Robot, robot management device, elevator control device, and robot control method

Abstract

Even if a communication failure (disruption) occurs between the robot and the robot management device, it will still be possible for the robot to disembark from the elevator car. [Solution] After the robot boards the elevator car, a determination (A1) is made based on the output of the acceleration sensor to determine whether the elevator car has stopped. If the determination (A1) is that the elevator car has stopped, the measurement of elapsed time is started. Furthermore, a determination (B) is made based on the output of the acceleration sensor to determine whether the elevator car has started moving, and a determination (C) is made to determine whether a disembarkation command signal to instruct the robot to disembark from the elevator car has been received from an external source. If the determination (B) is not that the elevator car has started moving, and the determination (C) is not that the signal has been received, and the elapsed time reaches a first predetermined time, the robot is instructed to disembark from the elevator car.

Description

Technical Field

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

Background Art

[0002] In recent years, robots have been increasingly used for various tasks (such as cleaning, monitoring, and transportation) in buildings. Along with this, the use of elevators for the inter-floor movement of robots in buildings has been increasing (see, for example, Patent Document 1). And such robots are often centrally managed by a robot management device. In that case, the robot rides on and off the car according to commands received via wireless communication from the robot management device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] On the other hand, after the robot rides on the car, communication abnormalities such as temporary interruption of communication (wireless communication) between the robot and the robot management device may occur as the car moves. When such a communication abnormality occurs, even if the car arrives at the floor where the robot is to get off (destination floor), the robot cannot receive a command to get off from the robot management device and cannot get off the car.

[0005] Therefore, an object of the present invention is to enable the robot to get off the car even when an abnormality (interruption) occurs in the communication between the robot and the robot management device.

Means for Solving the Problems

[0006] The robot according to the present invention is a robot capable of using an elevator and is equipped with an acceleration sensor (Aspect X). The robot according to this aspect X has the following configuration (Aspect 1). After boarding the elevator car, the robot makes a determination (A1) based on the output of the acceleration sensor to determine whether the elevator car has stopped. If the robot determines in the determination (A1) that the elevator car has stopped, it performs the following process (Z). In process (Z), the robot starts measuring the elapsed time and further makes a determination (B) based on the output of the acceleration sensor to determine whether the elevator car has started moving, and a determination (C) to determine whether it has received a disembarkation command signal from an external source to instruct the robot to disembark from the elevator car. The robot repeatedly performs determinations (B) and (C) until the elapsed time reaches a first predetermined time, either by determining in determination (B) that the elevator car has started moving, or by determining in determination (C) that the signal has been received. Then, if the robot does not determine in judgment (B) that it has "started", nor does it determine in judgment (C) that it has "received", and the elapsed time reaches the first predetermined time, it will begin to disembark from the elevator car.

[0007] In the above embodiment 1, if the robot does not determine in judgment (B) that it has "started", and the elapsed time reaches the first predetermined time, the robot can determine that the elevator car has remained stopped on any floor for the first predetermined time, and therefore the elevator car has remained stopped on the same floor for such a long period of time in order to wait for its passengers to disembark. In other words, the robot can determine that the floor on which the elevator car is stopped at that time is its destination floor (disembarkation floor). In this case, if communication with the outside is normal, the robot will receive a disembarkation command signal from the outside. Nevertheless, if the robot does not determine in judgment (B) that it has "received" the signal before the elapsed time reaches the first predetermined time, the robot can determine that there is an abnormality (blockage) in communication with the outside. Therefore, if the robot does not determine in judgment (B) that it has "started" and does not determine in judgment (C) that it has "received", and the elapsed time reaches the first predetermined time, it can determine that the elevator car has arrived at its destination floor, but there is an abnormality in communication with the outside, and as a result it is unable to receive the disembarkation command signal, and based on that determination, it can begin to disembark from the elevator car.

[0008] In the case of the robot according to the above embodiment X, after the robot boards the elevator car and until the robot disembarks, each time the elevator car stops at any floor, stop floor information indicating which floor it is may be transmitted from an external source. In this case, the robot according to the above embodiment X may have the following configuration (embodiment 2). After boarding the elevator car, the robot makes a determination (A1) based on the output of the acceleration sensor to determine whether or not the elevator car has stopped, and if the determination (A1) determines that it has stopped, the robot may further make a determination (A2) to determine whether or not it was able to receive stop floor information from an external source. If the determination (A2) determines that it was not able to receive the information, the robot may perform the above-described process (Z).

[0009] In the above embodiment 2, if the robot determines in judgment (A1) that it has "stopped" but in judgment (A2) that it "could not receive," it will be able to determine that there is an abnormality (blockage) in communication with the outside world at that time. Furthermore, if the robot does not determine in judgment (B) that it has "started," and does not determine in judgment (C) that it has "received," and the elapsed time reaches the first predetermined time, it will be able to determine that the elevator car has arrived at its destination floor, but the abnormality in communication with the outside world is still continuing at that time, and as a result it is unable to receive the disembarkation command signal, and based on this determination, it will be able to begin disembarking from the elevator car.

[0010] On the other hand, even if the robot determines in judgment (A2) that it "could not receive" the signal, if communication with the outside is restored afterward, it may be possible to determine in judgment (C) that it "received" the signal before the elapsed time reaches the first predetermined time. In this case, the robot will be able to begin disembarking from the elevator car in accordance with the disembarking command signal received from the outside.

[0011] The robot according to the above embodiment 2 may have the following configuration (embodiment 3). If the robot determines in judgment (A2) that it has "received" the information, it may further determine (A3) whether the floor indicated by the received stop floor information matches its own destination floor. If it determines in judgment (A3) that the information matches, it may also start measuring the elapsed time and perform the judgment (C) described above. Furthermore, the robot may repeatedly perform judgment (C) until it determines that it has "received" the information, until the elapsed time reaches the second predetermined time. If the robot does not determine that it has "received" the information, and the elapsed time reaches the second predetermined time, it may start disembarking from the elevator car.

[0012] In the above embodiment 3, if the robot determines in judgment (A2) that it has "received" the information, it can determine that communication with the outside is normal at that time. In this case, by making judgment (A3), the robot can determine whether the floor indicated by the received stop floor information (i.e., the floor where the elevator car is stopped at that time) matches its destination floor, and if it determines in judgment (A3) that they "match", it will then wait to receive a disembarkation command signal from the outside. On the other hand, even while the robot is waiting to receive a disembarkation command signal from the outside, an anomaly (blockage) may occur in the communication between the robot and the outside, and the robot may be unable to receive a disembarkation command signal as a result.

[0013] Therefore, according to the above embodiment 3, if the robot determines in judgment (A3) that it "matches", it starts measuring the elapsed time and repeatedly performs only judgment (C). As a result, it does not determine in judgment (C) that it "received", and when the elapsed time reaches the second predetermined time, it can determine that an abnormality has occurred in communication with the outside at that time, and that this is the reason why it is unable to receive the disembarkation command signal. Based on this determination, it can then begin to disembark from the elevator car.

[0014] The robot management device according to the present invention is a robot management device that manages robots that can use an elevator, and has the following configuration (Aspect 4). Here, the elevator control device sends a disembarkation start signal to the robot management device to command the robot to start disembarking from the elevator car when the elevator car arrives at the robot's destination floor after the robot has boarded the elevator car. When the robot management device receives the disembarkation start signal from the elevator control device, it sends a disembarkation command signal to the robot to command it to disembark from the elevator car. When the robot receives the disembarkation command signal from the robot management device, it sends back an extension request to the robot management device requesting an extension of the elevator car door opening time. In this configuration, after sending the disembarkation command signal to the robot, the robot management device starts measuring the elapsed time and further makes a determination (D) as to whether or not an extension request has been sent back from the robot. The robot management device also repeatedly performs the determination (D) until it determines that "a reply has been received" in the determination (D) until the elapsed time reaches a third predetermined time. Then, if the robot management device determines in judgment (D) that "a reply has been received", it sends an extension request signal to the elevator control device requesting an extension of the elevator car door opening time. On the other hand, if the device does not determine in judgment (D) that "a reply has been received", and the elapsed time reaches the third predetermined time, it sends an error signal to the elevator control device instead of an extension request signal.

