JP2024037089A - Elevator system and elevator door control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable appropriate control of an operation condition in accordance with the type of a person or an object loaded on a car.

SOLUTION: An elevator system for controlling the opening/closing of a car door and a landing door includes a loaded object detection determination unit 104 for detecting a loaded object loaded on a car and determining the type of the loaded object loaded on the car based on a detection result, and a door control unit 106 for controlling the opening/closing of the car door and the landing door when the car is landed at a stop floor. The door control unit 106 changes a door time that is a time from the opening of the car door and the landing door to the closing thereof, in accordance with the determination result of the type of the loaded object obtained by the loaded object detection determination unit 104.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to an elevator system and an elevator door control method.

When getting on or off an elevator car, the door is kept open by the passenger's opening operation, the detection of boarding by a photoelectric device, and a preset door time. Appropriate door times vary depending on the purpose of the building and how it is used, so generally the door control unit can change the door times as desired. Further, the speed at which the door opens and closes can be similarly changed.

Patent Document 1 describes a technology for changing the door opening/closing speed according to the degree of deviation of passengers in the car from a value output from a passenger distribution device and the load amount detected by a load detection device in the car. has been done.

Japanese Patent Application Publication No. 6-1575

The technology described in Patent Document 1 detects the boarding state of a person using a load sensor or a passenger distribution sensor, and changes the door opening/closing speed.
However, with the recent progress in barrier-free technology and the spread of various mobile service devices, the users of elevators are not only people, but also a wide range of users, including wheelchairs, luggage, stretchers, and robots. These wheelchairs, luggage, stretchers, and robots each have different movement speeds.

Therefore, as described in Patent Document 1, it is difficult to smoothly control boarding and exiting of a car simply by detecting the load and distribution of the person. Furthermore, when considering moving objects other than people, in order to smoothly control boarding and exiting the car, it is necessary to control not only the door opening/closing speed but also the length of time the door is open (door time). However, conventionally, no control has been carried out that takes such matters into consideration.

SUMMARY OF THE INVENTION An object of the present invention is to provide an elevator system and an elevator door control method that can appropriately control operating conditions depending on people getting on and off the car and the types of objects loaded.

In order to solve the above problems, for example, the configurations described in the claims are adopted.
The present application includes a plurality of means for solving the above problems, and one example is an elevator system that controls the opening and closing of the car door and the landing door, and which controls the load loaded into the car. A load detection/judgment unit that detects and determines the type of load loaded on the car based on the detection result, and a load detection/judgment unit that detects and determines the type of load loaded on the car based on the detection result, and opens and closes the car door and the landing door when the car lands on the stop floor. and a door control section for controlling the door.
Here, the door control unit changes the door time, which is the time from opening to closing of the car door and the landing door, according to the determination result of the type of loaded object by the loaded object detection and determination unit. .

According to the present invention, the door time can be automatically changed depending on the type and number of loaded items, so the risk of being caught in the elevator can be reduced and the convenience of the elevator can be improved.
Problems, configurations, and effects other than those described above will be made clear by the description of the embodiments below.

1 is a configuration diagram of an elevator system according to an embodiment of the present invention. 1 is a block diagram showing an example of a hardware configuration of a control system of an elevator system according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating an example of overall door control processing of an elevator system according to an embodiment of the present invention. 2 is a flowchart illustrating an example of load determination processing of an elevator system according to an embodiment of the present invention. 2 is a flowchart illustrating an example of processing when closing a door of an elevator system according to an embodiment of the present invention. It is a flow chart which shows an example of processing when a load is unknown in an elevator system according to an embodiment of the present invention. It is a flowchart which shows the example of the process at the time of RFID correspondence of the elevator system by the modification of the example of one embodiment of this invention. 12 is a flowchart illustrating an example of processing when a robot whose running speed is unknown enters the elevator system according to a modification of the embodiment of the present invention.

EMBODIMENT OF THE INVENTION Hereinafter, an elevator system and an elevator door control method according to an embodiment of the present invention (hereinafter referred to as "this example") will be described with reference to the accompanying drawings.

