevator system according to claim 9.

11. The calculation unit calculates the additional releveling amount such that the weighing value of the weighing device provided in the basket approaches half the weight received from the moving body. The elevator system according to claim 9.

12. If the moving body detects an abnormality related to movement after the cage has risen or fallen by the amount of the initial releveling, the execution unit raises or lowers the cage by the amount of the additional releveling based on the abnormality detected by the moving body. The elevator system according to claim 9.

13. An abnormality detection unit provided in the elevator device, which detects abnormalities in the movement of the moving body when the moving body enters the car or exits the car, Furthermore, If the abnormality detection unit detects an abnormality after the cage has risen or fallen by the amount of the main releveling, the execution unit raises or lowers the cage by the amount of the additional releveling. The elevator system according to claim 9.

14. The communication unit receives the time when a part of the mobile body enters the cage or the time when a part of the mobile body exits the cage. The calculation unit predicts the predicted time change of the weight inside the basket from the time the moving body is placed on the basket until the moving body is placed on the basket or until the moving body is placed off the basket, based on the weight and time received from the moving body. If the predicted time progression calculated by the calculation unit deviates from the time progression of the weighed value measured by the weighing device of the basket, the execution unit raises or lowers the basket by the additional releveling amount. The elevator system according to claim 9.

15. The execution unit raises or lowers the basket until the weighed value measured by the weighing device is close to the predicted time progression, as the additional releveling amount. The elevator system according to claim 14.

16. The calculation unit calculates the amount by which the basket sinks when a part of the moving body is resting on the basket and the other part of the moving body is not resting on the basket as the main releveling amount. The elevator system according to any one of claims 1 to 7.

17. The calculation unit calculates the amount by which the basket sinks when the entire moving body is on the basket as the final releveling amount. The execution unit moves the cage by the hoisting machine after the entire moving body is on the cage or after the entire moving body has dismounted from the cage, so that the cage rises or falls from the landing position by the final releveling amount. The elevator system according to claim 16.

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