JP6819767B1 - Elevator management device, elevator management system, and control method of elevator management device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve convenience of a user in an elevator operated so that a robot and a user do not ride together. SOLUTION: A first boarding request from a robot (6) requesting to board an elevator (4) from a first departure floor to a first destination floor, and a boarding of an elevator from a second departure floor. It includes a boarding request receiving unit (111) that receives a second boarding request from the requesting user, and an operation control unit (112) that controls the operation of the elevator in response to the first boarding request and the second boarding request. When the operation control unit (112) receives one of the first boarding request and the second boarding request and the other during the period from the receipt of the first boarding request to the completion of the operation corresponding to the one, the first departure floor, Based on the relative positional relationship between the first destination floor and the second departure floor, the operation of the elevator (4) is controlled so that the user and the robot (6) can avoid getting on board. [Selection diagram] Fig. 2

Description

The present invention relates to a technique for managing the operation of an elevator.

Patent Document 1 discloses an elevator system that controls the operation of an elevator so that a user and a robot do not ride on each other. The elevator system puts the elevator into a robot-only mode if no person is detected in the car or in the elevator boarding / alighting area before the robot gets into the elevator car.

JP-A-2009-234716

In the elevator system of Patent Document 1, the user who has already tried to use the elevator when the robot calls the elevator can use it as it is. On the other hand, the user cannot use the elevator from the time when the robot calls the elevator until the robot gets into the elevator and gets off at the destination floor. Therefore, the technique of Patent Document 1 has room for improvement in the convenience of the user in an elevator that operates so that the user and the robot do not ride together.

One aspect of the present invention is to provide a technique for improving the convenience of a user in an elevator that operates so that the robot and the user do not ride together.

In order to solve the above problems, the elevator management device according to the first aspect of the present invention is an elevator management device that manages the operation of an elevator car provided in a building having a plurality of floors, and is the first elevator management device in the car. Boarding that accepts the first boarding request from the robot requesting boarding from the 1st departure floor to the 1st destination floor, and the 2nd boarding request from the user requesting to board the car from the 2nd departure floor. A request receiving unit and an operation control unit that controls the operation of the elevator in response to the first boarding request and the second boarding request are provided, and the operation control unit includes the first boarding request and the second boarding. When the other is accepted during the period from the acceptance of one of the requests to the completion of the operation according to the one, the first departure floor, the first destination floor, and the first floor in the operation route of the elevator. 2 Based on the relative positional relationship of the departure floors, the operation of the elevator is controlled so that the user and the robot can avoid riding in the car.

According to the above configuration, regardless of whether the user or the robot calls the elevator first, the relative of the user's second departure floor, the robot's first departure floor, and the robot's first destination floor. Depending on the positional relationship, the user may be able to preferentially use the elevator without riding with the robot. As a result, it is possible to further improve the convenience of the user in the operation of the elevator in which the user and the robot are not carried.

In the elevator management device according to the second aspect of the present invention, in the first aspect, the second boarding request includes information for designating the operation direction from the second departure floor, and the boarding request receiving unit is the user. Further accepting the registration of the second destination floor, which is the destination floor of the elevator, the operation control unit receives the direction from the first departure floor to the first destination floor and the second boarding request in the operation route of the elevator. When the operation direction shown is the same and the section from the second departure floor to the second destination floor includes the first departure floor, the user is placed in the car on the second departure floor. It is not necessary to have the robot get on the car on the first departure floor while the car is operated on the second destination floor.

According to the above configuration, when the operation direction requested by the user and the robot is the same, and the first departure floor of the robot is included between the user's second departure floor and the second destination floor. Makes the robot stand by on the departure floor of the robot before boarding, and priority is given to the use of the elevator by the user. Thereby, the convenience of the user can be further improved.

In the elevator management device according to the third aspect of the present invention, in the second aspect, when the operation control unit does not allow the robot to ride in the car on the first departure floor, the user on the second destination floor. After getting off the train, the operation may be started in response to the first boarding request.

According to the above configuration, after the use of the elevator by the user is completed, the robot made to stand by on the first departure floor can use the elevator.

In any of the above aspects 1 to 3, the elevator management device according to the fourth aspect of the present invention includes the information for designating the operation direction from the second departure floor, and the operation control unit In the operation route of the elevator, the direction from the first departure floor to the first destination floor and the operation direction indicated by the second boarding request are the same, and the first departure floor to the first When the section up to the destination floor includes the second departure floor, the first destination floor is changed to any floor other than the first departure floor from the first departure floor to the second departure floor. At the same time, the robot boarded on the first departure floor may be disembarked on the changed first destination floor, and the user may be boarded on the car on the second departure floor.

According to the above configuration, when the operation direction requested by the user and the robot is the same, and the user's second departure floor is included between the first departure floor and the first destination floor of the robot. The robot temporarily disembarks from the car before the user gets into the car, and the user's use of the elevator is prioritized. Thereby, the convenience of the user can be further improved.

In the elevator management device according to the fifth aspect of the present invention, in the fourth aspect, when the operation control unit disembarks the robot on the first destination floor after the change, the first boarding request is canceled and the boarding is performed. After canceling the first boarding request, the request receiving unit notifies the robot that the first boarding request has been canceled, and sets the changed first destination floor as a new first departure floor. A new first boarding request from the robot requesting to board the car with the first destination floor before the change as a new first destination floor may be accepted.

According to the above configuration, when the robot disembarks on the changed first destination floor, the robot makes a boarding request with the disembarked floor as the departure floor instead of the initial boarding request. As a result, the robot that gets off the car before the user gets on the elevator can use the elevator after the user finishes using the elevator.

In the elevator management device according to the sixth aspect of the present invention, in the first aspect, the boarding request receiving unit receives priority information indicating that the robot is prioritized together with the first boarding request, and the operation control unit receives the priority information indicating that the robot is prioritized. When the priority information is accepted and the user is not in the car, the robot is put in the car on the first departure floor and then disembarked on the first destination floor. The user may be boarded in the car on the second departure floor.

According to the above configuration, when the priority information is received, the use of the elevator by the robot can be prioritized over the user.

In the elevator management device according to the seventh aspect of the present invention, in the sixth aspect, the priority information may be information indicating that the importance of the work performed by the robot satisfies a predetermined condition.

According to the above configuration, the use of the elevator by a robot whose work importance satisfies a predetermined condition can be prioritized over the user.

The elevator management system according to the eighth aspect of the present invention includes the elevator management device according to any one of the first to seventh aspects, the robot, and the elevator. According to the above configuration, the same effect as that of the above aspects 1 to 7 is obtained.

In order to solve the above problems, the control method of the elevator management device according to the ninth aspect of the present invention is a control method of the elevator management device for managing the operation of the elevator provided in the building having a plurality of floors. The first boarding request from the robot requesting to board the car from the first departure floor to the first destination floor, and the second boarding from the user requesting to board the car from the second departure floor. Boarding request acceptance step to accept requests and
It includes an operation control step for controlling the operation of the elevator in response to the first boarding request and the second boarding request, and in the operation control step, either one of the first boarding request and the second boarding request is provided. When the other is accepted during the period from the receipt of the above to the completion of the operation according to the one, the relative of the first departure floor, the first destination floor, and the second departure floor in the operation route of the elevator. The operation of the elevator is controlled so that the user and the robot can avoid riding in the car based on the specific position. According to the above configuration, the same effect as that of the above aspect 1 is obtained.

