Elevator control device and control method

Abstract

Even when robots are allowed to ride elevators alongside passengers, the system will maintain a high level of convenience for users. [Solution] When assigning a landing call for a target robot, if a landing call for a user has been assigned to a target car, which is all or part of the multiple elevator cars provided by the elevator, it is assumed that a landing call for the target robot has been assigned to that target car. For each user, the number of times the target robot boards or alights at any floor from the user's departure floor to the floor immediately preceding the user's destination floor is counted. Furthermore, a counting process is performed to determine the maximum number of boarding and alighting for those users, and then the landing call for the target robot is assigned to the elevator car with the smallest maximum number of boarding and alighting.

Description

Technical Field

[0001] The present invention relates to an elevator control technology used by both users and robots.

Background Art

[0002] There are elevators in which destination floor registration devices are installed on each floor (for example, see Patent Document 1). In such an elevator, each time a user registers their destination floor at the destination floor registration device on any floor, the assignment of the landing call for the user is made to the car.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, robots have been increasingly used in various operations in buildings (such as cleaning, monitoring, transportation, etc.) (for example, see Patent Document 2). Along with this, the cases where elevators are used for the inter-floor movement of robots in buildings have been increasing. Also, in such cases, it has become more common for robots to be allowed to ride with users in the car.

[0005] On the other hand, in elevators where robots are permitted to ride alongside passengers, passengers may encounter robots boarding or alighting at intermediate floors between their arrival and departure. In such elevators, it is possible that a passenger may experience robots boarding or alighting multiple times during a single ride. The more times a passenger experiences robots boarding or alighting, the longer they will have to wait inside the elevator, resulting in a longer overall elevator usage time (ride time). Therefore, allowing robots to ride alongside passengers in elevators may reduce the convenience of the elevator for passengers.

[0006] Therefore, the objective of the present invention is to maintain a high level of elevator convenience for users even when robots are allowed to ride in elevators together with users. [Means for solving the problem]

[0007] The control device according to the present invention is a control device that assigns landing calls to elevator cars in an elevator, and has the following configuration (Aspect 1). When the control device assigns landing calls for a target robot, it uses all or some of the multiple elevator cars provided by the elevator as target cars, and for each target car, if landing calls for users have been assigned to that target car, it assumes that landing calls for the target robot have been assigned to that target car, and counts the number of times the target robot boards or alights at any floor from the user's departure floor to the floor immediately preceding the user's destination floor for each user, and further performs a counting process to set the maximum number of boarding and alighting for those users as the maximum number of boarding and alighting, and then assigns landing calls for the target robot to the elevator car with the smallest maximum number of boarding and alighting among the target cars.

[0008] According to the above embodiment 1, the assignment of a landing call for the target robot can be made to the elevator car that minimizes the maximum number of times the robot (including the target robot) will get on and off. As a result, even if users have to experience getting on and off with the robot, it is possible to minimize the elevator usage time required for the user who has to experience getting on and off the elevator the most at that time. Therefore, even when robots are allowed to ride in elevators with users, it is possible to maintain the highest possible level of elevator convenience for users.

[0009] The control device according to the above embodiment 1 may have the following configuration (embodiment 2). In the counting process, the control device may, for each target elevator car, designate that elevator car as the elevator car of interest and each user to whom a landing call has been assigned to that elevator car of interest as the user of interest, and execute the first process. In the first process, the control device determines whether the departure floor of the target robot matches any floor from the departure floor of the user of interest to the floor immediately preceding the destination floor of the user of interest, and whether the destination floor of the target robot matches, and counts the number of boarding and alighting each time it is determined that they match.

[0010] The control device according to the above embodiment 2 may have the following configuration (embodiment 3). In the counting process, the control device may further perform a second process. In the second process, the control device extracts the departure floor and destination floor of robots other than the target robot that have been assigned to call a landing to the elevator car of interest as boarding and alighting floors, and for each boarding and alighting floor, it determines whether it matches any of the floors from the departure floor of the user of interest to the floor immediately preceding the destination floor of the user of interest, and if it determines that they match, it counts the number of boarding and alighting.

[0011] According to embodiments 2 and 3 described above, the counting of the number of times a user will get on or off a robot in the focus cart can be divided into a first process that counts the number of times the user will get on or off the target robot, and a second process that counts the number of times the user will get on or off other robots (robots other than the target robot).

[0012] Furthermore, according to the above embodiment 3, the maximum number of times a robot can be boarded or alighted can be determined by considering both the number of times the target robot is boarded or alighted and the number of times other robots are boarded or alighted, and assigning a boarding call for the target robot to the elevator car that minimizes the maximum number of boarding and alighting times. In addition, in the second process, the number of times a user of interest will experience boarding or alighting from other robots (robots other than the target robot) in the elevator car of interest can be counted in a simple way by comparing the boarding and alighting floors of the extracted robots with the travel section of the user of interest (the section from the user of interest's departure floor to the floor immediately preceding the user's destination floor).

[0013] The control device according to the above embodiment 3 may have the following configuration (embodiment 4). When the control device extracts the departure floor and destination floor of the robot in the second process, floors that are the same may be extracted together as a single boarding / alighting floor.

[0014] According to the above embodiment 4, on floors where multiple robots board and alight, the number of boarding and alighting will be counted as one.

[0015] The control device according to the above embodiment 3 may have the following configuration (embodiment 5). When the control device extracts the departure floor and destination floor of the robot in the second process, it may extract all of the same floors as separate boarding and alighting floors, rather than combining them into one.

[0016] According to embodiment 5 described above, on floors where multiple robots board and alight, the number of boarding and alighting counts can be the same as the number of robots. In other words, it becomes possible to reflect the number of robots boarding and alighting on the same floor in the number of boarding and alighting counts.

[0017] A control device according to any of the above embodiments 1 to 5 may have the following configuration (embodiment 6). When the control device assigns a landing call for a target robot, it may extract from among the multiple elevator cars that the elevator has, those cars for which no landing calls have been assigned for robots other than the target robot, and then perform a counting process for each of the target cars.

[0018] According to the above embodiment 6, it becomes possible to distribute the allocation of elevator landing calls for robots to the elevator cars while maintaining the highest possible level of convenience for users. In other words, when multiple robots use the elevator at the same time, it becomes possible to maintain the highest possible level of convenience for users while preventing the imbalance of multiple robots riding in the same elevator car.

[0019] The control method according to the present invention is a control method for allocating landing calls to a car in an elevator, and has the following configuration (Aspect 7). In this control method, when allocating a landing call for a target robot, all or part of a plurality of cars provided in the elevator are used as target cars, and for each of the target cars, when a landing call for a user has been allocated to the target car, assuming that a landing call for the target robot has been allocated to the target car, for each user, the number of boarding and alighting times when the target robot or another robot boards or alights at any floor from the departure floor of the user to the floor immediately before the destination floor of the user is counted. Furthermore, a counting process is executed in which the maximum value among these boarding and alighting times for the users is set as the maximum boarding and alighting times, and then, for the car among the target cars with the minimum maximum boarding and alighting times, a landing call for the target robot is allocated.

Effect of the Invention

[0020] According to the present invention, even when allowing a robot to share a ride with a user in an elevator, the convenience of the elevator for the user can be maintained at a high level.

