JP7334854B2 - Elevator system and robot - Google Patents

Description

The present disclosure relates to elevator systems and robots .

Patent Literature 1 describes a robot that moves inside a building. A robot described in Patent Literature 1 rides on an elevator car and moves in a building. This robot collects information about elevators. Information collected by the robot is sent to the maintenance center.

Japanese Patent Application Laid-Open No. 2004-18174

Each elevator platform is equipped with a ramp. This lamp is checked regularly by maintenance personnel. Maintenance personnel must go to all landings to inspect the ramps. Therefore, it takes a long time for maintenance personnel to inspect the lamps.

The robot described in Patent Document 1 basically collects information when there are no passengers. For this reason, the robot described in Patent Document 1 cannot appropriately inspect the ramp provided at the hall according to the presence or absence of passengers.

The present disclosure has been made to solve the problems described above. An object of the present disclosure is to provide an elevator system and a robot capable of appropriately inspecting a ramp provided at a landing according to the presence or absence of passengers.

An elevator system according to the present disclosure includes a car capable of stopping at a first specific floor landing and a second specific floor landing , and an elevator ramp provided at each of the first specific floor landing and the second specific floor landing. And prepare. When it is determined that there are no passengers on the first specific floor and when it is determined that there are passengers on the first specific floor for the robot that can get on and off the car on the first and second specific floors. , to change the behavior before starting to check the lamp.

An elevator system according to the present disclosure includes a car capable of stopping at a first specific floor landing and a second specific floor landing , and an elevator ramp provided at each of the first specific floor landing and the second specific floor landing. And prepare. When it is determined that there are no passengers on the first specific floor and when it is determined that there are passengers on the first specific floor for the robot that can get on and off the car on the first and second specific floors. , to change the behavior when checking the lamp.
The robot according to the present disclosure includes a car that can be stopped at the first specific floor landing and the second specific floor landing, and an elevator ramp provided at each of the first specific floor landing and the second specific floor landing. A robot for inspecting ramps in an elevator system comprising This robot determines that it is possible to get on and off the car on the first and second specific floors, and that there are no passengers in the first specific floor boarding area, and that there are passengers in the first specific floor boarding area. Depending on the case, change the operation until the inspection of the lamp is started.
The robot according to the present disclosure includes a car that can be stopped at a first specific floor landing and a second specific floor landing, and an elevator ramp provided at each of the first specific floor landing and the second specific floor landing. A robot for inspecting ramps in an elevator system comprising This robot determines that it is possible to get on and off the car on the first and second specific floors, and that there are no passengers in the first specific floor boarding area, and that there are passengers in the first specific floor boarding area. Depending on the case, change the operation when inspecting the lamp.

Advantageous Effects of Invention According to the present disclosure, it is possible to appropriately inspect a ramp provided at a landing according to the presence or absence of passengers.

1 is a diagram showing an example of an elevator system according to Embodiment 1; FIG. It is a figure for demonstrating the function which a control apparatus has. FIG. 3 is a diagram for explaining functions of a robot; 4 is a flowchart showing an operation example of the elevator system according to Embodiment 1; 4 is a flowchart showing an operation example of the elevator system according to Embodiment 1; 4 is a flow chart showing another operation example of the elevator system in Embodiment 1; 4 is a flow chart showing another operation example of the elevator system in Embodiment 1; 4 is a flow chart showing another operation example of the elevator system in Embodiment 1; FIG. 3 is a diagram showing an example of hardware resources of a robot; FIG. 10 is a diagram showing another example of hardware resources of a robot;

A detailed description is given below with reference to the drawings. Duplicate descriptions are appropriately simplified or omitted. In each figure, the same reference numerals denote the same or corresponding parts.

Embodiment 1.
FIG. 1 is a diagram showing an example of an elevator system according to Embodiment 1. FIG. The elevator system comprises a car 1 and a counterweight 2. The car 1 moves up and down in the hoistway 3 . A counterweight 2 moves up and down the hoistway 3 . Car 1 and counterweight 2 are suspended in hoistway 3 by main ropes 4 . The main rope 4 is an example of means for suspending the car 1 and the counterweight 2 on the hoistway 3 .

The main rope 4 is wound around the drive sheave 6 of the hoisting machine 5 . The car 1 is driven by a hoist 5 . The hoist 5 is controlled by a control device 7 . That is, movement of the car 1 is controlled by the control device 7 . The car 1 and the control device 7 are connected by a control cable 8 . Equipment provided in the car 1 is controlled by a control device 7 . That is, the control device 7 controls the car 1 .