Further, the elevator management device according to each aspect of the present invention may be realized by a computer. In this case, the elevator management device is operated by operating the computer as each part (software element) included in the elevator management device. A control program realized by a computer and a computer-readable recording medium on which the control program is recorded also fall within the scope of the present invention.

According to one aspect of the present invention, it is possible to improve the convenience of the user in an elevator that operates so that the robot and the user do not ride together.

It is a figure which shows an example of the structure of the elevator management system which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the structure of an elevator management apparatus. It is a figure which shows an example of the structure of an elevator control device and an elevator. It is a figure which shows an example of the structure of a robot control device. It is a figure which shows an example of the structure of a robot. It is a flowchart which shows an example of the flow of processing performed by an elevator management apparatus. It is a flowchart which shows another example of the flow of processing performed by an elevator management apparatus. It is a flowchart which shows an example of the process flow for the elevator management apparatus to operate an elevator by giving priority to a robot. It is a flowchart which shows an example of the process flow for the elevator management apparatus to operate an elevator by giving priority to a user. It is a flowchart which shows an example of the process flow which the elevator management apparatus accepts the registration of the 2nd destination floor. It is a flowchart which shows another example of the process flow for the elevator management apparatus to operate an elevator by giving priority to a user. It is a flowchart which shows an example of the flow of processing performed by a robot control device. It is a figure for demonstrating a concrete example of an elevator operation pattern. It is a figure for demonstrating another concrete example of the operation pattern of an elevator. It is a figure for demonstrating still another concrete example of an elevator operation pattern. It is a figure which shows an example of the structure of the elevator management system which concerns on Embodiment 2 of this invention.

[Embodiment 1]
Hereinafter, one embodiment of the present invention will be described in detail.

(Overview of Elevator Management System 100)
The elevator management system 100 is a system for managing an elevator 4 provided in a building having a plurality of floors. The elevator 4 is expected to be used by the user and the robot 6. The number of users may be one or a plurality of users.

The robot 6 is deployed in the building. The robot 6 may be an automatic transfer device, a self-propelled cleaning device, and other multifunctional robots. The robot 6 can move across a plurality of floors by using the elevator 4.

When the elevator management system 100 receives either one of the first boarding request from the robot 6 and the second boarding request from the user and the other during the period from the reception of the operation to the completion of the operation corresponding to the one. , The user and the robot 6 of the elevator 4 are based on the relative positional relationship between the first departure floor of the robot 6, the first destination floor of the robot 6, and the second departure floor of the user in the operation route of the elevator 4. The operation of the elevator 4 is controlled so that it is possible to avoid riding in the car 41.

Here, the first boarding request is information requesting that the robot 6 board the car 41 of the elevator 4 from the first departure floor to the first destination floor. In other words, the first boarding request indicates a landing call and a car call by the robot 6. In addition, the operation according to the first boarding request means that after receiving the first boarding request, the car 41 of the elevator 4 is moved to the first departure floor, and the car 41 carrying the robot 6 is moved to the first destination floor. The operation of the elevator 4 until the robot 6 is disembarked is shown. The operation in response to the first boarding request is completed when the robot 6 gets off the car 41. Further, when the operation according to the first boarding request is completed, the use of the elevator 4 by the robot 6 is completed.

Further, the second boarding request is information requesting the user to board the car 41 of the elevator 4 from the second departure floor. In addition, the second boarding request includes information for designating the operation direction from the second departure floor. In other words, the second boarding request indicates a boarding call by the user. In addition, the operation according to the second boarding request means that after receiving the second boarding request, the car 41 of the elevator 4 is moved to the second departure floor, and the car 41 carrying the user is indicated by the second boarding request. The operation of the elevator 4 until the user is disembarked at the second destination floor registered by the user after moving in the direction of operation is shown. The operation in response to the second boarding request is completed when the user gets off the car 41. In addition, when the operation in response to the second boarding request is completed, the use of the elevator 4 by the user is completed.

Hereinafter, when it is not necessary to separately explain the first boarding request and the second boarding request, it is also simply described as a boarding request.

(Configuration of elevator management system 100)
Subsequently, the configuration of the elevator management system 100 will be described with reference to FIG. FIG. 1 is a diagram showing an example of the configuration of the elevator management system 100 according to the first embodiment of the present invention. The elevator management system 100 shown in FIG. 1 has a configuration in which the elevator management device 1 controls the robot 6 via the robot control device 5. The elevator management system 100 shown in FIG. 1 is suitable, for example, when the robot control device 5 and the robot 6 have already been deployed in the building before the introduction of the elevator management system 100.

The elevator management system 100 includes an elevator management device 1, an elevator control device 3, an elevator 4, a robot control device 5, a robot 6, and a landing calling device 9.

The elevator management device 1 manages the operation of the elevator 4 provided in the building. The details of the elevator management device 1 will be described later.

The elevator control device 3 controls the operation of the elevator 4 under the control of the elevator management device 1. The details of the elevator control device 3 will be described later.

The robot control device 5 controls the movement and operation of the robot 6 deployed in the building. The robot control device 5 may be configured to appropriately receive work status information including position information indicating the current position of the robot 6 and information on the work currently being performed from the robot 6. As a result, the robot control device 5 can monitor and control the position information and the work status of the robot 6. The robot control device 5 may transmit position information, work status information, and the like of the robot 6 to the elevator management device 1. Details of the robot control device 5 will be described later.

The landing calling device 9 accepts a landing calling operation by the user. The details of the landing calling device 9 will be described later.

(Configuration of elevator management device 1)
The configuration of the elevator management device 1 will be described with reference to FIG. FIG. 2 is a diagram showing an example of the configuration of the elevator management device 1.

The elevator management device 1 is a computer communicatively connected to the elevator control device 3, the robot control device 5, and the landing calling device 9, and includes a control unit 11, a storage unit 12, and a communication unit 13.

The control unit 11 is a CPU, and controls each unit of the computer so as to realize each function included in the elevator management device 1. The control unit 11 includes a boarding request reception unit 111 and an operation control unit 112.

The storage unit 12 is a storage device that stores various computer programs read by the control unit 11 and data used in various processes executed by the control unit 11.

The communication unit 13 is a network interface that connects to the in-facility network laid in the building. The in-facility network is, for example, a wireless or wired LAN (Local Area Network). The control unit 11 communicates with the elevator control device 3, the robot control device 5, and the landing calling device 9 via the communication unit 13.

<Reception function for boarding requests>
The boarding request reception unit 111 receives boarding requests from the user and the robot 6. When the robot 6 transmits a signal indicating the first boarding request to the robot control device 5, the boarding request receiving unit 111 receives the signal from the robot control device 5. The first boarding request includes information for specifying the floor on which the robot 6 wants to board as the first departure floor and information for specifying the floor on which the robot wants to get off as the second destination floor.

Further, when the user performs an operation on the landing calling device 9 described later, the boarding request receiving unit 111 receives the second boarding request from the landing calling device 9. The second boarding request includes information for specifying the floor on which the landing is called as the second departure floor and information for designating the operation direction from the second departure floor.
including.