Brief Description of the Drawings

[0021] [Figure 1] It is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. [Figure 2] It is a conceptual diagram exemplifying (A) robot management data and (B) allocation request management data used in an embodiment. [Figure 3] It is a conceptual diagram exemplifying (A) device management data and (B) allocation management data used in an embodiment. [Figure 4] It is a flowchart showing an allocation request process executed in an embodiment. [Figure 5] It is a flowchart showing an allocation process executed in an embodiment. [Figure 6] It is a flowchart showing a first counting process executed in an embodiment. [Figure 7] This is a flowchart showing part of the second counting process executed in the embodiment. [Figure 8] This is a flowchart showing the continuation of FIG. 7 for the second counting process. [Figure 9] This is a flowchart showing the continuation of FIG. 8 for the second counting process. [Figure 10] This is a flowchart showing part of the second counting process executed in the second modification example. [Figure 11] This is a flowchart showing the continuation of FIG. 10 for the second counting process.

Embodiments for Carrying Out the Invention

[0022] [1] Embodiment [1-1] Overall Configuration of the Elevator FIG. 1 is a conceptual diagram showing the overall configuration of an elevator according to the embodiment. In this embodiment, a destination floor registration device 1 is installed on each floor of the elevator. When a user uses the elevator, it is necessary to pre-register their destination floor Fd at the destination floor registration device 1 installed on the boarding floor. Further, this elevator is used not only by users but also by a robot H that performs various operations (cleaning, monitoring, transportation, etc.) in the building where the elevator is installed. In other words, the robot H can also move between floors using the elevator.

[0023] In this embodiment, the robot H is centrally managed by a robot management device 2. Also, the elevator has a plurality of carriages G, and these carriages G are centrally managed by a group management control device 3. Further, in this embodiment, the robot H is allowed to ride with users in the carriage G. And even when the robot H is allowed to ride with users in this way, in order to maintain a high level of convenience of the elevator for users, control processing for enabling this is executed by the group management control device 3. Hereinafter, the configuration of each part will be specifically described.

[0024] <Destination Floor Registration Device> The destination floor registration device 1 is equipped with a device that combines the functions of both an input unit and a display unit, such as a touch panel, and through this device, users can register their destination floor Fd and receive various information. The destination floor registration device 1 may also have separate input and display units. For example, the input unit may consist of mechanical buttons (such as a numeric keypad), and the display unit may consist of a dedicated monitor.

[0025] Then, when a user operates the destination floor registration device 1 on any floor and registers their destination floor Fd, that destination floor Fd is transmitted to the group control device 3. This sends a request to the group control device 3 for the allocation of a landing call X (hereinafter referred to as "landing call Xg") for that user. At this time, in order for the group control device 3 to recognize which registration device the operated destination floor registration device 1 is, device information Pd to distinguish that destination floor registration device 1 from other registration devices is also transmitted to the group control device 3.

[0026] <Robot Management Device> Robot management device 2 is a device that centrally manages robot H (see Figure 1). Note that robot management device 2 is not limited to being installed in the same building as the elevator; it may also be a server or program that manages robot H on the cloud.

[0027] In this embodiment, the robot management device 2 is aware of the floor Fx where each robot H is deployed. When a robot H needs to move between floors, it transmits the destination floor Fy to the robot management device 2. At this time, the robot H also transmits its own robot information Ph to the robot management device 2 to enable identification from other robots H, so that the robot management device 2 can recognize which robot H sent the destination floor Fy.

[0028] When the robot management device 2 receives the destination floor Fy and robot information Ph from any robot H, it sends the deployment floor Fx and destination floor Fy of that robot H to the group control device 3 as the departure floor Fc and destination floor Fd, respectively, thereby requesting the group control device 3 to assign a landing call X (hereinafter referred to as "landing call Xh") for that robot H (assignment request processing; see Figure 4). At this time, the robot management device 2 also sends the robot information Ph of that robot H to the group control device 3 so that the group control device 3 recognizes which robot H the transmitted assignment request is for. Details of this assignment request processing will be described later.

[0029] Subsequently, when elevator car G arrives at the robot H's deployment floor Fx in response to the landing call Xh, the robot management device 2 instructs robot H to board elevator car G (boarding command processing). In this case, at an appropriate timing after robot H has boarded elevator car G (for example, when robot H has finished boarding), the group management device 3 registers the destination floor Fd indicated by robot H's landing call Xh as the elevator car call Y for robot H (hereinafter referred to as "elevator call Yh"). Then, when elevator car G arrives at robot H's destination floor Fy in response to the elevator car call Yh, the robot management device 2 instructs robot H to disembark from elevator car G (disembarking command processing).

[0030] Specifically, the robot management device 2 comprises a storage unit 21 and a control unit 22 (see Figure 1).

[0031] The memory unit 21 is a part composed of memory devices such as ROM and RAM, and stores information necessary for the control processing performed by the robot management device 2. In this embodiment, robot management data Dp and assignment request management data Dq are stored in the memory unit 21 as such information.

[0032] Here, the robot management data Dp is a database for managing multiple pieces of information related to each robot H, linking them together (see Figure 2(A)). The assignment request management data Dq is data for managing assignment request information for robot H (see Figure 2(B)).

[0033] Figure 2(A) is a conceptual diagram illustrating the robot management data Dp used in this embodiment. In the robot management data Dp, for each robot H, the robot information Ph and deployment floor Fx of that robot H, and the destination when the robot H moves between floors are recorded in a manner that is associated with each other. Here, the deployment floor Fx associated with each robot H is the current floor where the robot H is deployed, and is updated each time the robot H moves between floors. In addition, the destination associated with each robot H records the target floor Fy that the robot H has transmitted for inter-floor movement, and this target floor Fy is deleted when the robot H has finished disembarking at that floor.

[0034] As a result, when the robot management device 2 receives robot information Ph along with the destination floor Fy from any robot H, it can identify the deployment floor Fx of that robot H from the robot information Ph. In this embodiment, the deployment floor Fx of that robot H is used as the departure floor Fc when the robot H moves between floors using the elevator. Furthermore, by referring to the destination associated with the robot information Ph of each robot H, the robot management device 2 can determine that the robot H is moving between floors if the destination floor Fy is recorded as the destination, and can also determine which floor that destination is. On the other hand, if the destination floor Fy is not recorded as the destination, the robot management device 2 can determine that the robot H is deployed on the deployment floor Fx (working).

[0035] Figure 2(B) is a conceptual diagram illustrating the assignment request management data Dq used in this embodiment. In the assignment request management data Dq, each time an assignment request for robot H is made to the group control device 3, the robot information Ph of robot H and the information transmitted to the group control device 3 in the assignment request (in this embodiment, the departure floor Fc and the destination floor Fd) are recorded in a corresponding manner. Then, the set of information for that assignment request is deleted from the assignment request management data Dq when robot H has completed disembarking at the destination floor Fd (=target floor Fy) transmitted in the assignment request.

[0036] The control unit 22 is responsible for executing the control processing (including assignment request processing, boarding command processing, and disembarking command processing) performed by the robot management device 2. Specifically, the control unit 22 is composed of processing devices such as a CPU and an MPU, and executes the control processing it is responsible for using software by running the control program installed in the robot management device 2. This control program may be stored in a readable state on a portable storage medium (e.g., flash memory) before being installed in the robot management device 2, or it may be stored in a downloadable state on another server. Furthermore, the control processing performed by the robot management device 2 is not limited to being implemented in software by executing a program, but may also be implemented in hardware by processing circuits built into the robot management device 2.

[0037] <Group Control System> The group control device 3 is a device that centrally manages the multiple elevator cars G of the elevator in this embodiment through elevator control devices provided for each elevator car G (see Figure 1).

