Elevator control device and control method

Abstract

Ensure that robots permitted to ride with passengers are securely placed in the vehicle's carriage. [Solution] Each time a boarding call for a robot is assigned to a train car, the train car is switched to robot-only operation and controlled accordingly. Furthermore, after switching to robot-only operation, each time a robot boards the train car, the robot's destination floor is registered in the train car as a train car call for that robot, and each time a robot disembarks from the train car, the train car call for that robot is deleted. Then, while the train car is in robot-only operation, if the registration of train car calls for all robots that were being transported at the time of switching to robot-only operation is complete, and the only train car calls registered in the train car are those of robots whose attribute information indicates they can ride together, the train car is returned to normal operation where boarding calls for users can be assigned, and controlled accordingly.

Description

Technical Field

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

Background Art

[0002] In many elevators, landing buttons for specifying the destination direction (upward or downward) are installed on each floor, and destination buttons for specifying the destination floor are installed inside the car. In such an elevator, when a user presses a landing button on any floor, a landing call is assigned to the car, with that floor as the departure floor and the direction specified by the landing button as the destination direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, robots have been increasingly used for various tasks (such as cleaning, monitoring, and transportation) in buildings. Along with this, the use of elevators for the inter-floor movement of robots in buildings has been increasing, and the cases where both users and robots use the elevator have been increasing (for example, see Patent Document 1).

[0005]

[0006] [[ID=<<41>>]] ​On the other hand, if robots are allowed to ride with passengers, situations may arise where, when the elevator car arrives at the robot's boarding floor, passengers do not disembark, leaving no space for the robot to board. Alternatively, even if there is space at the time of arrival, passengers board before the robot, eliminating the space. In such situations, the robot would be unable to board the elevator car.

[0007] Therefore, the objective of the present invention is to ensure that a robot that is permitted to ride with a user is reliably placed in a vehicle. [Means for solving the problem]

[0008] The control device according to the present invention is applicable to elevators used by robots, and each robot has attribute information indicating either that it is allowed to ride with a user or not when using the elevator, and has the following configuration (Aspect 1). Each time the control device assigns a landing call for a robot to an elevator car, regardless of whether the robot's attribute information indicates that it is allowed to ride with a user or not, the control device switches the elevator car to robot-only operation and controls it. After switching to robot-only operation, each time a robot boards the elevator car, the control device registers the robot's destination floor as a car call for that robot in the elevator car, and each time a robot disembarks from the elevator car, the car call for that robot is deleted. Furthermore, during robot-dedicated operation, if the control device has completed the registration of car calls to the car for all robots that were to be transported at the time of switching to robot-dedicated operation, and if the only car calls registered to that car are those of robots whose attribute information indicates they can ride together, the control device will return the car to normal operation, which allows for the assignment of landing calls for users, and control it accordingly.

[0009] According to the above embodiment 1, similar to robots whose attribute information indicates that they cannot be carried by other passengers, robots whose attribute information indicates that they can be carried by other passengers can also be placed in a ride car that is being controlled by robot-only operation (i.e., a ride car that does not have a passenger on board), thereby ensuring that they are placed in that ride car.

[0010] Furthermore, during robot-only operation, the only robots to be transported (excluding those whose transport is complete) will be those whose attribute information indicates they are eligible to ride. Once all robots have boarded the elevator car, the elevator car can be returned to normal operation and controlled without waiting for the robots to disembark. Therefore, the time during which users cannot use the elevator after switching to robot-only operation can be minimized.

[0011] The control device according to the above embodiment 1 may have the following configuration (embodiment 2). When the control device switches the control of the elevator car to robot-only operation, if the landing calls assigned to the elevator car include both landing calls from robots whose attribute information indicates they can ride and landing calls from robots whose attribute information indicates they cannot ride, the control device may prioritize disembarking the robot whose attribute information indicates they cannot ride over the robot whose attribute information indicates they can ride.

[0012] According to the above embodiment 2, even if the robots to be transported at the time of switching to robot-only operation include both robots whose attribute information indicates they can carry passengers and robots whose attribute information indicates they cannot carry passengers, by completing the transport of robots whose attribute information indicates they cannot carry passengers before the transport of robots whose attribute information indicates they can carry passengers, it becomes possible to limit the remaining robots to be transported (excluding robots whose transport has already been completed) to only those whose attribute information indicates they can carry passengers.

[0013] The control method according to the present invention is applicable to elevators used by robots, and each robot is configured with attribute information indicating whether it is allowed to ride with a user or not when using the elevator, and has the following configuration (Aspect 3). In this control method, each time a landing call for a robot is assigned to an elevator car, regardless of whether the robot's attribute information indicates that it is allowed to ride with a user or not, the elevator car is switched to robot-only operation and controlled. Furthermore, after switching to robot-only operation, each time a robot boards the elevator car, the robot's destination floor is registered in the elevator car as a car call for that robot, and each time a robot disembarks from the elevator car, the robot's car call is deleted. Then, during control in robot-dedicated operation mode, if the registration of car calls to the car has been completed for all robots that were to be transported at the time of switching to robot-dedicated operation mode, and if the only car calls registered to that car are those of robots whose attribute information indicates they can ride together, the car will be returned to normal operation mode, which allows for the assignment of landing calls for users, and will be controlled accordingly. [Effects of the Invention]

[0014] According to the present invention, it becomes possible to reliably place a robot that is permitted to ride with a user into a vehicle carrier. [Brief explanation of the drawing]

[0015] [Figure 1] This is a conceptual diagram showing the overall configuration of the elevator according to the embodiment. [Figure 2] This is a conceptual diagram illustrating (A) robot management data and (B) transmission request management data used in the embodiment. [Figure 3] This is a conceptual diagram illustrating (A) device management data for the first operating unit, (B) device management data for the second operating unit, and (C) landing call management data and cage call management data for the robot, as used in the embodiment. [Figure 4]It is a flowchart showing the allocation request process executed in the embodiment. [Figure 5] It is a flowchart showing the allocation process (during normal operation) executed in the embodiment. [Figure 6] It is a flowchart showing the switching process executed in the embodiment. [Figure 7] It is a flowchart showing the response process (during robot - dedicated operation) executed in the embodiment. [Figure 8] It is a flowchart showing the part following the coupler Z1 in FIG. 7. [Figure 9] It is a flowchart showing the first response process executed in the embodiment. [Figure 10] It is a flowchart showing the second response process executed in the embodiment. [Figure 11] It is a conceptual diagram showing possible changes in the transmission request management data when the switching process in the embodiment is executed. [Figure 12] It is a conceptual diagram showing possible changes in the landing call management data for robots and the car call management data when the response process (during robot - dedicated operation) in the embodiment is executed.