In addition, the boarding request reception unit 111 further accepts registration (calling a car) of the second destination floor, which is the destination floor of the user. The second destination floor is registered by the user's operation on the operation control panel 40, which will be described later, installed in the car 41 of the elevator 4. The boarding request reception unit 111 receives the registered information indicating the second destination floor via the elevator control device 3.

Further, the boarding request receiving unit 111 receives the priority information indicating that the robot 6 is prioritized together with the first boarding request. Hereinafter, the priority information indicating that the robot 6 is prioritized will also be described as a robot priority request. That is, the signal indicating the first boarding request from the robot 6 may be received together with the signal indicating the robot priority request, or may be received without the signal indicating the robot priority request. The robot priority request may be, for example, information indicating that the importance of the work performed by the robot 6 satisfies a predetermined condition.

Further, the boarding request receiving unit 111 notifies the robot 6 that the first boarding request has been canceled by the operation control unit 112, which will be described later. In addition, the boarding request receiving unit 111 receives a new first boarding request transmitted from the robot 6 in response to the notification. The first departure floor indicated by the new first boarding request is the floor where the robot 6 is currently located. Further, the first destination floor indicated by the new first boarding request is the first destination floor indicated by the first boarding request before cancellation. The notification to the effect that the first boarding request has been canceled and the acceptance of a new first boarding request are performed via the robot control device 5.

<Operation control function>
The operation control unit 112 controls the operation of the elevator 4 so that the user and the robot 6 can avoid getting into the car 41 of the elevator 4 in response to the boarding request from the user and the robot 6. Specifically, the operation control unit 112 has at least one of (1) normal operation pattern, (2) user priority pattern 1, (3) user priority pattern 2, and (4) robot priority pattern. Control the operation of. However, the operation pattern of the elevator 4 controlled by the operation control unit 112 is not limited to (1) to (4) described above, and may include other patterns. The operation control unit 112 transmits various instructions for controlling the operation of the elevator 4 to the elevator control device 3. The details of each pattern will be described below.

≪Normal operation pattern≫
The normal operation pattern is a pattern in which the operation of the elevator 4 is controlled by the selective collective (combined fully automatic operation) method. The selective collective system is an operating system that sequentially responds to a landing call and a car call in the same direction as the driving direction of the car 41 of the elevator 4. Specifically, in the selective collective method, the car 41 stops in response to the landing call and the car call in the driving direction in sequence. Further, in the selective collective method, the driving direction is automatically reversed when there is no call in front of the driving direction. Further, in the selective collective method, the car 41 is stopped in order in response to the landing call and the car call in the reversed direction. Further, in the selective collective method, when there is no call to answer in any direction, the car 41 waits on the spot or on a specific floor.

The operation control unit 112 operates the elevator 4 in the normal operation pattern when it is neither the user priority pattern 1, the user priority pattern 2, or the robot priority pattern.

≪User priority pattern 1≫
The user priority pattern 1 is one of the patterns in which the operation according to the second boarding request from the user is completed before the operation according to the first boarding request from the robot 6 is completed.

In the operation route of the elevator 4, the operation control unit 112 has the same direction from the first departure floor to the first destination floor and the operation direction indicated by the second boarding request, and the second departure floor to the second. When the section up to the destination floor includes the first departure floor, the elevator 4 is operated in the user priority pattern 1. In the user priority pattern 1, the operation control unit 112 drives the robot 6 on the first departure floor while the user is placed in the car 41 on the second departure floor and the car 41 is operated by the second destination floor. Do not let me get on. In other words, in the user priority pattern 1, the operation control unit 112 allows the user to pass through the car 41 on the first departure floor where the robot 6 is present without stopping while the user is in the car 41 of the elevator 4.

Further, when the robot 6 is not boarded in the car 41 on the first departure floor, the operation control unit 112 starts the operation in response to the first boarding request after the user gets off at the second destination floor. In other words, the operation control unit 112 maintains the first boarding request from the robot 6 during the user priority pattern 1.

≪User priority pattern 2≫
The user priority pattern 2 is one of the other patterns in which the operation according to the second boarding request from the user is completed before the operation according to the first boarding request from the robot 6 is completed.

In the operation route of the elevator 4, the operation control unit 112 has the same direction from the first departure floor to the first destination floor and the operation direction indicated by the second boarding request, and the first departure floor to the first floor. When the section up to the destination floor includes the second departure floor, the elevator 4 is operated in the user priority pattern 2. In the user priority pattern 2, the operation control unit 112 changes the first destination floor to any floor other than the first departure floor from the first departure floor to the second departure floor, and at the first departure floor. The boarded robot 6 is disembarked on the changed first destination floor, and the user is boarded in the car 41 on the second departure floor. In other words, in the user priority pattern 2, the operation control unit 112 disembarks the robot 6 from the car 41 on the changed first destination floor before the user gets into the car 41 of the elevator 4.

Further, when the robot 6 is disembarked on the changed first destination floor, the operation control unit 112 cancels the first boarding request from the robot 6. Further, when the user gets off at the second destination floor, the operation control unit 112 starts the operation according to the newly accepted first boarding request in response to the cancellation of the first boarding request.

≪Robot priority pattern≫
The robot priority pattern is a pattern in which the operation according to the first boarding request from the robot 6 is completed before the operation according to the second boarding request from the user is started.

The operation control unit 112 operates the elevator in the robot priority pattern when the robot priority request is accepted and the user is not in the car 41. In the robot priority pattern, the operation control unit 112 causes the car 41 to board the robot 6 on the first departure floor, then disembarks on the first destination floor, and then causes the user to board the car 41 on the second departure floor.

(Configuration of Elevator Control Device 3 and Elevator 4)
Subsequently, the configurations of the elevator control device 3 and the elevator 4 will be described with reference to FIG. FIG. 3 is a diagram showing an example of the configuration of the elevator control device 3 and the elevator 4.

The elevator 4 includes a car 41 on which a user or a robot 6 is placed, an operation control panel 40 that controls the raising and lowering of the car 41, and a door 42 provided at a landing on each floor.

The elevator control device 3 is a computer communicatively connected to the elevator 4. The elevator control device 3 controls the operation of the elevator 4. The elevator control device 3 includes a control unit 30. The control unit 30 is a CPU, and the control unit 30 controls to execute the processing of each function included in the elevator control device 3.

The control unit 30 includes an instruction acquisition unit 31, an operation status management unit 32, and a door open / close control unit 33.

The instruction acquisition unit 31 acquires various instructions from the elevator management device 1. Examples of the instruction acquired by the instruction acquisition unit 31 include a stop floor setting instruction, a destination floor setting instruction, a stop floor change instruction, and a destination floor change instruction.

The operation status management unit 32 acquires each information indicating the position of the car 41 of the elevator 4, the operation status, the open / closed status of the door 42 of the landing on each floor, and the like from the operation control panel 40. In addition, the operation status management unit 32 acquires information indicating the second destination floor registered by the operation (car call) of the user on the operation control panel 40.

The door opening / closing control unit 33 controls the opening / closing of the door 42 of the landing on the designated floor in response to an instruction from the elevator management device 1. For example, the door open / close control unit 33 can cause the elevator 4 to hold the door 42 of the elevator 4 on the designated floor in the open state, or to release the holding of the open state. ..

(Configuration of robot control device 5)
Subsequently, the configuration of the robot control device 5 will be described with reference to FIG. FIG. 4 is a diagram showing an example of the configuration of the robot control device 5.