[0038] Specifically, each time the group control device 3 receives an assignment request from the destination floor registration device 1 or the robot management device 2, it selects an elevator car G from among several elevator cars G to be assigned to that elevator car G in accordance with the request, and assigns the landing call X to that elevator car G (assignment process; see Figure 5). Then, the group control device 3 causes the elevator car G to perform a response operation to the landing call X (response process). In this embodiment, the group control device 3 performs processing within the assignment process to ensure that the convenience of the elevator for users is maintained to a high degree even when the robot H is allowed to ride in the elevator with a user. Details of this assignment process will be described later.

[0039] Furthermore, when the group control device 3 responds to a user's landing call Xg, it registers the destination floor Fd indicated by the landing call Xg as a car call Y for the user (hereinafter referred to as "car call Yg") for the car G at an appropriate timing after the car G arrives at the departure floor Fc indicated by the landing call Xg (for example, when the doors begin to open or when the sensor on the door detects the user boarding) (registration process). Also, when the group control device 3 responds to a robot H's landing call Xh, it registers the destination floor Fd indicated by the robot H's landing call Xh as a car call Yh for the car G at an appropriate timing after the robot H has finished boarding the car G (for example, when the robot H has finished boarding) (registration process). Then, the group control device 3 causes the car G to perform response operations to those car calls Y (response process).

[0040] In terms of its specific configuration, the group control device 3 comprises a storage unit 31 and a control unit 32 (see Figure 1).

[0041] The storage unit 31 is a part composed of storage devices such as ROM and RAM, and stores information necessary for control processing performed by the group management control device 3. In this embodiment, such information stored in the storage unit 31 includes device management data Dr and assignment management data Dt.

[0042] Here, the device management data Dr is a database for managing multiple pieces of information related to each destination floor registration device 1, linking them together (see Figure 3(A)). The assignment management data Dt is data for managing information about the landing call X for the user and robot H (see Figure 3(B)).

[0043] Figure 3(A) is a conceptual diagram illustrating the device management data Dr used in this embodiment. In the device management data Dr, for each destination floor registration device 1, the device information Pd and installation floor Fs of that registration device are recorded in a manner that is associated with each other.

[0044] As a result, when the group control device 3 receives device information Pd along with the destination floor Fd from any of the destination floor registration devices 1, it can identify the installation floor Fs of the destination floor registration device 1 (the registration device on which the destination floor Fd was registered) from the device information Pd. In this embodiment, the installation floor Fs of the destination floor registration device 1 is used as the departure floor Fc of the user who operated the registration device to register the destination floor Fd.

[0045] Figure 3(B) is a conceptual diagram illustrating the allocation management data Dt used in this embodiment. In the allocation management data Dt, each time a landing call X is assigned to a user or robot H by the group control device 3, the following are recorded in association with each other: identification information Pi and attribute information Pj to identify the target of the assignment, information about the landing call X (departure floor Fc and destination floor Fd), destination direction Kz, and car information Pg to identify the elevator car G to which the landing call X was assigned as one of the other cars. The information about each landing call X and the information associated with it are deleted from the allocation management data Dt when the elevator car G reverses its direction of movement after the landing call X has finished its job (for example, after the elevator car G arrives at the destination floor Fd indicated by the landing call X).

[0046] Here, the identification information Pi records a number (such as a serial number) assigned to the user for each assignment if the recipient of the assignment is a user, and the robot information Ph of robot H is recorded if the recipient of the assignment is robot H. The attribute information Pj records information to distinguish whether the recipient of the assignment is a user or robot H (in the example of Figure 3(B), it is either "user" or "robot"). The destination direction Kz records the direction from the departure floor Fc to the destination floor Fd (in the example of Figure 3(B), it is either "up" or "down").

[0047] The control unit 32 is responsible for executing the control processing (including allocation processing, registration processing, and response processing) performed by the group management control device 3. Specifically, the control unit 32 is composed of processing devices such as a CPU and an MPU, and executes the control processing it is responsible for using software by running the control program installed in the group management control device 3. This control program may be stored in a readable state on a portable storage medium (e.g., flash memory) before being installed in the group management control device 3, or it may be stored in a downloadable state on another server. Furthermore, the control processing performed by the group management control device 3 is not limited to being implemented in software by executing a program, but may also be implemented in hardware by processing circuits built into the group management control device 3.

[0048] [1-2] Control processes performed in the elevator [1-2-1] Assignment request processing performed by the robot management device Figure 4 is a flowchart showing the assignment request process performed in this embodiment. This assignment request process is initiated each time the robot management device 2 receives the target floor Fy and robot information Ph from any robot H. Here, the robot H that sent this information (the robot H identified by the transmitted robot information Ph) is referred to as the "target robot Hk". The information received by the robot management device 2 at that time (including the target floor Fy and robot information Ph) is collectively referred to as "received information Pr1".

[0049] When the assignment request process begins, the robot management device 2 uses the robot management data Dp (see Figure 2(A)) to find a robot information Ph that matches the robot information Ph in the received information Pr1, and then extracts the corresponding deployment floor Fx (step S101). Furthermore, the robot management device 2 records the target floor Fy in the received information Pr1 as the destination in the robot management data Dp, corresponding to the found robot information Ph. This records in the robot management data Dp that the target robot Hk is moving between floors toward the target floor Fy. In the example in Figure 2(A), it is shown that for two robots H whose robot information Ph is "H-01" and "H-02" respectively, the target floors Fy for those robots H, "8th floor" and "12th floor," are recorded as destinations.

[0050] Subsequently, the robot management device 2 sends an assignment request for the landing call Xh for the target robot Hk to the group control device 3, using the target robot Hk's deployment floor Fx and destination floor Fy as the departure floor Fc and destination floor Fd, respectively, and transmitting this information (departure floor Fc and destination floor Fd) to the group control device 3 (step S102). At this time, the robot management device 2 also transmits the robot information Ph of the target robot Hk to the group control device 3 so that the group control device 3 recognizes which robot H the transmitted assignment request is for.

[0051] Furthermore, the robot management device 2 records the information transmitted to the group management control device 3 (robot information Ph, departure floor Fc, destination floor Fd) in the assignment request management data Dq, as assignment request information for the target robot Hk, in a corresponding manner (see Figure 2(B)). The example in Figure 2(B) shows the case where assignment request information for robot H that needs to move from the 5th floor to the 8th floor (Ph="H-01", Fc="5th floor", Fd="8th floor") and assignment request information for robot H that needs to move from the 3rd floor to the 12th floor (Ph="H-02", Fc="3rd floor", Fd="12th floor") are recorded. After step S102, the robot management device 2 terminates the assignment request processing.

[0052] [1-2-2] Assignment process performed by the group control unit Figure 5 is a flowchart showing the assignment process performed in this embodiment. This assignment process is initiated each time the group management control device 3 receives an assignment request from the destination floor registration device 1 or the robot management device 2.

[0053] In the following, the information received by the group control device 3 each time an allocation request is made will be collectively referred to as "received information Pr2". Specifically, if the allocation request is from the destination floor registration device 1 (allocation request for landing call Xg for a user), this received information Pr2 will be a set of information including the departure floor Fc, destination floor Fd, and device information Pd. If the allocation request is from the robot management device 2 (allocation request for landing call Xh for robot H), this received information Pr2 will be a set of information including the departure floor Fc, destination floor Fd, and robot information Ph.

[0054] When the assignment process begins, the group management control device 3 first determines whether the received assignment request originated from the destination floor registration device 1 or the robot management device 2 by determining whether the device information Pd or the robot information Ph is included in the received information Pr2 (step S200).

[0055] If the group control device 3 determines in step S200 that "device information Pd" is included, it can determine that the received assignment request originated from the destination floor registration device 1. In this case, the group control device 3 first determines the landing call Xg of the user who made the request (i.e., the user who registered the destination floor Fd; hereafter, this user will be referred to as the "target user") (step S210).