Mode for Carrying Out the Invention

[0016] [1] Embodiment [1 - 1] Overall Configuration of the Elevator FIG. 1 is a conceptual diagram showing the overall configuration of the elevator according to the embodiment. In this embodiment, the elevator has one car G, and this car G 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.

[0017] On the landing of each floor of the elevator, a first operation unit 1 for a user to specify the destination direction Kc is installed, and in the car G, a second operation unit 2 for a user to specify the destination floor Fd is installed. Further, in addition to these configurations, the elevator includes a robot management device 3 and an elevator control device 4.

[0018] Furthermore, the elevator in this embodiment is an elevator that allows robot H to ride together with users. Specifically, for each robot H, information indicating either "allowed to ride together with users" or "not allowed to ride together" is set as attribute information Pz for that robot H. In addition, the elevator car G is set to allow switching between two operating modes: a mode in which robot H is allowed to ride together with users (hereinafter referred to as "normal operation") and a mode in which only robot H is allowed to ride in the elevator car G (hereinafter referred to as "robot-only operation"). The elevator car G is controlled in one of these two operating modes. In such an elevator, the elevator control device 4 executes control processing to ensure that robot H, which is allowed to ride together with users (robot H whose attribute information Pz is "allowed to ride together"), boards the elevator car G. The configuration of each part will be described in detail below.

[0019] <1st operation section> The first control unit 1 includes a landing button (up direction button) for specifying the destination direction Kc as upward, and a landing button (down direction button) for specifying the destination direction Kc as downward, on floors other than the end floors which are the top or bottom floors. On the other hand, the first control unit 1 includes only a landing button (down direction button) for specifying the downward direction on the top floor, and only an landing button (up direction button) for specifying the upward direction on the bottom floor.

[0020] When a user operates the first control unit 1 at the landing (by pressing the landing button) to specify their destination direction Kc, that destination direction Kc is transmitted to the elevator control device 4. This sends a request to the elevator control device 4 for the allocation of a landing call X (hereinafter referred to as "landing call Xg") for the user (allocation request from the user). At this time, in order for the elevator control device 4 to recognize which control unit the operated first control unit 1 is, device information Pd1 for identifying the first control unit 1 from other control units or devices is also transmitted to the elevator control device 4.

[0021] <Second operation section> The second control unit 2 includes multiple destination buttons, each of which corresponds to one of the multiple floors that can be guided by the elevator of this embodiment.

[0022] When a user operates the second control unit 2 inside the elevator car G (by pressing any destination button) to specify their destination floor Fd, that destination floor Fd is transmitted to the elevator control device 4. This sends a registration request for the user's car call Yg (hereinafter referred to as "car call Yg") to the elevator control device 4 (registration request from the user). At this time, in order to allow the elevator control device 4 to recognize which control unit the operated second control unit 2 is, device information Pd2 for identifying the second control unit 2 from other control units or devices is also transmitted to the elevator control device 4.

[0023] <Robot Management Device> The robot management device 3 is a device that centrally manages the robots H used in the building where the elevator of this embodiment is installed (see Figure 1). Note that the robot management device 3 is not limited to being installed in the same building as the elevator; it may also be a server or program that manages (controls) the robots H on the cloud.

[0024] In this embodiment, the robot management device 3 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 3. At this time, the robot H also transmits its own robot information Ph to the robot management device 3 to enable identification from other robots H, so that the robot management device 3 can recognize which robot H sent the destination floor Fy.

[0025] When the robot management device 3 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 elevator control device 4 as the departure floor Fc and destination floor Fd, respectively, thereby requesting the elevator control device 4 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 3 also sends the robot information Ph and attribute information Pz of that robot H to the elevator control device 4 so that the elevator control device 4 can recognize which robot H the transmitted assignment request is for. Details of this assignment request processing will be described later.

[0026] 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 3 commands robot H to board elevator car G at the moment the doors of elevator car G have finished opening (boarding command processing). At this time, the elevator control device 4, at an appropriate timing after robot H has finished boarding elevator car G (including the moment robot H has finished boarding), 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 3 commands robot H to disembark from elevator car G at the moment the doors of elevator car G have finished opening (disembarking command processing).

[0027] Specifically, the robot management device 3 comprises a storage unit 31 and a control unit 32 (see Figure 1).

[0028] The memory unit 31 is a part composed of memory devices such as ROM and RAM, and stores information necessary for the control processing performed by the robot management device 3. In this embodiment, robot management data Dp and transmission request management data Dq are stored in the memory unit 31 as such information.

[0029] Here, 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)). Transmission request management data Dq is data for managing the assignment request information transmitted by the robot management device 3 to the elevator control device 4 (see Figure 2(B)).

[0030] 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, attribute information Pz, and deployment floor Fx of that robot H, and a storage area for recording the destination floor Fy (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 floor Fy transmitted from the robot H is recorded in the storage area for the destination floor Fy associated with each robot H, and then the destination floor Fy is deleted from the storage area when the robot H has finished disembarking at that floor.

[0031] As a result, when the robot management device 3 receives robot information Ph along with the destination floor Fy from any of the robots H, it can identify the deployment floor Fx of the robot H from the robot information Ph. In this embodiment, the deployment floor Fx of the robot H is used as the departure floor Fc (boarding floor) when the robot H moves between floors using the elevator. Furthermore, by referring to the storage area of ​​the destination floor Fy associated with the robot information Ph of each robot H, the robot management device 3 can determine that the robot H is moving between floors if the destination floor Fy is recorded in that storage area, and can also determine which floor the destination floor Fy is. In this embodiment, the destination floor Fy of the robot H is used as the destination floor Fd (disembarking floor) when the robot H moves between floors using the elevator. On the other hand, for each robot H in which the destination floor Fy is not recorded in the storage area, the robot management device 3 can determine that the robot H is deployed at the deployment floor Fx (working).

[0032] Figure 2(B) is a conceptual diagram illustrating the transmission request management data Dq used in this embodiment. In the transmission request management data Dq, each time the robot management device 3 transmits an assignment request for robot H to the elevator control device 4, the robot information Ph and attribute information Pz of robot H and the information transmitted to the elevator control device 4 in that assignment request (in this embodiment, the departure floor Fc and destination floor Fd) are recorded in a manner that is associated with each other. Then, a set of information for that assignment request is deleted from the transmission request management data Dq when robot H has completed disembarking at the destination floor Fd (=target floor Fy) in that information.