[0015] In the above embodiment 4, if the robot management device does not determine in judgment (D) that "a reply has been received" by the time the elapsed time reaches the third predetermined time, the robot management device will be able to determine that an abnormality (interruption) has occurred in communication with the robot at that time. When the robot management device determines that such an abnormality has occurred, it will be able to notify the elevator control device that an abnormality has occurred in communication between the robot and the robot management device by sending an error signal to the elevator control device.

[0016] The control device according to the present invention is applicable to an elevator used by a robot managed by the robot management device according to Embodiment 4 above, and has the following configuration (Embodiment 5). After the robot boards the elevator car, when the elevator car arrives at the robot's destination floor, the elevator control device sends a disembarkation start signal to the robot management device to command the robot to start disembarking from the car. After sending the disembarkation command signal to the robot, if the robot management device receives a completion notification from the robot indicating that disembarkation is complete, it sends a disembarkation completion signal to the elevator control device indicating that disembarkation is complete. After sending the disembarkation start signal to the robot management device, the elevator control device determines (E) whether an extension request signal or an error signal has been returned from the robot management device. If the control device determines in judgment (E) that an "extension request signal" has been returned, it extends the opening of the elevator car doors. Subsequently, it determines whether the robot has completed disembarking by checking whether it has received a disembarking completion signal from the robot management device. If the control device determines in judgment (E) that an "error signal" has been returned, it extends the opening of the elevator car doors while determining whether the robot has completed disembarking based on the output of a load sensor or camera installed in the elevator car.

[0017] In the above embodiment 5, if the elevator control device determines in judgment (E) that an "error signal" has been returned after sending a disembarkation start signal to the robot management device, it will be able to determine that an abnormality (interruption) has occurred in the communication between the robot and the robot management device. Even if such an abnormality occurs in communication, the robot will start disembarking from the elevator car on its own initiative, as described above. Therefore, if the elevator control device determines in judgment (E) that an "error signal" has been returned, it will be able to extend the opening of the elevator car doors to create an environment on the elevator side that does not hinder the robot's disembarkation (disembarkation performed by the robot on its own initiative).

[0018] Furthermore, the elevator control system can determine whether the robot has disembarked based on the output of a load sensor or camera installed in the elevator car. This allows the system to determine whether the robot has disembarked even if it fails to receive a disembarkation completion signal due to a communication error, and as a result, elevator operation can continue without interruption.

[0019] The control device according to Embodiment 5 may have the following configuration (Embodiment 6). After transmitting a disembarkation start signal to the robot management device, the elevator control device may start measuring the elapsed time before making a decision (E), and may repeatedly perform the decision (E) until the elapsed time reaches the fourth predetermined time, until the decision (E) determines that an "extension request signal" has been returned or that an "error signal" has been returned. Furthermore, even if the elevator control device does not determine that an "extension request signal" has been returned in the decision (E), nor does it determine that an "error signal" has been returned in the decision (E), and the elapsed time reaches the fourth predetermined time, it may extend the opening of the elevator car doors while determining whether the robot has completed disembarking based on the output of a load sensor or camera installed in the elevator car.

[0020] In the above embodiment 6, if the elevator control device does not determine in judgment (E) that an "extension request signal" has been returned, nor does it determine in judgment (E) that an "error signal" has been returned, and the elapsed time reaches the fourth predetermined time, the control device will then be able to determine that an abnormality (interruption) has occurred in the communication between itself and the robot management device. Even if such an abnormality occurs, the elevator control device will be able to extend the opening of the elevator car doors to create an environment on the elevator side that does not hinder the robot's disembarkation.

[0021] Furthermore, the elevator control system can determine whether the robot has disembarked based on the output of a load sensor or camera installed in the elevator car, similar to when an error signal is received. This allows the system to determine whether the robot has disembarked even if a disembarkation completion signal cannot be received due to a communication error, and as a result, elevator operation can continue without interruption.

[0022] The control method according to the present invention is applicable to a robot capable of using an elevator and equipped with an acceleration sensor (Aspect Y). The control method according to Aspect Y has the following configuration (Aspect 7). In this control method, after the robot boards the elevator car, a determination (A1) is made based on the output of the acceleration sensor to determine whether the elevator car has stopped. If the determination (A1) is that the elevator car has stopped, the following process (Z) is performed. In process (Z), the measurement of elapsed time is started, and further, a determination (B) is made based on the output of the acceleration sensor to determine whether the elevator car has started moving, and a determination (C) is made to determine whether a disembarkation command signal to instruct the robot to disembark from the elevator car has been received from an external source. Furthermore, until the elapsed time reaches a first predetermined time, the determinations (B) and (C) are repeatedly performed until the determination (B) is determined to be "started" or the determination (C) is determined to be "received". Then, if the judgment (B) does not determine that the process has "started," and the judgment (C) does not determine that the process has "received," and the elapsed time reaches the first predetermined time, the robot is instructed to begin disembarking from the elevator car.

[0023] For the robot, after the robot boards the car, until the robot's disembarkation from the car is completed, every time the car stops at any floor, stop floor information indicating which floor it is may be transmitted from the outside. In this case, the control method according to the above aspect Y may have the following configuration (Aspect 8). In this control method, after the robot boards the car, it is determined (A1) whether the car has stopped based on the output of the acceleration sensor. When it is determined in this determination (A1) that "it has stopped", it may be further determined (A2) whether the stop floor information can be received from the outside. And when it is determined in determination (A2) that "it could not be received", the above-described process (Z) may be performed.

Effect of the Invention

[0024] According to the present invention, even when an abnormality (interruption) occurs in the communication between the robot and the robot management device, the robot can disembark from the car.

Brief Description of the Drawings

[0025] [Figure 1] It is a conceptual diagram showing the overall configuration of the elevator according to the embodiment. [Figure 2] (A) Robot, (B) Robot management device, and (C) Elevator control device are block diagrams conceptually showing the configurations applied to them respectively. [Figure 3] It is a conceptual diagram exemplifying (A) robot management data, (B) transmission request management data, and (C) landing call management data and car call management data for the robot used in the embodiment respectively. [Figure 4] It is a flowchart showing the boarding process executed in the embodiment. [Figure 5] It is a flowchart showing the allocation request process executed in the embodiment. [Figure 6] It is a flowchart showing the first response process executed in the embodiment. [Figure 7]This is a flowchart illustrating the boarding command process performed in the embodiment. [Figure 8] This is a flowchart showing the second response process performed in the embodiment. [Figure 9] This is a flowchart illustrating the disembarkation command process performed in the embodiment. [Figure 10] This is a flowchart illustrating the disembarkation process performed in the embodiment. [Figure 11] This flowchart shows the disembarkation process performed in the first modified example. [Figure 12] This flowchart shows the second response process performed in the second modified example. [Modes for carrying out the invention]

[0026] [1] Embodiment [1-1] Overall configuration of the elevator Figure 1 is a conceptual diagram showing the overall configuration of an elevator according to this embodiment. The elevator in this embodiment is equipped with one elevator car G, and this elevator car G is used not only by passengers but also by a robot 1 that performs various tasks (cleaning, monitoring, transport, etc.) in the building where the elevator is installed. In other words, the robot 1 can also move between floors using the elevator.

[0027] Furthermore, the elevator of this embodiment includes a robot management device 2 that centrally manages the robot 1, and an elevator control device 3 that controls the operation of the elevator car G.

[0028] Here, communication between robot 1 and robot management device 2 is conducted wirelessly. Therefore, after robot 1 boards elevator car G, a communication anomaly may occur in which communication (wireless communication) between robot 1 and robot management device 2 is temporarily interrupted as elevator car G moves. If such a communication anomaly occurs, even if elevator car G arrives at robot 1's destination floor Fd (disembarkation floor), robot 1 will not be able to receive a disembarkation command (disembarkation command signal Sd1, described later) from robot management device 2 and will be unable to disembark from elevator car G.