[0056] Specifically, the group control device 3 uses the device management data Dr (see Figure 3(A)) to find the device information Pd recorded therein that matches the device information Pd in ​​the received information Pr2, and then extracts the corresponding installation floor Fs. The group control device 3 then uses the extracted installation floor Fs and the destination floor Fd in the received information Pr2 as the departure floor Fcs and destination floor Fds of the target user, respectively, and determines these floors (departure floor Fcs and destination floor Fds) as one landing call Xg for the target user. Hereafter, this landing call Xg for the target user will be referred to as the "target call Xgs".

[0057] After step S210, the group control device 3 treats all elevator cars G as target cars Gk and performs the following first counting process for each of the target cars Gk (step S211). In the first counting process, the group control device 3 counts the number of times robot H gets on or off the elevator during a single ride in the target car Gk (car information Pg=Pgk) (the number of times robot H gets on or off at any floor from the target user's departure floor Fcs to the floor immediately preceding the target user's destination floor Fds). Details of this first counting process will be described later.

[0058] After step S211, the group control device 3 compares the number of boarding and alighting counts N1(Pg) for all target cars Gk in step S211 to extract the car Gt with the minimum number of boarding and alighting counts N1(Pg) from among the target cars Gk (step S212), and then assigns the target call Xgs to that car Gt (step S213). If multiple car Gts are extracted in step S212, the group control device 3 selects the optimal car Gt from among them and assigns the target call Xgs to that car Gt.

[0059] Subsequently, the group management control device 3 assigns identification information Pi (such as a serial number) to the target user, sets attribute information Pj to "user," and sets the direction in which the target user moves from the departure floor Fcs to the destination floor Fds as the destination direction Kz. Then, it records this information, along with the target call Xgs information (departure floor Fcs, destination floor Fds) and the assignment destination information (cargo information Pg), in the assignment management data Dt in a manner that is associated with each other (step S214; see Figure 3(B)). After that, the group management control device 3 terminates the assignment process.

[0060] On the other hand, if the group control device 3 determines in step S200 that "robot information Ph" is included, it can determine that the received assignment request is a request from the robot management device 2. In this case, the group control device 3 first determines the landing call Xh of the robot H that generated the request (i.e., the robot H that needed to move between floors and sent the destination floor Fy to the robot management device 2. Hereinafter, this robot H will be referred to as "target robot Hk") (step S220).

[0061] Specifically, the group control device 3 determines the departure floor Fc and destination floor Fd in the received information Pr2 as the departure floor Fct and destination floor Fdt of the target robot Hk, respectively, and then determines these floors (departure floor Fct, destination floor Fdt) as a single landing call Xh for the target robot Hk. Hereinafter, this landing call Xh for the target robot Hk will be referred to as "target call Xht".

[0062] After step S220, the group control device 3 takes all elevator cars G as target cars Gk and performs the following second counting process for each target car Gk (step S221). In the second counting process, for each user to whom a landing call X has been assigned to a target car Gk (car information Pg=Pgk), the group control device 3 counts the number of times robot H boards or alights during a single ride in the target car Gk (the number of times the target robot Hk or another robot H boards or alights at any floor from the user's departure floor Fc to the floor immediately preceding the user's destination floor Fd). Furthermore, the maximum number of boarding / alighting counts N2(Pgk) for those users is set as the maximum number of boarding / alighting counts Nw(Pg=Pgk). Details of this second counting process will be described later.

[0063] After step S221, the group control device 3 compares the maximum number of boarding and alighting times Nw(Pg) obtained for all target cars Gk in step S221 to extract the car Gt with the smallest maximum number of boarding and alighting times Nw(Pg) from among the target cars Gk (step S222), and then assigns the target call Xht to that car Gt (step S223). If multiple car Gts are extracted in step S222, the group control device 3 selects the optimal car Gt from among them and assigns the target call Xht to that car Gt.

[0064] Subsequently, the group control device 3 uses the robot information Ph of the target robot Hk as identification information Pi, the attribute information Pj as "robot", and the direction in which the target robot Hk moves from the departure floor Fct to the destination floor Fdt as the destination direction Kz. Then, it records this information, along with the information of the target call Xht (departure floor Fct, destination floor Fdt) and the information of the assigned robot (cage information Pg), in the assignment management data Dt in a manner that is associated with each other (step S224; see Figure 3(B)). After that, the group control device 3 terminates the assignment process.

[0065] [1-2-3] First counting process performed by the group control device Figure 6 is a flowchart showing the first counting process performed in this embodiment. This first counting process is performed for each target car Gk (all elevator cars G in this embodiment). Specifically, the group control device 3 performs the first counting process for each target car Gk (hereinafter referred to as "target car Gkw").

[0066] In the first counting process, the group management control device 3 first extracts from the landing calls X already assigned to the car Gkw of interest that satisfy both of the following conditions: [1a] that the landing call X is the landing call Xh of robot H, and [1b] that the destination direction Kz from the departure floor Fc to the destination floor Fd indicated by the landing call X matches the destination direction Kz of the target user (the direction in which the target user travels from the departure floor Fcs to the destination floor Fds). (Step S301)

[0067] Specifically, the group management control device 3 searches among the car information Pg recorded in the allocation management data Dt (see Figure 3(B)) for a car information Pg that matches the car information Pg of the car Gkw of interest, whose attribute information Pj is "robot", and whose destination direction Kz matches the destination direction Kz of the target user. Then, it extracts the landing call X information (departure floor Fc and destination floor Fd) associated with that car information Pg.

[0068] After step S301, the group control device 3 determines whether or not a landing call X that satisfies both of the above conditions [1a] and [1b] has been extracted (step S302).

[0069] If the group control device 3 determines in step S302 that "extracted (Yes)", it can use that determination to determine that there is a robot H that may be riding with the target user in the target elevator car Gkw. In this case, the group control device 3 first lists the departure floor Fc and destination floor Fd indicated by the landing call Xh of robot H extracted in step S301 as boarding / alighting floors Fe1(I) (step S303). Here, the list number I is a number starting from 1.

[0070] In this embodiment, when the group control device 3 lists the departure floor Fc and destination floor Fd of robot H in step S303, it groups floors that are the same into a single boarding / alighting floor Fe1(I). Then, the group control device 3 assigns the total number of boarding / alighting floors Fe1(I) (here, the last value of list number I) to the variable Mh1.

[0071] After step S303, the group control device 3 sets the variable Ix for reading the boarding and alighting floors Fe1(I) in list order to Ix=1 (step S310). The group control device 3 also sets the number of times robot H will board or alight during one trip by the target user in the target car Gkw (car information Pg=Pgw) to N1(Pgw)=0 (the number of times robot H boards or alights at any floor from the target user's departure floor Fcs to the floor immediately preceding the target user's destination floor Fds).

[0072] After step S310, the group control device 3 counts the number of times N1(Pgw) that the target user will experience getting on and off the robot H during one trip in the target cage Gkw.

[0073] Specifically, the group control device 3 determines whether the boarding / alighting floor Fe1(Ix) matches any of the floors from the target user's departure floor Fcs to the floor immediately preceding the target user's destination floor Fds (step S311).

[0074] If the group control device 3 determines in step S311 that there is a "match (Yes)", it can then determine that the target user will experience boarding or alighting from robot H at boarding / alighting floor Fe1(Ix). In this case, the group control device 3 counts one boarding / alighting as the number of boarding / alighting N1(Pgw) (step S312), and then proceeds to step S313. In this embodiment, as described above, when the departure floor Fc and destination floor Fd of robot H are listed in step S303, those on the same floor are grouped into one boarding / alighting floor Fe1(I), so the number of boarding / alighting N1(Pgw) is counted as one for floors where multiple robots H board or alight.