[0033] The control unit 32 is responsible for executing the control processing (including assignment request processing, boarding command processing, and disembarking command processing) performed by the robot management 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 robot management device 3. This control program may be stored in a readable state on a portable storage medium (e.g., flash memory) before being installed in the robot management device 3, or it may be stored in a downloadable state on another server. Furthermore, the control processing performed by the robot management device 3 is not limited to being implemented in software by executing a program, but may also be implemented in hardware by processing circuits built into the robot management device 3.

[0034] <Elevator control device> The elevator control device 4 is a device that controls the operation of the elevator car G (see Figure 1). In this embodiment, when the elevator car G is being controlled in normal operation, the elevator control device 4 assigns a landing call X to the elevator car G each time it receives an assignment request from a user at the landing (first operation unit 1) or an assignment request from the robot management device 3 (assignment processing (during normal operation). See Figure 5).

[0035] Then, when the elevator control device 4 assigns a landing call Xg for a user to the elevator car G, it stops the elevator car G at the departure floor Fc indicated by the landing call Xg while keeping the control (operating mode) of the elevator car G in normal operation mode (response processing (during normal operation)).

[0036] Furthermore, each time the elevator control device 4 receives a registration request from a user (second operation unit 2) who has boarded the elevator car G, it registers the user's car call Yg to the elevator car G (registration process). Subsequently, the elevator control device 4 stops the elevator car G at the destination floor Fd indicated by the car call Yg (response process (during normal operation)).

[0037] On the other hand, when the elevator control device 4 assigns a landing call Xh for robot H to elevator car G, it switches elevator car G to robot-only operation and controls it regardless of whether the attribute information Pz of robot H is "allowed to ride" or "not allowed to ride" (switching process; see Figure 6).

[0038] After switching to robot-only operation, the elevator control device 4 stops the elevator car G at the departure floor Fc indicated by the landing call Xh, and allows the robot H to board the elevator car G each time (response processing (when robot-only operation is in operation). See Figures 7 and 8). Then, each time the robot H boards the elevator car G, the elevator control device 4 registers the destination floor Fd of the robot H as the elevator car G's elevator call Yh (registration processing). Specifically, at an appropriate timing after the robot H has boarded the elevator car G (including the timing when the robot H has finished boarding), the elevator control device 4 registers the destination floor Fd indicated by the robot H's landing call Xh as the elevator car G's elevator call Yh.

[0039] Furthermore, when the elevator control device 4 switches the control (operating mode) of the elevator car G to robot-only operation, if the landing calls Xh assigned to the elevator car G include both landing calls Xh of robot H whose attribute information Pz is "allowed to ride" and landing calls Xh of robot H whose attribute information Pz is "not allowed to ride", then the elevator control device 4 prioritizes allowing robot H whose attribute information Pz is "not allowed to ride" to disembark from the elevator car G over robot H whose attribute information Pz is "allowed to ride" (response processing (when operating robot-only). See Figures 7 and 8). In addition, the elevator control device 4 deletes the car call Yh of robot H each time robot H disembarks from the elevator car G.

[0040] Subsequently, while controlling the elevator in robot-only operation mode, if the elevator control device 4 has completed the registration of car calls Yh to the elevator car G for all robots H that were being transported at the time of switching to robot-only operation mode, and if the only car calls Yh registered in the elevator car G are those of robots H whose attribute information Pz is "acceptable for passengers", then the elevator control device 4 returns the elevator car G to normal operation mode, which allows for the assignment of landing calls Xg for users.

[0041] In terms of its specific configuration, the elevator control device 4 comprises a storage unit 41 and a control unit 42 (see Figure 1).

[0042] The memory unit 41 is a part composed of memory devices such as ROM and RAM, and stores information necessary for the control processing performed by the elevator control device 4. In this embodiment, such information stored in the memory unit 41 includes device management data Dr, landing call management data Dx, and car call management data Dy.

[0043] The device management data Dr includes device management data Dr1 for the first operation unit 1 (see Figure 3(A)) and device management data Dr2 for the second operation unit 2 (see Figure 3(B)). Here, device management data Dr1 is a database for managing multiple pieces of information related to each operation unit 1 by linking them together. Device management data Dr2 is a database for managing multiple pieces of information related to each operation unit 2 by linking them together.

[0044] The landing call management data Dx includes landing call management data DxG (not shown) for users and landing call management data DxH (see upper diagram in Figure 3(C)) for robot H. The car call management data Dy also includes car call management data DyG (not shown) for users and car call management data DyH (see lower diagram in Figure 3(C)) for robot H. Here, landing call management data DxG and car call management data DyG are data for managing landing call Xg and car call Yg information for users, respectively. Landing call management data DxH and car call management data DyH are data for managing landing call Xh and car call Yh information for robot H, respectively.

[0045] Figure 3(A) is a conceptual diagram illustrating the device management data Dr1 for the first operation unit 1 used in this embodiment. In the device management data Dr1, the device information Pd1 and installation floor Fs of the first operation unit 1 are recorded in a manner that is associated with each other.

[0046] As a result, when the elevator control device 4 receives device information Pd1 along with the destination direction Kc from any of the first control units 1, it can identify the installation floor Fs of the said first control unit 1 (the control unit that specified the destination direction Kc) from the device information Pd1. In this embodiment, the installation floor Fs of the said first control unit 1 is used as the departure floor Fc (boarding floor) of the user who operated that control unit to specify the destination direction Kc.

[0047] Figure 3(B) is a conceptual diagram illustrating the device management data Dr2 for the second operation unit 2 used in this embodiment. In the device management data Dr2, for each second operation unit 2, the device information Pd2 of that operation unit and the car information Pg for identifying the car G on which the operation unit is installed from other cars are recorded in a manner that is associated with each other.

[0048] As a result, when the elevator control device 4 receives device information Pd2 along with the destination floor Fd from the second control unit 2, it can identify the elevator car G (the elevator car G for which the destination floor Fd was specified) where the second control unit 2 is installed from the device information Pd2. Therefore, when the elevator control device 4 registers the destination floor Fd received from the second control unit 2 as the car call Yg, it can identify the elevator car G to which it should be registered.

[0049] Figure 3(C) is a conceptual diagram illustrating the landing call management data DxH and the elevator car call management data DyH for the robot H used in this embodiment.