FIG. 1 shows an example in which a hoist 5 and a control device 7 are installed in a machine room 9 above the hoistway 3 . The hoisting machine 5 and the control device 7 may be installed in the hoistway 3 . When the hoisting machine 5 is installed in the hoistway 3, the hoisting machine 5 may be installed at the top of the hoistway 3, or may be installed in a pit.

The car 1 stops at a plurality of landings 10 provided in the building. Each landing 10 is provided with a landing button 11 . The hall button 11 and the control device 7 are connected by a communication cable 12 . When the hall button 11 is pushed, a request for registering the hall call is input to the control device 7 . For example, when the hall button 11 provided in the hall 10 on the first floor is pressed, a request for registering a hall call for the first floor is input to the control device 7 .

Each landing 10 is provided with a ramp L for an elevator. FIG. 1 shows an example in which the lamp L is a hall lantern 13 . The lamp L may be the button lamp 14 . The lamp L may be an indicator (not shown) provided at the landing 10 . For example, the hall lantern 13 and the control device 7 are connected by the communication cable 12 . Hall lantern 13 is controlled by controller 7 . Button lamp 14 and control device 7 are connected by communication cable 12 . Button lamp 14 is controlled by control device 7 . For example, when a hall call is registered in the controller 7 by pressing the hall button 11 on the first floor, the button lamp 14 provided in the hall 10 on the first floor lights up.

This elevator system comprises a robot 15 . FIG. 1 shows an example where the elevator system comprises one robot 15 . The elevator system may have multiple robots 15 . The robot 15 wirelessly communicates with the control device 7 . FIG. 1 shows an example in which a robot 15 communicates with a control device 7 via a communication device 16. FIG. The communication device 16 is connected to the control device 7 by wire, for example. The communication device 16 may be connected to the control device 7 via a maintenance monitoring device (not shown). A monitoring device connected to the control device 7 may have the communication function of the communication device 16 . As another example, the control device 7 itself may have the communication function of the communication device 16 .

The robot 15 can get on and off the car 1 at all floors where the car 1 stops. For example, the robot 15 wirelessly transmits a request to register a hall call to the controller 7 at the hall 10 in order to board the car 1 . Robot 15 wirelessly transmits a request to register a car call to controller 7 in car 1 in order to move to the destination floor.

FIG. 2 is a diagram for explaining the functions of the control device 7. As shown in FIG. As shown in FIG. 2 , the control device 7 includes a condition determination section 20 , a communication section 21 , an information acquisition section 22 , a car control section 23 and a lamp control section 24 . The communication unit 21 is an example of the second communication means described in the claims. FIG. 3 is a diagram for explaining the functions of the robot 15. As shown in FIG. As shown in FIG. 3 , the robot 15 includes a camera 30 , a communication section 31 , a determination section 32 , a request generation section 33 , an operation command section 34 and an abnormality detection section 35 . The communication unit 31 is an example of the first communication means described in the claims. The determination unit 32 is an example of determination means described in the claims. The abnormality detection unit 35 is an example of the first detection means described in the claims.

The operation of the elevator system will be described in detail below with reference to FIGS. 4 and 5 as well. 4 and 5 are flowcharts showing an operation example of the elevator system according to Embodiment 1. FIG.

FIG. 4 shows an operation example of the control device 7 . The condition determination unit 20 determines whether or not a specific start condition is satisfied (S101). For example, at a preset date and time, the condition determination unit 20 determines that the start condition is met. As an example, at a specific time on the last day of the month, the condition determination unit 20 determines that the start condition is satisfied. As another example, upon receiving a specific signal from a remote information center, the condition determination unit 20 determines that the start condition is met. When the start condition is established in S101, the communication unit 21 transmits a start signal to the robot 15 (S102).

FIG. 5 shows an operation example of the robot 15 . The robot 15 is an autonomous mobile body that inspects the lamp L. As shown in FIG. The robot 15 may perform other inspections of the elevator in addition to the inspection of the lamp L. The robot 15 may inspect not only the elevator but also other facilities.

In the following, an example will be described in which a standby place for the robot 15 is provided on the second floor of a 10-story building. A charging device 17 for the robot 15 is provided in the waiting area on the second floor. Robot 15 is charged via charging device 17 .