[0075] Here, if the boarding / alighting floor Fe1(Ix) matches the destination floor Fds of the target user, that floor is the target user's disembarking floor, and therefore, even if robot H boards or alights at that floor, it will have little effect on the user's convenience. Accordingly, in steps S311 and S312, if the boarding / alighting floor Fe1(Ix) matches the destination floor Fds of the target user, it is excluded from counting the number of boarding / alighting N1(Pgw).

[0076] On the other hand, if the group control device 3 determines in step S311 that there is a "no match," it can use that determination to conclude that the target user will not experience either boarding or alighting from robot H at boarding / alighting floor Fe1 (Ix). In this case, the group control device 3 proceeds to step S313 without counting the number of boarding / alighting N1 (Pgw).

[0077] In step S313, the group control device 3 increments the value of the variable Ix by one in order to advance the boarding / alighting floor Fe1(Ix) that should be the subject of the decision in step S311 to the next one in the list. Then, in order to determine whether the decision in step S311 has been made for all the boarding / alighting floors Fe1(I) listed, the group control device 3 determines whether the variable Ix satisfies Ix > Mh1 (step S314).

[0078] If the group management control device 3 determines in step S314 that the condition is "not met (No)", it repeatedly executes the processes in steps S311 to S314 until it can determine in step S314 that the condition is "met (Yes)". This counts the number of times N1 (Pgw) that the target user will experience getting on and off robot H during one trip in the target elevator Gkw.

[0079] By following the processing in steps S311 to S314, the number of times the target user will get on and off robot H, N1(Pgw), can be counted in a simple way by comparing the extracted boarding and alighting floors Fe1(I) of robot H with the target user's travel section (the section from the target user's departure floor Fcs to the floor immediately preceding the target user's destination floor Fds).

[0080] Subsequently, if the group control device 3 determines in step S314 that the condition is met (No), it terminates the first counting process for the car Gkw of interest. This determines the value of the number of boarding and alighting N1(Pgw) for the car Gkw of interest.

[0081] Furthermore, if the group control device 3 determines in step S302 that "no robots were extracted (No)", it can use that determination to conclude that there are no robots H that could potentially ride with the target user in the target elevator car Gkw. In this case, the group control device 3 sets the number of boarding and alighting N1(Pgw) to N1(Pgw)=0 (step S320). After that, the group control device 3 terminates the first counting process for the target elevator car Gkw. This determines the value of the number of boarding and alighting N1(Pgw) for the target elevator car Gkw.

[0082] Following the first counting process, steps S212 and S213 (see Figure 5) allow the allocation of a landing call Xg (target call Xgs) for a target user to be performed for the elevator car Gt that minimizes the number of times N1(Pg) the target user will experience getting on and off the robot H in a single ride. This makes it possible to minimize the elevator usage time required for the target user, even if the target user has to experience getting on and off the robot H. Therefore, even if the robot H is allowed to ride the elevator with the target user, it is possible to maintain the highest possible level of elevator convenience for that user.

[0083] [1-2-4] Second counting process performed by the group control unit Figures 7 to 9 are flowcharts showing the second counting process performed in this embodiment. This second counting process is performed for each target car Gk (all elevator cars G in this embodiment). Specifically, the group control device 3 performs the second counting process for each target car Gk (hereinafter referred to as "focus car Gkw").

[0084] In the second counting process, the group management control device 3 first extracts from the landing calls X already assigned to the car Gkw that satisfy both of the following conditions: [2a] that the landing call X is a user's landing call Xg, and [2b] that the destination direction Kz from the departure floor Fc to the destination floor Fd indicated by the landing call X matches the destination direction Kz of the target robot Hk (the direction in which the target robot Hk moves from the departure floor Fct to the destination floor Fdt).

[0085] Specifically, the group control device 3 searches among the car information Pg recorded in the allocation management data Dt (see Figure 3(B)) for a car information Pg that matches the car information Pg of the car Gkw of interest, whose attribute information Pj is "user", and whose destination direction Kz matches the destination direction Kz of the target robot Hk. Then, it extracts the landing call X information (departure floor Fc and destination floor Fd) associated with that car information Pg.

[0086] After step S401, the group control device 3 determines whether or not a landing call X that satisfies both of the above conditions [2a] and [2b] has been extracted (step S402).

[0087] If the group control device 3 determines in step S402 that "it has been extracted (Yes)", it can determine that there is a user who may be riding in the elevator car Gkw with the target robot Hk. In other words, assuming that the group control device 3 has assigned a landing call Xh (target call Xht) for the target robot Hk to the elevator car Gkw, under such assumption, it can determine that the user may have to board or alight from the target robot Hk while traveling from the departure floor Fc to the destination floor Fd. In this case, the group control device 3 lists the user's landing call Xg extracted in step S401 as user call Xe(J) (step S403). Here, the list number J is a number starting from 1. Then, the group control device 3 assigns the total number of user calls Xe(J) (here, the last value of list number J) to the variable Mg.

[0088] After step S403, the group control device 3 obtains information on the landing call Xh of other robots H that may ride with the user in the car of interest Gkw, so that it can also count the number of times the user will experience boarding or alighting from other robots H (robots H other than the target robot Hk) that have already been scheduled to board the car of interest Gkw. Specifically, the group control device 3 extracts from the landing calls X already assigned to the car of interest Gkw that satisfy both the condition that the landing call X is the landing call Xh of robot H [2c] and the condition that the destination direction Kz from the departure floor Fc to the destination floor Fd indicated by the landing call X matches the destination direction Kz of the target robot Hk (the direction in which the target robot Hk travels from the departure floor Fct to the destination floor Fdt) [2d] (step S411).

[0089] More specifically, the group management control device 3 searches among the car information Pg recorded in the allocation management data Dt (see Figure 3(B)) for a car information Pg that matches the car information Pg of the car Gkw of interest, whose attribute information Pj is "robot", and whose destination direction Kz matches the destination direction Kz of the target robot Hk. Then, it extracts the landing call X information (departure floor Fc and destination floor Fd) associated with that car information Pg.

[0090] After step S411, the group control device 3 determines whether or not a landing call X that satisfies both of the above conditions [2c] and [2d] has been extracted (step S412).

[0091] If the group control device 3 determines in step S412 that it has been extracted (Yes), it can use that determination to determine that a user who may ride with the target robot Hk in the car of interest Gkw may also ride with other robots H whose boarding to the car of interest Gkw has already been decided. In other words, assuming that the group control device 3 has assigned a landing call Xh (target call Xht) for the target robot Hk to the car of interest Gkw, under such assumption, the user may have to experience the boarding and alighting of the target robot Hk in addition to the boarding and alighting of other robots H while traveling from the departure floor Fcs to the destination floor Fds. Therefore, in order to count the number of times the user will experience the boarding or alighting of other robots H, the group control device 3 lists the departure floor Fc and destination floor Fd indicated by the landing call Xh of robot H extracted in step S411 as boarding and alighting floors Fe2(K) (step S413). Here, list number K is a number starting from 1.

[0092] In this embodiment, when the group control device 3 lists the departure floor Fc and destination floor Fd of other robots H in step S413, it groups those that are on the same floor into a single boarding / alighting floor Fe2(K). Then, the group control device 3 assigns the total number of boarding / alighting floors Fe2(K) (here, the last value of list number K) to the variable Mh2. After that, the group control device 3 proceeds to step S430A (see Figure 8).

