WO2018066051A1 - Elevator control device - Google Patents

Elevator control device Download PDF

Info

Publication number
WO2018066051A1
WO2018066051A1 PCT/JP2016/079443 JP2016079443W WO2018066051A1 WO 2018066051 A1 WO2018066051 A1 WO 2018066051A1 JP 2016079443 W JP2016079443 W JP 2016079443W WO 2018066051 A1 WO2018066051 A1 WO 2018066051A1
Authority
WO
WIPO (PCT)
Prior art keywords
car
robot
door
control device
information
Prior art date
Application number
PCT/JP2016/079443
Other languages
French (fr)
Japanese (ja)
Inventor
敬秀 平井
孝剛 奥中
真吾 小堀
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2016/079443 priority Critical patent/WO2018066051A1/en
Publication of WO2018066051A1 publication Critical patent/WO2018066051A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators

Definitions

  • This invention relates to an elevator control device.
  • Patent Document 1 discloses an elevator.
  • the elevator includes a hoistway.
  • the inside of the hoistway is regularly inspected.
  • the inside of the hoistway is inspected by workers.
  • the inside of the hoistway is inspected by workers. For this reason, the control of the elevator at the time of inspection does not assume that the robot inspects the inside of the hoistway.
  • An object of the present invention is to provide an elevator control device capable of controlling an elevator so that a robot can check the inside of a hoistway.
  • the elevator control device includes: a receiving unit that receives information on an inspection request from a robot; and a height of a floor surface of an elevator car when the receiving unit receives information on an inspection request from the robot.
  • the car control unit that shifts the height of the elevator floor from the height of the floor of the elevator, and the height of the floor of the car is shifted vertically from the height of the floor of the landing by the car control unit
  • a door control unit that opens the car door of the car when in a state.
  • the car door is opened when the height of the floor of the car is shifted in the vertical direction from the height of the floor of the landing. For this reason, the elevator can be controlled so that the robot can check the inside of the hoistway.
  • FIG. 1 is a configuration diagram of an elevator system to which an elevator control device according to Embodiment 1 of the present invention is applied. It is a block diagram of the control apparatus of the elevator in the actual form 1 of this invention. It is a figure for demonstrating the 1st example of the check of the elevator system to which the control apparatus of the elevator in the actual form 1 of this invention is applied. It is a figure for demonstrating the 2nd example of the check of the elevator system to which the control apparatus of the elevator in the actual form 1 of this invention is applied. It is a figure for demonstrating the 3rd example of the check of the elevator system to which the control apparatus of the elevator in the actual form 1 of this invention is applied.
  • FIG. 1 is a configuration diagram of an elevator system to which an elevator control device according to the first embodiment of the present invention is applied.
  • the hoistway 1 passes through each floor of the building.
  • each of the halls 2 is provided on each floor of a building.
  • Each of the plurality of halls 2 faces the hoistway 1.
  • the car 3 is provided inside the hoistway 1.
  • Each of the plurality of landing doors 4 is provided at each entrance of the plurality of landings 2.
  • Each of the plurality of landing door coupling devices 5 is provided in each of the plurality of landing doors 4.
  • the car door 6 is provided at the entrance / exit of the car 3.
  • the car door coupling device 7 is provided on the car door 6.
  • each of the plurality of hall sensors 8 is provided in each of the plurality of halls 2.
  • each of the plurality of hall sensors 8 is a scanning distance sensor.
  • each of the plurality of hall sensors 8 is a camera.
  • each of the plurality of hall communication devices 9 is provided in each of the plurality of halls 2.
  • the car sensor 10 is provided in the car 3.
  • the car sensor 10 is a scanning distance sensor.
  • the car sensor 10 is a camera.
  • the car communication device 11 is provided in the car 3.
  • control device 12 is provided inside a machine room (not shown) of the elevator.
  • control device 12 is provided inside the hoistway 1.
  • the robot 13 is provided so that the elevator hoistway 1 can be inspected.
  • the robot 13 is a drone.
  • a drone is an unmanned aerial vehicle that can fly by at least one of remote control and automatic control.
  • the robot 13 transmits information on an inspection request at the hall 2 by wireless communication.
  • the hall communication device 9 at the hall 2 receives the information by wireless communication.
  • the control device 12 opens the car door 6 in a state where the height of the floor surface of the car 3 is shifted from the height of the floor surface of the hall 2 based on the information.
  • the car door coupling device 7 is the landing door coupling device 5 of the hall 2. Concatenate with For this reason, the landing door 4 of the landing 2 is opened in conjunction with the car door 6. As a result, an inspection passage that connects the hall 2 and the inside of the hoistway 1 is formed.
  • the robot 13 moves from the landing 2 to the inside of the hoistway 1 through the inspection passage.
  • the robot 13 performs a preset inspection inside the hoistway 1.
  • FIG. 2 is a block diagram of the elevator control apparatus according to the first embodiment of the present invention.
  • the control device 12 includes a receiving unit 12a, a car control unit 12b, a door control unit 12c, and a transmission unit 12d.
  • the receiving unit 12a receives inspection request information from the robot 13 via the hall communication device 9 or the car communication device 11.
  • the receiving unit 12a receives inspection request information including information on the width, height, and moving direction from the robot 13 via the hall communication device 9 or the car communication device 11.
  • the car control unit 12b When the receiving unit 12a receives the inspection request information from the robot 13, the car control unit 12b increases the height of the floor of the car 3 from the height of the floor of the hall 2 in the vertical direction based on the content of the information. Shift. For example, the car control unit 12b determines the moving direction and moving distance of the car 3 based on the information about the height and moving direction received by the receiving unit 12a from the robot 13.
  • the door control unit 12c opens the car door 6 when the height of the floor surface of the car 3 is shifted from the height of the floor surface of the hall 2 in the vertical direction by the control of the car control unit 12b. For example, the door control unit 12 c determines the distance to open the car door 6 based on the width information received by the receiving unit 12 a from the robot 13.
  • the transmission unit 12d opens the car door 6 under the control of the door control unit 12c in a state where the height of the floor of the car 3 is shifted in the vertical direction from the height of the floor of the hall 2 by the control of the car control unit 12b.
  • the preset information is transmitted in the state.
  • FIG. 3 is a diagram for explaining a first example of inspection of an elevator system to which the elevator control device according to Embodiment 1 of the present invention is applied.
  • the robot 13 transmits information on the first inspection request at the hall 2 by wireless communication.
  • the hall communication device 9 at the hall 2 receives the information by wireless communication.
  • the car communication device 11 (not shown in FIG. 3) receives the information by wireless communication.
  • the control device 12 does not accept the information when the hall sensor 8 of the hall 2 detects that a person is present at the hall 2.
  • the control device 12 receives the information when the hall sensor 8 of the hall 2 detects that no person is present at the hall 2.
  • the control device 12 When the control device 12 receives the information, the control device 12 moves the car 3 downward within a range in which the landing door 4 opens in conjunction with the car door 6 based on information on the height and the moving direction included in the information. . Thereafter, the control device 12 opens the car door 6 based on the width information included in the information. At this time, the landing door 4 opens in conjunction with the car door 6. As a result, an inspection passage that connects the hall 2 and the upper side of the car 3 is formed.
  • control device 12 transmits first inspection information indicating that the landing door 4 is opened in a state where the car 3 is moved downward to the landing communication device 9 of the landing 2.
  • the hall communication device 9 at the hall 2 transmits the information by wireless communication.
  • the robot 13 receives the information by wireless communication. Based on the information, the robot 13 recognizes that the landing door 4 is opened with the car 3 moving downward. Thereafter, the robot 13 moves from the landing 2 to the inside of the hoistway 1 through the inspection route. Thereafter, the robot 13 inspects the inside of the hoistway 1 from above the car 3.
  • FIG. 4 is a diagram for explaining a second example of inspection of the elevator system to which the elevator control device according to the first embodiment of the present invention is applied.
  • the robot 13 transmits information on the second inspection request at the hall 2 by wireless communication.
  • the hall communication device 9 at the hall 2 receives the information by wireless communication.
  • the control device 12 does not accept the information when the hall sensor 8 of the hall 2 detects that a person is present at the hall 2.
  • the control device 12 receives the information when the hall sensor 8 of the hall 2 detects that no person is present at the hall 2.
  • the control device 12 When the control device 12 receives the information, the control device 12 moves the car 3 upward within a range in which the landing door 4 opens in conjunction with the car door 6 based on information on the height and the moving direction included in the information. . Thereafter, the control device 12 opens the car door 6 based on the width information included in the information. At this time, the landing door 4 opens in conjunction with the car door 6. As a result, an inspection passage connecting the landing 2 and the lower side of the car 3 is formed.
  • control device 12 transmits second inspection information indicating that the landing door 4 is opened in a state where the car 3 is moved upward to the landing communication device 9 of the landing 2.
  • the hall communication device 9 at the hall 2 transmits the information by wireless communication.
  • the robot 13 receives the information by wireless communication. Based on the information, the robot 13 recognizes that the landing door 4 is opened with the car 3 moving upward. Thereafter, the robot 13 moves from the landing 2 to the inside of the hoistway 1 through the inspection route. Thereafter, the robot 13 inspects the inside of the hoistway 1 below the car 3.
  • FIG. 5 is a view for explaining a third example of inspection of an elevator system to which the elevator control device according to Embodiment 1 of the present invention is applied.
  • the robot 13 transmits information on the third inspection request by wireless communication inside the car 3.