The robot control device 5 is a computer communicably connected to the elevator management device 1 and the robot 6, and includes a control unit 51, a storage unit 52, and communication units 53 and 54.

The control unit 51 is a CPU, and controls so as to execute processing of each function included in the robot control device 5. The control unit 51 includes a movement management unit 511 and an information collection unit 512.

The storage unit 52 is a storage device that stores various computer programs read by the control unit 51 and data used in various processes executed by the control unit 51.

The communication unit 53 is a network interface that connects to a wireless network. The wireless network connects the robot control device 5 and the robot 6. The control unit 51 communicates with the robot 6 via the communication unit 53.

The communication unit 54 is a network interface that connects to the in-facility network. As described above, the in-facility network is, for example, a wireless or wired LAN deployed in the building. The control unit 51 communicates with the elevator management device 1 via the communication unit 54.

The information collecting unit 512 receives a signal indicating the first boarding request from the robot 6 and transmits the received signal to the elevator management device 1. In addition, the information collecting unit 512 stores the time information indicating the time when the signal indicating the first boarding request is received in the storage unit 52. When the information collecting unit 512 receives from the robot 6 a signal indicating the first boarding request and a signal indicating the robot priority request, both of these signals are transmitted to the elevator management device 1.

The movement management unit 511 transmits an instruction to the robot 6 to get off the elevator 4 from the car 41 on the designated floor. In addition, the movement management unit 511 transmits various signals for controlling the movement to the robot 6, such as an instruction to board the car 41 and an instruction to make a new first boarding request.

(Configuration of robot 6)
Subsequently, the configuration of the robot 6 will be described with reference to FIG. The robot 6 is a multifunctional device having a self-propelled function that is communicably connected to the robot control device 5. In some cases, the robot 6 may be a robot capable of autonomous traveling or independent walking. The robot 6 includes a control unit 61, a storage unit 62, a communication unit 63, and a moving mechanism 64.

The control unit 61 controls to execute the processing of each function included in the robot 6.

The storage unit 62 is a storage device that stores various computer programs read by the control unit 61 and data used in various processes executed by the control unit 61.

The communication unit 63 is a network interface that connects to a wireless network. The wireless network connects the robot control device 5 and the robot 6. The control unit 61 communicates with the robot control device 5 via the communication unit 63.

The movement mechanism 64 is a drive mechanism for the robot 6 to move. The moving mechanism 64 may be any driving mechanism such as wheels, caterpillars, and walking legs.

The control unit 61 transmits a signal indicating a first boarding request to the robot control device 5 when a floor different from the currently located floor is set as the destination of the robot 6. The signal indicating the first boarding request includes information for specifying the floor where the current location is located as the first departure floor and information for designating the floor where the destination is located as the first destination floor.

The control unit 61 may transmit a signal indicating the robot priority request together with the signal indicating the first boarding request. For example, the control unit 61 may transmit a signal indicating a robot priority request together when the importance of the work being executed by the robot 6 satisfies a predetermined condition.

Further, the control unit 61 controls to move the own device to the destination by using the elevator 4 after transmitting the signal indicating the first boarding request. Specifically, the control unit 61 controls the moving mechanism 64 to move to the landing of the elevator 4 on the floor. Further, when the control unit 61 detects that the door 42 of the elevator 4 has opened while waiting at the landing, the control unit 61 controls the moving mechanism 64 to put the own device in the car 41. Further, when the control unit 61 detects that the car 41 arrives at the destination floor and the door 42 is opened while riding in the car 41, the control unit 61 controls the moving mechanism 64 to disembark the own device from the car 41. Further, after getting off the car 41, the control unit 61 controls the moving mechanism 64 to move the own device to the destination.

In addition, the control unit 61 receives a notification from the robot control device 5 indicating that the first boarding request has been cancelled.

When the control unit 61 receives the notification indicating that the first boarding request has been canceled, the control unit 61 sets the floor where the robot 6 is currently located as the new first departure floor, and the canceled first boarding request indicates the first floor. A signal indicating a new first boarding request with the first destination floor as the new first destination floor is transmitted to the robot control device 5.

Further, the control unit 61 is configured to operate as follows when receiving information from the robot control device 5 indicating an instruction to disembark on the designated floor of the elevator 4 while riding in the car 41 of the elevator 4. Will be done. In this case, the control unit 61 detects that the door 42 opens when it arrives at the designated floor, and controls the moving mechanism 64 to disembark the own device from the car 41.

(Structure of landing calling device 9)
The landing call device 9 is a device installed on each floor of the elevator 4 and accepts an operation indicating a landing call from a user. For example, the landing calling device 9 is configured to include one or more operation buttons installed near the door 42 of the elevator 4. Each operation button is associated with the operation direction from the floor in the operation route of the elevator 4. For example, when the elevator 4 operates in the vertical direction, the landing calling device 9 installed on each floor other than the top floor and the bottom floor has an operation button associated with the upward direction and an operation associated with the downward direction. Including buttons. Further, the landing calling device 9 installed on the top floor includes an operation button associated with the downward direction. Further, the landing calling device 9 installed on the lowest floor includes an operation button associated with the upward direction. The landing calling device 9 is communicably connected to the elevator management device 1 via an in-facility network. When the landing calling device 9 receives an operation for the operation button, the landing calling device 9 transmits information indicating a second boarding request to the elevator management device 1. The information includes information indicating the floor on which the operation was performed and information indicating the driving direction associated with the operated operation button.

(Processing performed by elevator management device 1)
<Outline of processing>
Next, the processing performed by the elevator management device 1 according to the first embodiment of the present invention will be described with reference to FIGS. 6 to 10. FIG. 6 is a diagram showing an example of a processing flow by the elevator management device 1.

In step S101, the operation control unit 112 receives the first boarding request from the robot 6 via the robot control device 5.

In step S102, the operation control unit 112 starts the operation of the elevator 4 in response to the first boarding request from the robot 6. Specifically, the operation control unit 112 transmits an instruction to move the car 41 to the first departure floor to the elevator control device 3.

In step S103, the operation control unit 112 receives the second boarding request from the user via the landing calling device 9. Here, it is assumed that the reception of the second boarding request from the user is before the end of the use of the elevator 4 by the robot 6. That is, it means that the robot 6 is in the elevator 4 or is in a waiting state.

In step S104, the operation control unit 112 determines whether or not the direction from the first departure floor to the first destination floor is the same as the operation direction indicated by the second boarding request. If No in step S104, the process of step S112 described later is executed.

In the case of Yes in step S104, in step S105, the operation control unit 112 determines whether or not the robot priority request is accepted.

In the case of Yes in step S105, in step S106, the operation control unit 112 controls the operation of the elevator 4 in the robot priority pattern described above. Details of the processing in this step will be described later.

If No in step S105, in step S107, the operation control unit 112 determines whether or not the section from the first departure floor to the first destination floor includes the second departure floor.

In the case of Yes in step S107, in step S108, the operation control unit 112 controls the operation of the elevator 4 in the above-mentioned user priority pattern 2. Details of the processing in this step will be described later.

If No in step S107, in step S109, the operation control unit 112 executes a process of accepting registration of the second destination floor from the user. Details of the processing in this step will be described later.

In step S110, the operation control unit 112 determines whether or not the section from the second departure floor to the second destination floor includes the first departure floor.