[0093] On the other hand, if the group control device 3 determines in step S412 that "no robots were extracted (No)", it can use that determination to conclude that a user who may ride in the target robot Hk in the target cage Gkw will not ride in any other robot H besides the target robot Hk. In this case, the group control device 3 sets the variable Mh2 to Mh2=0 (step S414), and then proceeds to step S430A (see Figure 8).

[0094] In step S430A, the group control device 3 sets the variable Jx, which reads user calls Xe(J) in list order, to Jx=1. The group control device 3 also sets the maximum number of boarding and alighting times Nw(Pg=Pgw) for the target car Gkw (car information Pg=Pgw) to Nw(Pgw)=0.

[0095] Furthermore, the group management control device 3 sets the number of times robot H boards or alights during a single trip on the target elevator Gkw (elevator information Pg=Pgw) by the user to whom user call Xe(Jx) has been assigned (hereinafter referred to as the "target user") to N2(Pgw) = 0 (the number of times the target robot Hk or another robot H boards or alights on any floor from the target user's departure floor Fc to the floor immediately preceding the target user's destination floor Fd) (step S430B).

[0096] After step S430B, the group control device 3 first assumes that a landing call Xh (target call Xht) for the target robot Hk has been assigned to the target car Gkw, and counts the number of times the user will experience boarding or alighting from the target robot Hk under such assumption, as the number of times N2 (Pgw) the user of interest will experience boarding or alighting from the target robot Hk during one ride in the target car Gkw (first process).

[0097] Specifically, the group control device 3 determines whether the user of interest will experience riding the target robot Hk by determining whether the departure floor Fct of the target robot Hk matches any floor from the user of interest's departure floor Fc (the departure floor Fc indicated by the user call Xe(Jx)) to the floor immediately preceding the user of interest's destination floor Fd (the destination floor Fd indicated by the user call Xe(Jx)) (step S431).

[0098] If the group control device 3 determines in step S431 that there is a "match (Yes)", it can determine that the user of interest will experience riding the target robot Hk. In this case, the group control device 3 counts one ride as the number of rides N2 (Pgw) (step S432), and then proceeds to step S433.

[0099] Here, if the departure floor Fct of the target robot Hk matches the destination floor Fd of the user of interest, that floor is the user's disembarking floor, and therefore, even if the target robot Hk boards at that floor, it will have little effect on the user's convenience. Accordingly, in steps S431 and S432, if the departure floor Fct matches the destination floor Fd of the user of interest, this case is excluded from counting the number of boarding and alighting N2(Pgw).

[0100] On the other hand, if the group control device 3 determines in step S431 that there is a "no match," it can determine that the user of interest will not experience riding the target robot Hk. In this case, the group control device 3 proceeds to step S433 without counting the number of times N2 (Pgw) boards and alights.

[0101] In step S433, the group control device 3 determines whether the user of interest will experience disembarking from the target robot Hk, and determines whether the destination floor Fdt of the target robot Hk matches any floor from the user of interest's departure floor Fc (the departure floor Fc indicated by the user call Xe(Jx)) to the floor immediately preceding the user of interest's destination floor Fd (the destination floor Fd indicated by the user call Xe(Jx)).

[0102] If the group control device 3 determines in step S433 that there is a "match (Yes)", it can determine that the user of interest will experience disembarking from the target robot Hk. In this case, the group control device 3 counts one instance as the number of boarding / disembarking N2 (Pgw) (step S434), and then proceeds to step S435.

[0103] Here, if the destination floor Fdt of the target robot Hk matches the destination floor Fd of the user of interest, that floor is the disembarking floor of the user of interest, and therefore, even if the target robot Hk disembarks at that floor, it will have little effect on the convenience of the user of interest. Accordingly, in steps S433 and S434, if the destination floor Fdt matches the destination floor Fd of the user of interest, it is excluded from counting the number of boarding and alighting N2(Pgw).

[0104] On the other hand, if the group control device 3 determines in step S433 that there is a "no match," it can determine that the user of interest will not experience disembarking from the target robot Hk. In this case, the group control device 3 proceeds to step S435 without counting the number of boarding and disembarking N2 (Pgw).

[0105] In this way, the group control device 3 determines whether the departure floor Fct of the target robot Hk matches any floor from the departure floor Fc of the target user (the departure floor Fc indicated by the user call Xe(Jx)) to the floor immediately preceding the destination floor Fd of the target user (the destination floor Fd indicated by the user call Xe(Jx)) (step S431), and whether the destination floor Fdt of the target robot Hk matches (step S433). Each time it is determined that they match, the number of boarding and alighting counts N2(Pgw) is counted (steps S432, S434). As a result, the number of times the target user will experience boarding or alighting from the target robot Hk is counted as the number of boarding and alighting counts N2(Pgw) of the robot H that the target user will experience in one trip on the target elevator Gkw.

[0106] In step S435, the group control device 3 then determines whether it is necessary to perform a process (second process) to additionally count the number of times the user of interest will experience boarding or alighting from other robots H (robots H other than the target robot Hk) as the number of times the user of interest will experience boarding or alighting from robot H in one trip N2(Pgw) in the target elevator Gkw (in other words, to determine whether the user of interest may experience boarding or alighting from other robots H), by determining whether the variable Mh2, which is assigned the total number of boarding and alighting floors Fe2(K) for the other robots H, satisfies Mh2>0.

[0107] If the group control device 3 determines that the condition is met (Yes) in step S435, it can determine that the user of interest may experience boarding or alighting from other robots H. In this case, the group control device 3 additionally counts the number of times the user of interest will experience boarding or alighting from other robots H (robots H other than the target robot Hk) as the number of times N2(Pgw) the user of interest will experience boarding or alighting from robot H during one trip in the target cage Gkw (second process; see Figure 9).

[0108] Specifically, the group control device 3 first sets the variable Kx, which reads out the boarding / alighting floors Fe2(K) in list order, to Kx=1 (step S440).

[0109] After step S440, the group control device 3 determines whether the boarding / alighting floor Fe2(Kx) matches any of the floors from the departure floor Fc of the user of interest (the departure floor Fc indicated by the user call Xe(Jx)) to the floor immediately preceding the destination floor Fd of the user of interest (the destination floor Fd indicated by the user call Xe(Jx)) (step S441).

[0110] If the group control device 3 determines in step S441 that there is a "match (Yes)", it can then determine that the user of interest will experience boarding or alighting from robot H at boarding / alighting floor Fe2(Kx). In this case, the group control device 3 counts one boarding / alighting as the number of boarding / alighting N2(Pgw) (step S442), and then proceeds to step S443. In this embodiment, as described above, when the departure floor Fc and destination floor Fd of robot H are listed in step S413, those on the same floor are grouped into one boarding / alighting floor Fe2(K), so the number of boarding / alighting N2(Pgw) will be counted as one for floors where multiple robots H board or alight.

[0111] Here, if the boarding / alighting floor Fe2(Kx) matches the destination floor Fd of the user of interest, that floor is the user's disembarking floor, and therefore, even if robot H boards or alights at that floor, it will have little effect on the user's convenience. Accordingly, in steps S441 and S442, if the boarding / alighting floor Fe2(Kx) matches the destination floor Fd of the user of interest, it is excluded from counting the number of boarding / alighting N2(Pgw).

[0112] On the other hand, if the group control device 3 determines in step S441 that there is a "no match," it can determine that the user of interest will not experience either boarding or alighting from robot H at boarding / alighting floor Fe2 (Kx). In this case, the group control device 3 proceeds to step S443 without counting the number of boarding / alighting N2 (Pgw).

