JP7443607B1 - Elevator control device, elevator control system and elevator control method - Google Patents

Abstract

[Problem] To improve the operating efficiency of the elevator and the entire building in which the elevator is installed by being able to quickly determine whether the problem is with the elevator or the autonomous mobile object when an abnormality occurs. [Solution] An elevator control device including an autonomous mobile operation control unit that executes an autonomous mobile operation capable of driving the car with an autonomous mobile object on board, and an autonomous mobile operation control unit that executes an autonomous mobile operation. When the car lands on any floor and the door is opened, and there is an autonomous mobile object waiting to board at the platform of the floor, the first time is shorter than the time from the door opening to the door closing. a movement determination unit that determines whether the autonomous mobile body at the landing has moved within a time period of an automatic diagnostic operation control unit that executes an automatic diagnostic operation to diagnose whether the elevator is operable; It determines that the vehicle is malfunctioning and stops operating the autonomous mobile vehicle. [Selection diagram] Figure 2

Description

Embodiments of the present invention relate to an elevator control device, an elevator control system, and an elevator control method.

In recent elevator control systems, autonomous moving bodies such as robots are operated by allowing autonomous moving bodies such as robots to ride in an elevator car, perform various tasks, and move to a destination floor. Here, between the elevator itself, the autonomous mobile object itself, or the autonomous mobile object and the autonomous mobile object server that controls the autonomous mobile object, or between the autonomous mobile object server and the elevator that controls the elevation of the elevator, If an abnormality occurs between the autonomous mobile body and the server, the autonomous mobile body will not be able to move to the destination floor using the elevator.

In order to solve such problems, conventional methods have been used to determine if the automatic guided vehicle has not fully entered the elevator car within a predetermined set time after the elevator car door was opened. A known technique is to close the car door, cancel the automatic guided vehicle exclusive driving mode, and enter the normal driving mode (for example, see Patent Document 1). In addition, if an abnormality occurs in the autonomous mobile object in the car and it becomes unable to operate, the abnormality is determined based on the abnormality information of the autonomous mobile object, and the autonomous mobile object is recovered based on the determined abnormality information. A technique for determining floors is known (for example, see Patent Document 2).

Japanese Patent Application Publication No. 5-286653 Patent No. 6930637

However, in such conventional technology, since a determination is made after waiting a long time for an autonomous mobile object to enter a car, the operating efficiency of the entire building is reduced. Furthermore, it is unclear whether the cause of the abnormality lies in the elevator or the autonomous mobile object.

One of the challenges of this embodiment is that when an abnormality occurs, it is possible to determine at an early stage whether the problem is with the elevator or the autonomous mobile object, and this improves the operational efficiency of the elevator and the entire building in which the elevator is installed. An object of the present invention is to provide an elevator control device, an elevator control system, and an elevator control method that can improve the performance.

An elevator control device according to an embodiment includes: an elevator control device that controls an elevator in which an autonomous mobile object that can autonomously move to a car can ride; the autonomous mobile object is connected to the elevator control device via a network; The elevator control device in an elevator control system comprising: an elevator server that controls the elevation and descent of a car; and an autonomous mobile body server that is connected to the autonomous mobile body and the elevator server via a network; an autonomous mobile object operation control unit that executes an autonomous mobile operation capable of driving the car with an autonomous mobile object on board; When the autonomous mobile body lands on the floor and opens the door, and there is the autonomous mobile object waiting to board at the landing on the floor, the autonomous mobile body at the landing within a first time period shorter than the time from the opening of the door to the closing of the door. a movement determination unit that determines whether the autonomous mobile object has moved; and if the autonomous mobile object at the platform does not move within the first time from the door opening, the elevator can operate normally. an automatic diagnostic operation control unit that executes an automatic diagnostic operation to diagnose whether or not the elevator It is determined that the mobile body is out of order, and the operation of the autonomous mobile body is stopped.

FIG. 1 is a diagram showing an example of the overall configuration of an elevator control system according to an embodiment. FIG. 2 is a block diagram showing an example of the functional configuration of the control panel according to the embodiment. FIG. 3 is a diagram showing an example of the data structure of the robot management DB according to the embodiment. FIG. 4 is a block diagram showing an example of the functional configuration of the controller according to the embodiment. FIG. 5 is a block diagram illustrating an example of the functional configuration of a server in the elevator cloud according to the embodiment. FIG. 6 is a block diagram illustrating an example of the functional configuration of a server in the robot cloud according to the embodiment. FIG. 7 is a block diagram showing an example of the functional configuration of the robot according to the embodiment. FIG. 8 is a sequence diagram showing an example of the flow of elevator control processing during boarding according to the embodiment. FIG. 9 is a flowchart illustrating an example of the procedure of elevator control processing during boarding according to the embodiment. FIG. 10 is a flowchart illustrating an example of the procedure (continued) of the elevator control process during boarding according to the embodiment. FIG. 11 is a sequence diagram illustrating an example of the flow of elevator control processing when getting off the vehicle according to the embodiment. FIG. 12 is a sequence diagram illustrating an example of the flow (continued) of elevator control processing at the time of getting off the vehicle according to the embodiment. FIG. 13 is a flowchart illustrating an example of the procedure of elevator control processing when getting off the vehicle according to the embodiment. FIG. 14 is a flowchart illustrating an example of the procedure (continued) of elevator control processing when getting off the vehicle according to the embodiment.

FIG. 1 is a diagram showing an example of the overall configuration of an elevator control system 1 according to the present embodiment. As shown in FIG. 1, the elevator control system 1 of this embodiment includes control panels 100A and 100B provided for each elevator 2A and 2B, controllers 150A and 150B provided for each elevator 2A and 2B, and a control room 160. , a server 210 in the elevator cloud 200, a server 310 in the robot cloud 300, and a monitoring center 400.

In this embodiment, two elevators 2A and 2B are installed in a building 3 such as an office building or an apartment building. Each of the elevators 2A, 2B includes a car 50A, 50B in each hoistway 20A, 20B. In addition, each hoistway 20A, 20B is provided with a hoist and a counterweight (not shown). The cars 50A, 50B and the counterweights are supported in a vertically movable manner by a pair of guide rails (not shown) provided upright in the hoistways 20A, 20B, respectively, and are moved up and down via ropes.

In addition to the user 5A, robots 500A and 500B as autonomous moving bodies can also ride in the cars 50A and 50B.

The cars 50A, 50B are provided with operation panels 4A, 4B, cameras 7A, 7B, and load sensors 8A, 8B.
The operation panels 4A and 4B accept various operations from the user and notify the car 50 of various operations. The operation panels 4A, 4B are provided with push buttons, non-contact sensors, speakers, liquid crystal displays, etc. (all not shown) for specifying the destination floor and opening/closing the doors of the cars 50A, 50B. Further, the operation panels 4A and 4B are connected to the control panels 100A and 100B by wire or wirelessly. A destination floor call is sent to the control panels 100A, 100B by pressing the destination floor push button from the users 5A, 5B or by detection by a non-contact sensor.

Cameras 7A, 7B photograph the inside of cars 50A, 50B, and send the captured images to control panels 100A, 100B. Furthermore, when the doors of the cars 50A, 50B are open at the landing, the cameras 7A, 7B are capable of capturing images of the landing, and send the captured images to the control panels 100A, 100B.

Load sensors 8A, 8B are provided on the bottoms of cars 50A, 50B, and detect the weight of cars 50. When a user 5A or a robot 500A or 500B is in the car 50A or 50B, the load sensors 8A or 8B detect the weight of the user 5A in addition to the weight of the car 50 itself. The weights of the robots 500A and 500B are also added and detected. The load sensors 8A, 8B send the detected weight as a detection signal to the control panels 100A, 100B.