In the case of Yes in step S110, in step S111, the operation control unit 112 controls the operation of the elevator 4 in the above-mentioned user priority pattern 1. Details of the processing in this step will be described later.

If No in step S110, in step S112, the operation control unit 112 controls the operation of the elevator 4 in the above-mentioned normal operation pattern.

FIG. 7 is a diagram showing another example of the processing flow by the elevator management device 1. The processing flow shown in FIG. 7 differs from the processing flow shown in FIG. 6 in the order in which the first boarding request from the robot 6 and the second boarding request from the user are received.

In step S101a, the operation control unit 112 receives the second boarding request from the user via the landing calling device 9.

In step S102a, the operation control unit 112 starts the operation of the elevator 4 in response to the second boarding request from the user. Specifically, the operation control unit 112 transmits an instruction to move the car 41 to the second departure floor to the elevator control device 3.

In step S103a, the operation control unit 112 receives the first boarding request from the robot 6 via the robot control device 5. Here, it is assumed that the first boarding request from the robot 6 is received before the user finishes using the elevator 4.

Since the processes in steps S104 to S112 are as described with reference to FIG. 6, the description will not be repeated.

The processing flow shown in FIGS. 6 and 7 is not limited to the illustrated order. For example, the process of accepting the registration of the second destination floor in step S109 may be executed at any timing from the acceptance of the second boarding request in step S103 or step S101a to the determination in step S110.

This completes the description of the outline of the processing performed by the elevator management device 1.

<Details of processing in robot priority pattern>
FIG. 8 is a diagram showing a detailed example of processing by the robot priority pattern in step S106.

In step S201, the operation control unit 112 determines whether or not the user has before boarding the car 41. If No in step S201, step S112 of FIG. 6 or FIG. 7 is executed, and the operation of the elevator 4 is controlled in the normal operation pattern. That is, even when the robot priority request is accepted, if the user is already in the car 41, the elevator 4 is operated in the normal operation pattern instead of the robot priority pattern.

In the case of Yes in step S201, in step S202, if the robot 6 is not yet on board, the operation control unit 112 drives the car 41 to the first departure floor, stops it on the first departure floor, and gets on the robot 6. Let me. If the robot 6 is already on board, the process of this step is omitted. As a case where the robot 6 is already on board, for example, the robot 6 has already been boarded by the start of the operation in response to the first boarding request in step S102 of FIG. 6 and the reception of the second boarding request in step S103. It is conceivable that the vehicle is in the car 41, but the present invention is not limited to this.

In step S203, the operation control unit 112 drives the car 41 to the first destination floor, stops it at the first destination floor, and mounts the robot 6.

In step S204, the operation control unit 112 starts the operation in response to the second boarding request.

This is the end of the detailed description of the processing in the robot priority pattern.

<Details of processing in user priority pattern 2>
FIG. 9 is a diagram showing a detailed example of processing according to the user priority pattern 2 in step S108.

In step S301, the operation control unit 112 determines whether or not the car 41 has not reached the second departure floor of the user. If No in step S301, step S112 of FIG. 6 or FIG. 7 is executed, and the operation of the elevator 4 is controlled in the normal operation pattern. That is, even if (i) the operation direction required by the robot 6 and the user is the same, and (ii) the second departure floor is included between the first departure floor and the first destination floor. , (Iii) If the car 41 has already reached the user's second departure floor when the second boarding request out of the first boarding request and the second boarding request is received, the user priority pattern It is operated in the normal operation pattern instead of 2.

In the case of Yes in step S301, in step S302, the operation control unit 112 changes the first destination floor of the robot 6 to any floor other than the first departure floor from the first departure floor to the second departure floor. ..

In step S303, if the robot 6 is not yet on board, the operation control unit 112 drives the car 41 to the first departure floor, stops it on the first departure floor, and puts the robot 6 on board. If the robot 6 is already on board, the process of this step is omitted. The details of the example in which the robot 6 is already on board are as described in step S202 of FIG.

In step S304, the operation control unit 112 moves the car 41 toward the second departure floor. Further, the operation control unit 112 stops the car 41 at the changed first destination floor before reaching the second departure floor, and disembarks the robot 6.

In step S305, the boarding request receiving unit 111 notifies the robot 6 of the cancellation of the first boarding request via the robot control device 5.

In step S306, the operation control unit 112 moves the car 41 toward the second departure floor, stops it at the second departure floor, and allows the user to board the car.

In step S307, the boarding request receiving unit 111 receives the registration of the second destination floor by the user who is in the car 41 via the elevator control device 3.

In step S308, the operation control unit 112 moves the car 41 toward the second destination floor, stops it at the second destination floor, and disembarks the user.

In step S309, the boarding request receiving unit 111 receives a new first boarding request from the robot 6 via the robot control device 5.

In step S310, the operation control unit 112 starts the operation in response to the new first boarding request.

The processing flow shown in FIG. 9 is not limited to the illustrated order. For example, the change of the first destination floor in step S302 may be executed at an arbitrary timing between the boarding of the robot 6 in step S303 and the disembarkation of the robot 6 in step S304. Further, the notification of withdrawal of the first boarding request in step S305 may be executed at any timing as long as it is between the change of the first destination floor in step S302 and the acceptance of the new first boarding request in step S309. Good. Further, the acceptance of the new first boarding request in step S309 is at any timing from the withdrawal notification of the first boarding request in step S305 to the start of operation in response to the new first boarding request in step S310. Can be executed in.

This completes the detailed description of the processing in the user priority pattern 2.

<Details of the process for accepting registration on the second floor>
FIG. 10 is a diagram showing a detailed example of the process of accepting the registration of the second destination floor in step S109.

In step S401, the operation control unit 112 determines whether or not the robot 6 is before getting into the car 41. If No in step S401, step S112 of FIG. 6 or FIG. 7 is executed, and the operation of the elevator 4 is controlled in the normal operation pattern.

In the case of Yes in step S401, in step S402, if the user has not yet boarded, the operation control unit 112 drives the car 41 to the second departure floor, stops at the second departure floor, and rides the user. Let me. If the user is already on board, the process of this step is omitted. As a case where the user has already boarded, for example, the user has already boarded the vehicle before the first boarding request is received in step S103a due to the start of the operation in response to the second boarding request in step S102a of FIG. It is conceivable that the car is in the car 41, but the present invention is not limited to this.

In step S403, the boarding request receiving unit 111 receives the registration of the second destination floor by the user who is in the car 41 via the elevator control device 3.

This is the end of the detailed explanation of the process of accepting the registration of the second line destination floor.

<Details of processing in user priority pattern 1>
FIG. 11 is a diagram showing a detailed example of processing according to the user priority pattern 1 in step S111.

In step S501, the operation control unit 112 passes through the first departure floor while moving the car 41 from the second departure floor to the second destination floor with the user on board.

In step S502, the operation control unit 112 stops the car 41 at the second destination floor and disembarks the user.

In step S503, the operation control unit 112 starts the operation in response to the first boarding request.

This completes the detailed description of the processing in the user priority pattern 1.

(Processing performed by the robot control device 5 and the robot 6)
FIG. 12 is a diagram showing an example of a processing flow by the robot control device 5.

In step S601, the movement management unit 511 of the robot control device 5 determines whether or not an instruction to temporarily disembark the robot 6 has been received from the elevator management device 1. The instructions include information that identifies the floor on which to temporarily disembark.