  • the car communication device 11 receives the information by wireless communication.
  • the control device 12 does not accept the information when the car sensor 10 detects that a person is present inside the car 3.
  • the control device 12 receives the information when the car sensor 10 detects that no person is present inside the car 3.
  • the control device 12 When the control device 12 receives the information, the control device 12 moves the car 3 upward to the outside of the range where the landing door 4 opens in conjunction with the car door 6 based on the information about the height and the moving direction included in the information. . Thereafter, the control device 12 opens the car door 6 based on the width information included in the information. At this time, the landing door 4 is not interlocked with the car door 6. As a result, the back surface other than the lower part of the landing door 4 is exposed toward the inside of the car 3.
  • control device 12 transmits to the car communication device 11 third inspection information indicating that the car door 6 has been opened with the car 3 moving upward.
  • the car communication device 11 transmits the information by wireless communication.
  • the robot 13 receives the information by wireless communication. Based on this information, the robot 13 recognizes that the car door 6 has been opened while the car 3 has moved upward. Thereafter, the robot 13 inspects the back surface of the landing door 4 from the inside of the car 3. For example, the robot 13 inspects various devices provided on the back surface of the landing door 4.
  • FIGS. 6 and 7 are diagrams for explaining the outline of the operation of the control device for the elevator system in the first embodiment of the present invention.
  • step S1 the control device 12 determines whether or not the inspection request information from the robot 13 has been received. When the control device 12 has not received the inspection request information from the robot 13 in step S1, the control device 12 performs the operation of step S1. When the control device 12 receives the inspection request information from the robot 13 in step S1, the control device 12 performs the operation of step S2. In step S2, the control device 12 determines whether or not the information is information on the first inspection request.
  • step S When the information is the first inspection request information in step S2, the control device 12 performs the operation in step S3.
  • step S ⁇ b> 3 the control device 12 moves the car 3 downward within a range where the landing door 4 opens in conjunction with the car door 6. Thereafter, the control device 12 performs the operation of step S4.
  • step S4 the control device 12 opens the car door 6. Thereafter, the control device 12 performs the operation of step S5.
  • step S ⁇ b> 5 the control device 12 transmits first inspection information indicating that the landing door 4 is opened in a state where the car 3 has moved downward to the landing communication device 9 of the landing 2. Thereafter, the control device 12 ends the operation.
  • step S2 If the information is not the information on the first inspection request in step S2, the control device 12 performs the operation in step S6. In step S6, the control device 12 determines whether the information is information on a second inspection request.
  • step S6 If the information is information on the second inspection request in step S6, the control device 12 performs the operation of step S7.
  • step S ⁇ b> 7 the control device 12 moves the car 3 upward within a range where the landing door 4 opens in conjunction with the car door 6. Thereafter, the control device 12 performs the operation of step S8.
  • step S8 the control device 12 opens the car door 6. Thereafter, the control device 12 performs the operation of step S9.
  • step S ⁇ b> 9 the control device 12 transmits second inspection information indicating that the landing door 4 is opened while the car 3 is moved upward to the landing communication device 9 of the landing 2. Thereafter, the control device 12 ends the operation.
  • step S6 If the information is not information on the second inspection request in step S6, the information is information on the third inspection request. In this case, the control device 12 performs the operation of step S10. In step S ⁇ b> 10, the control device 12 moves the car 3 upward until it is out of the range where the landing door 4 opens in conjunction with the car door 6. Thereafter, the control device 12 performs the operation of step S11.
  • step S11 the control device 12 opens the car door 6. Thereafter, the control device 12 performs the operation of step S12.
  • step S ⁇ b> 12 the control device 12 transmits to the car communication device 11 third inspection information indicating that the car door 6 has been opened with the car 3 moving upward. Thereafter, the control device 12 ends the operation.
  • the car door 6 opens when the height of the floor surface of the car 3 is shifted in the vertical direction from the height of the floor surface of the landing. For this reason, the elevator can be controlled so that the robot 13 can inspect the inside of the hoistway 1 without greatly changing the mechanical structure of the elevator.
  • the robot 13 when the robot 13 transmits the information on the first inspection request at the landing 2 by wireless communication, the robot 13 can move from the landing 2 to above the car 3. For this reason, the inside of the hoistway 1 can be inspected above the car 3 using the robot 13. At this time, the robot 13 may be placed on the ceiling of the car 3.
  • the robot 13 when the robot 13 transmits information on the second inspection request at the landing 2 by wireless communication, the robot 13 can move from the landing 2 to the lower side of the car 3. For this reason, the inside of the hoistway 1 can be inspected below the car 3 using the robot 13. At this time, the robot 13 may be lowered from the building to the bottom of the hoistway 1.
  • control device 12 transmits the first inspection information or the second inspection information indicating that the landing door 4 is opened to the robot 13. Therefore, the robot 13 can recognize that the landing door 4 has been opened. As a result, it is possible to prompt the robot 13 to check the inside of the hoistway 1.
  • control device 12 receives information on the first inspection request or the second inspection request from the robot 13 when the hall sensor 8 detects that no person is present at the hall 2. For this reason, the inspection by the robot 13 can be performed safely.
  • the robot 13 existing at the hall 2 may detect that no person is present at the hall 2 using a scan-type distance sensor, a camera, or the like. At this time, the robot 13 does not transmit the inspection request information when detecting the presence of a person on the hall 2. The robot 13 transmits inspection request information when it is detected that no person is present at the hall 2. Also in this case, the inspection by the robot 13 can be performed safely.
  • the robot 13 transmits information on the third inspection request by wireless communication inside the car 3, the back surface other than the lower part of the landing door 4 is exposed toward the inside of the car 3. For this reason, the back surface of the landing door 4 can be inspected from the inside of the car 3 using the robot 13.
  • control device 12 transmits third inspection information indicating that the car door 6 has been opened to the robot 13. Therefore, the robot 13 can recognize that the car door 6 has been opened. As a result, it is possible to prompt the robot 13 to check the inside of the hoistway 1.
  • control device 12 receives the information on the third inspection request from the robot 13 when the car sensor 10 detects that no person is present inside the car 3. For this reason, the inspection by the robot 13 can be performed safely.
  • the robot 13 existing inside the car 3 may detect that there is no person inside the car 3 using a scanning distance sensor, a camera, or the like that the robot 13 has. At this time, the robot 13 does not transmit the inspection request information when detecting the presence of a person inside the car 3. When the robot 13 detects that no person is present inside the car 3, the robot 13 transmits inspection request information. Also in this case, the inspection by the robot 13 can be performed safely.
  • control device 12 determines the moving direction and moving distance of the car 3 and the distance for opening the car door 6 based on the information on the width, height and moving direction from the robot 13. For this reason, an elevator can be appropriately controlled according to the kind of inspection.
  • information on the width and height may be set according to the width and height of the robot 13.
  • the inside of the hoistway 1 can be inspected using the robot 13 while ensuring the safety of the people on the hall 2.
  • the width and height information may be set according to the arrangement of various devices provided on the back surface of the landing door 4.
  • the opening width can be suppressed even when a person is on the car 3.
  • various devices provided on the back surface of the landing door 4 can be easily inspected.
  • an opening having a width and a height corresponding to the width and height of the robot 13 may be formed in the apron. Also in this case, the inside of the hoistway 1 can be inspected by using the robot 13 while ensuring the safety of people on the hall 2.
  • inspection type information may be included in the inspection information.
  • the moving direction of the car 3 may be determined based on the inspection type information.
  • the elevator can be appropriately controlled according to the type of inspection.
  • FIG. 8 is a hardware configuration diagram of the elevator system control apparatus according to Embodiment 1 of the present invention.
  • the function of the control device 12 can be realized by a processing circuit.
  • the processing circuit includes at least one processor 14a and at least one memory 14b.
  • the processing circuit comprises at least one dedicated hardware 15.
  • the function of the control device 12 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in at least one memory 14b.
  • the at least one processor 14a implements the function of the control device 12 by reading and executing a program stored in the at least one memory 14b.
  • the at least one processor 14a is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
  • the at least one memory 14b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.
  • the processing circuit comprises at least one dedicated hardware 15
  • the processing circuit is implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
  • the functions of the control device 12 are each realized by a processing circuit.
  • the functions of the control device 12 are collectively realized by a processing circuit.
  • control device 12 may be realized by the dedicated hardware 15, and the other part may be realized by software or firmware.
  • the function of the door control unit 12c is realized by a processing circuit as the dedicated hardware 15, and for the functions other than the function of the door control unit 12c, at least one processor 14a is stored in at least one memory 14b. May be realized by reading out and executing.
  • the processing circuit realizes each function of the control device 12 with the hardware 15, software, firmware, or a combination thereof.
  • the elevator control device can be used in a system for inspecting the inside of a hoistway with a robot.