[0113] In step S443, the group control device 3 increments the value of the variable Kx by one in order to advance the boarding / alighting floor Fe2(Kx) that should be the subject of the decision in step S441 to the next one in the list. Then, in order to determine whether the decision in step S441 has been made for all the boarding / alighting floors Fe2(K) listed, the group control device 3 determines whether the variable Kx satisfies Kx > Mh2 (step S444).

[0114] If the group management control device 3 determines in step S444 that the condition is "not met (No)", it repeatedly executes the processes in steps S441 to S444 (second process) until it can determine in step S444 that the condition is "met (Yes)". As a result, the number of times the user of interest will experience boarding or alighting from other robots H (robots H other than the target robot Hk) is added to the count of the number of times N2 (Pgw) that the user of interest will experience boarding or alighting from robot H during one trip on the target car Gkw.

[0115] This series of processes allows the counting of the number of times the user in interest will get on or off robot H in the target elevator car Gkw (N2(Pgw)) to be divided into a first process (steps S431-S434) that counts the number of times the user in interest will get on or off the target robot Hk, and a second process (steps S441-S444) that counts the number of times the user in interest will get on or off other robot Hs. Furthermore, in the second process, the number of times the user in interest will get on or off other robot Hs in the target elevator car Gkw can be counted in a simple way by comparing the extracted boarding / alighting floor Fe2(K) of the robot H with the user's travel section (the section from the user in interest's departure floor Fc to the floor before the user's destination floor Fd).

[0116] Subsequently, if the group control device 3 determines in step S444 that the condition is met (No), it proceeds to step S436 (see Figure 8).

[0117] On the other hand, if the group control device 3 determines in step S435 that the condition is "not met (No)", it can determine that the user of interest will not experience getting on or off other robots H. In this case, the group control device 3 proceeds to step S436 without performing the processing in steps S440 to S444 (second processing).

[0118] In step S436, the group control device 3 determines whether the final number of boarding and alighting passengers N2(Pgw) obtained through the previous processing (both the first and second processing, or the first processing only) satisfies the condition N2(Pgw) > Nw(Pgw) in relation to the maximum number of boarding and alighting passengers Nw(Pgw) at that time.

[0119] Then, if the group control device 3 determines in step S436 that the condition is met (Yes), it updates the maximum number of boarding and alighting times Nw(Pgw) for the car of interest Gkw by replacing the value of the maximum number of boarding and alighting times Nw with the number of boarding and alighting times N2(Pgw) (step S437), and then proceeds to step S438. On the other hand, if the group control device 3 determines in step S436 that the condition is not met (No), it proceeds to step S438 without updating the maximum number of boarding and alighting times Nw(Pgw).

[0120] In step S438, the group control device 3 similarly investigates the number of boarding and alighting sessions N2(Pgw) that other users will experience during a single ride on the target elevator car Gkw, and advances the list of passenger landing calls Xg (passenger calls Xe(Jx)) that should be counted for the number of boarding and alighting sessions N2(Pgw). Specifically, the group control device 3 increments the value of the variable Jx by one. After that, the group control device 3 determines whether the number of boarding and alighting sessions N2(Pgw) has been counted for all the passenger calls Xe(J) listed, by checking whether the variable Jx satisfies Jx > Mg (step S439).

[0121] If the group control device 3 determines in step S439 that the condition is "not met (No)", it repeatedly executes the process from step S430B until it can determine in step S439 that the condition is "met (Yes)".

[0122] Then, if the group control device 3 determines in step S439 that the condition is met (Yes), it terminates the second counting process for the car Gkw of interest. This determines the value of the maximum number of boarding and alighting times Nw(Pgw) for the car Gkw of interest.

[0123] Furthermore, if the group control device 3 determines in step S402 (see Figure 7) that "no results were extracted (No)", it can use that determination to conclude that there are no users who may be riding in the target elevator car Gkw with the target robot Hk. In this case, even if a landing call Xh (target call Xht) for the target robot Hk is assigned to the target elevator car Gkw, that assignment will not result in users experiencing the boarding or alighting of the target robot Hk in that elevator car Gkw.

[0124] Therefore, if the group control device 3 determines in step S402 that "no results were extracted (No)", it sets the maximum number of boarding and alighting times Nw(Pgw) to Nw(Pgw)=0 (step S420). After that, the group control device 3 finishes the second counting process for the car of interest Gkw. This determines the value of the maximum number of boarding and alighting times Nw(Pgw) for the car of interest Gkw.

[0125] Following the second counting process, steps S222 and S223 (see Figure 5) enable the assignment of the landing call Xh (target call Xht) for the target robot Hk to the elevator car Gt that minimizes the maximum number of boarding and alighting times Nw(Pg) for robot H (including both the target robot Hk and other robots H). This makes it possible to minimize the elevator usage time required for the user who has to experience boarding and alighting with robot H, even if the user has to experience boarding and alighting the most at that time. Therefore, even when robot H is allowed to ride the elevator with users, it is possible to maintain the highest possible level of elevator convenience for users.

[0126] [2] Variant [2-1] First variation In the embodiment described above, when the group control device 3 lists the departure floor Fc and destination floor Fd of robot H in step S303 of the first counting process (see Figure 6), it may not group together floors that are the same, but instead treat all of those floors as separate boarding / alighting floors Fe1(I). Also, when the group control device 3 lists the departure floor Fc and destination floor Fd of robot H in step S413 of the second counting process (see Figure 7), it may not group together floors that are the same, but instead treat all of those floors as separate boarding / alighting floors Fe2(K).

[0127] According to the first modification, on floors where multiple robots H board and alight, the number of boarding and alighting counts N1(Pg) or N2(Pg) can be the same as the number of robots H. In other words, it becomes possible to reflect the number of robots H boarding and alighting on the same floor in the boarding and alighting count N1(Pg) or N2(Pg).

[0128] [2-2] Second variation In both the above-described embodiment and the first modified example, when the group control device 3 assigns a landing call Xh (target call Xht) for the target robot Hk (see steps S220 to S224 in Figure 5), in step S221, it may extract as target car Gk any elevator car G from among the multiple elevator cars G that have not been assigned a landing call Xh for any robot H other than the target robot Hk (specifically, robot H that moves in the same direction as the target robot Hk), and then perform a second counting process for each of the target car Gk.

[0129] Specifically, the group control device 3 first extracts from among the elevator cars G that do not satisfy both of the following conditions: [3a] all of the landing calls X assigned to the elevator car G are landing calls Xh of robot H, and [3b] the destination direction Kz from the departure floor Fc to the destination floor Fd indicated by the landing call X matches the destination direction Kz of the target robot Hk (the direction in which the target robot Hk moves from the departure floor Fct to the destination floor Fdt). Then, for each extracted target car Gk, the group control device 3 performs a second counting process on that target car Gk (hereinafter referred to as "target car Gkw"). The details of the second counting process performed in this modified example will be explained below.

[0130] Figures 10 and 11 are flowcharts showing the second counting process performed in the second modified example. In the second modified example, the group control device 3 also performs steps S401 to S403 and S420, similar to the embodiment (see Figure 7) (see Figure 10). Subsequently, the group control device 3 sets the variable Jx for reading user calls Xe(J) in list order to Jx=1 (step S510A in Figure 11). The group control device 3 also sets the maximum number of boarding and alighting times Nw(Pg=Pgw) for the car of interest Gkw (car information Pg=Pgw) to Nw(Pgw)=0.

[0131] Furthermore, the group control device 3 sets the number of times the user to whom user call Xe(Jx) has been assigned (hereinafter referred to as the "target user") will experience getting on and off the robot H in one trip on the target cage Gkw, N2(Pgw)=0 (step S510B).