If No in step S601, the process by the robot control device 5 ends.

In the case of Yes in step S601, in step S602, the movement management unit 511 instructs the robot 6 to get off the car 41 on the designated floor. When the robot 6 arrives at the designated floor and detects that the door 42 has been opened, the robot 6 disembarks from the car 41.

In step S603, the movement management unit 511 receives a notification of cancellation of the first boarding request from the elevator management device 1.

In step S604, the movement management unit 511 instructs the robot 6 to make a new first boarding request. As a result, the robot 6 makes a new first boarding request with the currently located floor as the new first departure floor and the same first destination floor as the canceled first boarding request as the new first destination floor. It is transmitted to the robot control device 5. The movement management unit 511 of the robot control device 5 transmits a new first boarding request received from the robot 6 to the elevator management device 1.

This is the end of the description of the processing by the robot control device 5 and the robot 6.

(Concrete example)
A specific example of the operation pattern of the elevator 4 by the elevator management system 100 will be described with reference to FIGS. 13 to 15. In these specific examples, it is assumed that the number of robots 6 and users who use the elevator 4 at the same time is one.

<Specific example of user priority pattern 1>
FIG. 13 is a diagram schematically showing specific examples G1 to G4 in which the elevator 4 is operated in the user priority pattern 1. In each specific example, (a) the order of receiving the first boarding request by the robot 6 and the second boarding request by the user, and (b) the first departure floor, the first destination floor, the second departure floor, and the second destination. At least one of the relative positions of the floors is different from the other. In all the specific examples, the driving direction required by the robot 6 and the user is the same.

<< Specific example G1 >>
In the specific example G1, (a) the first boarding request by the robot 6 is received after the second boarding request by the user is received. Further, (b) the second departure floor, the first departure floor, the first destination floor, and the second destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. That is, the first departure floor is included between the second departure floor and the second destination floor.

In this case, in FIG. 7, step S104 is Yes, step S105 is No, step S107 is No, and S110 is Yes. Therefore, the operation pattern of the elevator 4 is the user priority pattern 1. Specifically, the car 41 passes through the first departure floor where the robot 6 waits until the user gets on the car 41 on the second departure floor and moves to the second destination floor. Then, after the user gets off at the second departure floor, the car 41 moves to the first departure floor. The robot 6 gets in the car 41 on the first departure floor and moves to the first destination floor.

≪Specific example G2≫
In the specific example G2, as in the specific example G1, (a) the first boarding request by the robot 6 is received after the second boarding request by the user is received. Further, unlike the specific example G1, (b) the second departure floor, the first departure floor, the second destination floor, and the first destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. There is. That is, the first departure floor is included between the second departure floor and the second destination floor.

Also in this case, in FIG. 7, step S104 is Yes, step S105 is No, step S107 is No, and S110 is Yes. Therefore, the operation pattern of the elevator 4 is the user priority pattern 1. Since the details are as described in Specific Example 1, the description will not be repeated.

≪Specific example G3≫
In the specific example G3, unlike the specific example G1, (a) the second boarding request by the user is received after the first boarding request by the robot 6 is received. Further, as in the specific example G1, (b) the second departure floor, the first departure floor, the first destination floor, and the second destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. .. That is, the first departure floor is included between the second departure floor and the second destination floor.

In this case, in FIG. 6, step S104 is Yes, step S105 is No, S107 is No, and S110 is Yes. Therefore, the operation pattern of the elevator 4 is the user priority pattern 1. Since the details are as described in Specific Example 1, the description will not be repeated.

≪Specific example G4≫
In the specific example G4, as in the specific example G3, (a) the second boarding request by the user is received after the first boarding request by the robot 6 is received. Further, as in the specific example G2, (b) the second departure floor, the first departure floor, the second destination floor, and the first destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. .. That is, the first departure floor is included between the second departure floor and the second destination floor.

Also in this case, since step S104 is Yes, step S105 is No, S107 is No, and S110 is Yes in FIG. 6, the operation pattern of the elevator 4 is the user priority pattern 1. Since the details are as described in Specific Example 1, the description will not be repeated.

<Specific example of user priority pattern 2>
FIG. 14 is a diagram schematically showing specific examples G5 to G9 in which the elevator 4 is operated in the user priority pattern 2. In each specific example, at least one of (a) and (b) described above is different from the others. In any specific example, the driving directions required by the robot 6 and the user are the same in the upward direction.

≪Specific example G5≫
In the specific example G5, (a) the first boarding request by the robot 6 is received after the second boarding request by the user is received. Further, (b) the first departure floor, the second departure floor, the second destination floor, and the first destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. That is, the second departure floor is included between the first departure floor and the first destination floor.

In this case, in FIG. 7, step S104 is Yes, step S105 is No, and step S107 is Yes. Therefore, the operation pattern of the elevator 4 is the user priority pattern 2. Specifically, the robot 6 once gets on the car 41 on the first departure floor, but gets off on any floor except the first departure floor from the first departure floor to the second destination floor. Also, the original first boarding request will be cancelled. Therefore, the robot 6 makes a new first boarding request with the disembarked floor as the new first departure floor and the initial first destination floor as the new first destination floor. The car 41 moves to the second departure floor after the robot 6 gets off. Therefore, the user gets on the car 41 on the second departure floor and moves to the second destination floor. After the user gets off at the second departure floor, the car 41 moves to the first departure floor, and the robot 6 gets on the car 41 at the first departure floor and moves to the first destination floor.

≪Specific example G6≫
In the specific example G6, as in the specific example G5, (a) the first boarding request by the robot 6 is received after the second boarding request by the user is received. Further, unlike the specific example G5, (b) the first departure floor, the second departure floor, the first destination floor, and the second destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. There is. That is, the second departure floor is included between the first departure floor and the first destination floor.

Also in this case, since the step S104 is Yes, the step S105 is No, and S107 is Yes in FIG. 7, the operation pattern of the elevator 4 is the user priority pattern 2. Since the details are as described in Specific Example 5, the description will not be repeated.

≪Specific example G7≫
In the specific example G7, unlike the specific example G5, (a) the second boarding request by the user is received after the first boarding request by the robot 6 is received. Further, as in the specific example G5, (b) the first departure floor, the second departure floor, the second destination floor, and the first destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. .. That is, the second departure floor is included between the first departure floor and the first destination floor.

In this case, in FIG. 6, the step S104 is Yes, the step S105 is No, and S107 is Yes. Therefore, the operation pattern of the elevator 4 is the user priority pattern 2. Since the details are as described in Specific Example 5, the description will not be repeated.

≪Specific example G8≫
In the specific example G8, as in the specific example G7, (a) the second boarding request by the user is received after the first boarding request by the robot 6 is received. Further, as in the specific example G6, (b) the first departure floor, the second departure floor, the first destination floor, and the second destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. .. That is, the second departure floor is included between the first departure floor and the first destination floor.

Also in this case, since the step S104 is Yes, the step S105 is No, and S107 is Yes in FIG. 6, the operation pattern of the elevator 4 is the user priority pattern 2. Since the details are as described in Specific Example 5, the description will not be repeated.

<Specific example of normal operation pattern>
FIG. 15 is a diagram schematically showing specific examples G9 to G12 in which the elevator 4 is operated in a normal operation pattern. In each specific example, at least one of (a) and (b) described above is different from the others. In all the specific examples, the driving direction required by the robot 6 and the user is the same.

≪Specific example G9≫
In the specific example G9, (a) the first boarding request by the robot 6 is received after the second boarding request by the user is received. Further, (b) the second departure floor, the second destination floor, the first departure floor, and the first destination floor are arranged from the bottom to the top in this order in the operation route of the elevator 4.

In this case, in FIG. 7, step S104 is Yes, step S105 is No, step S107 is No, and step S110 is No. Therefore, the operation pattern of the elevator 4 is a normal operation pattern. Here, it is assumed that the car 41 is located below the second departure floor and the operation direction is upward when the first boarding request by the robot 6 is received. In this case, the elevator 4 responds sequentially to calls in front. That is, the car 41 moves to the second departure floor to get the user on board, and moves upward to the second destination floor to get off the user. After that, the car 41 moves to the first departure floor to get the robot 6 on the first departure floor, and further moves upward to the first destination floor to get off the robot 6.

<< Specific example G10 >>
In the specific example G10, as in the specific example G9, (a) the first boarding request by the robot 6 is received after the second boarding request by the user is received. Further, unlike the specific example G5, (b) the first departure floor, the first destination floor, the second departure floor, and the second destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. There is.

Also in this case, in FIG. 7, step S104 is Yes, step S105 is No, step S107 is No, and step S110 is No. Therefore, the operation pattern of the elevator 4 is a normal operation pattern. Here, it is assumed that the car 41 is located below the first departure floor and the operation direction is upward at the time when the first boarding request by the robot 6 is received. In this case, the elevator 4 responds sequentially to calls in front. That is, the car 41 moves to the first departure floor to get the robot 6 on board, and moves upward to the first destination floor to get off the robot 6. After that, the car 41 moves upward to the second departure floor to board the user, and further moves upward to the second destination floor to disembark the user.

<< Specific example G11 >>
In the specific example G11, unlike the specific example G9, (a) the second boarding request by the user is received after the first boarding request by the robot 6 is received. Further, as in the specific example G10, (b) the first departure floor, the first destination floor, the second departure floor, and the second destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. ..

In this case, in FIG. 6, since step S104 is Yes, step S105 is No, step S107 is No, and step S110 is No, the operation pattern of the elevator 4 is a normal operation pattern. Here, it is assumed that the car 41 is located below the first departure floor and the operation direction is upward at the time when the second boarding request by the user is received. In this case, the elevator 4 responds sequentially to calls in front. Since the details are as described in the specific example G10, the description will not be repeated.

<< Specific example G12 >>
In the specific example G12, as in the specific example G11, (a) the second boarding request by the user is received after the first boarding request by the robot 6 is received. Further, as in the specific example G9, (b) the second departure floor, the second destination floor, the first departure floor, and the first destination floor are arranged in this order from the bottom to the top in the operation route of the elevator 4. ..

In this case, in FIG. 6, since step S104 is Yes, step S105 is No, step S107 is No, and step S110 is No, the operation pattern of the elevator 4 is a normal operation pattern. Here, it is assumed that the car 41 is located below the second departure floor and the operation direction is upward at the time when the second boarding request by the user is received. In this case, the elevator 4 responds sequentially to calls in front. Since the details are as described in Specific Example G9, the description will not be repeated.

(Effect of this embodiment)
As described above, in the present embodiment, in the operation route of the elevator, the operation direction required by the robot 6 and the user is the same, and the section from the second departure floor to the second destination floor of the user. When the first departure floor of the robot 6 is included, the robot 6 is not allowed to ride in the car 41 through the first departure floor while the user is boarding from the second departure floor to the second destination floor. Further, in the present embodiment, in the operation route of the elevator, the operation direction required by the robot 6 and the user is the same, and the user's first floor is in the section from the first departure floor to the first destination floor of the robot 6. 2 When the departure floor is included, the robot 6 is disembarked from the car 41 before the user gets on the first destination floor. These controls are possible regardless of whether the first boarding request of the robot 6 or the second boarding request of the user is received in advance. Therefore, even if the second boarding request by the user is received after the first boarding request by the robot 6, the possibility that the user is prioritized increases. As a result, the present embodiment can further improve the convenience of the user in the operation of the robot 6 and the elevator 4 in which the user is not carried.

[Embodiment 2]
Other embodiments of the present invention will be described below. For convenience of explanation, the same reference numerals will be added to the members having the same functions as the members described in the above embodiment, and the description will not be repeated.

(Configuration of elevator management system 100)
In the elevator management system 100, the robot control device 5 is not an indispensable configuration. This will be described with reference to FIG. FIG. 13 is a diagram showing an example of the configuration of the elevator management system 100 according to another embodiment of the present invention.

The elevator management system 100 shown in FIG. 13 has a configuration in which the elevator management device 1 directly controls the robot 6 without going through the robot control device 5.

The elevator management system 100 includes an elevator management device 1, an elevator control device 3, an elevator 4, a robot 6, and a landing calling device 9.

The elevator management device 1 is a computer communicably connected to the elevator control device 3, the robot 6, and the landing calling device 9, and includes a control unit 11, a storage unit 12, and a communication unit 13.

The elevator management device 1 manages the operation of the elevator 4 provided in the building. In addition, the elevator management device 1 controls the movement and operation of the robot 6 deployed in the building.

The control unit 11 of the elevator management device 1 includes a robot control unit (not shown) having the same functions as the control unit 51 shown in FIG. 4, in addition to the boarding request reception unit 111 and the operation control unit 112. ..

The elevator management system 100 shown in FIG. 13 is suitable, for example, when a dedicated robot 6 is deployed in a building in accordance with the introduction of the elevator management system 100.

[Modification 1]
In each of the above-described embodiments, the number of robots 6 deployed in the building has been described as 1. Not limited to this, in each embodiment, a plurality of robots 6 may be deployed in the building. In this case, the robot control device 5 controls the movement and operation of each robot 6. In the communication between the robot control device 5 and each robot 6, the identification information (id) given to each robot 6 is used. Further, the elevator management device 1 specifies the id of the robot 6 and performs various processes. For example, the signal indicating the first boarding request from the robot 6 includes the id of the robot 6 in addition to the above-mentioned information. Further, for example, an instruction to temporarily disembark the robot 6 and an instruction to make a new first boarding request are given by designating the id of the robot 6. As a result, even when a plurality of robots 6 are deployed, each embodiment has the same effect as described above.

[Modification 2]
In each of the above-described embodiments, the number of elevators 4 installed in the building has been described as 1. Not limited to this, in each embodiment, a plurality of elevators 4 may be installed in the building. In this case, the elevator control device 3 may be provided for each unit of the elevator 4. In this case, the operation control unit 112 during the period from receiving either (1) the first boarding request from the robot 6 or the second boarding request from the user to the completion of the operation according to the one. It operates when the other is accepted and (2) all the units of the elevator 4 are in operation in response to the boarding request. That is, when (1) and (2) are satisfied, the operation control unit 112 is relative to the first departure floor of the robot 6, the first destination floor of the robot 6, and the second departure floor of the user. The operation of the elevator 4 is controlled so that the user and the robot 6 can avoid getting into the car 41 of the elevator 4 based on the positional relationship. As a result, even when having a plurality of elevators 4, each embodiment has the same effect as described above.