[0050] In the landing call management data DxH (see the upper diagram in Figure 3(C)), each time a landing call Xh is assigned to robot H, the robot information Ph and attribute information Pz of robot H, and the departure floor Fc and destination floor Fd indicated by the landing call Xh are recorded in a corresponding manner as the assignment status. Then, the information for each landing call Xh is deleted from the landing call management data DxH (deletion of landing call Xh) when the landing call Xh has finished its role (in this embodiment, when the destination floor Fd indicated by the landing call Xh is registered as a car call Yh).

[0051] Furthermore, in the elevator call management data DyH (see the lower diagram in Figure 3(C)), each time an elevator call Yh is registered for robot H, the robot information Ph of robot H and the destination floor Fd indicated by that elevator call Yh are recorded in a corresponding manner as part of the registration status. Then, the information for each elevator call Yh is deleted from the elevator call management data DyH (deletion of elevator call Yh) when the elevator call Yh has finished its role (in this embodiment, when robot H has disembarked at the destination floor Fd indicated by that elevator call Yh).

[0052] The control unit 42 is responsible for executing the control processing (including allocation processing, registration processing, switching processing, and response processing) performed by the elevator control device 4. Specifically, the control unit 42 is composed of processing devices such as a CPU and an MPU, and executes the control processing it is responsible for using software by running the control program installed in the elevator control device 4. This control program may be stored in a readable state on a portable storage medium (e.g., flash memory) before being installed in the elevator control device 4, or it may be stored in a downloadable state on another server. Furthermore, the control processing performed by the elevator control device 4 is not limited to being implemented in software by executing a program, but may also be implemented in hardware by processing circuits built into the elevator control device 4.

[0053] [1-2] Control processes performed in the elevator [1-2-1] Assignment request processing performed by the robot management device Figure 4 is a flowchart showing the assignment request process performed in this embodiment. This assignment request process is initiated each time the robot management device 3 receives the target floor Fy and robot information Ph from any robot H. Here, the robot H that sent this information (the robot H identified by the transmitted robot information Ph) is referred to as the "target robot Hm". The information received by the robot management device 3 at that time (including the target floor Fy and robot information Ph) is collectively referred to as "received information Pr1".

[0054] When the assignment request process begins, the robot management device 3 uses the robot management data Dp (see Figure 2(A)) to find a robot information Ph that matches the robot information Ph in the received information Pr1, and then extracts the deployment floor Fx associated with that robot information Ph (step S101). Furthermore, the robot management device 3 records the target floor Fy in the received information Pr1 into the storage area for the target floor Fy in the robot management data Dp that is associated with the found robot information Ph. This records in the robot management data Dp that the robot of interest Hm is moving between floors toward the target floor Fy. In the example in Figure 2(A), the target robot Hk, whose robot information Ph is "H-01", transmits "8th floor" as the target floor Fy in order to move between floors from the deployment floor Fx, "2nd floor".

[0055] Subsequently, the robot management device 3 sends the information (departure floor Fc and destination floor Fd) of the target robot Hm, which is designated as the departure floor Fc and destination floor Fd respectively, to the elevator control device 4, thereby requesting the elevator control device 4 to assign a landing call Xh for the target robot Hm (step S102). At this time, in order to allow the elevator control device 4 to recognize which robot H the assignment request is for, the robot management device 3 also sends the robot information Ph and attribute information Pz of the target robot Hm to the elevator control device 4.

[0056] Furthermore, the robot management device 3 records the information transmitted to the elevator control device 4 (robot information Ph, attribute information Pz, departure floor Fc, destination floor Fd) in the transmission request management data Dq, as assignment request information for the robot of interest Hm, in a corresponding manner (see Figure 2(B)). The example in Figure 2(B) shows the case where assignment request information (Ph="H-01", Pz="Boardable", Fc="2nd floor", Fd="8th floor") for the robot of interest Hm, whose attribute information Pz is "Boardable", is recorded in the transmission request management data Dq.

[0057] [1-2-2] Assignment processing performed by the elevator control device (during normal operation) Figure 5 is a flowchart showing the allocation process (during normal operation) performed in this embodiment. This allocation process is initiated each time the elevator control device 4 receives an allocation request from a user (first operation unit 1) or a robot management device 3 during control in normal operation.

[0058] Here, the information received by the elevator control device 4 each time an allocation request is made is collectively referred to as "received information Pr2". Specifically, if the allocation request is from a user (first operation unit 1) (allocation request for landing call Xg for the user), this received information Pr2 will be a set of information including the destination direction Kc and device information Pd1. If the allocation request is from a robot management device 3 (allocation request for landing call Xh for robot H), this received information Pr2 will be a set of information including the departure floor Fc, destination floor Fd, robot information Ph, and attribute information Pz.

[0059] When the allocation process (during normal operation) begins, the elevator control device 4 determines whether the received allocation request is from the user (first operation unit 1) or the robot management device 3 by determining which information, device information Pd1 or robot information Ph, is included in the received information Pr2 (step S200).

[0060] If the elevator control device 4 determines in step S200 that the "device information Pd1" is included, it can determine that the received assignment request is from a user (first operation unit 1). In this case, the elevator control device 4 performs the assignment of landing call Xg for that user (step S201).

[0061] Specifically, the elevator control device 4 first uses the device management data Dr1 (see Figure 3(A)) to find a device information Pd1 in the received information Pr2 that matches the device information Pd1 recorded therein, and then extracts the installation floor Fs associated with that device information Pd1. Then, the elevator control device 4 uses the extracted installation floor Fs as the user's departure floor Fc, and combines that departure floor Fc with the destination direction Kc in the received information Pr2 to form a single landing call Xg, and assigns this landing call Xg to the elevator car G. Furthermore, the elevator control device 4 reflects the change in the assignment status resulting from this assignment in the landing call management data DxG. After that, the elevator control device 4 terminates the assignment process.

[0062] On the other hand, if the elevator control device 4 determines in step S200 that "robot information Ph" is included, it can determine that the received assignment request is from the robot management device 3. In this case, the elevator control device 4 performs the assignment of a landing call Xh for the target robot Hm (robot H identified by robot information Ph in the received information Pr2) that is the subject of the request (step S210).

[0063] Specifically, the elevator control device 4 combines the departure floor Fc and destination floor Fd in the received information Pr2 into a single landing call Xh, and then assigns this landing call Xh to the elevator car G. Furthermore, the elevator control device 4 records the information of the landing call Xh (departure floor Fc and destination floor Fd) in the landing call management data DxH, associating it with the robot information Ph and attribute information Pz (robot information Ph and attribute information Pz of the robot of interest Hm) in the received information Pr2 (see the upper diagram in Figure 3(C)).