Control panels 100A, 100B and controllers 150A, 150B are provided inside each of the hoistways 20A, 20B. The control panels 100A and 100B are connected wirelessly or by wire to operation panels 4A and 4B provided in the cars 50A and 50B.

Each of the control panels 100A and 100B controls the operation of the cars 50A and 50B in the elevators 2A and 2B. Each of the control panels 100A and 100B is connected to each of the controllers 150A and 150B by wire or wirelessly.

Each of the controllers 150A, 150B is connected to a server 210 in the elevator cloud 200 via a network. The controllers 150A, 150B control communication between the control panels 100A, 100B and the server 210, and have an interface function and a hub function for mediating various signals exchanged between the control panels 100A, 100B and the server 210. It is an intermediary device equipped with Details of the control panels 100A, 100B and the controllers 150A, 150B will be described later.

The manager of the building 3 is present in the control room 160 and gives various instructions to the control panels 100A and 100B. Further, the manager of the control room 160 receives various instructions by e-mail or the like from the control panels 100A and 100B via a PC or a terminal device.

The server 210 in the elevator cloud 200 instructs the control panels 100A, 100B to perform various controls on the cars 50A, 50B of the elevators 2A, 2B via the controllers 150A, 150B, and handles various requests and requests from the control panels 100A, 100B. Various data are received via controllers 150A and 150B. A server 210 in the elevator cloud 200 is connected to a monitoring center 400 (in-house server) and a server 310 in the robot cloud 300 via a network.

An in-house server (not shown) is installed in the monitoring center 400. The in-house server is a server installed within an affiliated company of the elevator 11, and collects information necessary for maintenance management and remote monitoring of the elevator 2 from the elevators 2A and 2B. According to this, when a malfunction occurs in the elevators 2A and 2B, maintenance personnel can refer to information necessary for maintenance management collected on the in-house server of the monitoring center 400 and respond to the malfunction that has occurred. is possible. In addition, when functions and services are executed through the elevator cloud 200, the in-house server of the monitoring center 400 is accessed as necessary to refer to building and elevator information, and maintenance personnel can obtain information necessary for elevator management. It is possible to do this.

The server 310 of the robot cloud 300 receives various requests and various data from the server 210 of the elevator cloud 200. The server 310 of the robot cloud 300 is connected to a plurality of robots 500A, 500B, and 500C in the building 3 via a network, and transmits various instructions to each of the plurality of robots 500A, 500B, and 500C.
Details of the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300 will be described later.

Note that the number of elevators is not limited to two, and one, three or more elevators may be provided in the building 3. Therefore, the number of hoistways 20A, 20B, cars 50A, 50B, control panels 100A, 100B, and controllers 150A, 150B also changes depending on the number of elevators 2A, 2B. Here, if the two elevators 2A, 2B, the two hoistways 20A, 20B, the two cars 50A, 50B, the two control panels 100A, 100B, and the two controllers 150A, 150B are not distinguished from each other, the elevator 2, a hoistway 20, a car 50, a control panel 100, and a controller 150. The operation panels 4A, 4B, the cameras 7A, 7B, and the load sensors 8A, 8B are referred to as the operation panel 4, the camera 7, and the load sensor 8 unless they are distinguished from each other.

Next, the control panel 100 will be explained.
FIG. 2 is a block diagram showing an example of the functional configuration of the control panel 100 according to the embodiment. Control panel 100 is an example of an elevator control device.
The control panel 100 has a general computer configuration, and as shown in FIG. 2, it mainly includes a control section 120, a communication section 102, and a storage section 110.

Further, as shown in FIG. 2, the control panel 100 is connected to a fire sensor 103, a seismometer 104, a load sensor 8, and a camera 7 by wire or wirelessly. The fire sensor 103 and the seismometer 104 are provided, for example, inside the car 50 or within the hoistways 20A and 20B. The load sensors 8 (8A, 8B) are provided in the car 50 as described above. The camera 7 is provided near the ceiling of the car 50 so as to be able to image the interior of the car 50 and the landing area when the door of the car 50 is open.

The fire sensor 103 detects the occurrence of a fire in the elevator 2 and sends a detection signal to the control unit 120. Seismograph 104 detects the occurrence of an earthquake and sends a detection signal to control unit 120. Here, the detection signal indicating the occurrence of a fire is also referred to as a fire control signal. Further, a detection signal indicating the occurrence of an earthquake is also referred to as an earthquake control signal.

The storage unit 110 is, for example, a storage medium (ie, a memory device) such as a ROM or a RAM. The storage unit 110 stores a robot management database 111 (hereinafter referred to as "robot management DB 111"), an operation control program 112, a robot operation control program 115, and an automatic diagnostic operation program 116.
The storage unit 110 also stores the weight of the car 50 itself and the weight of the car 50 when the robot 500 is mounted on the car 50.

The robot management DB 111 is a database for managing the robots 500 that use the elevator 2. The robot management DB 111 is a database that associates robot IDs, weights, and riding conditions. Here, the robot ID is information for identifying the robot 500. The weight is the weight of the robot 500 with the robot ID. The riding state is information indicating whether the robot 500 with the robot ID is currently riding in the car 50.

FIG. 3 is a diagram showing an example of the data structure of the robot management DB 111 according to the embodiment. The example in FIG. 3 shows that the robot 500 with the robot ID "A001" is riding in the car 50, and the weight of the robot 500 is "xxkg". It also shows that the robot 500 with the robot ID "A002" is not in the car 50 (for example, at the landing area) and its weight is "yykg".

Note that the weight of the robot 500 may be required in the judgment of the movement judgment unit 127, so the weight of the robot 500 may be determined from the server 310 of the robot cloud 300 via the server 210 of the elevator cloud 200, the controller 150, or directly. From here, the weight of the robot 500 is downloaded in advance and registered in the robot management DB 111. Further, the control panel 100 may be configured to similarly download other information regarding the robot 500 in addition to the weight of the robot 500 and register it in the robot management DB 111.

In the robot management DB 111, the robot 500 notifies the server 310 in the robot cloud 300 of its own status along with the robot ID at regular intervals or at the timing when the riding status changes. Then, the server 310 in the robot cloud 300 that received the notification notifies the control panel 100 of the robot ID and the current riding state via the server 210 of the elevator cloud 200 and the controller 150, and the control unit 120 manages the robot. It is registered in the corresponding robot ID record in the DB 111.

Returning to FIG. 2, the operation control program 112 is a program that implements the main functions necessary for operation control of the elevator 2. Here, the main functions include, for example, a function to drive and control the hoisting machine, a safety function to control the speed of the car 50, a function to control opening and closing of the door of the car 50, and a function to control the lighting of the car 50. , a function to register a hall call and a destination floor call (also called a car call).

The robot operation control program 115 is a function that implements robot operation control, that is, operation control of the elevator 2 when the robot 500 uses the elevator 2. Robot operation refers to a situation in which the robot 500 is mounted and is being operated under either robot-dedicated operation or robot-non-dedicated operation. The robot-only operation is an operation in which only the robot 500 rides in the car 50. The non-robot exclusive operation is an operation in which the robot 500 and the user 5 ride together in the car 50. The robot operation control program 115 is configured to be able to control robot exclusive operation and robot non-exclusive operation.

The automatic diagnostic operation program 116 is a program that realizes an automatic diagnostic operation that diagnoses whether the elevator 2 can operate normally.