[0029] Therefore, in this embodiment, even if an abnormality (interruption) occurs in communication between robot 1 and robot management device 2, control processing to enable robot 1 to disembark from elevator car G on its own is executed by robot 1, robot management device 2, and elevator control device 3. The configuration of each part will be described in detail below. In this embodiment, it is assumed that communication between robot management device 2 and elevator control device 3 is always maintained in a normal state and no abnormalities occur. Control processing applicable when an abnormality may occur in communication between them will be described in the second modified example below.

[0030] <Robot> When robot 1 needs to move between floors, it performs the following processes: boarding the elevator car G (boarding process; see Figure 4) and disembarking from the elevator car G (disembarking process; see Figure 10). In this embodiment, robot 1 is configured to disembark from the elevator car G on its own initiative even if a communication failure (interruption) occurs between it and the robot management device 2. Details of these processes will be described later.

[0031] Figure 2(A) is a block diagram conceptually showing the configuration applied to robot 1. As shown in this figure, robot 1 is equipped with an acceleration sensor 10. This allows robot 1 to determine whether or not the elevator car G has stopped after boarding, based on the output of the acceleration sensor 10. In this embodiment, this determination is used in the disembarking process (see Figure 10).

[0032] Furthermore, robot 1 includes a memory unit 11 and a control unit 12.

[0033] The memory unit 11 is a part composed of memory devices such as ROM and RAM, and stores information necessary for the control processing performed by the robot 1 (including boarding and disembarking processes).

[0034] The control unit 12 is responsible for executing the control processing performed by the robot 1. Specifically, the control unit 12 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 on the robot 1. This control program may be stored in a readable state on a portable storage medium (e.g., flash memory) before being installed on the robot 1, or it may be stored in a downloadable state on another server. Furthermore, the control processing performed by the robot 1 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 1.

[0035] <Robot Management Device> The robot management device 2 is a device that centrally manages the robot 1 used in the building where the elevator of this embodiment is installed (see Figure 1). Note that the 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 (controls) the robot 1 on the cloud.

[0036] The robot management device 2, when any robot 1 requires inter-floor movement, performs the following processes: requesting the elevator control device 3 to assign a landing call Xh for that robot 1 (assignment request process; see Figure 5); then, instructing the robot 1 to board the elevator car G (boarding command process; see Figure 7); and instructing the robot 1 to disembark from the elevator car G (disembarking command process; see Figure 9). In this embodiment, the robot management device 2 is configured to create an elevator environment (such as extending the opening time of the elevator car G) that does not hinder the robot 1 from disembarking from the elevator car G on its own initiative in the event of a communication failure (disconnection) with the robot 1. Details of these processes will be described later.

[0037] Figure 2(B) is a block diagram conceptually showing the configuration applied to the robot management device 2. As shown in this figure, the robot management device 2 comprises a storage unit 21 and a control unit 22.

[0038] The storage unit 21 is a part composed of storage devices such as ROM and RAM, and stores information necessary for control processing performed by the robot management device 2 (including assignment request processing, boarding command processing, and disembarking command processing). In this embodiment, robot management data Dp and transmission request management data Dq are stored in the storage unit 31 as such information. Here, robot management data Dp is a database for managing multiple pieces of information related to each robot 1 by linking them together (see Figure 3(A)). Transmission request management data Dq is data for managing assignment request information transmitted by the robot management device 2 to the elevator control device 3 (see Figure 3(B)).

[0039] Figure 3(A) is a conceptual diagram illustrating the robot management data Dp used in this embodiment. In the robot management data Dp, for each robot 1, the robot information Ph and deployment floor Fx of that robot 1, and a storage area for recording the destination floor Fy (destination) when the robot 1 moves between floors are recorded in a manner that is associated with each other. Here, the robot information Ph associated with each robot 1 is information that enables identification of robot 1 from other robots 1. The deployment floor Fx associated with each robot 1 is the current floor where the robot 1 is deployed, and is updated each time the robot 1 moves between floors. In addition, the storage area for the destination floor Fy associated with each robot 1 records the destination floor Fy transmitted from the robot 1 for inter-floor movement, and thereafter, the destination floor Fy is deleted from the storage area when the robot 1 has finished disembarking at that floor.

[0040] This allows the robot management device 2 to identify the deployment floor Fx of each robot 1 from its robot information Ph. In this embodiment, the deployment floor Fx of the robot 1 is used as the departure floor Fc (boarding floor) when the robot 1 moves between floors using the elevator. Furthermore, by referring to the storage area for the destination floor Fy associated with the robot information Ph of each robot 1, the robot management device 2 can determine that the robot 1 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 1 is used as the destination floor Fd (disembarking floor) when the robot 1 moves between floors using the elevator. On the other hand, for each robot 1 in which the destination floor Fy is not recorded in the storage area, the robot management device 2 can determine that the robot 1 is deployed at the deployment floor Fx (working).

[0041] Figure 3(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 2 transmits an assignment request for robot 1 to the elevator control device 3, the robot information Ph of robot 1 and the information transmitted to the elevator control device 3 in that assignment request (in this embodiment, the departure floor Fc (=deployment floor Fx) and destination floor Fd (=target floor Fy) of robot 1) 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 1 has completed disembarking at the destination floor Fd in that information.

[0042] 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.

[0043] <Elevator control device> Each time the elevator control device 3 receives an assignment request from the robot management device 2, it assigns a landing call Xh to the elevator car G according to that request (assignment process). Then, the elevator control device 3 responds to the landing call Xh of robot 1 and executes the elevator-side processing necessary for robot 1 to board (first response processing; see Figure 6). Furthermore, at an appropriate timing after robot 1 has completed boarding the elevator car G (including the timing when robot 1 has completed boarding), the elevator control device 3 registers the destination floor Fd of robot 1 (specifically, the destination floor Fd indicated by the landing call Xh of robot 1) as the car call Yh for robot 1 in the elevator car G. Details of these processes will be described later.

[0044] Subsequently, the elevator control device 3 responds to the robot 1's car call Yh and executes the elevator-side processing necessary for the robot 1 to disembark (second response processing; see Figure 8). In this embodiment, the elevator control device 3 is configured to work in cooperation with the robot management device 2 to create an elevator-side environment (such as extending the opening time of the elevator car G) that does not hinder the robot 1 from disembarking from the elevator car G on its own initiative, even if an abnormality (disruption) occurs in communication between the robot 1 and the robot management device 2. Details of the second response processing will be described later.

[0045] Figure 2(C) is a block diagram conceptually showing the configuration applied to the elevator control device 3. As shown in this figure, the elevator control device 3 comprises a storage unit 31 and a control unit 32.

[0046] The memory unit 31 is a part composed of memory devices such as ROM and RAM, and stores information necessary for the control processing (including assignment processing, first response processing, and second response processing) performed by the elevator control device 3. In this embodiment, such information stored in the memory unit 31 is landing call management data Dx and car call management data Dy for robot 1. Here, landing call management data Dx and car call management data Dy are data for managing information on landing calls Xh and car calls Yh for robot 1, respectively (see Figure 3(C)).

[0047] Figure 3(C) is a conceptual diagram illustrating the landing call management data Dx and the cage call management data Dy for the robot 1 used in this embodiment.

[0048] In the landing call management data Dx (see the left diagram in Figure 3(C)), each time a landing call Xh is assigned to robot 1, the robot information Ph of robot 1 and the information of the landing call Xh (in this embodiment, the departure floor Fc and destination floor Fd of robot 1) are recorded in a corresponding manner as the assignment status. Then, the information of each landing call Xh is deleted from the landing call management data Dx (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).

[0049] In the elevator call management data Dy (see the right diagram in Figure 3(C)), each time an elevator call Yh is registered for robot 1, the robot information Ph of robot 1 and the information of the elevator call Yh (in this embodiment, the destination floor Fd of robot 1) 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 Dy (deletion of elevator call Yh) when the elevator call Yh has completed its role (in this embodiment, when robot 1 has disembarked at the destination floor Fd indicated by the elevator call Yh).