Further, hereinafter, when it is necessary to individually specify the boarding point of each floor, the boarding point of the nth floor is also written as the boarding point 10-nF. For example, the hall on the 8th floor is written as hall 10-8F. Similarly, the lamp provided at the landing 10 on the nth floor is also written as lamp L-nF. The hall lantern provided at the landing 10 on the nth floor is also referred to as hall lantern 13-nF. The button lamp provided at the landing 10 on the nth floor is also written as button lamp 14-nF.

In the robot 15, it is determined whether or not a start signal has been received from the control device 7 (S201). When the communication unit 31 receives the start signal transmitted from the control device 7 in S102, it is determined as Yes in S201. When it is determined as Yes in S201, the robot 15 starts an operation for inspecting the lamps L provided at each hall 10. FIG.

An inspection route is registered in the robot 15 in advance. Table 1 shows an example of inspection routes registered in the robot 15 .

Table 1 shows an example in which the inspection route is set so that the inspection of the lamp L is preferentially performed from the upper floor. Note that the actual inspection of the lamp L may not be performed according to the inspection route. In the following explanation, it is assumed that the inspection route shown in Table 1 is registered in the robot 15 in advance.

If determined as Yes in S201, the communication unit 31 transmits floor information indicating the 10th floor to the control device 7 based on the inspection route (S202). This floor information corresponds to the first information described in the claims. As shown in Table 1, the 10th floor is registered as the floor on which the inspection of the lamp L is performed first.

When the start signal is transmitted in S102, the controller 7 determines whether floor information has been received from the robot 15 (S103). It should be noted that immediately after the start signal is transmitted in S102, the determination is No in S106 and the determination is No in S108. Therefore, immediately after the start signal is transmitted, the process of S103 is repeated until it is determined as Yes in S103. When the communication unit 21 receives the floor information transmitted from the robot 15 in S202, it is determined as Yes in S103.

If it is determined as Yes in S103, the information acquisition unit 22 acquires passenger information based on the floor information received by the communication unit 21 (S104). Passenger information is information necessary for determining whether or not there is a passenger at the hall 10 of the floor indicated by the floor information. For example, the information acquisition unit 22 acquires, as passenger information, information indicating whether or not a hall call for the 10th floor is registered. When a camera is installed at the hall 10-10F, the information acquisition unit 22 may acquire information of an image captured by the camera as the passenger information. The communication unit 21 transmits the passenger information acquired by the information acquisition unit 22 to the robot 15 (S105). This passenger information corresponds to the second information described in the claims.

When the floor information is transmitted in S202, the robot 15 determines whether or not the passenger information has been received from the control device 7 (S203). When the communication unit 31 receives the passenger information transmitted from the control device 7 in S105, it is determined as Yes in S203. If determined as Yes in S203, the determination unit 32 determines whether or not there is a passenger in the hall 10 of the floor indicated by the floor information transmitted in S202, based on the passenger information received by the communication unit 31 (S204). ). For example, the determination unit 32 determines whether or not there is a passenger at the hall 10-10F.

The robot 15 changes its subsequent motion depending on whether or not there is a passenger in the boarding hall 10.例文帳に追加For example, the robot 15 changes the operation up to the start of inspection of the lamp L-10F depending on whether it is determined that there is no passenger at the hall 10-10F or when it is determined that there is a passenger at the hall 10-10F.

As an example, when the robot 15 determines that there are no passengers at the hall 10-10F, it starts an operation for inspecting the ramp L-10F. When the robot 15 determines that there is a passenger at the hall 10-10F, it does not immediately start the operation for inspecting the lamp L-10F. The robot 15 first starts an operation for determining whether or not inspection of the lamp L-9F can be started. The 9th floor, where the lamp L-9F is installed, is the next highest priority floor after the 10th floor.

For example, if the passenger information indicating that the hall call for the 10th floor is not registered is received in S203, it is determined as No in S204. When the determination in S204 is No, the robot 15 starts an operation to get on the car 1 and move to the hall 10-10F.

First, the request generation unit 33 generates a request for registering a hall call for the second floor. The second floor is the floor where the robot 15 is located. The communication unit 31 transmits this registration request generated by the request generation unit 33 to the control device 7 (S205).

The controller 7 determines whether or not a call registration request has been received from the robot 15 (S106). When the communication unit 21 receives the registration request transmitted from the robot 15 in S205, it is determined as Yes in S106. If it is determined as Yes in S106, the control device 7 registers the call corresponding to the received registration request. For example, a hall call for the second floor is registered. The car control unit 23 causes the car 1 to respond to the registered hall call (S107). As a result, the car 1 stops at the landing 10-2F. Also, the door opens and closes at the platform 10-2F.