[0064] After step S210, the elevator control device 4 first determines whether the flag information Pf is set to Pf=1 in order to switch the elevator car G to robot-only operation and control it, regardless of whether the attribute information Pz of the robot of interest Hm is "passenger allowed" or "passenger not allowed" (step S211). Here, the flag information Pf is information indicating whether the elevator car G should be controlled in normal operation or robot-only operation. In this embodiment, the flag information Pf is set to Pf=0 when the elevator car G should be controlled in normal operation, and to Pf=1 when the elevator car G should be controlled in robot-only operation.

[0065] Then, if the elevator control device 4 determines in step S211 that it is "not set (No)", it sets the flag information Pf to Pf=1 (step S212). After that, the elevator control device 4 terminates the assignment process.

[0066] On the other hand, if the elevator control device 4 determines in step S211 that it is "set (Yes)", it leaves the flag information Pf setting as Pf=1 and terminates the assignment process.

[0067] [1-2-3] Switching process performed by the elevator control device Figure 6 is a flowchart showing the switching process performed in this embodiment. This switching process is for switching the control (operating mode) of the elevator car G from normal operation to robot-only operation, and is started when the setting of the flag information Pf is changed from Pf=0 to Pf=1 (when step S212 in Figure 5 is executed).

[0068] When the switching process begins, the elevator control device 4 performs the following steps to determine whether the elevator car G is empty (neither a user nor a robot H is inside) before switching the control (operating mode) of the elevator car G to robot-only operation.

[0069] First, the elevator control device 4 determines whether there is a robot H moving while riding in the elevator car G (in this embodiment, as will become clear in the response processing (robot-only operation) described below, the only robot H that may be riding in the elevator car G when the switching process is executed is the robot H whose attribute information Pz is "allowed to ride") by referring to the registration status of car calls Yh to the elevator car G recorded in the car call management data DyH (see the lower diagram in Figure 3(C)) to determine whether there is a car call Yh that is registered in the elevator car G (in other words, a car call Yh that remains registered in the elevator car G) (step S301).

[0070] If the elevator control device 4 determines in step S301 that "Yes" exists, it can then determine that there is a robot H moving inside the elevator car G. In this case, the elevator control device 4 waits for the robot H to disembark from the elevator car G before proceeding to the next step.

[0071] Specifically, the elevator control device 4 determines whether the robot H has finished disembarking from the elevator car G by checking whether the registration of the elevator call Yh for the robot H to the elevator car G has been removed (step S302). More specifically, the elevator control device 4 checks the elevator call management data DyH to determine whether all the information of the elevator call Yh recorded there has been removed. The elevator control device 4 also repeatedly executes step S302 until it can determine that "the registration has been removed (Yes)" in step S302. Then, if the elevator control device 4 determines that "the registration has been removed (Yes)" in step S302, it proceeds to the next step S303.

[0072] In step S303, in order to determine whether the elevator car G is empty (no passengers are on board), the elevator control device 4 determines whether all assignments of landing calls Xg and registrations of car calls Yg for passengers to the elevator car G have been removed. Specifically, the elevator control device 4 checks the landing call management data DxG and car call management data DyG for passengers to determine whether all the information on landing calls Xg and car calls Yg recorded in them has been removed. The elevator control device 4 then repeatedly executes step S303 until it can be determined that "all information has been removed (Yes)" in step S303.

[0073] Then, if the elevator control device 4 determines in step S303 that "all are gone (Yes)", it switches the control (operating mode) of the elevator car G from normal operation to robot-only operation, thereby starting control in robot-only operation mode (step S304).

[0074] Thus, the elevator control device 4 waits for the elevator car G to become empty before switching to robot-only operation. During this switching process, the elevator remains in normal operation until the elevator car G becomes empty. Therefore, during this time, the elevator car G may be further assigned a landing call Xh for another robot H. As a result, at the time of switching to robot-only operation, there may be multiple landing calls Xh assigned to the elevator car G (see Figure 11).

[0075] On the other hand, after switching to robot-only operation, the elevator control device 4 rejects any assignment requests received from either the user (first operation unit 1) or the robot management device 3 while in control of the robot-only operation. In other words, while in control of the robot-only operation, the elevator control device 4 does not make a new assignment to the elevator car G even if the landing call Xh is from robot H, and instead performs the response processing (during robot-only operation) described below, targeting only the landing calls Xh that were already assigned to the elevator car G at the time of switching to robot-only operation.

[0076] Furthermore, the elevator control device 4 may also reject received assignment requests while the above-described switching process is being executed. This makes it possible to empty the elevator car G as quickly as possible.

[0077] [1-2-4] Response processing performed by the elevator control device (when operating exclusively for robots) Figures 7 and 8 are flowcharts showing the response processing (during robot-only operation) performed in this embodiment. This response processing is initiated when control for robot-only operation begins (when step S304 in Figure 6 is executed). In this embodiment, if there are multiple robots H to be transported at the start of control for robot-only operation (i.e., at the time of switching to robot-only operation), the elevator control device 4 will perform control to transport each robot H one by one in the elevator car G.

[0078] When response processing (for robot-only operation) begins, the elevator control device 4 first refers to the attribute information Pz recorded for each landing call Xh in the landing call management data DxH (see Figure 12(A)) in order to determine which landing calls Xh are included in the landing calls Xh assigned to the elevator car G (i.e., all landing calls Xh for robot H that are being transported at the time of switching to robot-only operation; here, these landing calls Xh are collectively referred to as "response targets"), and determines whether or not the response targets include landing calls Xh of robot H whose attribute information Pz is "acceptable for passengers" (step S400).

[0079] If the elevator control device 4 determines in step S400 that it is "not included (No)", it can use that determination to determine that the response targets do not include landing calls Xh of robot H whose attribute information Pz is "passenger allowed", in other words, that only landing calls Xh of robot H whose attribute information Pz is "passenger not allowed" are included. In this case, the elevator control device 4 executes the processing from step S401 in order to transport robot H whose attribute information Pz is "passenger not allowed" one by one.

[0080] In step S401, the elevator control device 4 performs a first response process (a process that stops the elevator car G at the departure floor Fc indicated by the landing call Xh and allows the robot H to board the elevator car G) for the landing call Xh of robot H whose attribute information Pz is "cannot board".