Abstract

Provided is an elevator control device that can control an elevator so that a robot can inspect the interior of an elevator shaft. An elevator control device comprises: a receiver that receives information on an inspection request from a robot; a car control unit that shifts the height of an elevator car floor face in the vertical direction from the height of the floor face of an elevator landing when the receiver receives information on the inspection request from the robot; and a door control unit that opens the car doors when the height of the car floor face has been shifted in the vertical direction from the height of the floor face of the landing by the car control unit.

Description

エレベーターの制御装置Elevator control device
　この発明は、エレベーターの制御装置に関する。 This invention relates to an elevator control device.
　例えば、特許文献１は、エレベーターを開示する。当該エレベーターは、昇降路を備える。エレベーターにおいては、昇降路の内部の点検が定期的に行われる。昇降路の内部の点検は、作業員により行われる。 For example, Patent Document 1 discloses an elevator. The elevator includes a hoistway. In the elevator, the inside of the hoistway is regularly inspected. The inside of the hoistway is inspected by workers.
日本特開２０１２－２４０７７５号公報Japanese Unexamined Patent Publication No. 2012-240775
　昇降路の内部の点検は、作業員により行われる。このため、点検時のエレベーターの制御は、ロボットが昇降路の内部を点検することを前提としていない。 The inside of the hoistway is inspected by workers. For this reason, the control of the elevator at the time of inspection does not assume that the robot inspects the inside of the hoistway.
　この発明は、上述の課題を解決するためになされた。この発明の目的は、ロボットが昇降路の内部を点検し得るようにエレベーターを制御することができるエレベーターの制御装置を提供することである。 This invention has been made to solve the above-mentioned problems. An object of the present invention is to provide an elevator control device capable of controlling an elevator so that a robot can check the inside of a hoistway.
　この発明に係るエレベーターの制御装置は、ロボットからの点検要求の情報を受信する受信部と、前記受信部が前記ロボットからの点検要求の情報を受信した際にエレベーターのかごの床面の高さを前記エレベーターの乗場の床面の高さから鉛直方向にずらすかご制御部と、前記かご制御部により前記かごの床面の高さが前記乗場の床面の高さから鉛直方向にずらされた状態のときに前記かごのかごドアを開くドア制御部と、を備えた。 The elevator control device according to the present invention includes: a receiving unit that receives information on an inspection request from a robot; and a height of a floor surface of an elevator car when the receiving unit receives information on an inspection request from the robot. The car control unit that shifts the height of the elevator floor from the height of the floor of the elevator, and the height of the floor of the car is shifted vertically from the height of the floor of the landing by the car control unit And a door control unit that opens the car door of the car when in a state.
　この発明によれば、かごドアは、かごの床面の高さが乗場の床面の高さから鉛直方向にずれた状態のときに開く。このため、ロボットが昇降路の内部を点検し得るようにエレベーターを制御することができる。 According to this invention, the car door is opened when the height of the floor of the car is shifted in the vertical direction from the height of the floor of the landing. For this reason, the elevator can be controlled so that the robot can check the inside of the hoistway.
この発明の実態の形態１におけるエレベーターの制御装置が適用されるエレベーターシステムの構成図である。1 is a configuration diagram of an elevator system to which an elevator control device according to Embodiment 1 of the present invention is applied. この発明の実態の形態１におけるエレベーターの制御装置のブロック図である。It is a block diagram of the control apparatus of the elevator in the actual form 1 of this invention. この発明の実態の形態１におけるエレベーターの制御装置が適用されるエレベーターシステムの点検の第１例を説明するための図である。It is a figure for demonstrating the 1st example of the check of the elevator system to which the control apparatus of the elevator in the actual form 1 of this invention is applied. この発明の実態の形態１におけるエレベーターの制御装置が適用されるエレベーターシステムの点検の第２例を説明するための図である。It is a figure for demonstrating the 2nd example of the check of the elevator system to which the control apparatus of the elevator in the actual form 1 of this invention is applied. この発明の実態の形態１におけるエレベーターの制御装置が適用されるエレベーターシステムの点検の第３例を説明するための図である。It is a figure for demonstrating the 3rd example of the check of the elevator system to which the control apparatus of the elevator in the actual form 1 of this invention is applied. この発明の実態の形態１におけるエレベーターシステムの制御装置の動作の概要を説明するための図である。It is a figure for demonstrating the outline | summary of operation | movement of the control apparatus of the elevator system in the form 1 of the actual condition of this invention. この発明の実態の形態１におけるエレベーターシステムの制御装置の動作の概要を説明するための図である。It is a figure for demonstrating the outline | summary of operation | movement of the control apparatus of the elevator system in the form 1 of the actual condition of this invention. この発明の実施の形態１におけるエレベーターシステムの制御装置のハードウェア構成図である。It is a hardware block diagram of the control apparatus of the elevator system in Embodiment 1 of this invention.
　この発明を実施するための形態について添付の図面に従って説明する。なお、各図中、同一または相当する部分には同一の符号が付される。当該部分の重複説明は適宜に簡略化または省略する。 DETAILED DESCRIPTION Embodiments for carrying out the present invention will be described with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or it corresponds in each figure. The overlapping description of the part is appropriately simplified or omitted.
実施の形態１．
　図１はこの発明の実態の形態１におけるエレベーターの制御装置が適用されるエレベーターシステムの構成図である。 Embodiment 1 FIG.
FIG. 1 is a configuration diagram of an elevator system to which an elevator control device according to the first embodiment of the present invention is applied.
　図１のエレベーターシステムにおいて、昇降路１は、建築物の各階を貫く。例えば、複数の乗場２の各々は、建築物の各階に設けられる。複数の乗場２の各々は、昇降路１に対向する。かご３は、昇降路１の内部に設けられる。 1 In the elevator system shown in FIG. 1, the hoistway 1 passes through each floor of the building. For example, each of the halls 2 is provided on each floor of a building. Each of the plurality of halls 2 faces the hoistway 1. The car 3 is provided inside the hoistway 1.
　複数の乗場ドア４の各々は、複数の乗場２の各々の出入口に設けられる。複数の乗場ドア連結装置５の各々は、複数の乗場ドア４の各々に設けられる。かごドア６は、かご３の出入口に設けられる。かごドア連結装置７は、かごドア６に設けられる。 Each of the plurality of landing doors 4 is provided at each entrance of the plurality of landings 2. Each of the plurality of landing door coupling devices 5 is provided in each of the plurality of landing doors 4. The car door 6 is provided at the entrance / exit of the car 3. The car door coupling device 7 is provided on the car door 6.
　例えば、複数の乗場センサ８の各々は、複数の乗場２の各々に設けられる。例えば、複数の乗場センサ８の各々は、スキャン式の距離センサである。例えば、複数の乗場センサ８の各々は、カメラである。例えば、複数の乗場通信装置９の各々は、複数の乗場２の各々に設けられる。例えば、かごセンサ１０は、かご３に設けられる。例えば、かごセンサ１０は、スキャン式の距離センサである。例えば、かごセンサ１０は、カメラである。例えば、かご通信装置１１は、かご３に設けられる。 For example, each of the plurality of hall sensors 8 is provided in each of the plurality of halls 2. For example, each of the plurality of hall sensors 8 is a scanning distance sensor. For example, each of the plurality of hall sensors 8 is a camera. For example, each of the plurality of hall communication devices 9 is provided in each of the plurality of halls 2. For example, the car sensor 10 is provided in the car 3. For example, the car sensor 10 is a scanning distance sensor. For example, the car sensor 10 is a camera. For example, the car communication device 11 is provided in the car 3.
　例えば、制御装置１２は、エレベーターの図示されない機械室の内部に設けられる。例えば、制御装置１２は、昇降路１の内部に設けられる。 For example, the control device 12 is provided inside a machine room (not shown) of the elevator. For example, the control device 12 is provided inside the hoistway 1.
　例えば、ロボット１３は、エレベーターの昇降路１を点検し得るように設けられる。例えば、ロボット１３は、ドローンである。ドローンとは、遠隔操作および自動制御の少なくとも一方によって飛行できる無人航空機のことである。 For example, the robot 13 is provided so that the elevator hoistway 1 can be inspected. For example, the robot 13 is a drone. A drone is an unmanned aerial vehicle that can fly by at least one of remote control and automatic control.
　例えば、ロボット１３は、乗場２において点検要求の情報を無線通信により送信する。当該乗場２の乗場通信装置９は、当該情報を無線通信により受信する。制御装置１２は、当該情報に基づいてかご３の床面の高さを当該乗場２の床面の高さからずらした状態でかごドア６を開く。 For example, the robot 13 transmits information on an inspection request at the hall 2 by wireless communication. The hall communication device 9 at the hall 2 receives the information by wireless communication. The control device 12 opens the car door 6 in a state where the height of the floor surface of the car 3 is shifted from the height of the floor surface of the hall 2 based on the information.
　この際、かご３の床面の高さが当該乗場２の床面の高さとの差が予め設定された範囲内であれば、かごドア連結装置７は、当該乗場２の乗場ドア連結装置５と連結する。このため、当該乗場２の乗場ドア４は、かごドア６と連動して開く。その結果、乗場２と昇降路１の内部とをつなぐ点検通路が形成される。 At this time, if the difference between the height of the floor surface of the car 3 and the height of the floor surface of the hall 2 is within a preset range, the car door coupling device 7 is the landing door coupling device 5 of the hall 2. Concatenate with For this reason, the landing door 4 of the landing 2 is opened in conjunction with the car door 6. As a result, an inspection passage that connects the hall 2 and the inside of the hoistway 1 is formed.
　ロボット１３は、当該乗場２から点検通路を通過して昇降路１の内部に移動する。ロボット１３は、昇降路１の内部において予め設定された点検を実施する。 The robot 13 moves from the landing 2 to the inside of the hoistway 1 through the inspection passage. The robot 13 performs a preset inspection inside the hoistway 1.
　次に、図２を用いて、制御装置１２を説明する。