When car 1 stops at hall 10-2F in response to the registration request sent in S205, robot 15 gets on car 1 (S206). When the robot 15 gets on the car 1, the request generator 33 generates a request for registering a car call for the tenth floor. The 10th floor is the floor for which it was determined in S204 that there were no passengers at the hall 10 . The communication unit 31 transmits this registration request generated by the request generation unit 33 to the control device 7 (S207). The request transmitted by the communication unit 31 in S205 and the request transmitted in S207 correspond to the third information described in the claims.

In the control device 7, when the communication unit 21 receives the registration request transmitted from the robot 15 in S207 (Yes in S106), the call corresponding to the received registration request is registered. For example, a car call on the 10th floor is registered. The car control unit 23 causes the car 1 to respond to the registered car call (S107). As a result, the car 1 stops at the landing 10-10F. Also, the door opens and closes at the landing 10-10F.

When the car 1 stops at the hall 10-10F in response to the registration request sent in S207, the robot 15 gets off the car 1 (S208). When the robot 15 gets off the car 1 in S208, the inspection of the lamp L-10F by the robot 15 is started.

First, the operation command unit 34 generates a lamp command for the lamp L-10F. For example, the operation command unit 34 generates a lamp command for lighting the hall lantern 13-10F. As another example, the operation command unit 34 generates a lamp command for turning on the button lamp 14-10F. The communication unit 31 transmits the lamp command generated by the operation command unit 34 to the control device 7 (S209).

In the control device 7, it is determined whether or not a lamp command has been received from the robot 15 (S108). When the communication unit 21 receives the lamp command transmitted from the robot 15 in S209, a determination of Yes is made in S108. When determined as Yes in S108, the lamp control unit 24 controls the lamp L-10F according to the lamp command received by the communication unit 21 (S109). For example, the lamp control unit 24 lights the hall lantern 13-10F according to the lamp command. As another example, the lamp control unit 24 lights the button lamp 14-10F according to the lamp command.

In the robot 15, when the lamp command is transmitted in S209, the camera 30 starts photographing the lamp L-10F (S210). For example, the camera 30 photographs the hall lantern 13-10F. As another example, camera 30 photographs button lamp 14-10F.

The abnormality detection unit 35 determines whether or not there is an abnormality in the lamp L-10F based on the image of the lamp L-10F captured by the camera 30 (S211). For example, if the lamp L-10F operates properly according to the lamp command transmitted in S209, the abnormality detection unit 35 detects that the lamp L-10F is normal. If the lamp L-10F does not operate properly according to the lamp command transmitted in S209, the abnormality detection unit 35 detects that the lamp L-10F has an abnormality.

When the abnormality of the lamp L-10F is detected in S211, the communication unit 31 notifies, for example, an external information center (S212). Also, the detection result by the abnormality detection unit 35 is recorded in an internal storage device (not shown) (S213).

On the other hand, when the passenger information indicating that the hall call for the 10th floor is registered is received in S203, a determination of Yes is made in S204. When S204 determines Yes, the robot 15 starts an operation for determining whether or not the inspection of the lamp L-9F is given priority over the inspection of the lamp L-10F.

First, the communication unit 31 transmits floor information indicating the ninth floor to the control device 7 based on the inspection route (S202). As shown in Table 1, the 9th floor is a floor where the inspection of the lamp L-9F has not yet been performed, and is the floor with the highest priority next to the 10th floor. This floor information corresponds to the fourth information described in the claims.

The operation after the floor information indicating the ninth floor is transmitted from the robot 15 by determining Yes in S204 is the same as the operation described above. For example, in the control device 7, when the communication unit 21 receives the floor information transmitted from the robot 15 in S202, it is determined as Yes in S103. If it is determined as Yes in S103, the information acquisition unit 22 acquires passenger information based on the floor information received by the communication unit 21 (S104). For example, the information acquisition unit 22 acquires, as passenger information, information indicating whether or not a hall call for the ninth floor is registered. The communication unit 21 transmits the passenger information acquired by the information acquisition unit 22 to the robot 15 (S105). This passenger information corresponds to the fifth information recited in the claims. When the robot 15 determines in S204 that there are no passengers at the hall 10-9F, an operation for inspecting the lamp L-9F is started.