[0081] Figure 9 is a flowchart showing the first response process performed in this embodiment. In the first response process, the elevator control device 4 first commands the elevator car G to stop at the departure floor Fc indicated by the landing call Xh (step S501). Then, the elevator control device 4 determines whether or not the elevator car G has arrived at the departure floor Fc (step S502). The elevator control device 4 then repeatedly executes step S502 until it can determine that "arrived (Yes)" in step S502.

[0082] If the elevator control device 4 determines in step S502 that "arrival (Yes)", it determines whether the doors of the elevator car G have been opened before allowing the robot H (referred to here as "target robot Hk"), which is the target of transport in the first response processing currently being executed, to board the elevator car G (step S503). The elevator control device 4 then repeatedly executes step S503 until it can determine in step S503 that "completion (Yes)".

[0083] If the elevator control device 4 determines in step S503 that the process is "completed (Yes)", it sends a boarding start signal Sx1 to the robot management device 3 to instruct the target robot Hk to begin boarding the elevator car G (step S504). At this time, the elevator control device 4 also sends robot information Ph of the target robot Hk to the robot management device 3 so that the robot management device 3 can recognize which robot H the boarding start signal Sx1 is directed to.

[0084] When the robot management device 3 receives a boarding start signal Sx1 from the elevator control device 4, it instructs the robot H (in this case, target robot Hk) identified by the robot information Ph received along with the signal to begin boarding the elevator car G. Subsequently, when the robot management device 3 receives notification from target robot Hk that boarding is complete, it sends a boarding completion signal Sx2 back to the elevator control device 4. At this time, the robot management device 3 also transmits the robot information Ph of target robot Hk to the elevator control device 4 so that the elevator control device 4 can recognize which robot H has completed boarding.

[0085] After step S504, the elevator control device 4 determines whether or not it has received a boarding completion signal Sx2 from the robot management device 3 (step S505). The elevator control device 4 then repeatedly executes step S505 until it can determine in step S505 that it has "received (Yes)". At this time, however, some kind of trouble may occur with the target robot Hk (such as a power system failure or insufficient battery power), which may prevent the target robot Hk from completing boarding into the elevator car G. Therefore, if the elevator control device 4 has not received the boarding completion signal Sx2 (and has not been able to determine in step S505 that it has "received (Yes)") and a predetermined time has elapsed, it may cancel the assignment of the landing call Xh to the elevator car G for the target robot Hk and terminate the first response process.

[0086] If the elevator control device 4 determines in step S505 that it has "received (Yes)", it can determine that the target robot Hk has completed boarding. In this case, the elevator control device 4 registers the car call Yh for the target robot Hk to the elevator car G (step S506). Specifically, the elevator control device 4 registers the destination floor Fd indicated by the landing call Xh of the target robot Hk as the car call Yh to the elevator car G (recorded in the car call management data DyH). On the other hand, since the landing call Xh of the target robot Hk has finished its role due to the registration of the car call Yh for the target robot Hk, the elevator control device 4 deletes the landing call Xh (deleted from the landing call management data DxH). After that, the elevator control device 4 terminates the first response processing.

[0087] In this first response process, the elevator control device 4, at an appropriate timing after the target robot Hk has finished boarding the elevator car G (including the timing when the target robot Hk has finished boarding), registers the destination floor Fd indicated by the landing call Xh of the target robot Hk as the car call Yh for the elevator car G. Furthermore, the elevator control device 4 deletes the information of the landing call Xh, which has completed its role by registering the car call Yh, from the landing call management data DxH (deletion of landing call Xh).

[0088] After step S401 in Figure 7, the elevator control device 4 performs a second response process for robot H in response to the car call Yh (a process that stops the elevator car G at the destination floor Fd indicated by the car call Yh and allows robot H to disembark from the elevator car G) for the car call Yh registered in step S401 (step S402).

[0089] Figure 10 is a flowchart showing the second response process performed in this embodiment. In the second response process, the elevator control device 4 first commands the elevator car G to stop at the destination floor Fd indicated by the car call Yh (step S601). Then, the elevator control device 4 determines whether or not the elevator car G has arrived at the destination floor Fd (step S602). The elevator control device 4 then repeatedly executes step S602 until it can determine that "arrived (Yes)" in step S602.

[0090] If the elevator control device 4 determines in step S602 that "arrival (Yes)", it determines in the currently executing second response processing whether the doors of the elevator car G have been opened before having the robot H being transported (here, this robot H is referred to as "target robot Hk") disembark from the elevator car G (step S603). The elevator control device 4 then repeatedly executes step S603 until it can determine in step S603 that "completion (Yes)".

[0091] If the elevator control device 4 determines in step S603 that the process is "completed (Yes)", it sends a disembarkation start signal Sy1 to the robot management device 3 to command the target robot Hk to begin disembarking from the elevator car G (step S604). At this time, the elevator control device 4 also sends robot information Ph of the target robot Hk to the robot management device 3 so that the robot management device 3 can recognize which robot H the disembarkation start signal Sy1 is commanded to.

[0092] When the robot management device 3 receives a disembarkation start signal Sy1 from the elevator control device 4, it instructs the robot H (in this case, target robot Hk) identified by the robot information Ph received along with the signal to begin disembarking from the elevator car G. Subsequently, when the robot management device 3 receives notification from target robot Hk that disembarkation is complete, it sends a disembarkation completion signal Sy2 back to the elevator control device 4. At this time, the robot management device 3 also transmits the robot information Ph of target robot Hk to the elevator control device 4 so that the elevator control device 4 can recognize which robot H has completed disembarking.

[0093] After step S604, the elevator control device 4 determines whether or not it has received a disembarkation completion signal Sy2 from the robot management device 3 (step S605). The elevator control device 4 then repeatedly executes step S605 until it can determine that it has received the signal (Yes).

[0094] If the elevator control device 4 determines in step S605 that it has "received (Yes)", it can determine that the target robot Hk has completed disembarking. In this case, since the car call Yh of the target robot Hk has finished its role upon completion of disembarking, the elevator control device 4 deletes the car call Yh (step S606. Deletion from car call management data DyH). After that, the elevator control device 4 terminates the second response processing.

[0095] Thus, in the second response processing, the elevator control device 4 deletes the information of the car call Yh from the car call management data DyH when the target robot Hk has finished disembarking at the destination floor Fd indicated by the car call Yh (deletion of car call Yh).