The control unit 120 includes a hardware processor (CPU). As shown in FIG. 2, the control unit 120 mainly includes an operation control unit 121, a robot operation control unit 122, an automatic diagnosis operation control unit 125, and a movement determination unit 127.

The control unit 120 reads and executes the operation control program 112, the robot operation control program 115, and the automatic diagnostic operation program 116 from the storage unit 110, thereby controlling the operation control unit 121, the robot operation control unit 122, and the automatic A diagnostic driving control section 125 and a movement determining section 127 are generated on the main memory.

The operation control unit 121 has main functions necessary for operation control of the elevator 2, such as a function to drive and control the hoisting machine, a safety function to control the speed of the car 50, and control opening and closing of the door of the car 50. , a function to control the lighting of the car 50, and a function to register a hall call and a destination floor call.

The robot operation control unit 122 executes a function to realize operation control of the elevator 2 when the robot 500 uses the elevator 2. Specifically, the robot operation control unit 122 controls a robot-only operation in which only the robot 500 rides in the car 50 and operates, and a robot-only operation in which the robot 500 and the user 5 ride together in the car 50. Execute control of non-dedicated operation of operable robots. The robot operation control unit 122 stores in the storage unit 110 whether a robot-dedicated operation or a non-robot-dedicated operation has been executed.

Note that the building 3 may be provided with a mixture of elevators 2 that are operated exclusively for robots and elevators 2 that are operated not exclusively for robots.

The movement determination unit 127 determines whether the car 50 lands on any floor, the door of the car 50 opens, and the door of the car 50 opens during robot operation, either robot dedicated operation or robot non-dedicated operation. When there is a robot 500 waiting to board a car at a landing, whether the robot 500 at the landing has moved within a first time period shorter than a predetermined time from when the door of the car 50 opens to when the door closes. Decide whether or not.

Specifically, the movement determination unit 127 analyzes the captured image of the landing area from the camera 7 and determines whether the robot 500 has moved, that is, whether it is about to board the car 50 or not. Hereinafter, opening the door will be referred to as "door opening," and closing the door will be referred to as "door closing."

The movement determination unit 127 further determines whether the car 50 on which the robot 500 is riding has landed on any floor and opened the door during execution of the robot operation, which is either robot-only operation or non-robot-only operation. In this case, it is determined whether the robot 500 in the car 50 has moved within a second time period that is shorter than the set time period.

Specifically, the movement determination unit 127 analyzes the captured image of the inside of the car 50 from the camera 7 and determines whether the robot 500 has moved, that is, whether it is about to get off the car 50. .

Here, the set time can be arbitrarily determined, and can be set to, for example, 3 minutes. The first time can be arbitrarily determined as long as it is shorter than the set time, and can be set to, for example, 15 seconds. The second time can be arbitrarily determined as long as it is shorter than the set time, and can be set to, for example, 5 seconds. The values of the set time, first time, and second time are not limited to these values. The set time, the first time, and the second time can be made variable by the control panel 100 or the server 210 of the elevator cloud 200.

Note that when the weight of the car 50 detected by the load sensor 8 increases by the weight of the robot 500 stored in the storage unit 110, it is determined that the robot 500 has moved and gotten into the car 50. The movement determination unit 127 may be configured as follows. Further, when the weight of the car 50 detected by the load sensor 8 decreases by the weight of the robot 500 stored in the storage unit 110, it is determined that the robot 500 has moved and gotten off the car 50. The movement determination unit 127 may be configured as follows.

Further, continuous still images or moving images are acquired as captured images from a camera 506 (see FIG. 7) provided on the robot 500A, and the acquired captured images are analyzed so that the robot 500 moves to the car 50. The movement determination unit 127 may be configured to determine whether the vehicle is about to board the vehicle or whether the vehicle is about to move and exit the car 50.

The automatic diagnostic operation control unit 125 controls automatic diagnostic operation for diagnosing whether the elevator 2 can operate normally. Here, the diagnostic items include diagnosis of the hoisting machine brake, diagnosis of the opening and closing of the doors on each floor, diagnosis of the rated speed, diagnosis of the level difference between the floor and the landing, speed detection on intermediate floors, and whether the speed is according to the speed pattern. These include diagnosis of whether acceleration is occurring, diagnosis of the operation of the intercom in the car 50, diagnosis of lighting, diagnosis of the load sensor 8, etc.

In this embodiment, when the robot 500 gets into the car 50, the automatic diagnostic operation control unit 125 determines that the robot 500 at the platform does not move within a first time period after the door is opened by the movement determination unit 127. In this case, and after the determination and after the elevator 2 has completed all services, the automatic diagnostic operation is executed.

When the automatic diagnostic operation control unit 125 determines that the robot 500 in the car 50 does not move within the second time period after the door opens when the robot 500 exits the car 50, After the robot 500 is manually removed from the car 50 by the caretaker and the door is manually closed, the automatic diagnostic operation is executed.

The robot operation control unit 122 determines that the robot 500 at the platform is malfunctioning and cannot move when the automatic diagnostic operation control unit 125 determines that the elevator 2 can operate normally when boarding and disembarking. and stop robot operation. On the other hand, the robot operation control unit 122 determines that there is no abnormality in the robot 500 when the automatic diagnostic operation control unit 125 determines that the elevator 2 cannot be operated normally when getting on and off the vehicle. .

Here, failures on the robot 500 side include, for example, the robot 500 hitting or rubbing against the platform, the door of the car 50, or its vicinity immediately before the robot 500 gets on the car 50 or just before the robot 500 gets off the car 50. For example, the main body of the robot 500 may be damaged. Further, the robot 500 may be damaged due to collision with the side surface of the main body, the various sensors 505, or the moving rollers of the robot 500.

On the other hand, an example of a failure on the elevator 2 side is a case where the robot 500 itself does not have a failure, but a failure occurs on the door side due to collision with or rubbing against the door of the car 50.
Note that these are examples of failures and are not limited to these.

The communication unit 102 includes a communication device having a predetermined communication protocol, and performs communication processing between the control panel 100 and the controller 150. Further, the communication unit 102 transmits and receives various instructions and notifications to and from the manager's mobile terminal, PC, etc. of the control room 160.

In the present embodiment, when the robot 500 gets into the car 50 and the movement determining unit 127 determines that the robot 500 does not move within a first time period after the door is opened, the communication unit 102 transmits the controller 150 Then, it transmits to the server 310 of the robot cloud 300 via the server 210 of the elevator cloud 200 the robot ID of the robot 500 and a message that the robot 500 cannot be boarded. Specifically, the communication unit 102 transmits to the controller 150 the robot ID and a message that the robot 500 cannot be boarded. As a result, the controller 150 notifies the server 210 of the elevator cloud 200 that the robot 500 cannot board, and the server 210 of the elevator cloud 200 notifies the server 310 of the robot cloud 300 that the robot 500 cannot board the robot.

Further, in the present embodiment, the communication unit 102 communicates with the control room 160 when the automatic diagnostic operation control unit 125 determines that the elevator 2 can operate normally when the robot 500 gets into the car 50. The controller sends an instruction to notify the server 310 of the robot cloud 300 of the robot ID of the robot 500 and that the robot 500 is abnormal. Thereby, the fact that the robot 500 is abnormal is sequentially notified from the manager of the control room 160 to the server 310 of the robot cloud 300 along with the robot ID.