[0132] In this modified example, the target elevator car Gk is selected from elevator cars G that have not been assigned a boarding call Xh for robot H that moves in the same direction as the target robot Hk. Therefore, in this target elevator car Gk, the user of interest will not experience boarding or alighting from any robot H other than the target robot Hk.

[0133] Therefore, in this modified example, after step S510B, the group control device 3 counts only the number of times the user will experience boarding or alighting from the target robot Hk, under the assumption that a landing call Xh (target call Xht) for the target robot Hk has been assigned to the target car Gkw, as the number of times the user will experience boarding or alighting from the target robot Hk during one trip N2 (Pgw) in the target car Gkw. Specifically, the group control device 3 executes steps S431 to S434 in the same manner as in the embodiment (see Figure 8) (steps S521 to S524 in Figure 11).

[0134] Subsequently, the group control device 3 determines whether the number of boarding and alighting passengers N2(Pgw) counted in steps S521 to S524 satisfies the condition N2(Pgw) > Nw(Pgw) in relation to the maximum number of boarding and alighting passengers Nw(Pgw) at that time (step S525).

[0135] Then, if the group control device 3 determines in step S525 that the condition is met (Yes), it updates the maximum number of boarding and alighting times Nw(Pgw) for the car of interest Gkw by replacing the value of the maximum number of boarding and alighting times Nw with the number of boarding and alighting times N2(Pgw) (step S526), ​​and then proceeds to step S527. On the other hand, if the group control device 3 determines in step S525 that the condition is not met (No), it proceeds to step S527 without updating the maximum number of boarding and alighting times Nw(Pgw).

[0136] In step S527, the group control device 3 similarly investigates the number of boarding and alighting sessions N2(Pgw) that other users will experience during a single ride on the target elevator car Gkw, and advances the list of passenger landing calls Xg (passenger calls Xe(Jx)) that should be counted for the number of boarding and alighting sessions N2(Pgw). Specifically, the group control device 3 increments the value of the variable Jx by one. After that, the group control device 3 determines whether the number of boarding and alighting sessions N2(Pgw) has been counted for all the passenger calls Xe(J) listed, by checking whether the variable Jx satisfies Jx > Mg (step S528).

[0137] If the group control device 3 determines in step S528 that the condition is "not met (No)", it repeatedly executes the process from step S510B until it can determine in step S528 that the condition is "met (Yes)".

[0138] Then, if the group control device 3 determines in step S528 that the condition is met (Yes), it terminates the second counting process for the car Gkw of interest. This determines the value of the maximum number of boarding and alighting times Nw(Pgw) for the car Gkw of interest.

[0139] According to the second modification, it becomes possible to distribute the allocation of landing calls Xh for robots H to the elevator cars G while maintaining the highest possible level of convenience for users. In other words, when multiple robots H use the elevator at the same time, it becomes possible to maintain the highest possible level of convenience for users while preventing the imbalance of multiple robots H riding in the same elevator car G.

[0140] Furthermore, the number of times the user of interest will board or alight from the target robot Hk will only need to be counted as the number of times N2(Pgw) N2(Pgw). In other words, the process of counting the number of times the user of interest will board or alight from the target robot Hk will only need to be performed as described in the first process (steps S431 to S434).

[0141] Furthermore, the second counting process of this modified example (Figures 10 and 11) can also be applied to the second counting process (see step S221 in Figure 5) when there is only one robot H using the elevator and the landing call Xh is assigned to that robot H as the target robot Hk.

[0142] The above-described embodiments and modifications should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims, rather than by the above-described embodiments and modifications. Furthermore, the scope of the present invention is intended to include all modifications within the meaning and scope equivalent to the claims.

[0143] From the embodiments and modifications described above, the subject matter of the invention may not be limited to the group control device 3, but may also be individually extracted from control processes (including control methods corresponding to said control processes) or programs executed by the group control device 3. Furthermore, the subject matter of the invention may also be individually extracted from the elevator described above. [Explanation of Symbols]

[0144] 1. Destination Floor Registration Device 2. Robot management device 3. Group Control System G Car H Robot I, J, K List Numbers X boarding area call Y Calling 21, 31 Storage section 22, 32 Control Unit Dp Robot Management Data Dq Assignment Request Management Data Dr. Device Management Data Dt Assignment Management Data FC Departure Floor Fd Destination Floor Fs installation floor Fx Deployment Floor Fy Destination Floor Gk Target Basket Gt riding basket Hk Target Robot Kz destination direction Number of boarding and alighting for N1 and N2 Nw Maximum number of passengers boarding and alighting Pd device information Pg Shopping Cart Information Ph Robot Information Pi identification information Pj attribute information Xe User Call Xg, Xh boarding area call Yg, Yh cage calling Fcs, Fct Departure Floor Fds, Fdt Destination Floor Fe1, Fe2 boarding / alighting floors Gkw Focus Basket Pr1, Pr2 Received Information Xgs, Xht target call

Claims

1. This is a control device that assigns landing calls to elevator cars. An elevator control device that, when assigning a landing call for a target robot, designates all or some of the multiple elevator cars provided by the elevator as target cars, and if a landing call for a user has been assigned to each of the target cars, assumes that a landing call for the target robot has been assigned to that target car, counts the number of times the target robot boards or alights at any floor from the user's departure floor to the floor immediately preceding the user's destination floor for each user, and then performs a counting process to determine the maximum number of boarding and alighting for those users, and then assigns the landing call for the target robot to the elevator car with the smallest maximum number of boarding and alighting among the target cars.

2. The elevator control device according to claim 1, wherein in the counting process, for each of the target elevator cars, the target elevator car is designated as the car of interest, and each user to whom a landing call has been assigned to the car of interest is designated as the user of interest, and for any floor from the departure floor of the user of interest to the floor immediately preceding the destination floor of the user of interest, a determination is made as to whether the departure floor of the target robot matches and whether the destination floor of the target robot matches, and each time it is determined that they match, the first process is executed to count the number of boarding and alighting times.

3. The elevator control device according to claim 2, further comprising the following steps in the counting process: extracting the departure floor and destination floor of robots other than the target robot that have been assigned to call the elevator car of interest as boarding and alighting floors; determining for each boarding and alighting floor whether it matches any floor from the departure floor of the user of interest to the floor immediately preceding the destination floor of the user of interest; and executing a second process to count the number of boarding and alighting times if it is determined that they match.

4. The elevator control device according to claim 3, wherein when the departure floor and destination floor of the robot are extracted in the second process, floors that are the same are extracted together as a single boarding / alighting floor.

5. The elevator control device according to claim 3, wherein when extracting the departure floor and destination floor of the robot in the second process, floors that are the same are not grouped together, but all of those floors are extracted individually as boarding and alighting floors.

6. The elevator control device according to claim 1 or 2, wherein when assigning a landing call for the target robot, the device extracts from among the multiple elevator cars provided by the elevator a car for which a landing call has not been assigned for any robots other than the target robot, and then performs the counting process for each of the target cars.

7. This is a control method for assigning landing calls to elevator cars. An elevator control method for assigning a landing call for a target robot, wherein all or some of the multiple elevator cars provided by the elevator are designated as target cars, and if a landing call for a user has been assigned to each of the target cars, the method assumes that a landing call for the target robot has been assigned to that target car, counts the number of times the target robot boards or alights at any floor from the user's departure floor to the floor immediately preceding the user's destination floor for each user, and then performs a counting process to determine the maximum number of boarding and alighting for those users, and then assigns the landing call for the target robot to the elevator car with the smallest maximum number of boarding and alighting among the target cars.

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