　図２はこの発明の実態の形態１におけるエレベーターの制御装置のブロック図である。 Next, the control device 12 will be described with reference to FIG.
FIG. 2 is a block diagram of the elevator control apparatus according to the first embodiment of the present invention.
　図２に示されるように、制御装置１２は、受信部１２ａとかご制御部１２ｂとドア制御部１２ｃと送信部１２ｄとを備える。 As shown in FIG. 2, the control device 12 includes a receiving unit 12a, a car control unit 12b, a door control unit 12c, and a transmission unit 12d.
　受信部１２ａは、乗場通信装置９またはかご通信装置１１を介してロボット１３からの点検要求の情報を受信する。例えば、受信部１２ａは、乗場通信装置９またはかご通信装置１１を介してロボット１３から幅と高さと移動方向との情報を含む点検要求の情報を受信する。 The receiving unit 12a receives inspection request information from the robot 13 via the hall communication device 9 or the car communication device 11. For example, the receiving unit 12a receives inspection request information including information on the width, height, and moving direction from the robot 13 via the hall communication device 9 or the car communication device 11.
　かご制御部１２ｂは、受信部１２ａがロボット１３から点検要求の情報を受信した際に当該情報の内容に基づいてかご３の床面の高さを乗場２の床面の高さから鉛直方向にずらす。例えば、かご制御部１２ｂは、受信部１２ａがロボット１３から受信した高さと移動方向との情報に基づいてかご３の移動方向と移動距離とを決定する。 When the receiving unit 12a receives the inspection request information from the robot 13, the car control unit 12b increases the height of the floor of the car 3 from the height of the floor of the hall 2 in the vertical direction based on the content of the information. Shift. For example, the car control unit 12b determines the moving direction and moving distance of the car 3 based on the information about the height and moving direction received by the receiving unit 12a from the robot 13.
　ドア制御部１２ｃは、かご制御部１２ｂの制御によりかご３の床面の高さが乗場２の床面の高さから鉛直方向にずらされた状態のときにかごドア６を開く。例えば、ドア制御部１２ｃは、受信部１２ａがロボット１３から受信した幅の情報に基づいてかごドア６を開く距離を決定する。 The door control unit 12c opens the car door 6 when the height of the floor surface of the car 3 is shifted from the height of the floor surface of the hall 2 in the vertical direction by the control of the car control unit 12b. For example, the door control unit 12 c determines the distance to open the car door 6 based on the width information received by the receiving unit 12 a from the robot 13.
　送信部１２ｄは、かご制御部１２ｂの制御によりかご３の床面の高さが乗場２の床面の高さから鉛直方向にずらされた状態でドア制御部１２ｃの制御によりかごドア６が開いた状態のときに予め設定された情報を送信する。 The transmission unit 12d opens the car door 6 under the control of the door control unit 12c in a state where the height of the floor of the car 3 is shifted in the vertical direction from the height of the floor of the hall 2 by the control of the car control unit 12b. The preset information is transmitted in the state.
　次に、図３を用いて、点検の第１例を説明する。
　図３はこの発明の実態の形態１におけるエレベーターの制御装置が適用されるエレベーターシステムの点検の第１例を説明するための図である。 Next, a first example of inspection will be described with reference to FIG.
FIG. 3 is a diagram for explaining a first example of inspection of an elevator system to which the elevator control device according to Embodiment 1 of the present invention is applied.
　例えば、ロボット１３が乗場２において第１点検要求の情報を無線通信により送信する。当該乗場２の乗場通信装置９は、当該情報を無線通信により受信する。なお、かご３がロボット１３と同じ階に存在する際は、図３においては図示されないかご通信装置１１が当該情報を無線通信により受信する。制御装置１２は、当該乗場２の乗場センサ８が当該乗場２に人が存在することを検出している際に当該情報を受け付けない。制御装置１２は、当該乗場２の乗場センサ８が当該乗場２に人が存在しないことを検出している際に当該情報を受け付ける。 For example, the robot 13 transmits information on the first inspection request at the hall 2 by wireless communication. The hall communication device 9 at the hall 2 receives the information by wireless communication. When the car 3 exists on the same floor as the robot 13, the car communication device 11 (not shown in FIG. 3) receives the information by wireless communication. The control device 12 does not accept the information when the hall sensor 8 of the hall 2 detects that a person is present at the hall 2. The control device 12 receives the information when the hall sensor 8 of the hall 2 detects that no person is present at the hall 2.
　制御装置１２は、当該情報を受け付けた際に当該情報に含まれた高さと移動方向との情報に基づいて乗場ドア４がかごドア６に連動して開く範囲内においてかご３を下方に移動させる。その後、制御装置１２は、当該情報に含まれた幅の情報に基づいてかごドア６を開く。この際、乗場ドア４は、かごドア６と連動して開く。その結果、乗場２とかご３の上方とをつなぐ点検通路が形成される。 When the control device 12 receives the information, the control device 12 moves the car 3 downward within a range in which the landing door 4 opens in conjunction with the car door 6 based on information on the height and the moving direction included in the information. . Thereafter, the control device 12 opens the car door 6 based on the width information included in the information. At this time, the landing door 4 opens in conjunction with the car door 6. As a result, an inspection passage that connects the hall 2 and the upper side of the car 3 is formed.
　その後、制御装置１２は、かご３が下方に移動した状態で乗場ドア４が開いたことを示す第１点検情報を当該乗場２の乗場通信装置９に送信する。当該乗場２の乗場通信装置９は、当該情報を無線通信により送信する。 Thereafter, the control device 12 transmits first inspection information indicating that the landing door 4 is opened in a state where the car 3 is moved downward to the landing communication device 9 of the landing 2. The hall communication device 9 at the hall 2 transmits the information by wireless communication.
　ロボット１３は、当該情報を無線通信により受信する。ロボット１３は、当該情報に基づいてかご３が下方に移動した状態で乗場ドア４が開いたことを認識する。その後、ロボット１３は、乗場２から点検経路を通過して昇降路１の内部に移動する。その後、ロボット１３は、かご３の上方から昇降路１の内部を点検する。 The robot 13 receives the information by wireless communication. Based on the information, the robot 13 recognizes that the landing door 4 is opened with the car 3 moving downward. Thereafter, the robot 13 moves from the landing 2 to the inside of the hoistway 1 through the inspection route. Thereafter, the robot 13 inspects the inside of the hoistway 1 from above the car 3.
　次に、図４を用いて、点検の第２例を説明する。
　図４はこの発明の実態の形態１におけるエレベーターの制御装置が適用されるエレベーターシステムの点検の第２例を説明するための図である。 Next, a second example of inspection will be described with reference to FIG.
FIG. 4 is a diagram for explaining a second example of inspection of the elevator system to which the elevator control device according to the first embodiment of the present invention is applied.
　例えば、ロボット１３が乗場２において第２点検要求の情報を無線通信により送信する。当該乗場２の乗場通信装置９は、当該情報を無線通信により受信する。制御装置１２は、当該乗場２の乗場センサ８が当該乗場２に人が存在することを検出している際に当該情報を受け付けない。制御装置１２は、当該乗場２の乗場センサ８が当該乗場２に人が存在しないことを検出している際に当該情報を受け付ける。 For example, the robot 13 transmits information on the second inspection request at the hall 2 by wireless communication. The hall communication device 9 at the hall 2 receives the information by wireless communication. The control device 12 does not accept the information when the hall sensor 8 of the hall 2 detects that a person is present at the hall 2. The control device 12 receives the information when the hall sensor 8 of the hall 2 detects that no person is present at the hall 2.
　制御装置１２は、当該情報を受け付けた際に当該情報に含まれた高さと移動方向との情報に基づいて乗場ドア４がかごドア６に連動して開く範囲内においてかご３を上方に移動させる。その後、制御装置１２は、当該情報に含まれた幅の情報に基づいてかごドア６を開く。この際、乗場ドア４は、かごドア６と連動して開く。その結果、乗場２とかご３の下方とをつなぐ点検通路が形成される。 When the control device 12 receives the information, the control device 12 moves the car 3 upward within a range in which the landing door 4 opens in conjunction with the car door 6 based on information on the height and the moving direction included in the information. . Thereafter, the control device 12 opens the car door 6 based on the width information included in the information. At this time, the landing door 4 opens in conjunction with the car door 6. As a result, an inspection passage connecting the landing 2 and the lower side of the car 3 is formed.
　その後、制御装置１２は、かご３が上方に移動した状態で乗場ドア４が開いたことを示す第２点検情報を当該乗場２の乗場通信装置９に送信する。当該乗場２の乗場通信装置９は、当該情報を無線通信により送信する。 Thereafter, the control device 12 transmits second inspection information indicating that the landing door 4 is opened in a state where the car 3 is moved upward to the landing communication device 9 of the landing 2. The hall communication device 9 at the hall 2 transmits the information by wireless communication.
　ロボット１３は、当該情報を無線通信により受信する。ロボット１３は、当該情報に基づいてかご３が上方に移動した状態で乗場ドア４が開いたことを認識する。その後、ロボット１３は、乗場２から点検経路を通過して昇降路１の内部に移動する。その後、ロボット１３は、かご３の下方において昇降路１の内部を点検する。 The robot 13 receives the information by wireless communication. Based on the information, the robot 13 recognizes that the landing door 4 is opened with the car 3 moving upward. Thereafter, the robot 13 moves from the landing 2 to the inside of the hoistway 1 through the inspection route. Thereafter, the robot 13 inspects the inside of the hoistway 1 below the car 3.
　次に、図５を用いて、点検の第３例を説明する。
　図５はこの発明の実態の形態１におけるエレベーターの制御装置が適用されるエレベーターシステムの点検の第３例を説明するための図である。 Next, a third example of inspection will be described with reference to FIG.
FIG. 5 is a view for explaining a third example of inspection of an elevator system to which the elevator control device according to Embodiment 1 of the present invention is applied.
　例えば、ロボット１３がかご３の内部において第３点検要求の情報を無線通信により送信する。かご通信装置１１は、当該情報を無線通信により受信する。制御装置１２は、当該かごセンサ１０がかご３の内部に人が存在することを検出している際に当該情報を受け付けない。制御装置１２は、かごセンサ１０がかご３の内部に人が存在しないことを検出している際に当該情報を受け付ける。 For example, the robot 13 transmits information on the third inspection request by wireless communication inside the car 3. The car communication device 11 receives the information by wireless communication. The control device 12 does not accept the information when the car sensor 10 detects that a person is present inside the car 3. The control device 12 receives the information when the car sensor 10 detects that no person is present inside the car 3.