In the present embodiment, when the robot 500 exits the car 50, the communication unit 102 communicates with the controller 150 if the movement determination unit 127 determines that the robot 500 does not move within a second time period after the door is opened. Then, it transmits to the server 310 of the robot cloud 300 via the server 210 of the elevator cloud 200 the robot ID of the robot 500 and a message that the robot 500 cannot operate. Specifically, the communication unit 102 transmits to the controller 150 a message that the robot 500 cannot operate the robot along with the robot ID. As a result, the controller 150 notifies the server 210 of the elevator cloud 200 that the robot 500 cannot operate the robot, and the server 210 of the elevator cloud 200 notifies the server 310 of the robot cloud 300 that the robot 500 is unable to operate.

Furthermore, when the robot 500 dismounts from the car 50, if the robot 500 in the car 50 does not move within a second time period after the door is opened, the communication unit 102 provides an instruction to manually dismount the robot 500. is transmitted to the manager's mobile terminal, PC, etc. in the control room 160.

Further, in the present embodiment, the communication unit 102 communicates with the control room 160 when the automatic diagnostic operation control unit 125 determines that the elevator 2 can operate normally when the robot 500 exits the car 50. The controller sends an instruction to notify the server 310 of the robot cloud 300 of the robot ID of the robot 500 and that the robot 500 is abnormal. As a result, the administrator of the control room 160 notifies the server 310 of the robot cloud 300 that the robot 500 is abnormal, along with the robot ID.

Next, the controller 150 will be explained.
FIG. 4 is a block diagram showing an example of the functional configuration of the controller 150 according to the embodiment.

As shown in FIG. 4, the controller 150 mainly includes a control section 151, a communication section 152, and a storage section 155 as a general computer configuration.

The control unit 151 includes a hardware processor (CPU) and controls the operation of the communication unit 152.
The storage unit 155 includes a storage medium (i.e., a memory device) such as a ROM or a RAM, and stores the operation control program 112, the robot operation control program 115, and the automatic diagnostic operation program stored in the control panel 100. 116, an update program for updating these, and the like are temporarily stored.

The communication unit 152 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the control panel 100 and the controller 40 and communication processing between the controller 150 and the server 210 in the elevator cloud 200. For example, upon receiving the operation signal transmitted from the control panel 100, the communication unit 152 transmits the operation signal to the server 210 in the elevator cloud 200.

In this embodiment, the communication unit 152 receives from the control panel 100 the robot ID as well as information that the robot 500 cannot be boarded, that the robot 500 cannot be operated, and that the robot 500 is abnormal. When the communication unit 152 receives the message that the robot 500 cannot be boarded, that the robot 500 is not capable of operating the robot, or that there is an abnormality in the robot 500, the communication unit 152 receives a message that the robot 500 cannot be boarded, that the robot 500 is not capable of operating the robot. The information that there is an abnormality in the robot 500 is transmitted to the server 210 of the elevator cloud 200 along with the robot ID.

Next, the server 210 in the elevator cloud 200 will be explained.
FIG. 5 is a block diagram showing an example of the functional configuration of the server 210 in the elevator cloud 200 according to the embodiment. The server 210 mainly includes a control section 211, a communication section 212, and a storage section 220 as a general computer configuration.

The storage unit 220 is, for example, a storage medium (memory device) such as a ROM or a RAM. The storage unit 220 stores an operation control program 222, a robot operation control program 225, and an automatic diagnostic operation program 226.

The operation control program 222, the robot operation control program 225, and the automatic diagnostic operation program 226 are update programs for each program stored in the storage unit 110 of the control panel 100. Note that the operation control program 222, the robot operation control program 225, and the automatic diagnostic operation program 226 may be different programs for each building 3 and elevator 2.

The communication unit 212 is a communication device having a predetermined communication protocol, and performs communication processing between the server 210 and the controller 150 and communication processing between the server 210 and the server 310 in the robot cloud 300.

In this embodiment, the communication unit 212 receives from the controller 150 the robot ID as well as information that the robot 500 cannot be boarded, that the robot 500 cannot be operated, and that there is an abnormality in the robot 500. When the communication unit 212 receives a message that the robot 500 cannot be boarded, that the robot 500 is not capable of operating the robot, or that there is an abnormality in the robot 500, the communication unit 212 receives a message that the robot 500 cannot be boarded, that the robot 500 is not capable of operating the robot. The information that there is an abnormality in the robot 500 is transmitted to the server 310 of the robot cloud 300 along with the robot ID.

The control unit 211 includes a hardware processor (CPU). The control unit 211 transmits the update to the control panel 100 via the controller 150 when the operation control program 222, robot operation control program 225, and automatic diagnostic operation program 226 are updated. When the robot operation control program 225 is updated, the control unit 211 receives the updated robot operation control program 225 from the server 310 in the robot cloud 300 and stores it in the storage unit 220.

Next, the server 310 in the robot cloud 300 will be explained.
FIG. 6 is a block diagram showing an example of the functional configuration of the server 310 in the robot cloud 300 according to the embodiment.
The server 310 mainly includes a control section 311, a communication section 312, and a storage section 320 as a general computer configuration.

The storage unit 320 is, for example, a storage medium (memory device) such as a ROM or a RAM. The storage unit 320 stores a robot basic program 321 and a robot operation control program 325.

The robot basic program 321 is a program that defines the operation of the robot 500 in the elevator 2. For example, the robot basic program 321 defines processes such as cleaning and inspection of the elevator 2. Furthermore, in the robot basic program 321, the destination floor for the robot 500 to disembark is determined for each robot 500.

The robot operation control program 325 is a program that is sent to the server 210 in the elevator cloud 200 in accordance with the server 210 in the elevator cloud 200, and is a program that is sent to the server 210 in the elevator cloud 200 and the storage unit 110 of the control panel 100 described above and the server 210 in the elevator cloud 200. The robot operation control programs 115 and 225 are stored in the storage unit 220.

The communication unit 312 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the server 310 and the server 210 in the elevator cloud 200 and communication processing between the server 310 and the robot 500.

In this embodiment, the communication unit 312 receives from the server 210 in the elevator cloud 200 the robot ID as well as information that the robot 500 cannot be boarded, that the robot 500 cannot operate the robot, and that there is an abnormality in the robot 500. When the communication unit 312 receives from the server 210 in the elevator cloud 200 that the robot 500 cannot board the robot, it transmits an instruction to the robot 500 having the robot ID to wait at the platform. When the communication unit 312 receives from the server 210 in the elevator cloud 200 that the robot 500 cannot operate or that the robot 500 is abnormal, it sends an instruction to the robot 500 with the robot ID to stop operation. do.

The control unit 311 includes a hardware processor (CPU). The control unit 311 controls various processes related to the elevator related to the robot 500. In this embodiment, the control unit 311 transmits the robot operation control program 325 stored in the storage unit 320 to the server 210 in the elevator cloud 200 in response to a request from the server 210 in the elevator cloud 200. Further, when the robot operation control program 325 is updated, the control unit 311 transmits the update program for the robot operation control program 325 to the server 210 in the elevator cloud 200.

The control unit 311 transmits the robot basic program 321 stored in the storage unit 320 to the robot 500 in response to a request from the robot 500. Furthermore, when the robot basic program 321 is updated, the control unit 311 transmits an update program for the robot basic program 321 to the robot 500.

Next, the robot 500 will be explained.
FIG. 7 is a block diagram showing an example of the functional configuration of the robot 500 according to the embodiment. As shown in FIG. 7, the robot 500 mainly includes a camera 506, various sensors 505, a control section 501, a communication section 502, a driving section 503, and a storage section 510.

The camera 506 images the surroundings of the robot 500 and transmits the captured image to the server 310 of the robot cloud 300. Furthermore, the robot 500 may be configured to send the captured image to the control panel 100.