[0050] The control unit 32 is responsible for executing the control processing (including allocation processing, first response processing, and second response processing) performed by the elevator 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 elevator 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 elevator control device 3, or it may be stored in a downloadable state on another server. Furthermore, the control processing performed by the elevator 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 elevator control device 3.

[0051] [1-2] Control processing performed in the elevator (for boarding) [1-2-1] Boarding Procedure Figure 4 is a flowchart showing the boarding process performed by each robot 1. This boarding process is initiated when each robot 1 needs to move between floors.

[0052] When boarding is initiated, robot 1 first transmits the destination floor Fy to the robot management device 2 (step S100). At this time, robot 1 also transmits its own robot information Ph to the robot management device 2 so that the robot management device 2 can recognize which robot 1 is the source of the destination floor Fy. After that, robot 1 executes the process from step S101. The details of the process from step S101 will be described later.

[0053] [1-2-2] Assignment Request Processing Figure 5 is a flowchart showing the assignment request process performed by the robot management device 2. This assignment request process is initiated each time the robot management device 2 receives the target floor Fy and robot information Ph from any of the robots 1. Here, the robot 1 that sent this information (the robot 1 identified by the transmitted robot information Ph) is referred to as "target robot 1e". 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".

[0054] When the assignment request process begins, the robot management device 2 uses the robot management data Dp (see Figure 3(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 S201). Furthermore, the robot management device 2 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 1e is moving between floors toward the target floor Fy. In the example in Figure 3(A), robot 1, whose robot information Ph is "H-01", transmits "8th floor" as the target floor Fy in order to move between floors from its deployment floor Fx, "2nd floor".

[0055] Subsequently, the robot management device 2 sends information (departure floor Fc and destination floor Fd) of the target robot 1e, which is designated as the departure floor Fc and destination floor Fd respectively, to the elevator control device 3, thereby requesting the elevator control device 3 to assign a landing call Xh for the target robot 1e (step S202). At this time, the robot management device 2 also sends robot information Ph of the target robot 1e to the elevator control device 3 so that the elevator control device 3 recognizes which robot 1 the assignment request is for.

[0056] Furthermore, the robot management device 2 records the information transmitted to the elevator control device 3 (robot information Ph, departure floor Fc, destination floor Fd) in the transmission request management data Dq, as assignment request information for the robot of interest 1e, in a corresponding manner (see Figure 3(B)). The example in Figure 3(B) shows the case where assignment request information for the robot of interest 1e, which needs to move from the 2nd floor to the 8th floor (Ph="H-01", Fc="2nd floor", Fd="8th floor") is recorded in the transmission request management data Dq. After step S202, the robot management device 2 terminates the assignment request processing.

[0057] [1-2-3] Assignment process In the assignment process (not shown), the elevator control device 3 assigns a landing call Xh to the elevator car G each time it receives an assignment request from the robot management device 2. Specifically, it is as follows: Here, the information that the elevator control device 3 receives each time there is an assignment request from the robot management device 2 (in this embodiment, a set of information including the departure floor Fc, destination floor Fd, and robot information Ph) is collectively referred to as "received information Pr2".

[0058] The elevator control device 3 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 3 records the information of that landing call Xh (departure floor Fc and destination floor Fd) in the landing call management data Dx, in association with the robot information Ph in the received information Pr2 (see the left diagram in Figure 3(C)).

[0059] [1-2-4] First response processing Figure 6 is a flowchart showing the first response processing performed by the elevator control device 3. This first response processing is initiated when the elevator car G departs from any floor toward the next stopping floor, and that next stopping floor is the departure floor Fc indicated by the landing call Xh of any robot 1 (specifically, any departure floor Fc recorded in the landing call management data Dx). Here, each time the first response processing is initiated, the landing call Xh of the robot 1 that was the target of the response in that processing is called the "target call Xk," and the robot 1 is called the "target robot 1k."

[0060] When the first response processing begins, the elevator control device 3 first instructs the elevator car G to stop at the departure floor Fc indicated by the target call Xk (step S301). Then, the elevator control device 3 determines whether or not the elevator car G has arrived at the departure floor Fc (step S302). The elevator control device 3 then repeatedly executes step S302 until it can determine that "arrived (Yes)" in step S302.

[0061] If the elevator control device 3 determines in step S302 that "arrival (Yes)", it determines whether the doors of elevator car G have opened before allowing the target robot 1k to board the elevator car G (step S303). The elevator control device 3 then repeatedly executes step S303 until it can determine in step S303 that "completion (Yes)".

[0062] If the elevator control device 3 determines in step S303 that the process is "completed (Yes)", it sends a boarding start signal Sx1 to the robot management device 2 to instruct the target robot 1k to begin boarding the elevator car G (step S304). At this time, the elevator control device 3 also sends robot information Ph of the target robot 1k to the robot management device 2 so that the robot management device 2 recognizes which robot 1 the boarding start signal Sx1 is directed to. After that, the elevator control device 3 executes the process from step S310. The details of the process from step S310 will be described later.

[0063] [1-2-5] Boarding command processing and boarding processing (processing from step S101 in Figure 4) Figure 7 is a flowchart showing the boarding command processing performed by the robot management device 2. This boarding command processing is initiated when the robot management device 2 receives a boarding start signal Sx1 from the elevator control device 3. Here, the robot 1 identified by the robot information Ph that the robot management device 2 receives from the elevator control device 3 along with the boarding start signal Sx1 is referred to as "target robot 1k".

[0064] When boarding command processing begins, the robot management device 2 transmits a boarding command signal Sc1 to the target robot 1k to instruct it to start boarding the elevator car G (step S401).

[0065] In step S100 of Figure 4, the target robot 1k transmits its destination floor Fy to the robot management device 2, and then determines whether it should begin boarding the elevator car G by checking whether it has received a boarding command signal Sc1 from the robot management device 2 (step S101). The target robot 1k then repeatedly executes step S101 until it can determine that it has received the signal (Yes). In this way, the target robot 1k waits for the conditions to be met when it can begin boarding the elevator car G (specifically, when the elevator car G has arrived at its departure floor Fc (boarding floor) and the doors of the elevator car G have opened).

[0066] If the target robot 1k determines in step S101 that it has "received (Yes)", it sends an extension request Se1 to the robot management device 2 requesting that the elevator keep the doors of elevator car G open until it has finished boarding elevator car G (step S102). After that, the target robot 1k begins boarding elevator car G (step S103).

[0067] After step S103, the target robot 1k determines whether or not it has completed boarding the elevator car G (step S104). The target robot 1k then repeatedly executes step S104 until it can determine that it has completed the boarding process ("Yes"). At this time, it is possible that the target robot 1k may experience some kind of trouble (such as a power system failure or insufficient battery power), which may prevent it from completing boarding the elevator car G. Therefore, if the target robot 1k has not completed boarding the elevator car G (and has not been able to determine that it has completed the boarding process in step S104) and a predetermined amount of time has elapsed, it may send a signal to the robot management device 2 to indicate this before terminating the boarding process.

[0068] If the target robot 1k determines in step S104 that it has completed the process (Yes), it sends a completion notification Sc2 to the robot management device 2 to indicate that it has completed boarding the elevator car G (step S105). At this time, the target robot 1k also sends its own robot information Ph to the robot management device 2 so that the robot management device 2 can recognize which robot 1 sent the completion notification Sc2. After that, the target robot 1k terminates the boarding process.

[0069] In step S401 of Figure 7, the robot management device 2 sends a boarding command signal Sc1 to the target robot 1k, and then determines whether or not an extension request Se1 has been returned from the target robot 1k (step S402). The robot management device 2 then repeatedly executes step S402 until it can determine that "a reply has been received (Yes)" in step S402.

[0070] If the robot management device 2 determines in step S402 that "a reply has been received (Yes)", it sends an extension request signal Sk1 to the elevator control device 3 requesting that the elevator control device 3 maintain the open position of the elevator car G until the target robot 1k has finished boarding the elevator car G (step S403).

[0071] After step S403, the robot management device 2 determines whether or not it has received a completion notification Sc2 from the target robot 1k (step S404). The robot management device 2 then repeatedly executes step S404 until it can determine that it has received the notification (Yes).

[0072] If the robot management device 2 determines in step S404 that it has "received (Yes)", it sends a boarding completion signal Sx2 to the elevator control device 3 to indicate that boarding to the elevator car G has been completed (step S405). At this time, the robot management device 2 also sends robot information Ph of the target robot 1k to the elevator control device 3 so that the elevator control device 3 can recognize which robot 1 the transmitted boarding completion signal Sx2 notification is for. After that, the robot management device 2 terminates the boarding command processing.

[0073] [1-2-6] First response processing (processing from step S310 in Figure 6) In step S304 of Figure 6, the elevator control device 3 sends a boarding start signal Sx1 to the robot management device 2, and then determines whether or not an extension request signal Sk1 has been returned from the robot management device 2 (step S310). The elevator control device 3 then repeatedly executes step S310 until it can determine that "a response has been received (Yes)" in step S310.

[0074] If the elevator control device 3 determines in step S310 that a "Yes" response has been received, it can then know that the target robot 1k is about to begin boarding the elevator car G. In this case, the elevator control device 3 extends the door opening of the elevator car G so that the doors of the elevator car G remain open until the target robot 1k has completed boarding the elevator car G (step S311). This ensures that the time required for the target robot 1k to board the elevator car G is maintained while the doors of the elevator car G remain open.

[0075] After step S311, the elevator control device 3 determines whether or not it has received a boarding completion signal Sx2 from the robot management device 2 (step S312). The elevator control device 3 then repeatedly executes step S312 until it can determine that it has received the signal (Yes).

[0076] If the elevator control device 3 determines in step S312 that it has "received (Yes)", it can then know that the target robot 1k has completed boarding the elevator car G. In this case, the elevator control device 3 registers the car call Yh for the target robot 1k with the elevator car G (step S313). Specifically, the elevator control device 3 registers the destination floor Fd indicated by the landing call Xh of the target robot 1k as the car call Yh with the elevator car G (recorded in the car call management data Dy). On the other hand, since the landing call Xh of the target robot 1k has finished its role due to the registration of the car call Yh, the elevator control device 3 deletes the landing call Xh (deleted from the landing call management data Dx). After that, the elevator control device 3 terminates the first response processing.

[0077] [1-3] Control processing performed in the elevator (for disembarking) [1-3-1] Second response processing Figure 8 is a flowchart showing the second response processing performed by the elevator control device 3. This second response processing is initiated when the elevator car G departs from any floor toward the next stopping floor, and that next stopping floor is the destination floor Fd indicated by the car call Yh of any robot 1 (specifically, any destination floor Fd recorded in the car call management data Dy). Here, each time the second response processing is initiated, the car call Yh of the robot 1 that was the target of the response in that processing is called the "target call Yk," and the robot 1 is called the "target robot 1k."

[0078] When the second response processing begins, the elevator control device 3 first instructs the elevator car G to stop at the destination floor Fd indicated by the target call Yk (step S501). Then, the elevator control device 3 determines whether or not the elevator car G has arrived at the destination floor Fd (step S502). The elevator control device 3 then repeatedly executes step S502 until it can determine that the elevator car G has arrived (Yes).

[0079] If the elevator control device 3 determines in step S502 that "arrival (Yes)", it determines whether the doors of the elevator car G have opened before allowing the target robot 1k to disembark from the elevator car G (step S503). The elevator control device 3 then repeatedly executes step S503 until it can determine in step S503 that "completion (Yes)".

[0080] If the elevator control device 3 determines in step S503 that the process is "completed (Yes)", it sends a disembarkation start signal Sy1 to the robot management device 2 to command the target robot 1k to begin disembarking from the elevator car G (step S504). At this time, the elevator control device 3 also sends robot information Ph of the target robot 1k to the robot management device 2 so that the robot management device 2 recognizes which robot 1 the disembarkation start signal Sy1 is commanded to. After that, the elevator control device 3 executes the process from step S510. The details of the process from step S510 will be described later.

[0081] [1-3-2] Disembarkation command processing Figure 9 is a flowchart showing the disembarkation command processing performed by the robot management device 2. This disembarkation command processing is initiated when the robot management device 2 receives a disembarkation start signal Sy1 from the elevator control device 3. Here, the robot 1 identified by the robot information Ph that the robot management device 2 receives from the elevator control device 3 along with the disembarkation start signal Sy1 is referred to as "target robot 1k".

[0082] When boarding command processing begins, the robot management device 2 sends a disembarking command signal Sd1 to the target robot 1k to begin disembarking from the elevator car G (step S600). Subsequently, the robot management device 2 executes the processes from step S601. The details of the processes from step S601 will be described later.

[0083] [1-3-3] Disembarkation procedures Figure 10 is a flowchart showing the disembarking process performed by each robot 1. This disembarking process begins immediately after each robot 1 has completed its boarding process.

[0084] When the disembarking process begins, robot 1 first determines whether the elevator car G it is riding in has stopped based on the output of its own acceleration sensor 10 (step S701). Then, robot 1 repeatedly executes step S701 until it can determine that "it has stopped (Yes)" in step S701.

[0085] If robot 1 determines in step S701 that it has stopped (Yes), it can then determine that elevator car G has stopped at one of the floors. Here, the floor at which elevator car G stopped at that time is called the "target stopping floor Fm". Then, robot 1 starts measuring the elapsed time T1 from that point (step S702). This elapsed time T1 is used to determine whether the target stopping floor Fm is robot 1's destination floor Fd (disembarking floor), and also to determine whether there is an abnormality (interruption) in communication between robot 1 and robot management device 2.

[0086] After step S702, robot 1 determines whether the elevator car G it is riding in has started moving based on the output of its own acceleration sensor 10 (step S711).

[0087] If robot 1 determines in step S711 that it has "started (Yes)", then it can determine that the target stopping floor Fm was not its destination floor Fd (disembarking floor), in other words, that the target stopping floor Fm was the user's departure floor Fc (boarding floor) or destination floor Fd (disembarking floor). In this case, robot 1 stops measuring the elapsed time T1 and resets the elapsed time T1 (step S703). After that, robot 1 returns to step S701 and executes the process from step S701 again.

[0088] On the other hand, if robot 1 determines in step S711 that it has "not started (No)", it can use that determination to determine that the target stop floor Fm may coincide with its destination floor Fd (disembarkation floor), in other words, that it may be necessary to disembark from the elevator car G at the target stop floor Fm. In this case, robot 1 determines whether or not it has received a disembarkation command signal Sd1 from the robot management device 2 in order to determine whether or not it is necessary to disembark from the elevator car G at the target stop floor Fm (step S712).

[0089] If robot 1 determines in step S712 that it has "not received (No)", it determines whether the elapsed time T1 up to that point has reached a predetermined time Tz1 (step S713). Here, the predetermined time Tz1 is set in advance as the time required for robot 1 to receive a disembarkation command signal Sd1 from robot management device 2 if communication between robot 1 and robot management device 2 is normal, when the target stopping floor Fm matches the destination floor Fd (disembarkation floor) of robot 1. (This is the time required from the moment it was determined in step S701 that it has "stopped (Yes)".

[0090] Then, until robot 1 determines that it has reached its goal in step S713, it repeatedly executes the processes in steps S711 and S712 until it determines that it has started in step S711 or that it has received a message in step S712.

[0091] If, while performing such processing, robot 1 determines in step S712 that it has "received (Yes)", it will execute the processing from step S720 according to the disembarkation command signal Sd1 from robot management device 2.

[0092] In step S720, robot 1 sends an extension request Se2 to the robot management device 2 requesting that the elevator maintain the open position of elevator car G until it has finished disembarking from the elevator car G. After that, robot 1 begins to disembark from elevator car G (step S721).

[0093] After step S721, robot 1 determines whether or not it has completed disembarking from the elevator car G (step S722). Then, robot 1 repeatedly executes step S722 until it can determine that it has completed the disembarking (Yes).

[0094] If robot 1 determines in step S722 that it has completed the process ("Yes"), it sends a completion notification Sd2 to the robot management device 2 to indicate that it has completed disembarking from the elevator car G (step S723). At this time, robot 1 also sends its own robot information Ph to the robot management device 2 so that the robot management device 2 can recognize which robot 1 sent the completion notification Sd2. After that, robot 1 terminates the disembarking process.

[0095] On the other hand, if robot 1 does not determine "started (Yes)" in step S711, nor does it determine "received (Yes)" in step S712, but determines "arrived (Yes)" in step S713, then it can be determined that elevator car G has arrived at its destination floor Fd, but there is a communication error with robot management device 2, which is preventing it from receiving the disembarkation command signal Sd1. Specifically, this is as follows:

[0096] If robot 1 does not determine "started (Yes)" in step S711, but instead determines "reached (Yes)" in step S713, then it can determine that a predetermined time Tz1 has elapsed with the elevator car G stopped at the target stop floor Fm, and therefore, the elevator car G has remained stopped at the target stop floor Fm for such a long time in order to wait for its passenger to disembark. In other words, it can determine that the target stop floor Fm is its destination floor Fd (disembarkation floor). In this case, if communication with robot management device 2 is normal, robot 1 will receive a disembarkation command signal Sd1 from robot management device 2. Nevertheless, if robot 1 does not determine "received (Yes)" in step S712, but instead determines "reached (Yes)" in step S713, then it can determine that there is an abnormality (blockage) in communication with robot management device 2.

[0097] Therefore, even if robot 1 determines in step S713 that it has reached its goal (Yes), it will start disembarking from elevator car G by executing the process from step S720. With this process, robot 1 will be able to start disembarking from elevator car G based on its own judgment, as described above, even if an abnormality (interruption) occurs in communication with robot management device 2.

[0098] [1-3-4] Disembarkation command processing (processing from step S601 in Figure 9) When the robot management device 2 transmits the disembarkation command signal Sd1 to the target robot 1k in step S600 of Figure 9, it starts measuring the elapsed time T2 from that point (step S601). This elapsed time T2 is used to determine whether an abnormality (interruption) has occurred in the communication between the robot 1 and the robot management device 2.

[0099] After step S601, the robot management device 2 determines whether or not an extension request Se2 has been returned from the target robot 1k (step S602).

[0100] If the robot management device 2 determines in step S602 that "no reply has been received (No)", it determines whether the elapsed time T2 up to that point has reached a predetermined time Tz2 (step S610). Here, the predetermined time Tz2 is set in advance as the time required for the robot management device 2 to receive an extension request Se2 from the target robot 1k if communication between the target robot 1k and the robot management device 2 is normal (the time required from the time the disembarkation command signal Sd1 is sent to the target robot 1k in step S600).

[0101] Then, the robot management device 2 repeatedly executes the process in step S602 until it determines that it has "reached the target (Yes)" in step S610, and until it determines that it has "received a reply (Yes)" in step S602.

[0102] If the robot management device 2 determines in step S602 that "a reply has been received (Yes)" while performing such processing, it executes the processing from step S603 in accordance with the extension request Se2 from the target robot 1k.

[0103] In step S603, the robot management device 2 sends an extension request signal Sk2 to the elevator control device 3 requesting that the elevator control device 3 maintain the open position of the elevator car G until the target robot 1k has finished disembarking from the elevator car G.

[0104] After step S603, the robot management device 2 determines whether or not it has received a completion notification Sd2 from the target robot 1k (step S604). The robot management device 2 then repeatedly executes step S604 until it can determine that it has received the notification (Yes).

[0105] If the robot management device 2 determines in step S604 that it has "received (Yes)", it sends a disembarkation completion signal Sy2 to the elevator control device 3 to indicate that the disembarkation from the elevator car G has been completed (step S605). At this time, the robot management device 2 also sends robot information Ph of the target robot 1k to the elevator control device 3 so that the elevator control device 3 can recognize which robot 1 the disembarkation completion signal Sy2 sent is a notification for. After that, the robot management device 2 terminates the disembarkation command processing.

[0106] On the other hand, if the robot management device 2 does not determine in step S602 that "a reply has been received (Yes)" but instead determines in step S610 that "it has been reached (Yes)", then it can determine that an abnormality (blockage) has occurred in the communication with the target robot 1k at that time. In this case, instead of the extension request signal Sk2, the robot management device 2 sends back an error signal Sk3 to the elevator control device 3 indicating that an abnormality has occurred in the communication with the target robot 1k (step S611). This allows the robot management device 2 to inform the elevator control device 3 that an abnormality has occurred in the communication with the target robot 1k.

[0107] [1-3-5] Second response processing (processing from step S510 in Figure 8) In step S504 of Figure 8, the elevator control device 3 sends a disembarkation start signal Sy1 to the robot management device 2, and then determines whether the robot management device 2 has returned an extension request signal Sk2 or an error signal Sk3 (step S510).

[0108] If the elevator control device 3 determines in step S510 that an "extension request signal Sk2" has been returned, it can determine that communication between the target robot 1k and the robot management device 2 is normal, and that the target robot 1k is about to begin disembarking from the elevator car G. In this case, the elevator control device 3 extends the door opening of the elevator car G so that the doors of the elevator car G remain open until the target robot 1k has finished disembarking from the elevator car G (step S511). This ensures that the time required for the target robot 1k to disembark from the elevator car G is maintained while the doors of the elevator car G remain open.

[0109] After step S511, the elevator control device 3 determines whether the target robot 1k has completed disembarking by checking whether it has received a disembarking completion signal Sy2 from the robot management device 2 (step S512). The elevator control device 3 then repeatedly executes step S512 until it can determine that it has received the signal (Yes).

[0110] If the elevator control device 3 determines in step S512 that it has "received (Yes)", it can then know that the target robot 1k has completed disembarking from the elevator car G. In this case, since the car call Yh of the target robot 1k has finished its role upon completion of disembarking, the elevator control device 3 deletes the car call Yh (step S513; deletion from car call management data Dy). After that, the elevator control device 3 terminates the second response processing.

[0111] On the other hand, if the elevator control device 3 determines in step S510 that an "error signal Sk3" has been returned, it can use that determination to know that an abnormality (interruption) has occurred in the communication between the target robot 1k and the robot management device 2. In this embodiment, even if such an abnormality occurs in communication, the target robot 1k will start to disembark from the elevator car G on its own initiative, as described above. Therefore, if the elevator control device 3 determines in step S510 that an "error signal Sk3" has been returned, it extends the opening of the elevator car G doors (step S520) in order to create an elevator environment that does not hinder the disembarkation of the target robot 1k.

[0112] After step S520, the elevator control device 3 acquires the output of a load sensor or camera (not shown) installed in the elevator car G (step S521), and determines whether or not the target robot 1k has completed disembarking based on the output acquired in step S521 (step S522). As a result, the elevator control device 3 can determine whether or not the target robot 1k has completed disembarking even if it cannot receive the disembarking completion signal Sy2 due to a communication error between the target robot 1k and the robot management device 2, and as a result, the elevator operation can be continued without interruption.

[0113] Then, if the elevator control device 3 determines in step S522 that it is "completed (Yes)", it deletes the car call Yh of the target robot 1k, as in step S513 (step S523: deletion from car call management data Dy). After that, the elevator control device 3 terminates the second response processing.

[0114] [2] Variant [2-1] First variation In the embodiment described above, the elevator control device 3 may, after the robot 1 boards the elevator car G and until the robot 1 has disembarked, transmit floor information Pf indicating which floor the elevator car G has stopped on to the robot 1 via the robot management device 2 each time the elevator car G stops on any floor. In this case, the boarding and disembarking processes performed by the robot 1 may be modified as follows.

[0115] In this modified example, in step S100 of the boarding process (see Figure 4), the robot 1 stores the destination floor Fy transmitted to the robot management device 2 in its memory unit 11 so that it can be used in the disembarking process (see Figure 11) described below.

[0116] Figure 11 is a flowchart showing the disembarkation process performed in the first modified example. In this modified example, if robot 1 determines in step S701 that it has stopped (Yes), it determines whether or not it was able to receive the stopping floor information Pf from the robot management device 2 (step S800). As a result, if robot 1 determines in step S701 that it has stopped (Yes), but determines in step S800 that it was not able to receive the information, it can then determine that there is an abnormality (blockage) in communication with robot management device 2 at that point.

[0117] Therefore, if robot 1 determines in step S800 that it "could not receive (No)", it executes the process from step S702 in order to allow itself to disembark from elevator car G. As a result, if robot 1 does not determine in step S711 that it has "started (Yes)", nor in step S712 that it has "received (Yes)", but instead determines in step S713 that it has "reached (Yes)", then it can determine that elevator car G has arrived at its destination floor Fd, but there is still an abnormality in communication with robot management device 2 at that point, and as a result, it is unable to receive the disembarkation command signal Sd1.

[0118] Then, if robot 1 determines in step S713 that it has reached the goal (Yes), it will start disembarking from elevator car G by executing the process from step S720. This allows robot 1 to start disembarking from elevator car G based on its own judgment, as described above, even if an abnormality (interruption) occurs in communication with robot management device 2.

[0119] On the other hand, even if robot 1 determines in step S800 that it "could not receive (No)", communication with robot management device 2 may be restored afterward, allowing it to determine in step S712 that it "received (Yes)" before the elapsed time T1 reaches a predetermined time Tz1. In this case, robot 1 can begin disembarking from elevator car G by executing the processing from step S720 according to the disembarking command signal Sd1 received from robot management device 2.

[0120] If robot 1 determines in step S800 that it "received (Yes)", it can determine that communication with robot management device 2 is normal at that time. In this case, robot 1 further determines whether the floor indicated by the received stop floor information Pf matches its own destination floor Fy (specifically, its own destination floor Fy stored in memory unit 11) (step S801).

[0121] If robot 1 determines in step S801 that there is "no match," it can use that determination to conclude that the target stopping floor Fm is not its own destination floor Fd (disembarking floor), in other words, that the target stopping floor Fm is either the user's departure floor Fc (boarding floor) or destination floor Fd (disembarking floor). In this case, it returns to step S701 and executes the process from step S701 again.

[0122] On the other hand, if robot 1 determines in step S801 that it "matches (Yes)", it can determine that the target stopping floor Fm is its destination floor Fy (disembarking floor). In this case, robot 1 will wait to receive the disembarking command signal Sd1 from robot management device 2. However, even while robot 1 is waiting to receive the disembarking command signal Sd1 from robot management device 2, an abnormality (interruption) may occur in the communication between robot 1 and robot management device 2, and as a result, robot 1 may not be able to receive the disembarking command signal Sd1.

[0123] Therefore, if robot 1 determines in step S801 that it "matches (Yes)", it starts measuring the elapsed time T3 from that point in order to recognize any communication anomalies that occurred afterward (step S802).

[0124] After step S802, robot 1 determines whether it has received a disembarkation command signal Sd1 from robot management device 2 in order to determine whether it is necessary to disembark from elevator car G at the target stop floor Fm (step S803).

[0125] If robot 1 determines in step S803 that it has "not received (No)", it determines whether the elapsed time T3 up to that point has reached a predetermined time Tz3 (step S804). Here, the predetermined time Tz3 is set in advance as the time required for robot 1 to receive the disembarkation command signal Sd1 from robot management device 2 if communication between robot 1 and robot management device 2 is normal, when the target stop floor Fm matches the destination floor Fd (disembarkation floor) of robot 1. (This is the time required from the point in step S801 when it was determined that it is "constant (Yes)".

[0126] Then, until robot 1 determines that it has reached its goal (Yes) in step S804, it repeatedly executes the process in step S803 until it determines that it has received the message (Yes) in step S803.

[0127] If, while performing such processing, robot 1 determines in step S803 that it has "received (Yes)", it will execute the processing from step S720 in accordance with the disembarkation command signal Sd1 from robot management device 2, thereby starting to disembark from elevator car G, and then completing the disembarkation. In this modified example, in step S723, robot 1 deletes the target floor Fy that it stored in its memory unit 11 in step S100 of the boarding process (see Figure 4) because its role is finished now that its disembarkation is complete.

[0128] On the other hand, if robot 1 does not determine in step S803 that it has "received (Yes)", but instead determines in step S804 that it has "reached (Yes)", then it can be determined that there is an abnormality in the communication with robot management device 2 at that point, and that this is the reason why it is unable to receive the disembarkation command signal Sd1.

[0129] Therefore, even if robot 1 determines in step S804 that it has "reached (Yes)", it will start disembarking from elevator car G by executing the process from step S720. This allows robot 1 to start disembarking from elevator car G based on its own judgment as described above, even if a communication abnormality (interruption) occurs between robot 1 and robot management device 2 after elevator car G has arrived at its destination floor Fd (disembarking floor), and as a result it is unable to receive the disembarking command signal Sd1.

[0130] [2-2] Second variation In both the above-described embodiment and the first modification, the second response processing performed by the elevator control device 3 may be modified as follows.

[0131] Figure 12 is a flowchart showing the second response processing performed in the second modified example. In this modified example, the elevator control device 3 performs the following processing in order to recognize a communication anomaly (disconnection) that has occurred between itself and the robot management device 2. First, when the elevator control device 3 sends a disembarkation start signal Sy1 to the robot management device 2 in step S504, it starts measuring the elapsed time T4 from that point (step S810).

[0132] After step S810, the elevator control device 3 makes the determination in step S510. If it determines that neither the "extension request signal Sk2" nor the "error signal Sk3" has been returned in step S510 (i.e., "no reception"), it determines whether the elapsed time T4 up to that point has reached a predetermined time Tz4 (step S811). Here, the predetermined time Tz4 is set in advance as the time required for the elevator control device 3 to receive the extension request signal Sk2 or the error signal Sk3 from the robot management device 2 if communication between the robot management device 2 and the elevator control device 3 is normal (the time required from the time the disembarkation start signal Sy1 is sent to the robot management device 2 in step S504).

[0133] Then, until the elevator control device 3 determines in step S811 that it has reached its destination (Yes), it repeatedly executes the process in step S510 until it determines in step S510 that it has received an extension request signal Sk2, or until it determines in step S510 that it has received an error signal Sk3.

[0134] If the elevator control device 3 determines in step S510 that an "extension request signal Sk2" has been returned, it proceeds with the processing from step S511. If it determines in step S510 that an "error signal Sk3" has been returned, it proceeds with the processing from step S520.

[0135] On the other hand, if the elevator control device 3 does not determine in step S510 that an "extension request signal Sk2" has been returned, nor does it determine in step S510 that an "error signal Sk3" has been returned, and instead determines in step S811 that it has "reached (Yes)", then it can determine that an abnormality (interruption) has occurred in the communication between itself and the robot management device 2.

[0136] Therefore, even if such an abnormality occurs, the elevator control device 3 extends the opening of the elevator car G doors by executing step S520, just as when an error signal Sk3 is received, in order to create an elevator environment that does not hinder the disembarkation of the target robot 1k. After that, the elevator control device 3 executes steps S521 to S523, just as when an error signal Sk3 is received.

[0137] [2-3] Third variation The control process described above for moving robot 1 between floors can also be applied when moving robot 1 between floors using an elevator that performs group control for multiple elevator cars G.

[0138] 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.

[0139] From the embodiments and modifications described above, the subject matter of the invention is not limited to extracting the robot 1, robot management device 2, and elevator control device 3 individually, but may also be extracted individually from the control processing (including the control method corresponding to said control processing) or programs performed in each of these devices, in whole or in part. Furthermore, the subject matter of the invention may also be extracted from part or all of the elevator described above, or even part or all of the control processing performed in said elevator. [Explanation of Symbols]

[0140] 1 Robot 1e Featured Robot 1k target robot 2. Robot management device 3. Elevator control device G Car 10. Accelerometer 11, 21, 31 Storage section 12, 22, 32 Control Unit Dp Robot Management Data Dq Submission Request Management Data Dx boarding area call management data Dy Basket Call Management Data FC Departure Floor Fd Destination Floor Fm Target Stopping Floor Fx Deployment Floor Fy Destination Floor Pf Stopping Floor Information Ph Robot Information T1, T2, T3, T4 Elapsed Time Xh boarding call Yh Calling the basket Pr1, Pr2 Received Information Sc1 Boarding command signal Sd1 Disembarkation command signal Sc2, Sd2 completion notification Se1, Se2 extension request Sk1, Sk2 extension request signal Sk3 Error Signal Sx1 Boarding start signal Sx2 ride completion signal Sy1 Disembarkation Start Signal Sy2 exit completion signal Tz1, Tz2, Tz3, Tz4 Predetermined time

Claims

1. A robot capable of using elevators, equipped with an acceleration sensor, After boarding the elevator car, a determination (A1) is made based on the output of the acceleration sensor to determine whether or not the elevator car has stopped. If it is determined in the above judgment (A1) that the operation has stopped, the measurement of elapsed time will begin, and further, A determination (B) is made based on the output of the acceleration sensor whether or not the elevator car has started moving, (C) Determination of whether or not a disembarkation command signal has been received from an external source to instruct the robot to disembark from the elevator car, Perform Until the elapsed time reaches the first predetermined time, decisions (B) and (C) are repeatedly executed until it is determined that the service has started according to decision (B), or that it has been received according to decision (C). If the judgment (B) above does not determine that the process has started, and the judgment (C) above does not determine that the process has been received, and the elapsed time reaches the first predetermined time, the robot will start disembarking from the elevator car.

2. A robot capable of using elevators, equipped with an acceleration sensor, The robot is subjected to external transmission of floor information indicating which floor it is on each time it stops at a floor, from the time it boards the elevator car until it has disembarked. After boarding the elevator car, a determination (A1) is made based on the output of the acceleration sensor to determine whether or not the elevator car has stopped. If it is determined in the above determination (A1) that the train has stopped, then a determination (A2) is made to determine whether or not the stopping floor information was received from an external source. If, in the above determination (A2), it is determined that reception was not possible, the measurement of elapsed time will begin, and further, A determination (B) is made based on the output of the acceleration sensor whether or not the elevator car has started moving, (C) Determination of whether or not a disembarkation command signal has been received from an external source to instruct the robot to disembark from the elevator car, Perform Until the elapsed time reaches the first predetermined time, decisions (B) and (C) are repeatedly executed until it is determined that the service has started according to decision (B), or that it has been received according to decision (C). If the judgment (B) above does not determine that the process has started, and the judgment (C) above does not determine that the process has been received, and the elapsed time reaches the first predetermined time, the robot will start disembarking from the elevator car.

3. If it is determined in the above determination (A2) that the information has been received, then a determination (A3) is made as to whether the floor indicated by the received stop floor information matches the destination floor. If the above judgment (A3) determines that they match, the measurement of elapsed time will be started, and then the above judgment (C) will be performed. Until the elapsed time reaches the second predetermined time, the judgment (C) is repeatedly performed until it is determined that the data has been received. The robot according to claim 2, which, if it is determined in the judgment (C) above that a receipt has been received, and the elapsed time reaches the second predetermined time, starts disembarking from the elevator car.

4. This is a robot management device that manages robots that can use elevators. In the elevator control device, after the robot has boarded the elevator car and the elevator car has arrived at the robot's destination floor, a disembarkation start signal is transmitted to the robot management device to instruct the robot to begin disembarking from the elevator car. When the control device receives the disembarkation start signal, it transmits a disembarkation command signal to the robot to instruct the robot to disembark from the elevator car. When the robot receives the disembarkation command signal from the robot management device, it sends back an extension request to the robot management device requesting an extension of the opening of the elevator car doors. After transmitting the disembarkation command signal to the robot, the elapsed time is measured, and further, a determination (D) is made as to whether or not the extension request has been returned from the robot. Until the elapsed time reaches the third predetermined time, the judgment (D) is repeatedly performed until it is determined that a response has been received in the judgment (D). If it is determined that a response has been received in the above determination (D), an extension request signal requesting an extension of the elevator car door opening time is sent back to the control device. If the elapsed time reaches the third predetermined time without determining that a response has been received in the aforementioned determination (D), the robot management device sends an error signal to the control device instead of the extension request signal.

5. A control device applicable to an elevator used by a robot managed by the robot management device described in claim 4, After the robot boards the elevator car, when the elevator car arrives at the robot's destination floor, a disembarkation start signal is sent to the robot management device to instruct the robot to begin disembarking from the elevator car. In the robot management device, after transmitting the disembarkation command signal to the robot, if the device receives a completion notification from the robot indicating that disembarkation has been completed, it transmits a disembarkation completion signal to the control device indicating that disembarkation has been completed. After transmitting the disembarkation start signal to the robot management device, a determination (E) is made as to whether the robot management device has returned the extension request signal or the error signal. If the judgment (E) determines that the extension request signal has been returned, the opening of the elevator car door is extended, and then the determination of whether the robot has completed disembarking is made by determining whether the disembarking completion signal has been received from the robot management device. An elevator control device that, if it is determined in the judgment (E) that the error signal has been returned, extends the opening of the elevator car doors, while determining whether the robot has finished disembarking based on the output of a load sensor or camera installed in the elevator car.

6. After the disembarkation start signal is transmitted to the robot management device, and before making the decision (E), the measurement of elapsed time is started. Until the elapsed time reaches the fourth predetermined time, the judgment (E) is repeatedly performed until it is determined that the extension request signal has been returned in the judgment (E), or until it is determined that the error signal has been returned in the judgment (E). The elevator control device according to claim 5, wherein, in the judgment (E) it is not determined that the extension request signal has been returned, and in the judgment (E) it is not determined that the error signal has been returned, and the elapsed time reaches the fourth predetermined time, the elevator door opening is extended, while determining whether the robot has completed disembarking based on the output of a load sensor or camera installed in the elevator car.

7. A control method applicable to a robot capable of using an elevator and equipped with an acceleration sensor. After the robot boards the elevator car, a determination (A1) is made based on the output of the acceleration sensor to determine whether or not the elevator car has stopped. If it is determined in the above judgment (A1) that the operation has stopped, the measurement of elapsed time will begin, and further, A determination (B) is made based on the output of the acceleration sensor whether or not the elevator car has started moving, (C) Determination of whether or not a disembarkation command signal has been received from an external source to instruct the robot to disembark from the elevator car, Perform Until the elapsed time reaches the first predetermined time, decisions (B) and (C) are repeatedly executed until it is determined that the service has started according to decision (B), or that it has been received according to decision (C). A robot control method that, if the judgment (B) above does not determine that the process has started, and the judgment (C) above does not determine that the process has been received, and the elapsed time reaches the first predetermined time, causes the robot to start disembarking from the elevator car.

8. A control method applicable to a robot capable of using an elevator and equipped with an acceleration sensor. The robot is subjected to external transmission of floor information indicating which floor it is on each time it stops at a floor, from the time it boards the elevator car until it has disembarked. After the robot boards the elevator car, a determination (A1) is made based on the output of the acceleration sensor to determine whether or not the elevator car has stopped. If it is determined in the above determination (A1) that the train has stopped, then a determination (A2) is made to determine whether or not the stopping floor information was received from an external source. If, in the above determination (A2), it is determined that reception was not possible, the measurement of elapsed time will begin, and further, A determination (B) is made based on the output of the acceleration sensor whether or not the elevator car has started moving, (C) Determination of whether or not a disembarkation command signal has been received from an external source to instruct the robot to disembark from the elevator car, Perform Until the elapsed time reaches the first predetermined time, decisions (B) and (C) are repeatedly executed until it is determined that the service has started according to decision (B), or that it has been received according to decision (C). A robot control method that, if the judgment (B) above does not determine that the process has started, and the judgment (C) above does not determine that the process has been received, and the elapsed time reaches the first predetermined time, causes the robot to start disembarking from the elevator car.

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