[0096] After step S402 in Figure 7, the elevator control device 4 determines whether there are any remaining landing calls Xh to respond to by checking the assignment status of landing calls Xh recorded in the landing call management data DxH, in order to determine whether there are any remaining landing calls Xh to respond to (step S403).

[0097] If the elevator control device 4 determines in step S403 that there are "remaining (Yes)", it executes the process from step S401 for the remaining landing calls Xh. The elevator control device 4 then repeatedly executes the process from step S401 until it determines in step S403 that there are "no remaining (No)".

[0098] If the elevator control device 4 determines in step S403 that there are "none remaining (No)", it returns the control (operating mode) of the elevator car G from robot-only operation to normal operation (step S404). After that, the elevator control device 4 terminates the response processing.

[0099] Thus, if, at the time of switching to robot-only operation, the only robots H being transported are those whose attribute information Pz is "not available for transport," then control will be maintained in robot-only operation mode until all transport of those robots H is completed.

[0100] If the elevator control device 4 determines in step S400 that it is "included (Yes)", it can then determine that the response targets include landing calls Xh of robot H whose attribute information Pz is "passenger allowed". On the other hand, in this case, landing calls Xh of robot H whose attribute information Pz is "passenger not allowed" may also be included in the response targets (see Figure 12(A)).

[0101] Therefore, the elevator control device 4 further determines whether or not the landing call Xh of robot H, whose attribute information Pz is "not available for passenger rides," is included in the response targets (step S410 in Figure 8). At this time, the elevator control device 4 may again refer to the attribute information Pz recorded for each landing call Xh in the landing call management data DxH.

[0102] If the elevator control device 4 determines in step S410 that it is "included (Yes)", it can then determine that the response target includes both landing calls Xh of robot H whose attribute information Pz is "passenger allowed" and landing calls Xh of robot H whose attribute information Pz is "passenger not allowed". In this case, the elevator control device 4 will prioritize transporting robot H whose attribute information Pz is "passenger not allowed" over robot H whose attribute information Pz is "passenger allowed", and will repeatedly perform the first response processing (step S411) for the landing call Xh of robot H whose attribute information Pz is "passenger not allowed" and the second response processing (step S412) for the car call Yh of robot H until it can determine in step S410 that it is "not included (No)" (see Figures 12(B) and 12(C)).

[0103] Then, if the elevator control device 4 determines in step S410 that it is "not included (No)", it can use that determination to determine that the only remaining landing call Xh to respond to is that of robot H whose attribute information Pz is "acceptable for passengers" (see Figure 12(C)). In this case, by executing the process from step S420, if there are multiple landing calls Xh remaining, the elevator control device 4 will continue to transport robot H until only one landing call Xh to respond to remains. Specifically, this is done as follows.

[0104] In step S420, the elevator control device 4 checks the assignment status of landing calls Xh recorded in the landing call management data DxH (see Figure 12(C)) to determine whether there is only one landing call Xh remaining that needs to be responded to.

[0105] If the elevator control device 4 determines in step S420 that there is "not just one (No)", it repeatedly performs the first response process (step S421) for the landing call Xh of robot H whose attribute information Pz is "allowed to ride together", and the second response process (step S422) for the car call Yh of robot H, until it can determine in step S420 that there is "just one (Yes)".

[0106] Then, if the elevator control device 4 determines in step S420 that "there is only one left (Yes)", it can use that determination to determine that there is only one landing call Xh remaining from robot H whose attribute information Pz is "acceptable for passengers" and which should be responded to. In this case as well, the elevator control device 4 performs the first response processing for that landing call Xh (step S430).

[0107] This completes the registration of the car call Yh for the remaining robot H whose attribute information Pz is "acceptable for passengers" (see Figure 12(D)). In other words, the registration of the car call Yh to car G is completed for all robots H that were being transported at the time of switching to robot-only operation (all robots H whose landing call Xh was assigned to car G at the time of switching to robot-only operation), and for the car call Yh that is registered to car G, only one car call Yh remains for robot H whose attribute information Pz is "acceptable for passengers".

[0108] Then, when the registration of the car call Yh for the remaining robot H whose attribute information Pz is "acceptable for passengers" is completed (i.e., when the robot H has finished boarding the elevator car G), the elevator control device 4 returns the control (operating mode) of the elevator car G from robot-only operation to normal operation (step S431). After that, the elevator control device 4 terminates the response processing.

[0109] Through this process, just like with robot H whose attribute information Pz is "cannot be ridden," robot H whose attribute information Pz is "can be ridden" can also be made to ride in the elevator car G that is being controlled by robot-only operation (i.e., elevator car G that does not have a passenger on board), thereby ensuring that the robot can be reliably made to ride in that elevator car G.

[0110] Furthermore, even if, at the time of switching to robot-only operation, the robots H to be transported include both robots H with attribute information Pz "can ride" and robots H with attribute information Pz "cannot ride," by completing the transport of robots H with attribute information Pz "cannot ride" before the transport of robots H with attribute information Pz "can ride," it becomes possible to limit the remaining robots H to be transported (excluding robots H whose transport has been completed) to only those robots H with attribute information Pz "can ride."

[0111] Furthermore, when, during robot-only operation control, the only robots H to be transported (excluding robots H whose transport has been completed) are those whose attribute information Pz is "allowed to ride together", and when all of those robots H have boarded the elevator car G (in this embodiment, since robots H are transported one by one, the only remaining robots H to be transported are those whose attribute information Pz is "allowed to ride together", and furthermore, when only one robot H remains and that last robot H has boarded), the elevator car G can be returned to normal operation and controlled without waiting for the disembarkation of the robot H to be completed. Thus, it becomes possible to minimize the time when users cannot use the elevator after switching to robot-only operation.

[0112] According to this embodiment, if the only landing call Xh (response target) assigned to the elevator car G at the time of switching to robot-only operation is a landing call Xh for one robot H whose attribute information Pz is "acceptable for passengers", then when the robot H has finished boarding the elevator car G, the control (operating mode) of the elevator car G will be returned from robot-only operation to normal operation.

[0113] [2] Variant [2-1] First variation In the embodiment described above, if there are multiple robots H to be transported at the time of switching to robot-only operation, the elevator control device 4 may be appropriately modified to allow multiple robots H to ride together in the elevator car G, instead of transporting each robot H individually in the elevator car G. In this case, during control in robot-only operation, the only robots H to be transported (excluding robots H whose transport has been completed) will be those whose attribute information Pz is "allowed to ride together", and once all of these robots H have boarded the elevator car G, the situation may be such that multiple robots H are riding in the elevator car G. Even in such a situation, the elevator car G can be returned to normal operation and controlled without waiting for any of the robots H to disembark.