[Modification 3]
In each of the above-described embodiments, the operation control unit 112 has described that when the robot 6 is temporarily disembarked, the robot 6 is made to make a new first boarding request. Not limited to this, the operation control unit 112 does not have to make the robot 6 make a new first boarding request when the robot 6 is temporarily disembarked. In this modification, the operation control unit 112 notifies the robot 6 of the cancellation of the first boarding request, sets the floor on which the robot 6 is disembarked as the new first departure floor, and indicates the canceled first boarding request. A new first boarding request with one destination floor as the new first destination floor may be generated and stored. As a result, the amount of communication between the elevator management device 1 and the robot control device 5 or the robot 6 can be reduced.

[Modification example 4]
In each of the above-described embodiments, the robot 6 has been described as transmitting a robot priority request together with a signal indicating a first boarding request. Not limited to this, the robot control device 5 that has received the signal indicating the first boarding request from the robot 6 may transmit the signal indicating the first boarding request to the elevator management device 1 together with the robot priority request. Thereby, the robot control device 5 can decide whether or not to prioritize the use of the robot 6 over the user.

[Modification 5]
In each of the above-described embodiments, the elevator 4 is operated in the robot priority pattern when the robot priority request is received together with the first boarding request. Not limited to this, the elevator 4 may be operated in a robot priority pattern according to the position of the robot 6 when the first boarding request is received. For example, the operation control unit 112 of the elevator management device 1 may operate the elevator 4 in a robot priority pattern when the distance between the current position of the robot 6 and the landing is equal to or less than the threshold value.

Further, the elevator 4 may be operated in the robot priority pattern according to the moving distance moved by the robot 6 after receiving the first boarding request. For example, the operation control unit 112 may operate the elevator 4 in a robot priority pattern when the moving distance of the robot 6 is equal to or greater than the threshold value.

In this case, the information collecting unit 512 of the robot control device 5 collects position information indicating the current position of the robot 6 from the robot 6. In addition, the information collecting unit 512 stores the collected position information in the storage unit 52 in association with the time information indicating the time of collection. For example, the position information of the robot 6 is transmitted from the robot 6 at predetermined intervals. Further, for example, the position information of the robot 6 is transmitted from the robot 6 in response to a request from the information collecting unit 512.

Further, the information collecting unit 512 requests the position information from the robot 6 in response to the request for the position information from the elevator management device 1, and transmits the position information to the elevator management device 1. Further, the information collecting unit 512 calculates the movement distance information in response to the request for the movement distance information from the elevator management device 1, and transmits the movement distance information to the elevator management device 1. The movement distance information indicates the distance traveled from the time when the signal indicating the landing call is received from the robot 6 to the present, and can be calculated by referring to the storage unit 52.

[Example of realization by software]
The elevator management device 1, the elevator control device 3, the robot control device 5, and the control blocks of the robot 6 (particularly the control units 11, 30, 51, 61) are logic circuits (hardware) formed in an integrated circuit (IC chip) or the like. It may be realized by hardware) or by software.

In the latter case, the elevator management device 1, the elevator control device 3, the robot control device 5, and the robot 6 include a computer that executes a program instruction that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium", for example, a ROM (Read Only Memory) or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the above program may be further provided. Further, the program may be supplied to the computer via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

100 Elevator management system 1 Elevator management device 3 Elevator control device 4 Elevator 5 Robot control device 6 Robot 9 Landing call device 11, 30, 51, 61 Control unit 12, 52, 62 Storage unit 13, 53, 54, 63 Communication unit 111 Boarding Request Reception Department 112 Operation Control Department 511 Movement Management Department 512 Information Collection Department

Claims (9)

An elevator management device that manages the operation of elevator cars installed in buildings with multiple floors.
A first boarding request from a robot requesting to board the car from the first departure floor to the first destination floor, and a second boarding from a user requesting to board the car from the second departure floor. The boarding request reception department that accepts requests and
It is provided with an operation control unit that controls the operation of the elevator in response to the first boarding request and the second boarding request.
The operation control unit
When either one of the first boarding request and the second boarding request is received and the other is received during the period from the receipt of the first boarding request to the completion of the operation corresponding to the one, the first departure floor in the operation route of the elevator. , The operation of the elevator is controlled so that the user and the robot can avoid riding in the car based on the relative positional relationship between the first destination floor and the second departure floor. ,
Elevator management device. The second boarding request includes information specifying the operating direction from the second departure floor.
The boarding request reception unit further accepts registration of the second destination floor, which is the destination floor of the user.
The operation control unit
In the operation route of the elevator, the direction from the first departure floor to the first destination floor and the operation direction indicated by the second boarding request are the same, and the second departure floor to the second destination When the section up to the floor includes the first departure floor,
While the user is allowed to ride in the car on the second departure floor and the car is operated to the second destination floor, the robot is not allowed to ride in the car on the first departure floor.
The elevator management device according to claim 1. When the robot is not boarded in the car on the first departure floor, the operation control unit starts operation in response to the first boarding request after the user gets off on the second destination floor. ,
The elevator management device according to claim 2. The second boarding request includes information specifying the operating direction from the second departure floor.
The operation control unit
In the operation route of the elevator, the direction from the first departure floor to the first destination floor and the operation direction indicated by the second boarding request are the same, and the first departure floor to the first destination When the section up to the floor includes the second departure floor,
After changing the first destination floor to any floor other than the first departure floor from the first departure floor to the second departure floor, and changing the robot boarded on the first departure floor. Disembark on the first destination floor of the vehicle, and disembark the user in the car on the second departure floor.
The elevator management device according to any one of claims 1 to 3. When the robot is disembarked on the first destination floor after the change, the operation control unit cancels the first boarding request.
After canceling the first boarding request, the boarding request receiving unit notifies the robot that the first boarding request has been canceled, and at the same time,
A new first from the robot that requires the first destination floor after the change to be the new first departure floor and the first destination floor before the change as the new first destination floor to board the car. Accept boarding requests,
The elevator management device according to claim 4. The boarding request receiving unit receives priority information indicating that the robot is prioritized together with the first boarding request.
When the priority information is received and the user is not in the car, the operation control unit causes the robot to get in the car on the first departure floor and then the first destination. After disembarking on the floor, the user is allowed to board the car on the second departure floor.
The elevator management device according to claim 1. The elevator management device according to claim 6, wherein the priority information is information indicating that the importance of the work performed by the robot satisfies a predetermined condition. The elevator management device according to any one of claims 1 to 7.
With the robot
With the elevator
Elevator management system including. It is a control method of an elevator management device that manages the operation of elevators installed in a building with multiple floors.
A first boarding request from a robot requesting to board the car from the first departure floor to the first destination floor, and a second boarding from a user requesting to board the car from the second departure floor. The boarding request reception step that accepts the request and
The elevator includes an operation control step for controlling the operation of the elevator in response to the first boarding request and the second boarding request.
In the operation control step
When either one of the first boarding request and the second boarding request is received and the other is received during the period from the receipt of the first boarding request to the completion of the operation corresponding to the one, the first departure floor in the operation route of the elevator. , Controls the operation of the elevator so that the user and the robot can avoid riding in the car based on the relative positions of the first destination floor and the second departure floor.
Elevator management device control method.

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