　制御装置１２は、当該情報を受け付けた際に当該情報に含まれた高さと移動方向との情報に基づいて乗場ドア４がかごドア６に連動して開く範囲外までかご３を上方に移動させる。その後、制御装置１２は、当該情報に含まれた幅の情報に基づいてかごドア６を開く。この際、乗場ドア４は、かごドア６と連動しない。その結果、乗場ドア４の下部以外の裏面は、かご３の内部に向けて露出する。 When the control device 12 receives the information, the control device 12 moves the car 3 upward to the outside of the range where the landing door 4 opens in conjunction with the car door 6 based on the information about the height and the moving direction included in the information. . Thereafter, the control device 12 opens the car door 6 based on the width information included in the information. At this time, the landing door 4 is not interlocked with the car door 6. As a result, the back surface other than the lower part of the landing door 4 is exposed toward the inside of the car 3.
　その後、制御装置１２は、かご３が上方に移動した状態でかごドア６が開いたことを示す第３点検情報をかご通信装置１１に送信する。かご通信装置１１は、当該情報を無線通信により送信する。 Thereafter, the control device 12 transmits to the car communication device 11 third inspection information indicating that the car door 6 has been opened with the car 3 moving upward. The car communication device 11 transmits the information by wireless communication.
　ロボット１３は、当該情報を無線通信により受信する。ロボット１３は、当該情報に基づいてかご３が上方に移動した状態でかごドア６が開いたことを認識する。その後、ロボット１３は、かご３の内部から乗場ドア４の裏面を点検する。例えば、ロボット１３は、乗場ドア４の裏面に設けられた各種の機器を点検する。 The robot 13 receives the information by wireless communication. Based on this information, the robot 13 recognizes that the car door 6 has been opened while the car 3 has moved upward. Thereafter, the robot 13 inspects the back surface of the landing door 4 from the inside of the car 3. For example, the robot 13 inspects various devices provided on the back surface of the landing door 4.
　次に、図６と図７とを用いて、制御装置１２の動作の概要を説明する。
　図６と図７とはこの発明の実態の形態１におけるエレベーターシステムの制御装置の動作の概要を説明するための図である。 Next, an outline of the operation of the control device 12 will be described with reference to FIGS. 6 and 7.
6 and 7 are diagrams for explaining the outline of the operation of the control device for the elevator system in the first embodiment of the present invention.
　ステップＳ１では、制御装置１２は、ロボット１３からの点検要求の情報を受信したか否かを判定する。ステップＳ１で制御装置１２がロボット１３からの点検要求の情報を受信していない場合、制御装置１２は、ステップＳ１の動作を行う。ステップＳ１で制御装置１２がロボット１３からの点検要求の情報を受信した場合、制御装置１２は、ステップＳ２の動作を行う。ステップＳ２では、制御装置１２は、当該情報が第１点検要求の情報か否かを判定する。 In step S1, the control device 12 determines whether or not the inspection request information from the robot 13 has been received. When the control device 12 has not received the inspection request information from the robot 13 in step S1, the control device 12 performs the operation of step S1. When the control device 12 receives the inspection request information from the robot 13 in step S1, the control device 12 performs the operation of step S2. In step S2, the control device 12 determines whether or not the information is information on the first inspection request.
　ステップＳ２で当該情報が第１点検要求の情報である場合、制御装置１２は、ステップＳ３の動作を行う。ステップＳ３では、制御装置１２は、乗場ドア４がかごドア６に連動して開く範囲内においてかご３を下方に移動させる。その後、制御装置１２は、ステップＳ４の動作を行う。 When the information is the first inspection request information in step S2, the control device 12 performs the operation in step S3. In step S <b> 3, the control device 12 moves the car 3 downward within a range where the landing door 4 opens in conjunction with the car door 6. Thereafter, the control device 12 performs the operation of step S4.
　ステップＳ４では、制御装置１２は、かごドア６を開く。その後、制御装置１２は、ステップＳ５の動作を行う。ステップＳ５では、制御装置１２は、かご３が下方に移動した状態で乗場ドア４が開いたことを示す第１点検情報を当該乗場２の乗場通信装置９に送信する。その後、制御装置１２は、動作を終了する。 In step S4, the control device 12 opens the car door 6. Thereafter, the control device 12 performs the operation of step S5. In step S <b> 5, the control device 12 transmits first inspection information indicating that the landing door 4 is opened in a state where the car 3 has moved downward to the landing communication device 9 of the landing 2. Thereafter, the control device 12 ends the operation.
　ステップＳ２で当該情報が第１点検要求の情報でない場合、制御装置１２は、ステップＳ６の動作を行う。ステップＳ６では、制御装置１２は、当該情報が第２点検要求の情報か否かを判定する。 If the information is not the information on the first inspection request in step S2, the control device 12 performs the operation in step S6. In step S6, the control device 12 determines whether the information is information on a second inspection request.
　ステップＳ６で当該情報が第２点検要求の情報である場合、制御装置１２は、ステップＳ７の動作を行う。ステップＳ７では、制御装置１２は、乗場ドア４がかごドア６に連動して開く範囲内においてかご３を上方に移動させる。その後、制御装置１２は、ステップＳ８の動作を行う。 If the information is information on the second inspection request in step S6, the control device 12 performs the operation of step S7. In step S <b> 7, the control device 12 moves the car 3 upward within a range where the landing door 4 opens in conjunction with the car door 6. Thereafter, the control device 12 performs the operation of step S8.
　ステップＳ８では、制御装置１２は、かごドア６を開く。その後、制御装置１２は、ステップＳ９の動作を行う。ステップＳ９では、制御装置１２は、かご３が上方に移動した状態で乗場ドア４が開いたことを示す第２点検情報を当該乗場２の乗場通信装置９に送信する。その後、制御装置１２は、動作を終了する。 In step S8, the control device 12 opens the car door 6. Thereafter, the control device 12 performs the operation of step S9. In step S <b> 9, the control device 12 transmits second inspection information indicating that the landing door 4 is opened while the car 3 is moved upward to the landing communication device 9 of the landing 2. Thereafter, the control device 12 ends the operation.
　ステップＳ６で当該情報が第２点検要求の情報でない場合、当該情報は、第３点検要求の情報である。この場合、制御装置１２は、ステップＳ１０の動作を行う。ステップＳ１０では、制御装置１２は、乗場ドア４がかごドア６に連動して開く範囲外までかご３を上方に移動させる。その後、制御装置１２は、ステップＳ１１の動作を行う。 If the information is not information on the second inspection request in step S6, the information is information on the third inspection request. In this case, the control device 12 performs the operation of step S10. In step S <b> 10, the control device 12 moves the car 3 upward until it is out of the range where the landing door 4 opens in conjunction with the car door 6. Thereafter, the control device 12 performs the operation of step S11.
　ステップＳ１１では、制御装置１２は、かごドア６を開く。その後、制御装置１２は、ステップＳ１２の動作を行う。ステップＳ１２では、制御装置１２は、かご３が上方に移動した状態でかごドア６が開いたことを示す第３点検情報をかご通信装置１１に送信する。その後、制御装置１２は、動作を終了する。 In step S11, the control device 12 opens the car door 6. Thereafter, the control device 12 performs the operation of step S12. In step S <b> 12, the control device 12 transmits to the car communication device 11 third inspection information indicating that the car door 6 has been opened with the car 3 moving upward. Thereafter, the control device 12 ends the operation.
　以上で説明した実施の形態１によれば、かごドア６は、かご３の床面の高さが乗場の床面の高さから鉛直方向にずれた状態のときに開く。このため、エレベーターの機械的構造を大きく変えることなく、ロボット１３が昇降路１の内部を点検し得るようにエレベーターを制御することができる。 According to Embodiment 1 described above, the car door 6 opens when the height of the floor surface of the car 3 is shifted in the vertical direction from the height of the floor surface of the landing. For this reason, the elevator can be controlled so that the robot 13 can inspect the inside of the hoistway 1 without greatly changing the mechanical structure of the elevator.
　例えば、ロボット１３が乗場２において第１点検要求の情報を無線通信により送信した場合、ロボット１３は、乗場２からかご３の上方に移動することができる。このため、ロボット１３を用いて、かご３の上方において昇降路１の内部を点検することができる。この際、ロボット１３をかご３の天井に乗せてもよい。 For example, when the robot 13 transmits the information on the first inspection request at the landing 2 by wireless communication, the robot 13 can move from the landing 2 to above the car 3. For this reason, the inside of the hoistway 1 can be inspected above the car 3 using the robot 13. At this time, the robot 13 may be placed on the ceiling of the car 3.
　例えば、ロボット１３が乗場２において第２点検要求の情報を無線通信により送信した場合、ロボット１３は、乗場２からかご３の下方に移動することができる。このため、ロボット１３を用いて、かご３の下方において昇降路１の内部を点検することができる。この際、ロボット１３を建築物から昇降路１の底部に下ろしてもよい。 For example, when the robot 13 transmits information on the second inspection request at the landing 2 by wireless communication, the robot 13 can move from the landing 2 to the lower side of the car 3. For this reason, the inside of the hoistway 1 can be inspected below the car 3 using the robot 13. At this time, the robot 13 may be lowered from the building to the bottom of the hoistway 1.
　また、制御装置１２は、乗場ドア４が開いたことを示す第１点検情報または第２点検情報をロボット１３に向けて送信する。このため、ロボット１３に対して乗場ドア４が開いたことを認識させることができる。その結果、ロボット１３に対して昇降路１の内部の点検を促すことができる。 Further, the control device 12 transmits the first inspection information or the second inspection information indicating that the landing door 4 is opened to the robot 13. Therefore, the robot 13 can recognize that the landing door 4 has been opened. As a result, it is possible to prompt the robot 13 to check the inside of the hoistway 1.
　また、制御装置１２は、乗場センサ８が乗場２に人が存在しないことを検出している際にロボット１３からの第１点検要求または第２点検要求の情報を受け付ける。このため、ロボット１３による点検を安全に行うことができる。 Further, the control device 12 receives information on the first inspection request or the second inspection request from the robot 13 when the hall sensor 8 detects that no person is present at the hall 2. For this reason, the inspection by the robot 13 can be performed safely.