[Overall system configuration and operation]
The configuration and operation of the elevator system 100 of this example will be explained using FIG. 1. In FIG. 1, the structure and operation for controlling the car door and the landing door in the elevator system will be mainly explained, and the explanation of the structure and operation for running (elevating and lowering) the car will be omitted.

The elevator system 100 includes a door control unit 106 that controls a car door 105 and a loaded object detection determination unit 104. The loaded object detection and determination section 104 includes a detection section 102 and a loaded object determination section 103.
The door 105 of the car is opened and closed under the control of the door control unit 106 while the car is stopped at each floor. Furthermore, in conjunction with the opening and closing of the car door 105, the landing door (not shown) on the floor where the car has stopped is also opened and closed. In the following explanation, only the opening and closing of the car door 105 will be explained, but when the car door 105 is opened and closed, the landing door of the stop floor is also opened and closed in conjunction with the car door 105 under the control of the door control unit 106. do.

The loaded object detection and determination unit 104 performs a car loaded object detection and determination process. That is, the detection unit 102 of the loaded object detection and determination unit 104 is configured with, for example, a stereo camera installed inside the car, and acquires an image of the inside of the car. However, using a stereo camera as the detection unit 102 is an example, and a monocular camera or a sensor other than a camera may be used.
The loaded object determination section 103 of the loaded object detection and determination section 104 determines the types of loaded objects and passengers in the car based on the image acquired by the detection section 102 and the like. That is, the loaded object determination unit 103 determines whether the object (person) that has boarded the car stopped at each floor is a passenger or a loaded object other than a passenger. Furthermore, when it is determined that the loaded object is not a passenger, the loaded object determination unit 103 determines the type of the loaded object. When the loaded item determination unit 103 determines the type of loaded item, information stored in the loaded item determination database 107 is used.

For example, the loaded object determination database 107 stores information such as the shapes of stretchers, autonomous mobile devices such as robots, wheelchairs, etc., and the loaded object determining section 103 uses the detection section 102 based on the stored information. Determine the type of load included in the acquired image.
Furthermore, as shown in FIG. 1, the load determination database 107 also stores the door time of each type of load. The door time of this loaded item is the door time of each applicable loaded item.
Note that when determining the loaded items and passengers in the car, the loaded item determination unit 103 also determines the number of loaded items and the number of passengers who have boarded the car.
When the loaded item determination unit 103 determines the loaded item in the car, it reads door time information corresponding to the type of loaded item from the loaded item determination database 107 and supplies it to the door control unit 106.

The door control unit 106 controls opening and closing of the car door 105 when the car stops at each floor. When the door control unit 106 controls the opening and closing of the car door 105, the door control unit 106 reads the door time information for each floor stored in the elevator memory 108, and controls the number of people getting on and off the car and the loaded items. Set the applicable door time.
That is, in the elevator system 100 of this example, the door time information for all floors on which the car can be stopped is stored in the elevator memory 108, and the door control unit 106 stores the door time information for the floor where the car has stopped. The door time is set by reading from the elevator memory 108. For example, on the first floor of a building where entrances and exits are installed, the door time is set to 10 seconds, which is relatively long, and on other floors, the door time is set to 5 seconds, which is shorter than on the first floor.

Note that the door time in the elevator system 100 of this example is the time from when the door opens to when the door closes, and is expressed in "seconds". The door time from when the door opens to when the door closes is, for example, the time from when the car door 105 is completely opened until the car door 105 starts its closing operation. However, the door time measurement time may be any other time, such as the time from when the car door 105 starts its opening operation until the car door 105 is completely closed.
In addition, the door time here is the time when there is no operation such as closing or opening the door on the operation panel inside the car, and if there is an operation on the operation panel, the door time is the time when there is no operation on the operation panel inside the car. Needless to say, they will change accordingly.

The data stored in the elevator memory 108 can be changed, for example, by a terminal 110 installed at a monitoring center or the like that monitors the operation of the elevator system 100. For example, because some event is being held on a specific floor in a building, the door time for that specific floor can be changed to a longer time than usual.

In the configuration of FIG. 1, the elevator memory 108 and the load determination database 107 are provided in the elevator system 100 in the building. On the other hand, either one or both of the elevator memory 108 and the load determination database 107 are prepared in an external server, etc., and the door control unit 106 and load determination unit 103 are required to be connected via a communication line. It may also be possible to obtain such information.