The various sensors 505 include, for example, a human sensor, an acceleration sensor, a load sensor, etc., but are not limited to these.

The storage unit 510 is, for example, a storage medium (memory device) such as a ROM or a RAM. A robot basic program 511 is stored in the storage unit 510. The robot basic program 511 is a program received from the server 310 in the robot cloud 300 and stored in the storage unit 510. The robot basic program 511 defines operations in the elevator 2, similar to the robot basic program 321 in the server 310. The robot basic program 511 defines a destination floor for the robot 500 to get off the vehicle.

The communication unit 502 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the robot 500 and the server 310 in the robot cloud 300.
In this embodiment, the communication unit 502 may receive an instruction to wait at a landing or an instruction to stop operation from the server 310 in the robot cloud 300.

The drive unit 503 drives the robot 500 to make it run.
The control unit 501 includes a hardware processor (CPU). During normal operation of the elevator 2, the control unit 501 executes various operations in the elevator 2 by reading out and executing the robot basic program 511 from the storage unit 510.

In the present embodiment, when the communication unit 502 receives an instruction to wait at a landing and an instruction to stop operation, the control unit 501 executes the operation stop by stopping the drive unit 503. do.

Note that the above configuration of the robot 500 is merely an example, and the robot 500 may further include an audio output unit such as a speaker and an input unit such as a touch panel.

Next, elevator control processing by the control panel 100 of the elevator control system 1 of this embodiment configured as described above will be explained.
First, the elevator control process during boarding will be explained.
FIG. 8 is a sequence diagram showing an example of the flow of elevator control processing during boarding by the elevator control system 1 according to the embodiment.

It is assumed that the elevator 2 is in operation (S101). Further, it is assumed that the control panel 100 is executing robot operation (S102). Here, the robot operation does not matter whether it is a dedicated robot operation or a non-robot dedicated operation.

Next, the control panel 100 starts elevator control processing during boarding (S103).
FIGS. 9 and 10 are flowcharts illustrating an example of the procedure of elevator control processing performed by the control panel 100 during boarding according to the embodiment.

When the car 50 arrives at any floor, the operation control unit 121 of the control panel 100 opens the door (S201). Then, the movement determining unit 127 of the control panel 100 starts detecting the movement of the robot 500 that is about to get on the platform (S202). The operation control unit 121 also starts measuring the door open time (S203). Then, the movement determining unit 127 determines whether a first time period has elapsed since the door was opened (S204). The movement determination unit 127 waits until the first time period has elapsed (S204: No).

When the first time has elapsed since the door was opened (S204: Yes), the movement determination unit 127 determines whether the robot 500 at the landing is about to move and board the vehicle (S205). If it is determined that the robot 500 is moving (S205: Yes), the operation control unit 121 maintains the door open (S206).

Then, the movement determination unit 127 determines whether the movement of the robot 500 into the car 50 (that is, getting into the car) is completed (S207). While the movement of the robot 500 into the car 50 is not completed yet (S207: No), the process returns to S206 and the door remains open.

On the other hand, when the movement of the robot 500 into the car 50 is completed (S207: Yes), the operation control unit 121 closes the door (S208). Then, the operation control unit 121 moves the car 50 (S209), and then the process ends.

In S205, if movement of the robot 500 at the platform is not detected (S205: No, S104), the operation control unit 121 closes the door (S210). Then, the robot operation control unit 122 stops the robot operation (S211, S105). Next, the communication unit 102 transmits a notification to the controller 150 that the robot 500 cannot board the robot 500 along with the robot ID of the robot 500 at the platform (S212, S106).

When the controller 150 receives a notification from the control panel 100 that the robot 500 cannot be boarded together with the robot ID, it transmits a notification that the robot 500 cannot be boarded together with the robot ID to the server 210 of the elevator cloud 200. (S107).

When the server 210 of the elevator cloud 200 receives a notification from the controller 150 that the robot 500 cannot be boarded along with the robot ID, it sends a notification that the robot 500 cannot board the robot along with the robot ID to the server 310 of the robot cloud 300. Send (S108).

When the server 310 of the robot cloud 300 receives the robot ID and the notification that the robot 500 cannot board from the server 210 of the elevator cloud 200, it transmits an instruction to the robot 500 with the robot ID to wait at the platform (S109). ).
When the robot 500 at the platform receives the instruction to wait at the platform from the server 310 of the robot cloud 300, it waits at the platform without moving (S110).

Next, in the control panel 100, in S213, the operation control unit 121 determines whether all the operation services have been completed (S213). If all the operation services have not ended yet (S213: No), the operation control unit 121 continues the operation services (S214), and waits for all the operation services to end.

When all the operation services are completed (S213: Yes), the automatic diagnostic operation control unit 125 executes an automatic diagnostic operation that automatically diagnoses the elevator 2 (S215, S111).
After the automatic diagnosis is completed, the automatic diagnosis operation control unit 125 determines whether or not there is an abnormality in the elevator 2 as a result of the automatic diagnosis (S216). If it is determined that there is an abnormality in the elevator 2 (S216: Yes), the communication unit 102 sends a notification of the occurrence of an abnormality to the elevator 2 to the maintenance center (S217). Here, the maintenance center includes, for example, the monitoring center 400, but is not limited thereto.

Next, the operation control unit 121 moves the car 50 to a predetermined standard floor (mainly the first floor) (S218), and ends the operation service (S219). After this, the process ends.

On the other hand, if it is determined in S216 that there is no abnormality in the elevator 2 (S216: No), the control unit 120 determines that there is an abnormality in the robot 500 (S112). Therefore, the communication unit 102 transmits an instruction to notify the server 310 of the robot cloud 300 of the abnormality of the robot 500 to the mobile terminal, PC, etc. of the manager of the control room 16, together with the robot ID (S220, S113). The processing at the control panel 100 then ends.

When the manager of the control room 160 receives a notification from the control panel 100 to the server 310 of the robot cloud 300 using a mobile terminal, PC, etc., the manager of the control room 160 informs the server 310 of the robot cloud 300 that the robot 500 with the robot ID is abnormal. A notification to that effect is transmitted (S114).

When the server 310 of the robot cloud 300 receives a notification from the administrator that the robot 500 with the robot ID is abnormal, it transmits an instruction to stop robot operation to the robot 500 at the platform with the robot ID (S115). When the robot 500 receives the instruction to stop the robot operation from the server 310 of the robot cloud 300, the robot 500 stops the robot operation (S116).

Next, the server 310 of the robot cloud 300 instructs the robot company to handle the return of the robot 500 with the robot ID (S117). Upon receiving the instruction, the robot company takes steps to return the robot 500 at the platform with the robot ID (S118). When the server 310 of the robot cloud 300 receives the notification of completion of return support from the robot company (S119), it transmits a return instruction to the robot 500 (S120). The robot 500 that has received the return instruction resumes robot operation (S121).

Next, the elevator control process when getting off the vehicle will be explained.
FIGS. 11 and 12 are sequence diagrams showing an example of the flow of elevator control processing at the time of exit by the elevator control system 1 according to the embodiment.

It is assumed that the elevator 2 is in operation (S301). Further, it is assumed that the control panel 100 is executing robot operation (S302). Here, the robot operation does not matter whether it is a dedicated robot operation or a non-robot dedicated operation.
Next, the control panel 100 starts elevator control processing when getting off the vehicle (S303).

FIGS. 13 and 14 are flowcharts illustrating an example of the procedure of elevator control processing at the time of exit by the control panel 100 according to the embodiment.
When the car 50 arrives at any floor, the operation control unit 121 of the control panel 100 opens the door (S401). Then, the movement determining unit 127 of the control panel 100 starts detecting the movement of the robot 500 that is about to get off the car 50 (S402). Furthermore, the operation control unit 121 starts measuring the door open time (S403). The movement determining unit 127 determines whether a second time period has elapsed since the door was opened (S404). The movement determination unit 127 waits until the second time period has elapsed (S404: No).

When the second time period has elapsed since the door was opened (S404: Yes), the movement determination unit 127 determines whether the robot 500 in the car 50 is about to move and exit the car (S405). If it is determined that the robot 500 is moving (S405: Yes), the operation control unit 121 maintains the door open (S406).

Then, the movement determining unit 127 determines whether the movement of the robot 500 from the car 50 to the landing area (that is, getting off the robot) is complete (S407). While the movement of the robot 500 from the car 50 is not completed yet (S407: No), the process returns to S406 and the door is kept open.

On the other hand, when the movement of the robot 500 from inside the car 50 is completed (S407: Yes), the operation control unit 121 closes the door (S408). Then, the operation control unit 121 moves the car 50 (S409), and then the process ends.

In S405, if movement of the robot 500 at the platform is not detected (S405: No, S304), the operation control unit 121 closes the door (S410). Next, the communication unit 102 transmits a notification to the controller 150 that the robot 500 cannot be operated, along with the robot ID of the robot 500 in the car 50 (S411, S305).

Upon receiving a notification from the control panel 100 that the robot 500 is not operable together with the robot ID, the controller 150 transmits the robot ID and a notification that the robot 500 is not operable to the server 210 of the elevator cloud 200. (S306).

When the server 210 of the elevator cloud 200 receives the robot ID and notification that the robot 500 cannot be operated from the controller 150, it sends the robot ID and a notification that the robot 500 cannot be operated to the server 310 of the robot cloud 300. Send (S307).

When the server 310 of the robot cloud 300 receives the robot ID and notification that the robot 500 cannot be operated from the server 210 of the elevator cloud 200, it transmits an instruction to stop the operation of the robot 500 with the robot ID (S308). .
The robot 500 in the car 50 stops its operation upon receiving the instruction to stop its operation from the server 310 of the robot cloud 300 (S309).

Next, in the control panel 100, in S412, the robot operation control unit 122 stops the robot operation (S412, S310). Then, the operation control unit 112 determines whether all operation services have ended (S413). If all the operation services have not ended yet (S413: No), the operation control unit 121 continues the operation services (S414), and waits for all the operation services to end.

When all the operation services are completed (S413: Yes), the operation control unit 121 prohibits handling of new platform calls (S415). That is, even if the operation control unit 121 receives a new platform call, it ignores it. Then, the operation control unit 121 issues a movement instruction to the car 50 (S311), and moves the car to the reference floor (S416, S312).

Next, the communication unit 102 transmits an instruction to manually dismount the robot 500 in the car 50 along with the robot ID to the mobile terminal, PC, etc. of the manager in the control room 16 (S417, S313).

Upon receiving the instruction, the manager of the control room 160 goes to the car 50 of the robot 500 with the robot ID, manually opens the door (S314), and manually disembarks the robot 500 in the car 50 (S315). . Thereafter, the manager manually closes the door of the car 50 (S316).

In the control panel 100, the operation control unit 112 is in a state of waiting for confirmation that the door is closed (S418, S418: No). Then, when it is confirmed that the door is closed (S418: Yes), the automatic diagnostic operation control unit 125 executes an automatic diagnostic operation that automatically diagnoses the elevator 2 (S419, S317).

After the automatic diagnosis is completed, the automatic diagnosis operation control unit 125 determines whether or not there is an abnormality in the elevator 2 as a result of the automatic diagnosis (S420). If it is determined that there is an abnormality in the elevator 2 (S420: Yes), the communication unit 102 sends a notification of the occurrence of an abnormality to the elevator 2 to the maintenance center (S421). Here, the maintenance center includes, for example, the monitoring center 400, but is not limited thereto.

Next, the operation control unit 121 moves the car 50 to a predetermined standard floor (mainly the first floor) (S422), and ends the operation service (S423). After this, the process ends.

On the other hand, if it is determined in S420 that there is no abnormality in the elevator 2 (S420: No), the control unit 120 determines that there is an abnormality in the robot 500 (S318). Therefore, the communication unit 102 transmits an instruction to notify the server 310 of the robot cloud 300 of the abnormality of the robot 500 to the mobile terminal, PC, etc. of the manager of the control room 16, together with the robot ID (S424, S319). The processing at the control panel 100 then ends.

When the manager of the control room 160 receives a notification from the control panel 100 to the server 310 of the robot cloud 300 using a mobile terminal, PC, etc., the manager of the control room 160 informs the server 310 of the robot cloud 300 that the robot 500 with the robot ID is abnormal. A notification to that effect is sent (S320).

When the server 310 of the robot cloud 300 receives a notification from the administrator that the robot 500 with the robot ID is abnormal, it transmits an instruction to stop the robot operation to the robot 500 at the platform with the robot ID (S321). When the robot 500 receives the instruction to stop the robot operation from the server 310 of the robot cloud 300, the robot 500 stops the robot operation (S322).

Next, the server 310 of the robot cloud 300 instructs the robot company to handle the return of the robot 500 with the robot ID (S323). Upon receiving the instruction, the robot company takes steps to return the robot 500 at the platform with the robot ID (S324). When the server 310 of the robot cloud 300 receives the notification of completion of return support from the robot company (S325), it transmits a return instruction to the robot 500 (S326). The robot 500 that has received the return instruction resumes robot operation (S327).

As described above, in the present embodiment, in the elevator control system 1, the control panel 100 includes the robot operation control section 122 that executes robot operation that can operate the car 50 with the robot 500 mounted thereon, and During execution, if the car 50 lands on any floor and the door opens, and there is a robot 500 waiting to get on the floor at the platform, the first time is shorter than the set time from door opening to door closing. A movement determination unit 127 determines whether or not the robot 500 at the landing has moved within the first time period; and an automatic diagnostic driving control unit 125 that executes automatic diagnostic driving to diagnose whether or not the vehicle can be operated. When the elevator 2 is determined to be able to operate normally, the robot operation control unit 122 determines that the robot 500 at the landing is out of order and stops the operation of the robot 500.

For this reason, in the present embodiment, when the robot 500 at the landing place gets on the car 50 during robot operation, the robot 500 at the landing place is placed within the first time period shorter than the set time from opening to closing the door of the car 50. When the robot 500 does not move, automatic diagnosis of the elevator can be performed to determine whether the cause of the non-movement is on the elevator 2 side or on the robot 500 side. Therefore, according to this embodiment, when an abnormality occurs, it can be determined early whether the problem is in the elevator 2 or the robot 500, and the entire elevator 2 and the building 3 in which the elevator 2 is installed can be can improve operational efficiency.

Further, in this embodiment, if the robot 500 at the landing does not move within a first time period after the door is opened, the control panel 100 sends a message to the server 210 of the elevator cloud 200 via the controller 150 that the robot 500 is not moved. The communication unit 102 includes a communication unit 102 that transmits a message indicating that access is not possible. When the server 210 of the elevator cloud 200 receives a notification from the control panel 100 via the controller 150 that the robot 500 cannot be boarded, it transmits the notification that the robot 500 cannot be boarded to the server 310 of the robot cloud 300 . When the server 310 of the robot cloud 300 receives from the server 210 of the elevator cloud 200 that the robot 500 cannot board, it sends an instruction to the robot 500 at the landing to stand by at the landing. When the robot 500 receives an instruction to wait at the landing from the server 310 of the robot cloud 300, the robot 500 stops driving and waits at the landing.