　なお、乗場２に存在するロボット１３が乗場２に人が存在しないことを自らが備えるスキャン式の距離センサ、カメラ等で検出してもよい。この際、ロボット１３は、乗場２に人が存在することを検出している際に点検要求の情報を送信しない。ロボット１３は、乗場２に人が存在しないことを検出している際に点検要求の情報を送信する。この場合も、ロボット１３による点検を安全に行うことができる。 It should be noted that the robot 13 existing at the hall 2 may detect that no person is present at the hall 2 using a scan-type distance sensor, a camera, or the like. At this time, the robot 13 does not transmit the inspection request information when detecting the presence of a person on the hall 2. The robot 13 transmits inspection request information when it is detected that no person is present at the hall 2. Also in this case, the inspection by the robot 13 can be performed safely.
　例えば、ロボット１３がかご３の内部において第３点検要求の情報を無線通信により送信した場合、乗場ドア４の下部以外の裏面は、かご３の内部に向けて露出する。このため、ロボット１３を用いて、かご３の内部から乗場ドア４の裏面を点検することができる。 For example, when the robot 13 transmits information on the third inspection request by wireless communication inside the car 3, the back surface other than the lower part of the landing door 4 is exposed toward the inside of the car 3. For this reason, the back surface of the landing door 4 can be inspected from the inside of the car 3 using the robot 13.
　また、制御装置１２は、かごドア６が開いたことを示す第３点検情報をロボット１３に向けて送信する。このため、ロボット１３に対してかごドア６が開いたことを認識させることができる。その結果、ロボット１３に対して昇降路１の内部の点検を促すことができる。 In addition, the control device 12 transmits third inspection information indicating that the car door 6 has been opened to the robot 13. Therefore, the robot 13 can recognize that the car door 6 has been opened. As a result, it is possible to prompt the robot 13 to check the inside of the hoistway 1.
　また、制御装置１２は、かごセンサ１０がかご３の内部に人が存在しないことを検出している際にロボット１３からの第３点検要求の情報を受け付ける。このため、ロボット１３による点検を安全に行うことができる。 Further, the control device 12 receives the information on the third inspection request from the robot 13 when the car sensor 10 detects that no person is present inside the car 3. For this reason, the inspection by the robot 13 can be performed safely.
　なお、かご３の内部に存在するロボット１３がかご３の内部に人が存在しないことを自らが備えるスキャン式の距離センサ、カメラ等で検出してもよい。この際、ロボット１３は、かご３の内部に人が存在することを検出している際に点検要求の情報を送信しない。ロボット１３は、かご３の内部に人が存在しないことを検出している際に点検要求の情報を送信する。この場合も、ロボット１３による点検を安全に行うことができる。 It should be noted that the robot 13 existing inside the car 3 may detect that there is no person inside the car 3 using a scanning distance sensor, a camera, or the like that the robot 13 has. At this time, the robot 13 does not transmit the inspection request information when detecting the presence of a person inside the car 3. When the robot 13 detects that no person is present inside the car 3, the robot 13 transmits inspection request information. Also in this case, the inspection by the robot 13 can be performed safely.
　また、制御装置１２は、ロボット１３からの幅と高さと移動方向との情報に基づいてかご３の移動方向と移動距離とかごドア６を開く距離とを決定する。このため、点検の種類に応じてエレベーターを適切に制御することができる。 Further, the control device 12 determines the moving direction and moving distance of the car 3 and the distance for opening the car door 6 based on the information on the width, height and moving direction from the robot 13. For this reason, an elevator can be appropriately controlled according to the kind of inspection.
　例えば、点検が図３の第１例または図４の第２例の場合、ロボット１３の幅と高さに応じて幅と高さとの情報が設定されればよい。この場合、乗場２と昇降路１の内部とをつなぐ点検通路が必要以上に大きくなることを抑制できる。その結果、乗場２の人の安全を確保しつつ、ロボット１３を用いて、昇降路１の内部を点検することができる。 For example, when the inspection is the first example in FIG. 3 or the second example in FIG. 4, information on the width and height may be set according to the width and height of the robot 13. In this case, it is possible to prevent the inspection passage connecting the hall 2 and the inside of the hoistway 1 from becoming larger than necessary. As a result, the inside of the hoistway 1 can be inspected using the robot 13 while ensuring the safety of the people on the hall 2.
　例えば、点検が図５の第３例の場合、乗場ドア４の裏面に設けられた各種の機器の配置に応じて幅と高さとの情報が設定されればよい。この場合、人がかご３に乗っている場合でも開口幅を抑制できる。また、乗場ドア４の裏面に設けられた各種の機器を容易に点検することができる。 For example, when the inspection is the third example of FIG. 5, the width and height information may be set according to the arrangement of various devices provided on the back surface of the landing door 4. In this case, the opening width can be suppressed even when a person is on the car 3. In addition, various devices provided on the back surface of the landing door 4 can be easily inspected.
　なお、かご３の下部の乗場側から下方に垂れるエプロンが存在する場合、ロボット１３の幅と高さに応じた幅と高さとを備えた開口を当該エプロンに形成しておけばよい。この場合も、乗場２の人の安全を確保しつつ、ロボット１３を用いて、昇降路１の内部を点検することができる。 In addition, when the apron which hangs down from the landing side of the lower part of the car 3 exists, an opening having a width and a height corresponding to the width and height of the robot 13 may be formed in the apron. Also in this case, the inside of the hoistway 1 can be inspected by using the robot 13 while ensuring the safety of people on the hall 2.
　また、点検種別の情報を点検情報に含めてもよい。この際、点検種別の情報に基づいてかご３の移動方向を決定してもよい。この場合も、点検の種類に応じてエレベーターを適切に制御することができる。 Also, inspection type information may be included in the inspection information. At this time, the moving direction of the car 3 may be determined based on the inspection type information. Also in this case, the elevator can be appropriately controlled according to the type of inspection.
　次に、図８を用いて、制御装置１２の例を説明する。
　図８はこの発明の実施の形態１におけるエレベーターシステムの制御装置のハードウェア構成図である。 Next, an example of the control device 12 will be described with reference to FIG.
FIG. 8 is a hardware configuration diagram of the elevator system control apparatus according to Embodiment 1 of the present invention.
　制御装置１２の機能は、処理回路により実現し得る。例えば、処理回路は、少なくとも１つのプロセッサ１４ａと少なくとも１つのメモリ１４ｂとを備える。例えば、処理回路は、少なくとも１つの専用のハードウェア１５を備える。 The function of the control device 12 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 14a and at least one memory 14b. For example, the processing circuit comprises at least one dedicated hardware 15.
　処理回路が少なくとも１つのプロセッサ１４ａと少なくとも１つのメモリ１４ｂとを備える場合、制御装置１２の機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせで実現される。ソフトウェアおよびファームウェアの少なくとも一方は、プログラムとして記述される。ソフトウェアおよびファームウェアの少なくとも一方は、少なくとも１つのメモリ１４ｂに格納される。少なくとも１つのプロセッサ１４ａは、少なくとも１つのメモリ１４ｂに記憶されたプログラムを読み出して実行することにより、制御装置１２の機能を実現する。少なくとも１つのプロセッサ１４ａは、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰともいう。例えば、少なくとも１つのメモリ１４ｂは、ＲＡＭ、ＲＯＭ、フラッシュメモリ、ＥＰＲＯＭ、ＥＥＰＲＯＭ等の、不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ等である。 When the processing circuit includes at least one processor 14a and at least one memory 14b, the function of the control device 12 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in at least one memory 14b. The at least one processor 14a implements the function of the control device 12 by reading and executing a program stored in the at least one memory 14b. The at least one processor 14a is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, the at least one memory 14b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.
　処理回路が少なくとも１つの専用のハードウェア１５を備える場合、処理回路は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ、ＦＰＧＡ、またはこれらの組み合わせで実現される。例えば、制御装置１２の機能は、それぞれ処理回路で実現される。例えば、制御装置１２の機能は、まとめて処理回路で実現される。 If the processing circuit comprises at least one dedicated hardware 15, the processing circuit is implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. The For example, the functions of the control device 12 are each realized by a processing circuit. For example, the functions of the control device 12 are collectively realized by a processing circuit.
　制御装置１２の機能について、一部を専用のハードウェア１５で実現し、他部をソフトウェアまたはファームウェアで実現してもよい。例えば、ドア制御部１２ｃの機能については専用のハードウェア１５としての処理回路で実現し、ドア制御部１２ｃの機能以外の機能については少なくとも１つのプロセッサ１４ａが少なくとも１つのメモリ１４ｂに格納されたプログラムを読み出して実行することにより実現してもよい。 Some of the functions of the control device 12 may be realized by the dedicated hardware 15, and the other part may be realized by software or firmware. For example, the function of the door control unit 12c is realized by a processing circuit as the dedicated hardware 15, and for the functions other than the function of the door control unit 12c, at least one processor 14a is stored in at least one memory 14b. May be realized by reading out and executing.
　このように、処理回路は、ハードウェア１５、ソフトウェア、ファームウェア、またはこれらの組み合わせで制御装置１２の各機能を実現する。 Thus, the processing circuit realizes each function of the control device 12 with the hardware 15, software, firmware, or a combination thereof.
　以上のように、当該エレベーターの制御装置は、昇降路の内部をロボットで点検するシステムに利用できる。 As described above, the elevator control device can be used in a system for inspecting the inside of a hoistway with a robot.
　１　昇降路、　２　乗場、　３　かご、　４　乗場ドア、　５　乗場ドア連結装置、　６　かごドア、　７　かごドア連結装置、　８　乗場センサ、　９　乗場通信装置、　１０　かごセンサ、　１１　かご通信装置、　１２　制御装置、　１２ａ　受信部、　１２ｂ　かご制御部、　１２ｃ　ドア制御部、　１２ｄ　送信部、　１３　ロボット、　１４ａ　プロセッサ、　１４ｂ　メモリ、　１５　ハードウェア 1 hoistway, 2 landings, 3 cars, 4 landing doors, 5 landing door connection devices, 6 car doors, 7 car door connection devices, 8 landing sensors, 9 landing communication devices, 10 car sensors, 11 car communication devices, 12 control Device, 12a receiver, 12b car controller, 12c door controller, 12d transmitter, 13 robot, 14a processor, 14b memory, 15 hardware