[Example of control system hardware configuration]
FIG. 2 shows an example of the hardware configuration of a computer that constitutes the door control unit 106 and the loaded object determination unit 103 of the elevator system 100 of this example.
The door control unit 106 and the loaded object determination unit 103 shown in FIG. 1 can be configured by, for example, a computer that is an information processing device.
That is, the computer included in the elevator system 100 includes a CPU (Central Processing Unit) 100a, which is a processor, a ROM (Read Only Memory) 100b, a RAM (Random Access Memory) 100c, and a nonvolatile storage 100d.
As the nonvolatile storage 100d, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a semiconductor memory is used.
The computer also includes a network interface 100e for transmitting and receiving data with other devices, an input device 100f to which various information is input, and an output device 100g to output control information and the like.

The CPU 100a executes a program stored in the ROM 100b or the nonvolatile storage 100d on the RAM 100c. As a result, each processing section such as the door control section 106 and the loaded object determination section 103 shown in FIG. 1 is configured.
The non-volatile storage 100d stores a program for controlling the elevator system 100, and also stores information for the load determination database 107 and the elevator memory 108.

The network interface 100e has a communication function with an external terminal 110, an elevator monitoring center, and the like.
The input device 100f performs input processing of information from the control panel of the car and image data detected by the detection unit 102.
The output device 100g performs output processing of information for controlling the door 105 of the car.

[Door time setting process]
Next, door control processing by the door control unit 106 of the elevator system 100 of this example will be explained.
FIG. 3 is a flowchart showing the entire door control process by the door control unit 106.
First, when a user creates an elevator call at a landing on a specific floor (in this case, the nth floor), the car responds to the hall call, arrives at the nth floor, stops, and opens the door for boarding. is opened (step S11).
Here, the door control unit 106 reads the door time of the nth floor from the elevator memory 108 (step S12). Then, the door control unit 106 sets the door time based on the read door time information (step S13). When setting this door time, the door control section 106 corrects and sets the door time according to the loaded object determined by the loaded object determining section 103.

After the door time is set in step S13, the door control unit 106 determines whether the set door time is longer than the door opening/closing time (step S14). If it is determined in step S14 that the door time is shorter than the door opening/closing time (Yes in step S14), the door control unit 106 closes the elevator landing door and the car door (step). On the other hand, if it is determined in step S14 that the door time is longer than the door opening/closing time (No in step S14), the door control unit 106 continues to open the elevator and car doors (step S15), and steps Return to S14.
Then, in step S14, when the door opening time becomes equal to the door time (Yes in step S14), the door control unit 106 sends a command to close the car door 105 to the car, causing the car door 105 to close (step S16).

Details of the door time setting process in step S13 are as shown on the right side of FIG.
First, the loaded item determination unit 103 determines the loaded item from the image acquired by the detection unit 102, and reads out the determined door time of the loaded item from the loaded item determination database 107 (step S21). The door time of the loaded object read in this step S21 is the door time for each loaded object, and if there are multiple loaded objects, the door time obtained in the loaded object determination process is as described later in the flowchart of FIG. The additional value corresponds to the number of loaded items.
Then, the loaded object determination section 103 supplies the read door time of the loaded object to the door control section 106.

The door control unit 106 compares the door time of the nth floor read from the elevator memory 108 in step S12 with the door time of the loaded object obtained in step S21, and determines whether the door time of the loaded object is greater. A judgment is made (step S22).
In step S22, if the door time of the loaded object is greater (Yes in step S22), the door control unit 106 sets the door time obtained in step S21 to the door time of the current stop floor (step S23). . Further, in step S22, if the door time of the nth floor is greater than or equal to the door time of the loaded object (No in step S22), the door control unit 106 controls the door time of the nth floor read from the elevator memory 108 in step S12. Do not modify door time.

Further, when the destination floor is registered on the operation panel in the car while the car is stopped or immediately after starting traveling from the nth floor (step S31), the door control unit 106 controls the registered destination floor. Performs door time setting processing. That is, when the destination floor is registered on the operation panel in the car in step S31, the door control unit 106 reads out the door time of the registered destination floor from the elevator memory 108 (step S32).
Then, the door time of the destination floor read from the elevator memory 108 in step S32 is compared with the door time of the loaded object obtained in step S21, and it is determined whether the door time of the loaded object is greater (step S32). S33).

In step S33, if the door time of the loaded object is greater (Yes in step S33), the door control unit 106 sets and registers the door time obtained in step S21 as the door time when stopped at the destination floor. (Step S34).
Further, in step S33, if the door time of the destination floor is greater than or equal to the door time of the loaded object (No in step S33), the door control unit 106 controls the door time of the destination floor read from the elevator memory 108 in step S32. Do not modify floor door times.
Note that the door time registered in step S34 is set as the door time when the car stops at the destination floor under the control of the door control unit 106.

FIG. 4 is a flowchart showing a process for determining a car load by the load determination unit 103 of the elevator system 100 of this example, and a door time setting process based on the determination process.
First, the loaded object determination unit 103 acquires information on the loaded object detected by the detection unit 102 when the car stops, and extracts feature amounts for determination (step S41). In this step S41, for example, the loaded object determination unit 103 compares an initial image taken without boarding and an image taken at the time of boarding, and extracts the difference.
Then, the loaded item determination unit 103 compares the feature amount of the loaded item indicated by the extracted difference image with the information in the loaded item determination database 107 (step S42).

The loaded object determination unit 103 determines whether only a person has boarded the vehicle at the current stop floor based on the comparison result in step S42 (step S43). When it is determined in step S43 that only a person has boarded the vehicle (Yes in step S43), the door control unit 106 sets the door time of the current stopping floor to the door time of the corresponding floor read from the elevator memory 108 as a standard value ( Step S44), and this standard value is set as the door time that determines the time for closing the door (Step S45).
Note that the door control unit 106 performs the door time setting process in step S13, which was explained in the flowchart of FIG. 3, using the door time set in step S45.

Further, when it is determined in step S43 that someone other than a person has entered the elevator (No in step S43), the loaded object determination unit 103 determines whether the feature amount of the loaded object extracted in step S41 is one of the loaded object determination database 107. It is determined whether the information matches the information on the loaded object (step S46). If there is an item that matches the information in the loaded item determination database 107 in step S46 (Yes in step S46), the loaded item determination unit 103 identifies the item that matches the information in the loaded item determination database 107 as a loaded item (step S46). S47). For example, when there is a plurality of loaded items onboard, the identification process here is performed individually for each loaded item.

Then, the loaded item determination unit 103 reads the door time of the identified loaded item from the loaded item determination database 107, and performs an addition process of the corresponding door time (step S48). If there is only one load in step S47, the door time read from the load determination database 107 becomes the added value as is.
Note that when there are multiple items to be loaded in step S47, the added value of the door time for the second and subsequent items may be calculated by simply adding up the individual loading times, since it is possible that the items to be loaded are consecutively boarded together. It may be set shorter than the simple addition value. For example, when the entry of two stretchers is detected and the door time for one is 15 seconds, the added value may be shorter than the simple addition of 30 seconds, such as 15 seconds + 10 seconds. .

Next, the loaded object determining unit 103 determines whether there is any other loaded object that has boarded the vehicle (step S49). In step S49, if there is another load that has been boarded (Yes in step S49), the load determination unit 103 returns to the determination in step S46.
Further, in step S49, if there is no other loaded object that has boarded the vehicle (No in step S49), the loaded object determination unit 103 sends the added value of the current door time obtained in step S48 to the door control unit 106, and In step S45, the control unit 106 performs door time setting processing based on the added value of the door time.

Further, if the information does not match the information in the loaded object determination database 107 in step S46 (No in step S46), the loaded object determining unit 103 sets the door time to a standard value (step S50), and the characteristics detected from the image at this time The amount is newly registered in the load determination database 107 (step S51). Then, in step S45, the door control unit 106 performs a door time setting process based on the information on the door time standard value set in step S50.
Note that this newly registered standard door time value of the loaded object is updated in the process of the flowchart of FIG. 6, which will be described later.

FIG. 5 is a flowchart showing details of the control process of the car door 105 by the door control unit 106.
First, when the door controller 106 stops at each floor and opens the car door 105, it reads the door time set in step S45 of the flowchart of FIG. 4 (step S61). Then, the door control unit 106 compares the current time from the door opening with the door time obtained in step S61, and determines whether the door opening time is less than the door time (step S62).

In step S62, when the door opening time is less than the door time (No in step S62), the door control unit 106 continues the current door opening (step S63) and repeats the determination in step S62.
Then, in step S62, when the door opening time becomes equal to the door time (Yes in step S62), the door control unit 106 sends a command to close the car door 105 to the car, causing the car door 105 to close (step S64). By closing the car door 105, the car prepares to depart to the destination floor.

Note that in the state where the door continues to be opened in step S63, if the loaded object is boarded quickly and the door close button on the operation panel inside the car is pressed, the door control unit 106 The process of closing the car door 105 is performed with priority given to control associated with the operation. Further, if the door open button on the operation panel inside the car is pressed while the door closing operation in step S64 is being performed, the door control unit 106 gives priority to the control associated with the operation and closes the car. Processing for opening the door 105 is performed.

FIG. 6 is a flowchart showing door control processing when the loaded item determined by the loaded item determination unit 103 does not match the already registered loaded item and a new loaded item is registered.
When an unknown load is newly registered, the door control unit 106 reads out the standard door time of the stopped floor from the elevator memory 108 as an initial value (step S71).
Then, the door control unit 106 determines whether the door opening time has become equal to the standard door time (step S72). In step S72, if the door opening time has not reached the standard door time (No in step S72), the door control unit 106 determines whether a door closing operation has been performed using the door closing button on the operation panel in the car. (Step S73). In step S73, if the door close button is not operated (No in step S73), the door control unit 106 returns to the determination in step S72.

If the door opening time reaches the standard door time in step S72 (Yes in step S72) and if the door close button is operated in step S73 (Yes in step S73), the door control unit 106 controls the car door 105 A command to close the car door 105 is sent to the car, and the closing operation of the car door 105 is started (step S74).
Thereafter, the door control unit 106 determines whether the door closing is canceled by operating the door open button during the closing operation and the door continues to be opened (step S75). If the door open button is not operated in step S75 (No in step S75), the loaded object determination unit 103 sets the newly registered door time of the loaded object as the standard door time, and stores this setting in the loaded object determination database 107. The value is stored (step S76). The standard door time here is the shortest door time (for example, 5 seconds) stored in the load determination database 107.

Further, if the door open button is operated in step S75 (Yes in step S75), then the door control unit 106 determines whether or not the door close button is operated (step S77). If the door close button is not operated in step S77 (No in step S77), the door control unit 106 returns to the determination in step S75.
Further, if the door close button is operated in step S77 (Yes in step S77), the door control unit 106 determines the time from opening the door at the current stop floor to starting the door closing operation (step S78).
Then, the loaded item determination unit 103 sets the door time of the newly registered loaded item to the time determined in step S78, and stores this set value in the loaded item determination database 107 (step S79).

[Effects of this embodiment]
As explained above, according to the elevator system 100 of this example, the door time is automatically changed depending on the type and number of items loaded in the car, thereby reducing the risk of being caught and improving convenience. be able to.
In this case, a door time is individually set for each floor where the car stops, and the door time of each floor is compared with the door time according to the type and number of loaded objects. If the door time depending on the type and number of loaded items is longer, the door time is extended accordingly, so that the door time can be extended appropriately depending on the type and number of loaded items at each stop floor. Door time will now be set.

Additionally, if the destination floor is registered on the floor where the detected cargo boarded, the door time for unloading the cargo upon arrival at the destination floor will be set in the same way as when the cargo boarded. Therefore, the door time when unloading cargo from the car is automatically set appropriately.

In addition, when a newly registered load is registered, the newly registered load will be registered based on the time when the door was actually opened on the boarding floor when the newly registered load was boarded. Since the door time is registered, the door time of the newly registered load can be automatically and appropriately registered.

[Modified example]
Note that the embodiments described so far have been described in detail to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Moreover, various modifications and changes can be made to the configuration and processing described in the embodiments described above.

For example, in the embodiment described above, the detection unit 102 is a camera that detects loaded items and passengers from images. On the other hand, for example, the detection unit 102 may be a reception unit that receives a signal from a wireless communication tag called RFID (Radio Frequency Identification) or the like. In this case, the detection unit 102 receives a signal from a wireless communication tag attached to the loaded item and determines the loaded item in the car. For example, RFIDs are pasted on objects that are frequently used in elevators, such as stretchers and robots.

FIG. 7 is a flowchart showing the load determination process in the door control unit 106 and load determination unit 103 when this wireless communication tag (RFID) is used.
First, the loaded object determining unit 103 determines whether the detecting unit 102 has received a signal from the RFID (step S81). In step S81, if the detection unit 102 does not receive a signal from the RFID (No in step S81), the door control unit 106 reads the door time of the floor where the door stopped from the elevator memory 108 and sets the door time. (Step S82).

Further, in step S81, when the detection unit 102 receives a signal from the RFID (Yes in step S81), the loaded object determination unit 103 identifies the signal from the RFID and uses the identified information and the pre-registered RFID. The type and quantity of the loaded items are determined by comparing the information with the above information (step S83). Then, the loaded item determination unit 103 reads out the door time corresponding to the determined type and quantity of loaded items from the loaded item determination database 107 (step S84). The read door time is supplied from the loaded object determining section 103 to the door controlling section 106, and the door controlling section 106 sets the door time based on the door time supplied from the loaded object determining section 103 (step S85). ), controls the opening and closing of the car door.

In this way, by determining the load on the elevator using a wireless communication tag such as RFID, it becomes possible to set the door time according to the load with simple detection.
For example, by attaching an RFID to a stretcher, the type of stretcher to be loaded and the number of stretchers can be reliably detected and the door time can be set appropriately.

Specifically, when two stretchers as loaded objects are loaded into one car, and the required boarding time for each stretcher is 5 seconds, the door control unit 106 controls the speed of 10 seconds for the two stretchers. Set seconds to door time. Therefore, the door control unit 106 can perform a process of keeping the car door 105 open for at least 10 seconds when the stretcher is boarded, regardless of the door time set for that floor. Thereby, the stretcher can be smoothly loaded into the car with plenty of time. Furthermore, similar control is performed when getting off the train at the destination floor, allowing passengers to get off smoothly and with plenty of time.

Further, in the above-described embodiment, the door time is set based on the type and number of loaded items, but the loaded item determination unit 103 stores the door time in advance in the database when the loaded item is an autonomous mobile robot. The door time may be set according to the registered moving speed of the corresponding robot. For example, in the case of a robot with a speed of 0.1 m/s, it takes time to complete boarding, so the door time is set to 15 seconds. Further, in the case of a robot with a speed of 0.5 m/s, the door time is set to 7 seconds because boarding can be done in a relatively short time.

FIG. 8 is a flowchart for explaining the control process for setting the door time in the case of a robot whose moving speed is unknown.
That is, as shown in the flowchart of FIG. 8, the loaded object determination unit 103 detects the type and number of detected loaded objects (in this case, autonomous mobile robots), and determines the type and number of detected loaded objects depending on the type and number of detected robots. A standard door time is set (step S91).

Then, the door control unit 106 determines whether the door opening time has reached the door time set in step S91 (step S92). If it is determined in step S92 that the door time set in step S91 has not come (No in step S92), the door control unit 106 repeats the determination in step S92.
If it is determined in step S92 that the door time set in step S91 has arrived (Yes in step S92), the loaded object determination unit 103 detects the position of the robot, which is the loaded object, in the car (step S93). ). The loaded object determination unit 103 determines whether the position inside the car detected in step S93 is a state in which the vehicle is completely inside the car (step S94).

If the robot has not completely entered the car in step S94 (No in step S94), the door control unit 106 continues to open the door (step S95), and returns to the robot position detection process in step S93.
Furthermore, if the robot has completely entered the car in step S94 (Yes in step S94), the loaded object determination unit 103 determines whether one second or more has elapsed since the robot stopped in the car. (Step S96).

If the robot has not stopped in the car in step S96, or if one second has not elapsed even after stopping (No in step S96), the process moves to step S95, and the door control unit 106 continues to open the door. Then, the process returns to the robot position detection process in step S93.
Further, if one second or more has elapsed since the robot stopped in the car in step S96 (Yes in step S96), the door control unit 106 performs control to close the door (step S97).

In this way, by setting the door time according to the moving speed of the autonomous mobile robot, a more appropriate door time can be set. In addition, in the case of a robot whose movement speed is unknown, by detecting that the robot has stopped in the car and then closing the door, even if the movement speed is unknown, an appropriate door time can be set. It becomes possible to make settings.
Note that the process shown in the flowchart in Figure 8 is an example of an autonomous mobile robot whose movement speed is unknown, but it can also be used to detect when movement within the cage has stopped, such as in the case of a stretcher or other loaded object. You can then close the door.

Furthermore, in the above-described embodiment, the basic door time is set individually for each stop floor, but the basic door time may be the same for all stop floors.
Further, as the process for changing the door time, the processes described in each flowchart are merely examples, and the door time may be changed (corrected) by performing other processes. For example, the door time may be changed by simply adding the door time corresponding to each load to the basic door time at each stop floor.

In addition, in the configuration shown in FIG. 1, the elevator system 100 includes the door control unit 106 and the loaded object detection/determination unit 104 to automatically change the door time. The program installed in the section may be modified to perform similar processing.
In this case, in addition to preparing the program in the nonvolatile storage or memory in the computer shown in Figure 2, it may also be placed in an external memory, an IC card, an SD card, an optical disk, or other recording medium and transferred. .
Furthermore, some or all of the functions performed by the door control unit 106 and the loaded object detection/judgment unit 104 may be realized by dedicated hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). .

Further, in the configuration diagram shown in FIG. 1, only control lines and information lines that are considered necessary for explanation are shown, and not all control lines and information lines are necessarily shown in terms of the product. In reality, almost all components may be considered to be interconnected. Furthermore, regarding the flowcharts shown in FIGS. 3 to 8, if the processing results are the same, the processing order may be changed or multiple processing may be executed simultaneously.

100...Elevator system, 100a...CPU, 100b...ROM, 100c...RAM, 100d...Nonvolatile storage, 100e...Network interface,
100f...Input device, 100g...Output device, 102...Detection section, 103...Loaded object determination section, 104...Loaded object detection determination section, 105...Door, 106...Door control section, 107...Loaded object determination data database, 108... Elevator memory, 110...terminal

Claims (8)

An elevator system that controls the opening and closing of car doors and landing doors,
a loaded object detection and determination unit that detects a loaded object loaded in the car and determines the type of loaded object loaded in the car based on the detection result;
a door control unit that controls opening and closing of the car door and the landing door when the car lands on the stop floor,
The door control unit changes door time, which is the time from opening to closing of the car door and the landing door, according to the determination result of the type of the loaded object by the loaded object detection and determination unit. comprising an elevator memory for storing standard door times for each stopping floor of the car;
The door control unit reads a door time corresponding to the floor at which the car stops from the elevator memory, and corrects the read door time according to a determination result of the type of loaded object by the loaded object detection determination unit. The elevator system according to item 1. The door control unit changes the door time at the stop floor where the loaded object detection determination unit determines the loaded object, and also changes the door time when the destination floor is registered at the stop floor, The elevator system according to claim 1, wherein the elevator system changes door time. The elevator system according to claim 1, wherein the loaded object detection and determination section corrects the door time according to the determination result of the type and number of loaded objects loaded in the car. The elevator system according to claim 1, wherein the loaded object detection and determination section receives a signal from a wireless communication tag attached to the loaded object and determines the type of the loaded object. The door control unit maintains the door of the car and the landing door open until the loaded object detection determination unit determines that movement of the loaded object in the car has stopped. 1. The elevator system according to 1. comprising a loaded object determination database storing information about the loaded object determined by the loaded object detection determination section,
The elevator system according to claim 1, wherein the door control unit corrects the door time based on information in the loaded object determination database. In an elevator door control method for controlling the opening and closing of a car door and a landing door,
Loaded object detection and determination processing that detects a loaded object loaded in the car and determines the type of loaded object loaded in the car based on the detection result;
When the car arrives at the stop floor, the opening and closing of the car door and the landing door are controlled, and the car An elevator door control method, comprising: a door control process that changes a door time, which is the time from opening to closing of a door and a landing door.

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