For this reason, in this embodiment, when the robot 500 at the landing place gets into the car 50 during robot operation, if the robot 500 at the landing does not move within the first time from the door opening, an abnormality occurs. Considering the possibility that the cause is on the robot 500 side, the robot 500 is kept on standby at the platform. Therefore, according to this embodiment, when an abnormality occurs, it is possible to prevent erroneous determination of the cause of the abnormality.

Furthermore, in this embodiment, the communication unit 102 of the control panel 100 sends a message to the manager of the control room 160 about the robot to the server 310 of the robot cloud 300 when it is determined that the elevator 2 can be operated normally. 500 sends an instruction to notify that there is an abnormality. When the server 310 of the robot cloud 300 receives from the manager of the control room 160 that the robot 500 is abnormal, it transmits an instruction to stop the operation of the robot 500 at the platform. When the robot 500 receives an instruction to stop operation from the server 310 of the robot cloud 300, the robot 500 stops its operation.

For this reason, in this embodiment, when the robot 500 at the platform gets into the car 50 during robot operation, if the automatic diagnosis of the elevator 2 determines that the elevator 2 can operate normally, It is determined that the cause of the abnormality is on the robot 500 side, and the operation of the robot 500 is stopped. Therefore, according to the present embodiment, the cause of the abnormality can be determined quickly and accurately, and the operational efficiency of the elevator 2 and the entire building 3 in which the elevator 2 is installed can be improved.

Further, in the present embodiment, the movement determination unit 127 of the control panel 100 determines that when the car 50 on which the robot 500 is riding lands on any floor and opens the door during execution of the robot operation, The communication unit 102 determines whether or not the robot 500 in the car 50 has moved within a second time period that is shorter than the set time from the door opening to the door closing, and the communication unit 102 determines whether the robot 500 in the car 50 has moved within the second time period. If the robot 500 in the robot 500 does not move, an instruction to manually dismount the robot 500 is sent to the manager in the control room 160, and the automatic diagnostic operation control unit 125 executes automatic diagnostic operation after the robot 500 dismounts. If the elevator 2 is determined to be able to operate normally, the robot operation control unit 122 determines that the robot 500 at the landing is out of order and stops the robot operation.

Therefore, in this embodiment, when the robot 500 in the car 50 gets off the car 50 during robot operation, the second time period is shorter than the set time from the door opening to the door closing of the car 50. In addition, when the robot 500 at the landing does not move, it is possible to perform an automatic diagnosis of the elevator and determine whether the reason for not moving is the elevator 2 side or the robot 500 side. Therefore, according to this embodiment, when an abnormality occurs, it can be determined early whether the problem is in the elevator 2 or the robot 500, and the entire elevator 2 and the building 3 in which the elevator 2 is installed can be can improve operational efficiency.

In the present embodiment, the communication unit 102 of the control panel 100 sends a notification to the elevator via the controller 150 that if the robot 500 inside the car 50 does not move within a second time period after the door is opened, the robot 500 cannot be operated. It is transmitted to the server 210 of the cloud 200. When the server 210 of the elevator cloud 200 receives a notification from the control panel 100 via the controller 150 that the robot cannot be operated, it transmits the notification that the robot cannot be operated to the server 310 of the robot cloud 300 . When the server 310 of the robot cloud 300 receives from the server 210 of the elevator cloud 200 that the robot cannot operate, it transmits an instruction to stop the operation of the robot 500 at the platform. When the robot 500 receives an instruction to stop operation from the server 310 of the robot cloud 300, the robot 500 stops operation.

Therefore, in the present embodiment, when the robot 500 in the car 50 gets off the car 50 during robot operation, if the robot 500 at the landing does not move within the second time period after the door opens, , the operation of the robot 500 is stopped, taking into account the possibility that the cause of the abnormality is on the robot 500 side. Therefore, according to this embodiment, when an abnormality occurs, it is possible to prevent erroneous determination of the cause of the abnormality.

Furthermore, in this embodiment, the communication unit 102 of the control panel 100 sends a message to the manager of the control room 160 about the robot to the server 310 of the robot cloud 300 when it is determined that the elevator 2 can be operated normally. 500 is abnormal. When the server 310 of the robot cloud 300 receives from the manager of the control room 160 that the robot 500 is abnormal, it sends an instruction to the robot 500 in the car 50 to stop operation. When the robot 500 receives an instruction to stop operation from the server 310 of the robot cloud 300, the robot 500 stops operation.

Therefore, in the present embodiment, when the robot 500 in the car 50 exits the car 50 while the robot is operating, the automatic diagnosis of the elevator 2 determines that the elevator 2 can operate normally. In this case, it is determined that the cause of the abnormality is on the robot 500 side, and the operation of the robot 500 is stopped. Therefore, according to the present embodiment, the cause of the abnormality can be determined quickly and accurately, and the operational efficiency of the elevator 2 and the entire building 3 in which the elevator 2 is installed can be improved.

In this embodiment, when the elevator 2 is determined to be normal through automatic diagnosis, the control panel 100 notifies the administrator of the control room 160 that there is an abnormality in the robot 500 to the server 310 of the robot cloud 300. The manager of the control room 160 sends a notification to the server 310 of the robot cloud 300 that there is an abnormality in the robot 500, but the invention is not limited to this.

For example, the communication unit 102 of the control panel 100 may be configured to send a message to the controller 150 that there is an abnormality in the robot 500 when the elevator 2 is determined to be normal by automatic diagnosis. The server 310 of the robot cloud 300 can be configured to send information that there is an abnormality in the robot 500 to the server 310 of the robot cloud 300 in turn. In this case, it is possible to more reliably notify the server 310 of the robot cloud 300 that there is an abnormality in the robot 500.

In addition, during robot operation, if the camera 7 of the car 50 or the camera 506 of the robot 500 detects the user's violence in the car 50 before the robot 509 gets into the car 50, the robot The control panel 100, the robot 500, the server 310 of the robot cloud 300, etc. can be configured so that the robot 500 stops riding and returns from robot operation to normal operation.

Although several embodiments of the invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention, as well as within the scope of the invention described in the claims and its equivalents.

1... Elevator control system, 2, 2A, 2B... Elevator, 3... Building, 4, 4A, 4B... Operation panel, 5A... User, 7, 7A, 7B... Camera, 8, 8A, 8B... Load sensor, 20 , 20A, 20B... hoistway, 50, 50A, 50B... car, 100, 100A, 100B... control panel (elevator control device), 120, 151, 211, 311, 501... control unit, 102, 152, 212, 312,502...Communication department, 103...Fire sensor, 104...Seismometer, 110,155,220,320,510...Storage unit, 111...Robot management DB, 112,222...Operation control program, 115,225,325... Robot operation control program, 116, 226...Automatic diagnosis operation program, 121...Operation control section, 122...Robot operation control section, 125...Automatic diagnosis operation control section, 127...Movement judgment section, 150, 150A, 150B...Controller, 160 ...Control room, 200...Elevator cloud, 210...Server, 300...Robot cloud, 310...Server, 321,511...Robot basic program, 500,500A,500B,500C...Robot, 503...Drive unit.

Claims (13)

an elevator control device that controls an elevator in which an autonomous mobile object that can autonomously move to a car can board; an elevator that is connected to the autonomous mobile object and the elevator control device via a network and controls the raising and lowering of the car; and an autonomous mobile body server connected to the autonomous mobile body and the elevator server via a network, the elevator control device in the elevator control system comprising:
an autonomous mobile body operation control unit that executes an autonomous mobile body operation capable of driving the car while the autonomous mobile body is mounted;
During execution of the autonomous mobile object operation, if the car lands on any floor and the door is opened, and there is an autonomous mobile object waiting to board at the platform on the floor, the door is opened. a movement determination unit that determines whether the autonomous mobile body at the platform has moved within a first time period that is shorter than the time period during which the door is closed;
an automatic diagnostic operation control unit that executes an automatic diagnostic operation for diagnosing whether or not the elevator can operate normally if the autonomous mobile body at the platform does not move within the first time from the door opening; , comprising;
The autonomous mobile body operation control unit determines that the autonomous mobile body at the platform is out of order when it is determined that the elevator can operate normally, and stops the autonomous mobile body operation.
Elevator control equipment. If the autonomous mobile body at the platform does not move within the first time from the door opening, the autonomous mobile body cannot board the autonomous mobile body via the elevator server. a transmitter that transmits a message;
The elevator control device according to claim 1, further comprising: The transmitting unit further instructs a control room to notify the autonomous mobile body server that the autonomous mobile body is abnormal when it is determined that the elevator can operate normally. Send,
The elevator control device according to claim 2. The movement determination unit further comprises, during execution of the autonomous mobile operation, when the car in which the autonomous mobile is riding lands on any floor and opens the door, determining whether the autonomous mobile object in the car has moved within a second time period that is shorter than the time period during which the door is closed;
The transmitter transmits an instruction to manually disembark the autonomous mobile object to a control room if the autonomous mobile object in the car does not move within the second time period;
The automatic diagnostic driving control unit executes the automatic diagnostic driving after the autonomous mobile body gets off the vehicle,
The autonomous mobile body operation control unit determines that the autonomous mobile body at the platform is out of order when it is determined that the elevator can operate normally, and stops the autonomous mobile body operation.
The elevator control device according to claim 3. The transmitting unit further transmits a message to the autonomous mobile body server via the elevator server if the autonomous mobile body in the car does not move within the second time from the door opening. transmitting a message that the autonomous mobile object cannot be operated;
The elevator control device according to claim 4, further comprising: The transmission unit further instructs the control room to notify the autonomous mobile body server that the autonomous mobile body is abnormal when it is determined that the elevator can operate normally. send,
The elevator control device according to claim 5. an elevator control device that controls an elevator in which an autonomous mobile object that can autonomously move to a car can board; an elevator that is connected to the autonomous mobile object and the elevator control device via a network and controls the raising and lowering of the car; An elevator control system comprising: a server for an autonomous mobile body; and an autonomous mobile body server connected to the autonomous mobile body and the elevator server via a network,
an autonomous mobile body operation control unit that executes an autonomous mobile body operation capable of driving the car while the autonomous mobile body is mounted;
During execution of the autonomous mobile object operation, if the car lands on any floor and the door is opened, and there is an autonomous mobile object waiting to board at the platform on the floor, the door is opened. a movement determination unit that determines whether the autonomous mobile body at the platform has moved within a first time period that is shorter than the time period during which the door is closed;
an automatic diagnostic operation control unit that executes an automatic diagnostic operation for diagnosing whether or not the elevator can operate normally if the autonomous mobile body at the platform does not move within the first time from the door opening; , comprising:
The autonomous mobile body operation control unit determines that the autonomous mobile body at the platform is out of order when it is determined that the elevator can operate normally, and stops the autonomous mobile body operation.
Elevator control system. The elevator control device includes:
If the autonomous mobile body at the platform does not move within the first time from the door opening, the transmission unit transmits a message to the elevator server to the effect that the autonomous mobile body cannot board the platform. Prepare,
When the elevator server receives a notification from the elevator control device that the autonomous mobile object cannot board, the elevator server transmits a notification that the autonomous mobile object cannot board the autonomous mobile object,
When the autonomous mobile body server receives a notification from the elevator server that the autonomous mobile body cannot board, the autonomous mobile body transmits an instruction to standby at the platform to the autonomous mobile body at the platform,
When the autonomous mobile body receives the instruction to wait at the platform from the autonomous mobile body server, the autonomous mobile body stops driving and waits at the platform.
The elevator control system according to claim 7. The transmitting unit further instructs a control room to notify the autonomous mobile body server that the autonomous mobile body is abnormal when it is determined that the elevator can operate normally. send,
The autonomous mobile body server further transmits an instruction to stop operation to the autonomous mobile body at the platform when receiving from the control room that the autonomous mobile body is abnormal;
The autonomous mobile body further stops driving when receiving the instruction to stop operation from the autonomous mobile body server.
The elevator control system according to claim 8. The movement determination unit further comprises, during execution of the autonomous mobile operation, when the car in which the autonomous mobile is riding lands on any floor and opens the door, determining whether the autonomous mobile object in the car has moved within a second time period that is shorter than the time period during which the door is closed;
The transmitter transmits an instruction to manually disembark the autonomous mobile object to a control room if the autonomous mobile object in the car does not move within the second time period;
The automatic diagnostic driving control unit executes the automatic diagnostic driving after the autonomous mobile body gets off the vehicle,
The autonomous mobile body operation control unit determines that the autonomous mobile body at the platform is out of order when it is determined that the elevator can operate normally, and stops the autonomous mobile body operation.
The elevator control system according to claim 9. The transmitter further transmits a message to the elevator server that the autonomous mobile cannot be operated if the autonomous mobile in the car does not move within the second time after the door is opened;
The elevator server further transmits a notification to the autonomous mobile server that the autonomous mobile cannot be operated when receiving a notification from the elevator control device that the autonomous mobile cannot be operated;
The autonomous mobile body server further transmits an instruction to stop operation to the autonomous mobile body at the platform when receiving a message from the elevator server that the autonomous mobile body cannot be operated;
When the autonomous mobile body receives the instruction to stop operation from the autonomous mobile body server, the autonomous mobile body stops driving.
The elevator control system according to claim 10. The transmission unit further instructs the control room to notify the autonomous mobile body server that the autonomous mobile body is abnormal when it is determined that the elevator can operate normally. and send
The autonomous mobile body server further transmits an instruction to stop operation to the autonomous mobile body at the platform when receiving from the control room that the autonomous mobile body is abnormal;
The autonomous mobile body further stops driving when receiving the instruction to stop operation from the autonomous mobile body server.
The elevator control system according to claim 11. an elevator control device that controls an elevator in which an autonomous mobile object that can autonomously move to a car can board; an elevator that is connected to the autonomous mobile object and the elevator control device via a network and controls the raising and lowering of the car; An elevator control method executed in an elevator control system comprising: a server for an autonomous mobile body; and an autonomous mobile body server connected to the autonomous mobile body and the elevator server via a network,
a step of executing an autonomous mobile operation that allows the car to be operated with the autonomous mobile body on board;
During execution of the autonomous mobile object operation, if the car lands on any floor and the door is opened, and there is an autonomous mobile object waiting to board at the platform on the floor, the door is opened. determining whether the autonomous mobile body at the platform has moved within a first time period that is shorter than the time period during which the door is closed;
If the autonomous mobile body at the platform does not move within the first time from the door opening, executing an automatic diagnostic operation to diagnose whether or not the elevator can operate normally;
If it is determined that the elevator can operate normally, determining that the autonomous mobile body at the platform is out of order, and stopping the operation of the autonomous mobile body;
An elevator control method including:

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