Claims (11)

  1. 　ロボットからの点検要求の情報を受信する受信部と、
    　前記受信部が前記ロボットからの点検要求の情報を受信した際にエレベーターのかごの床面の高さを前記エレベーターの乗場の床面の高さから鉛直方向にずらすかご制御部と、
    　前記かご制御部により前記かごの床面の高さが前記乗場の床面の高さから鉛直方向にずらされた状態のときに前記かごのかごドアを開くドア制御部と、
    を備えたエレベーターの制御装置。     A receiving unit for receiving inspection request information from the robot;
    A car controller that shifts the height of the floor of the elevator car in the vertical direction from the height of the floor of the elevator when the receiving unit receives information on the inspection request from the robot;
    A door control unit that opens the car door of the car when the height of the floor of the car is shifted vertically from the height of the floor of the landing by the car control unit;
    Elevator control device with.
  2. 　前記かご制御部は、前記受信部が前記ロボットからの点検要求の情報を受信した際に前記乗場の乗場ドアが前記かごドアに連動して開く範囲内において前記かごを下方に移動させる請求項１に記載のエレベーターの制御装置。 The car control unit moves the car downward within a range in which a landing door of the landing opens in conjunction with the car door when the receiving unit receives information on an inspection request from the robot. The elevator control device described in 1.
  3. 　前記かご制御部は、前記受信部が前記ロボットからの点検要求の情報を受信した際に前記乗場の乗場ドアが前記かごドアに連動して開く範囲内において前記かごを上方に移動させる請求項１に記載のエレベーターの制御装置。 The car control unit moves the car upward within a range in which a landing door of the landing opens in conjunction with the car door when the receiving unit receives information on an inspection request from the robot. The elevator control device described in 1.
  4. 　前記かご制御部の制御により前記かごの床面の高さが前記乗場の床面の高さから鉛直方向にずらされた状態で前記ドア制御部の制御により開いた前記かごドアと連動して前記乗場ドアが開いた状態のときに前記乗場ドアが開いたことを示す情報を前記ロボットに向けて送信する送信部、
    を備えた請求項２または請求項３にエレベーターの制御装置。     In conjunction with the car door opened by the control of the door control unit in a state where the height of the floor of the car is shifted in the vertical direction from the height of the floor of the landing by the control of the car control unit, A transmission unit for transmitting information indicating that the landing door is opened to the robot when the landing door is open;
    The elevator control device according to claim 2 or claim 3, further comprising:
  5. 　前記受信部は、前記乗場に存在する前記ロボットが前記乗場に人が存在しないことを検出している際に送信する点検要求を受信する請求項２から請求項４のいずれか一項に記載のエレベーターの制御装置。 The said receiving part receives the inspection request | requirement which transmits when the said robot which exists in the said boarding detects that a person does not exist in the said boarding point. Elevator control device.
  6. 　前記受信部は、前記乗場に設けられた乗場センサが前記乗場に人が存在しないことを検出している際にロボットからの点検要求の情報を受け付ける請求項２から請求項４のいずれか一項に記載のエレベーターの制御装置。 The said receiving part receives the information of the inspection request from a robot, when the hall sensor provided in the said hall has detected that the person does not exist in the said hall. The elevator control device described in 1.
  7. 　前記かご制御部は、前記受信部が前記ロボットからの点検要求の情報を受信した際に前記乗場の乗場ドアが前記かごドアに連動して開く範囲外まで前記かごを上方に移動させる請求項１に記載のエレベーターの制御装置。 The said car control part moves the said car upwards out of the range which the landing door of the said landing opens in conjunction with the said car door, when the said receiving part receives the information of the inspection request from the said robot. The elevator control device described in 1.
  8. 　前記かご制御部の制御により前記乗場ドアが前記かごドアに連動して開く範囲外まで前記かごが上方に移動した状態で前記ドア制御部の制御により前記かごドアが開いた状態のときに前記かごドアが開いたことを示す情報を前記ロボットに向けて送信する送信部、
    を備えた請求項７に記載のエレベーターの制御装置。     When the car door is opened by the control of the door control unit in a state where the car is moved up to the outside of the range where the landing door is opened in conjunction with the car door by the control of the car control unit, the car A transmission unit for transmitting information indicating that the door has been opened to the robot;
    The elevator control device according to claim 7, comprising:
  9. 　前記受信部は、前記かごの内部に存在する前記ロボットが前記かごの内部に人が存在しないことを検出している際に送信する点検要求を受信する請求項７または請求項８に記載のエレベーターの制御装置。 The elevator according to claim 7 or 8, wherein the receiving unit receives an inspection request transmitted when the robot existing inside the car detects that no person is present inside the car. Control device.
  10. 　前記受信部は、前記かごに設けられたかごセンサが前記かごの内部に人が存在しないことを検出している際にロボットからの点検要求の情報を受け付ける請求項７または請求項８に記載のエレベーターの制御装置。 The said receiving part receives the information of the inspection request | requirement from a robot, when the car sensor provided in the said car has detected that the person does not exist inside the said car. Elevator control device.
  11. 　前記受信部は、前記ロボットから幅と高さと移動方向との情報を含む点検要求の情報を受信し、
    　前記かご制御部は、前記受信部が前記ロボットから受信した高さと移動方向との情報に基づいて前記かごの移動方向と移動距離とを決定し、
    　前記ドア制御部は、前記受信部が前記ロボットから受信した幅の情報に基づいて前記かごドアを開く距離を決定する請求項１から請求項１０のいずれか一項に記載のエレベーターの制御装置。     The receiving unit receives information on an inspection request including information on a width, a height, and a moving direction from the robot,
    The car control unit determines a moving direction and a moving distance of the car based on information on a height and a moving direction received by the receiving unit from the robot,
    The said door control part is a control apparatus of the elevator as described in any one of Claims 1-10 which determines the distance which opens the said car door based on the information of the width | variety which the said receiving part received from the said robot.
PCT/JP2016/079443 2016-10-04 2016-10-04 Elevator control device WO2018066051A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/079443 WO2018066051A1 (en) 2016-10-04 2016-10-04 Elevator control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/079443 WO2018066051A1 (en) 2016-10-04 2016-10-04 Elevator control device