When the inspection of the lamp L is completed on a certain floor, the robot 15 determines whether or not the inspection of the lamp L is completed in the halls 10 of all floors (S214). For example, if only the inspection of the lamp L-10F is completed, the determination in S214 is No. In such a case, the robot 15 moves to a floor where the inspection of the lamp L has not been completed, and inspects the lamp L provided in the hall 10 of that floor. For example, the communication unit 31 transmits floor information indicating the ninth floor to the control device 7 based on the inspection route (S202).

When the inspection of all the lamps L is completed by repeating the above operation, a determination of Yes is made in S214. If it is determined as Yes in S214, the robot 15 moves to the waiting place (S215). As a result, charging of the robot 15 is resumed.

In the example shown in this embodiment, the robot 15 can inspect the lamps L provided in the hall 10 . As a result, the burden on elevator maintenance personnel can be reduced. Further, according to the example shown in the present embodiment, the inspection of the lamp L provided at the hall 10 can be appropriately performed according to the presence or absence of passengers at the hall 10 .

6 is a flowchart showing another operation example of the elevator system according to Embodiment 1. FIG. FIG. 6 shows an operation example of the robot 15 . FIG. 6 is also an example of changing the operation up to the start of the inspection of the lamp L depending on whether the robot 15 determines that there are no passengers in the hall 10 or that there are passengers in the hall 10, as in FIG. indicate. In addition, the operation shown in FIG. 4 is performed in the control device 7 .

The process shown in S301 of FIG. 6 is the same as the process shown in S201 of FIG. If it is determined as Yes in S301, the processing shown in S302 to S305 is performed based on the pre-registered inspection route. The processing from S302 to S305 is the same as the processing from S205 to S208. For example, the robot 15 starts an operation to get on the car 1 and move to the hall 10-10F. Incidentally, in the example shown in FIG. 6, the actual inspection of the lamp L is performed according to the inspection route.

When the robot 15 gets off the car 1 in S305, the communication unit 31 transmits floor information indicating the tenth floor to the control device 7 (S306). The 10th floor is the floor where the robot 15 got off from the car 1 . The processing from S306 to S308 is the same as the processing from S202 to S204. For example, based on the passenger information received by the communication section 31 in S307, the determination section 32 determines whether or not there is a passenger at the hall 10-10F (S308).

The processing from S309 to S315 is the same as the processing from S209 to S215. When the determination unit 32 determines in S308 that there is no passenger in the hall 10-10F, the processing from S309 to S313 is performed. That is, the inspection of the lamp L-10F by the robot 15 is started immediately after the determination of No in S308.

On the other hand, when the determination unit 32 determines in S308 that there is a passenger at the hall 10-10F, the robot 15 repeats the processes from S306 to S308. That is, when the determination in S308 is Yes, the robot 15 does not start checking the lamp L-10F until the determination unit 32 determines that there are no passengers in the hall 10-10F after getting off the car 1 on the 10th floor. . The robot 15 waits at the landing 10-10F until S308 returns No. When the determination in S308 is No, the inspection of the lamp L-10F by the robot 15 is started.

After that, when the inspection of the lamp L-10F is completed, it is judged No in S314. When the determination in S314 is No, the robot 15 starts an operation to get on the car 1 and move to the hall 10-9F based on the inspection route.

7 is a flowchart showing another operation example of the elevator system according to Embodiment 1. FIG. FIG. 7 shows an operation example of the robot 15 . The operation shown in FIG. 4 is performed in the control device 7 .

The processing from S401 to S405 in FIG. 7 is the same as the processing from S301 to S305 in FIG. If it is determined as Yes in S401, the processing shown in S402 to S405 is performed based on the pre-registered inspection route. For example, the robot 15 starts an operation to get on the car 1 and move to the hall 10-10F. Incidentally, in the example shown in FIG. 7, the actual inspection of the lamp L is performed according to the inspection route.

When the robot 15 gets off from the car 1 in S405, the camera 30 takes an image of the landing 10 on the 10th floor where the robot 15 got off (S406). Based on the image of the hall 10-10F captured by the camera 30, the determination unit 32 determines whether or not there is a passenger in the hall 10-10F (S407). That is, FIG. 7 shows an example in which the robot 15 determines whether or not there are passengers in the hall 10 without receiving information from the control device 7 . If the robot 15 is equipped with a sensor 37 other than the camera 30, the determination unit 32 determines in S407 whether or not there is a passenger at the hall 10-10F based on the detection result of the sensor 37. Also good. The sensor 37 is, for example, a distance sensor such as LIDAR (Light Detection and Ranging).

The processing from S408 to S414 is the same as the processing from S309 to S315. When the determination unit 32 determines in S407 that there is no passenger in the hall 10-10F, the processing shown in S408 to S412 is performed. That is, the inspection of the lamp L-10F by the robot 15 is started immediately after the determination of No in S407.

On the other hand, when the determination unit 32 determines in S407 that there is a passenger in the hall 10-10F, the robot 15 repeats the processes shown in S406 and S407. That is, when the determination in S407 is Yes, the robot 15 does not start inspecting the lamp L-10F until the determination unit 32 determines that there are no passengers in the hall 10-10F after getting off the car 1 on the 10th floor. . The robot 15 waits at the hall 10-10F until S407 returns No. Then, when it is judged No in S407, the inspection of the lamp L-10F by the robot 15 is started.

8 is a flowchart showing another operation example of the elevator system according to Embodiment 1. FIG. FIG. 8 shows an operation example of the robot 15 . The operation shown in FIG. 4 is performed in the control device 7 .

The processing from S501 to S505 in FIG. 8 is the same as the processing from S401 to S405 in FIG. If it is determined as Yes in S501, the processing shown in S502 to S505 is performed based on the pre-registered inspection route. For example, the robot 15 starts an operation to get on the car 1 and move to the hall 10-10F. Incidentally, in the example shown in FIG. 8, the actual inspection of the lamp L is performed according to the inspection route.

When the robot 15 gets off the car 1 in S505, the camera 30 takes a picture of the landing 10 on the 10th floor where the robot 15 got off (S506). Based on the image of the hall 10-10F captured by the camera 30, the determination unit 32 determines whether or not there is a passenger in the hall 10-10F (S507). It should be noted that the determination of whether or not there is a passenger at the hall 10-10F may be made based on passenger information from the control device 7, as in the example shown in FIG. 5 or the example shown in FIG.

In the example shown in FIG. 8 as well, the robot 15 changes its subsequent motion depending on whether or not there is a passenger at the hall 10-10F. However, in the example shown in FIG. 8, unlike the examples shown in FIG. 5 to FIG. , change the operation when inspecting the lamp L-10F.

For example, when the determination unit 32 determines that there are no passengers in the hall 10-10F (No in S507), the operation command unit 34 generates a ramp command A for the ramp L-10F. The lamp command A is a command for turning on the lamp L-10F for the first time. The first time is preset. The lamp command A may be a command for blinking the lamp L-10F so that the lighting time is the first hour. The communication unit 31 transmits the lamp command A generated by the operation command unit 34 to the control device 7 (S508). As a result, the lamp L-10F is lit for the first time. It should be noted that this is an operation example when the lamp L-10F is extinguished. When the lamp L-10F is lit, the operation command unit 34 generates a lamp command A for turning off the lamp L-10F for the first time if the determination in S507 is No. As a result, the lamp L-10F is extinguished for the first time.

On the other hand, when the determination unit 32 determines that there is a passenger in the hall 10-10F (Yes in S507), the operation command unit 34 generates a ramp command B for the ramp L-10F. The lamp command B is a command for extinguishing the lamp L-10F for the second time. The second time is a time shorter than the first time. The second time is desirably a time during which the extinguishing of the lamp L-10F can be detected by performing image processing, although passengers in the hall cannot recognize that the lamp L-10F has been extinguished. The second time is preset. For example, the second time is set to 30 ms. The lamp command B may be a command for blinking the lamp L-10F so that the extinguishing time is the second time. The communication unit 31 transmits the lamp command B generated by the operation command unit 34 to the control device 7 (S515). As a result, the lamp L-10F is extinguished for the second time. Note that this is an operation example when the lamp L-10F is on. When the lamp L-10F is turned off, the operation command unit 34 generates a lamp command B for turning on the lamp L-10F for the second period of time if it is determined as Yes in S507. As a result, the lamp L-10F is lit for the second time.

The processing from S509 to S514 in FIG. 8 is the same as the processing from S409 to S414 in FIG. That is, when lamp command A or lamp command B is transmitted in S508, photographing of lamp L-10F by camera 30 is started (S509). The abnormality detection unit 35 determines whether or not there is an abnormality in the lamp L-10F based on the image of the lamp L-10F captured by the camera 30 (S510).

As another example in which the robot 15 changes its operation during inspection of the lamp L according to the presence or absence of a passenger, the robot 15 may further include an operation detection unit 36 . The motion detector 36 is an example of the second detector described in the claims. The motion detector 36 detects human motion based on the image captured by the camera 30 . For example, based on the image of the hall 10 captured by the camera 30, the motion detection unit 36 detects that the hall button 11 of the hall 10 has been pressed.

If the robot 15 is provided with the motion detection unit 36, and if it is determined as Yes in S507, the abnormality detection unit 35 detects the abnormality of the button lamp 14-10F using, for example, the movement of the passenger in the hall 10-10F. . That is, if the determination in S507 is Yes, the abnormality detection unit 35 detects an abnormality in the button lamp 14-10F based on the image of the button lamp 14-10F captured by the camera 30 and the detection result of the operation detection unit 36. To detect. For example, if the operation detection unit 36 detects that the hall button 11 has been pressed and the button lamp 14-10F is not turned on, the abnormality detection unit 35 detects an abnormality of the button lamp 14-10F. .

In each example shown in the present embodiment, the operation command unit 34 may generate a lamp command for blinking the lamp L in a specific pattern when inspection of the lamp L is started in the hall 10. . The communication unit 31 transmits the lamp command generated by the operation command unit 34 to the control device 7 . As a result, the lamp L blinks in the specific pattern. The abnormality detection unit 35 identifies the position of the lamp L based on the image of the hall 10 captured by the camera 30 after the lamp command is transmitted from the communication unit 31 . In this example, the position of the lamp L can be specified accurately.

In the present embodiment, each part indicated by reference numerals 31 to 36 indicates the function of the robot 15. As shown in FIG. FIG. 9 is a diagram showing an example of hardware resources of the robot 15. As shown in FIG. The robot 15 includes, as hardware resources, a processing circuit 40 including a processor 41 and a memory 42, for example. The robot 15 implements the functions of the parts indicated by reference numerals 31 to 36 by executing the programs stored in the memory 42 by the processor 41 . A semiconductor memory or the like can be used as the memory 42 .

FIG. 10 is a diagram showing another example of hardware resources of the robot 15. As shown in FIG. In the example shown in FIG. 10, robot 15 comprises processing circuitry 40 including, for example, processor 41 , memory 42 and dedicated hardware 43 . FIG. 10 shows an example in which a part of the functions of the robot 15 are implemented by dedicated hardware 43 . All of the functions of the robot 15 may be implemented by dedicated hardware 43 . Dedicated hardware 43 can be a single circuit, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof.

Similarly, each part indicated by reference numerals 21 to 24 indicates the function of the control device 7. FIG. An example of hardware resources of the control device 7 is the same as the example shown in FIG. For example, the control device 7 includes a processing circuit including a processor and a memory as hardware resources. The control device 7 implements the functions of the respective units indicated by reference numerals 21 to 24 by executing the programs stored in the memory by the processor. An example of hardware resources of the control device 7 may be the same as the example shown in FIG. In such cases, the controller 7 comprises processing circuitry including a processor, memory, and dedicated hardware. That is, part of the functions of the control device 7 may be realized by dedicated hardware. All the functions of the control device 7 may be implemented by dedicated hardware.

The elevator system according to the present disclosure can be applied to a system having a robot that can enter and exit the car.

1 cage, 2 counterweight, 3 hoistway, 4 main rope, 5 winch, 6 traction sheave, 7 control device, 8 control cable, 9 machine room, 10 landing, 11 landing button, 12 communication cable, 13 hall Lantern 14 Button lamp 15 Robot 16 Communication device 17 Charging device 20 Condition determination unit 21 Communication unit 22 Information acquisition unit 23 Car control unit 24 Lamp control unit 30 Camera 31 Communication unit 32 Judgment Section 33 Request Generation Section 34 Operation Command Section 35 Abnormal Detection Section 36 Operation Detection Section 37 Sensor 40 Processing Circuit 41 Processor 42 Memory 43 Dedicated Hardware

Claims (16)

Cars that can stop at the first specific floor boarding area and the second specific floor boarding area ,
ramps for elevators respectively provided at the first specific floor landing and the second specific floor landing ;
with
For a robot capable of getting on and off the car on the first specific floor and the second specific floor , when it is determined that there are no passengers in the first specific floor boarding area and when it is determined that there are passengers in the first specific floor boarding area. An elevator system that changes the operation until the inspection of the lamp is started depending on whether it is determined or not. receiving floor information from the robot;
2. The elevator system according to claim 1, wherein passenger information necessary for determining whether or not there is a passenger at the hall of the first specific floor indicated by said floor information is transmitted to said robot. When the robot that has received the passenger information necessary for determining whether or not there are passengers at the landing of the first specific floor determines that there are passengers at the landing of the first specific floor, Sending passenger information necessary for determining whether or not there are passengers in the hall to the robot;
When the robot that has received the passenger information necessary for determining whether or not there are passengers in the landing area of the second specific floor determines that there are no passengers in the landing area of the second specific floor, the robot instructs the robot to 3. The elevator system according to claim 2, wherein the inspection of the ramp provided on the second specific floor is performed . The robot is
camera and
determination means for determining whether or not there is a passenger in the first specific floor hall based on the image of the first specific floor hall captured by the camera ;
The elevator system of claim 1, comprising: The robot is
a sensor ;
Determination means for determining whether or not there is a passenger at the landing of the first specific floor based on the result detected by the sensor ;
The elevator system of claim 1, comprising: When the robot determines that there is a passenger at the landing of the first specific floor , the robot determines that there is no passenger at the landing of the first specific floor after getting off the car from the car to the first specific floor . 6. An elevator system according to any one of claims 2, 4 and 5, wherein the robot is not allowed to initiate inspection of the ramp. 5. The elevator system according to claim 4 , wherein the robot is caused to identify the position of the lamp based on the image captured by the camera after sending a command to blink the lamp in a specific pattern. Cars that can stop at the first specific floor boarding area and the second specific floor boarding area ,
ramps for elevators respectively provided at the first specific floor landing and the second specific floor landing ;
with
For a robot capable of getting on and off the car on the first specific floor and the second specific floor , when it is determined that there are no passengers in the first specific floor boarding area and when it is determined that there are passengers in the first specific floor boarding area. Elevator system to change the operation when inspecting the lamp when and when determined. receiving floor information from the robot;
9. The elevator system according to claim 8, wherein passenger information necessary for determining whether or not there is a passenger at the hall of the first specific floor indicated by the floor information is transmitted to the robot. The robot is
camera and
determination means for determining whether or not there is a passenger in the first specific floor hall based on the image of the first specific floor hall captured by the camera ;
9. The elevator system of claim 8, comprising: The robot is
a sensor ;
Determination means for determining whether or not there is a passenger at the landing of the first specific floor based on the result detected by the sensor ;
9. The elevator system of claim 8, comprising: When the robot determines that there are no passengers at the hall of the first specific floor , receiving a command from the robot to turn on the lamp for a first period of time if the lamp is off, and
When the robot determines that there is a passenger at the landing of the first specific floor , it receives from the robot a command to turn off the lamp for a second period shorter than the first period if the lamp is on. An elevator system according to any one of claims 9 to 11. Further comprising a hall button provided in the hall of the first specific floor ,
The lamp includes a button lamp that lights up when the hall button is pressed to register a call,
The robot is
a first detection means for detecting an abnormality of the lamp based on the image captured by the camera;
a second detection means for detecting that the hall button has been pressed based on the image captured by the camera ;
further comprising
When the robot determines that there is a passenger in the hall of the first specific floor , the first detection means, based on the image of the button lamp captured by the camera and the detection result of the second detection means, 11. The elevator system according to claim 10 , wherein an abnormality of said button lamp is detected. 14. The elevator according to claim 10 or 13, wherein the robot is caused to specify the position of the lamp based on the image taken by the camera after transmitting a command to blink the lamp in a specific pattern. system. Cars that can stop at the first specific floor boarding area and the second specific floor boarding area,
ramps for elevators respectively provided at the first specific floor landing and the second specific floor landing;
A robot that inspects the ramp in an elevator system comprising:
When it is determined that it is possible to get on and off the car on the first specific floor and the second specific floor, and there are no passengers at the first specific floor boarding area, and it is decided that there are passengers at the first specific floor boarding area. A robot that changes its behavior up to the start of inspection of the lamp, depending on whether the robot is on or off. Cars that can stop at the first specific floor boarding area and the second specific floor boarding area,
ramps for elevators respectively provided at the first specific floor landing and the second specific floor landing;
A robot that inspects the ramp in an elevator system comprising:
When it is determined that it is possible to get on and off the car on the first specific floor and the second specific floor, and there are no passengers at the first specific floor boarding area, and it is decided that there are passengers at the first specific floor boarding area. A robot that changes its behavior when inspecting the lamp when and where it is.

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