[0114] [2-2] Second variation In both the above-described embodiment and the first modified example, if the elevator control device 4 receives an allocation request from a user (first operation unit 1) or a robot management device 3 while controlling the elevator in robot-only operation mode, it may put the request on hold instead of rejecting it. In this case, the elevator control device 4 can release the hold on the allocation request when it returns the control of the elevator car G to normal operation (when it executes step S404 in Figure 7 or step S431 in Figure 8) and make the allocation to the elevator car G according to the allocation request. Furthermore, if the elevator control device 4 puts an allocation request from a user on hold, it may also illuminate the landing button that the user pressed when making the allocation request during the hold period.

[0115] [2-3] Third variation In all of the embodiments described above and the first to second modifications, the robot management device 3 may request the assignment of a landing call Xh for robot H by sending the information (departure floor Fc and destination direction Kc) to the elevator control device 4, with the deployment floor Fx being the departure floor Fc and the direction from the deployment floor Fx to the destination floor Fy being the destination direction Kc (assignment request processing). In this case, the robot management device 3 will, at an appropriate timing after robot H has finished boarding the elevator car G (including the timing when robot H has finished boarding), request the registration of a car call Yh with the robot H's destination floor Fy being the destination floor Fd, by sending the information (destination floor Fd) to the elevator control device 4 (registration request processing).

[0116] [2-4] Fourth variation In all of the embodiments described above and the first to third modifications, the request for allocation of a landing call Xg for a user (a request for allocation from the user) may be appropriately changed to a request made by the destination floor registration device installed on each floor, after the user registers the destination floor Fd. In this case, the destination floor registration device will make the request for allocation of a landing call Xg for a user by transmitting the destination floor Fd registered by the user and its own device information Pd1 to the elevator control device 4.

[0117] Then, when the elevator control device 4 receives an assignment request from the destination floor registration device, it determines in step S200 of Figure 5 that it is "device information Pd1," and in the subsequent step S201, it sets the installation floor Fs of the destination floor registration device (the destination floor registration device identified by the received device information Pd1; see Figure 2(A)) as the departure floor Fc, and assigns the departure floor Fc and the received destination floor Fd (the destination floor Fd registered by the user in the destination floor registration device) as a single landing call Xg to the elevator car G.

[0118] [2-5] Fifth variation In all of the embodiments described above and the first to fourth modifications, each robot H may be appropriately modified to perform the control processing (including assignment request processing, boarding command processing, and disembarking command processing) performed by the robot management device 3 on behalf of the robot management device 3. In this case, each robot H will communicate with the elevator control device 4 without going through the robot management device 3. As a result, each robot H will be able to use the elevator autonomously in cooperation with the elevator control device 4.

[0119] [2-6] Sixth variation The allocation process, switching process, and response process performed by the elevator control device 4 described above can also be applied to elevators that perform group control for multiple elevator cars G.

[0120] 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.

[0121] From the embodiments and modifications described above, the subject matter of the invention may not be limited to the elevator control device 4, but may also be individually extracted from control processes (including control methods corresponding to said control processes) or programs performed by the elevator control device 4. Furthermore, the subject matter of the invention may also be individually extracted from parts or all of the elevator described above, or even parts or all of the control processes performed by said elevator. [Explanation of symbols]

[0122] 1 1st operation section 2 2nd operation section 3. Robot Management Device 4. Elevator control device G Car H Robot X boarding area call Y Calling 31, 41 Storage section 32, 42 Control Unit Dp Robot Management Data Dq Submission Request Management Data Dr. Device Management Data Dx boarding area call management data Dy Basket Call Management Data FC Departure Floor Fd Destination Floor Fs installation floor Fx Deployment Floor Fy Destination Floor Hk Target Robot Hm Focus Robot Kc destination direction Pf Flag Information Pg Shopping Cart Information Ph Robot Information Pz attribute information Xg, Xh boarding area call Yg, Yh cage calling Dr1, Dr2 Device Management Data DxG, DxH Landing Call Management Data DyG, DyH cage call management data Pd1, Pd2 Device Information Pr1, Pr2 Received Information Sx1 Boarding start signal Sx2 ride completion signal Sy1 Disembarkation Start Signal Sy2 exit completion signal

Claims

1. A control device applicable to elevators used by robots, Each of the aforementioned robots has attribute information set to indicate either whether it is allowed to ride with a user in the elevator or not. Each time a ride car is assigned a boarding call for the robot, regardless of whether the robot's attribute information indicates that it is allowed to carry passengers or not, the ride car is switched to robot-only operation and controlled accordingly. After switching to operation exclusively for the robot, each time the robot boards the elevator car, the robot's destination floor is registered in the elevator car as a car call for that robot, and each time the robot disembarks from the elevator car, the robot's car call is deleted. An elevator control device that, while controlling the elevator in robot-dedicated operation mode, completes the registration of car calls to the elevator car for all robots that were to be transported at the time of switching to robot-dedicated operation mode, and when the only car calls registered to the elevator car are those of robots whose attribute information indicates they can ride together, the control device returns the elevator car to normal operation mode, which allows for the assignment of landing calls for users.

2. The elevator control device according to claim 1, which, at the time the control of the elevator car is switched to operation exclusively for the robot, includes both a landing call from a robot whose attribute information indicates that it is permitted to ride and a landing call from a robot whose attribute information indicates that it is not permitted to ride, and allows the robot whose attribute information indicates that it is not permitted to ride to disembark from the elevator car with priority over the robot whose attribute information indicates that it is permitted to ride.

3. This is a control method applicable to elevators used by robots. Each of the aforementioned robots has attribute information set to indicate either whether it is allowed to ride with a user in the elevator or not. Each time a ride car is assigned a boarding call for the robot, regardless of whether the robot's attribute information indicates that it is allowed to carry passengers or not, the ride car is switched to robot-only operation and controlled accordingly. After switching to operation exclusively for the robot, each time the robot boards the elevator car, the robot's destination floor is registered in the elevator car as a car call for that robot, and each time the robot disembarks from the elevator car, the robot's car call is deleted. An elevator control method that, during control in robot-dedicated operation, when registration of car calls to the elevator car is completed for all robots that were to be transported at the time of switching to robot-dedicated operation, and when the only car calls registered to the elevator car are those of robots whose attribute information indicates that they can ride together, the elevator car is controlled by returning to normal operation in which landing calls for users can be assigned.

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