Publications (1)

Publication Number Publication Date
WO2018066051A1 true WO2018066051A1 (en) 2018-04-12

Family

ID=61831989

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/079443 WO2018066051A1 (en) 2016-10-04 2016-10-04 Elevator control device

Country Status (1)

Country Link
WO (1) WO2018066051A1 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108946352A (en) * 2018-08-03 2018-12-07 上海有个机器人有限公司 A kind of elevator floor calibration method and system, storage medium and communication device for elevator
JP6658994B1 (en) * 2019-06-06 2020-03-04 三菱電機ビルテクノサービス株式会社 Elevator system and robot with function to check scale output value of elevator scale device
CN110980458A (en) * 2019-12-31 2020-04-10 深圳优地科技有限公司 Method for controlling robot to go out of elevator and robot
WO2021214860A1 (en) * 2020-04-21 2021-10-28 三菱電機ビルテクノサービス株式会社 Elevator system
CN113830630A (en) * 2021-09-15 2021-12-24 南京图菱视频科技有限公司 Method, system, electronic device and medium for improving ladder taking efficiency of robot
WO2022200670A1 (en) * 2021-03-23 2022-09-29 Kone Corporation Monitoring objects in an elevator shaft using an uav
WO2023104494A1 (en) 2021-12-07 2023-06-15 Inventio Ag Method for controlling a drone that can fly in a lift shaft of a lift system and lift system inspection assembly

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06127861A (en) * 1992-10-15 1994-05-10 Mitsubishi Denki Bill Techno Service Kk Pit inspection lamp device
JPH092751A (en) * 1995-06-15 1997-01-07 Mitsubishi Denki Bill Techno Service Kk Elevator
JP2010189162A (en) * 2009-02-19 2010-09-02 Toshiba Elevator Co Ltd Elevator with inspection system
JP2012188199A (en) * 2011-03-09 2012-10-04 Mitsubishi Electric Building Techno Service Co Ltd Method of inspecting interlock and elevator
JP2014122076A (en) * 2012-12-20 2014-07-03 Mitsubishi Electric Building Techno Service Co Ltd Elevator
JP2015048245A (en) * 2013-09-04 2015-03-16 東芝エレベータ株式会社 Attention attracting device for elevator

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06127861A (en) * 1992-10-15 1994-05-10 Mitsubishi Denki Bill Techno Service Kk Pit inspection lamp device
JPH092751A (en) * 1995-06-15 1997-01-07 Mitsubishi Denki Bill Techno Service Kk Elevator
JP2010189162A (en) * 2009-02-19 2010-09-02 Toshiba Elevator Co Ltd Elevator with inspection system
JP2012188199A (en) * 2011-03-09 2012-10-04 Mitsubishi Electric Building Techno Service Co Ltd Method of inspecting interlock and elevator
JP2014122076A (en) * 2012-12-20 2014-07-03 Mitsubishi Electric Building Techno Service Co Ltd Elevator
JP2015048245A (en) * 2013-09-04 2015-03-16 東芝エレベータ株式会社 Attention attracting device for elevator

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108946352A (en) * 2018-08-03 2018-12-07 上海有个机器人有限公司 A kind of elevator floor calibration method and system, storage medium and communication device for elevator
JP6658994B1 (en) * 2019-06-06 2020-03-04 三菱電機ビルテクノサービス株式会社 Elevator system and robot with function to check scale output value of elevator scale device
WO2020245971A1 (en) * 2019-06-06 2020-12-10 三菱電機ビルテクノサービス株式会社 Elevator system provided with function for inspecting scale output value of scale device of elevator, and robot
CN113874311A (en) * 2019-06-06 2021-12-31 三菱电机大楼技术服务株式会社 Elevator system and robot having function of checking balance output value of elevator balance device
CN110980458A (en) * 2019-12-31 2020-04-10 深圳优地科技有限公司 Method for controlling robot to go out of elevator and robot
CN110980458B (en) * 2019-12-31 2022-01-11 深圳优地科技有限公司 Method for controlling robot to go out of elevator and robot
WO2021214860A1 (en) * 2020-04-21 2021-10-28 三菱電機ビルテクノサービス株式会社 Elevator system
JP7334854B2 (en) 2020-04-21 2023-08-29 三菱電機ビルソリューションズ株式会社 Elevator system and robot
WO2022200670A1 (en) * 2021-03-23 2022-09-29 Kone Corporation Monitoring objects in an elevator shaft using an uav
CN113830630A (en) * 2021-09-15 2021-12-24 南京图菱视频科技有限公司 Method, system, electronic device and medium for improving ladder taking efficiency of robot
WO2023104494A1 (en) 2021-12-07 2023-06-15 Inventio Ag Method for controlling a drone that can fly in a lift shaft of a lift system and lift system inspection assembly

Similar Documents

Publication Publication Date Title
WO2018066051A1 (en) Elevator control device
EP3357851B1 (en) Mechanism for improving safety for an elevator system
CN109789998B (en) Elevator system
CN107257771B (en) Elevator system with adaptive door control
CN107487676B (en) Detection and control system for elevator operation
EP3505474B1 (en) Method of dispatching optimization based on sensing
US11040850B2 (en) Seamless elevator call from mobile device application
JP7189806B2 (en) Sensor unit and elevator
CN111086931B (en) Passenger selection for interrupted elevator service
JP6702575B1 (en) Elevator operating method and operating system
JP4811775B2 (en) Elevator cabin object recognition device
EP3604192A1 (en) Elevator door control for deboarding passengers in multidoor elevators
KR102363428B1 (en) Linked operation system between elevator and self-driving car
CN114040883A (en) Point inspection indicating device of mobile auxiliary device
KR20210144934A (en) Elevator position detection system
WO2018211655A1 (en) Position detection device, elevator control device, and elevator system
JP2010089877A (en) Elevator device
US20200391977A1 (en) Elevator control device
JP2006256831A (en) Security system of elevator
WO2018066052A1 (en) Autonomous moving body
JP6337747B2 (en) Elevator system and destination floor registration control method
JP6904244B2 (en) Elevator device
JP6898578B2 (en) User detection device and elevating movement system
EP3617113A1 (en) Last-minute hall call request to a departing cab using gesture
JP2007308220A (en) Elevator

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16918252

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16918252

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP