JP7589887B1 - Control method and monitoring device - Google Patents

Abstract

In controlling operations performed by a user in an elevator car by remote operation instructions, a communication device such as an autonomously traveling robot (201) using the elevator transmits instruction information related to operations performed by the user in the elevator car, and a monitoring device (203) installed near the elevator and monitoring the status of the elevator receives the instruction information, and transmits operation signals based on the received instruction information to an in-car operation panel (102) that receives operation signals from each operation button (101) installed in the car, or to the elevator control panel (104). Thus, with minimal improvements to existing elevator systems, an elevator that allows the use of a self-propelled robot can be realized more simply and inexpensively.

Description

This invention relates to a control method and monitoring device for controlling operations performed by an elevator car occupant inside the car by remote control instructions.

Inside the elevator car, users (passengers) can operate the car, such as moving it and opening and closing the doors, by pressing or touching the operation buttons provided inside the car.

Specifically, by pressing or touching the button with the desired floor number inside the car, the car can be moved to that desired floor. In this way, to move the car to the desired floor, a passenger must enter the car and operate an operation button inside the car. In addition, by pressing or touching the "open" button, the opening of the doors can be extended. In addition, by pressing or touching the "close" button, the doors can be closed.

Recently, there is a technology in which a self-propelled robot is used to transport luggage and the like by having the robot ride in an elevator together with a passenger and move between floors of a building (see, for example, Patent Documents 1 to 8 below).

JP 2011-83144 A JP 2022-95724 A International Publication No. 2019/193718 International Publication No. 2019/193718 JP 2023-182400 A China Publication No. 105858368 JP 2023-21616 A JP 2022-77065 A

However, in the above-mentioned conventional technology, because it is difficult for a robot to operate the operation buttons, in order to move the robot to the desired floor, it was necessary to replace the conventional control panel of the elevator in question with a control panel compatible with robots or to upgrade it to a control panel compatible with robots. The replaced or upgraded control panel compatible with robots then receives the movement request from the robot and controls the movement of the car.

This posed a problem (issue) in that it required a lot of time and money to carry out work such as replacing and improving the control panels for each elevator that the robot would enter.

There was also the issue of the elevator needing to quickly and reliably receive movement request information from the robot to enable the robot to get in and out of the car more smoothly.

The object of this invention is to provide a control method and monitoring device that can realize an elevator that can solve the problems of the conventional technology described above, more simply and inexpensively, enables the use of communication equipment including a self-propelled robot, and allows the robot to board and disembark smoothly.

In order to solve the above-mentioned problems and achieve the objective, the control method of the present invention is a control method for controlling operations performed by a user in an elevator car by remote operation instructions, characterized in that an autonomous robot using the elevator executes a process of transmitting instruction information related to operations performed by the user in the elevator car, and a monitoring device provided near the elevator and monitoring the status of the elevator receives the instruction information and, based on the received instruction information, executes a process of transmitting an operation signal to an operation panel that receives operation signals from each operation button provided in the car or to a control panel of the elevator.

The control method of the present invention is characterized in that, in the above invention, the robot executes a process of transmitting the instruction information to a communication terminal device connected to the robot via wireless communication, and the communication terminal device executes a process of receiving the instruction information transmitted from the robot and transmitting the received instruction information to the monitoring device.

The control method of the present invention is characterized in that, in the above invention, the robot executes a process of transmitting the instruction information to a management server that manages the robot, and the communication terminal device executes a process of receiving the instruction information via the management server.

The control method of the present invention is characterized in that, in the above invention, the robot is provided at a location remote from the elevator, is connected to the monitoring device, and executes a process of transmitting the instruction information to a remote monitoring server that manages the elevator, and the monitoring device executes a process of receiving the instruction information via the remote monitoring server.

The control method of the present invention is characterized in that, in the above invention, the robot executes a process of transmitting the instruction information to a management server that manages the robot, and the monitoring device executes a process of receiving the instruction information via the management server and a remote monitoring server that is provided in a remote location from the elevator, is connected to the monitoring device, and manages the elevator.

The control method according to the present invention is a control method for controlling operations performed by a user in an elevator car by remote operation instructions, characterized in that a communication device executes a process of transmitting instruction information related to operations performed by the user in the elevator car, and a monitoring device provided near the elevator and monitoring the status of the elevator receives the instruction information and, based on the received instruction information, executes a process of transmitting an operation signal to an operation panel that receives operation signals from each operation button provided in the car or to a control panel of the elevator.

In order to solve the above-mentioned problems and achieve the objective, the monitoring device of the present invention is a monitoring device that is installed near an elevator and monitors the status of the elevator, and is characterized in that it receives instruction information regarding operations performed by a user inside the elevator car from an autonomous robot that uses the elevator, and transmits operation signals based on the received instruction information to an operation panel that receives operation signals for each operation button installed inside the car, or to a control panel for the elevator.

The monitoring device of the present invention is provided near an elevator and monitors the status of the elevator, receiving instruction information from a communication device regarding operations performed by a user inside the elevator car, and transmitting operation signals based on the received instruction information to an operation panel that receives operation signals from each operation button provided inside the car, or to a control panel of the elevator.

The control method and monitoring device of the present invention make it possible to realize an elevator that allows the use of communication devices, including self-propelled robots, more simply and inexpensively, with minimal modifications to existing elevator systems. Furthermore, the control method and monitoring device of the present invention makes it possible to realize an elevator that allows robots to board and disembark more smoothly.

FIG. 1 is an explanatory diagram showing an overview of elevator car movement control. FIG. 2 is an explanatory diagram showing an example of the configuration of an elevator car movement control system including an on-car control device according to the first embodiment of the present invention. FIG. 3 is an explanatory diagram showing an example of the configuration of a robot. FIG. 4A is an explanatory diagram showing a communication configuration (communication pattern A) between the robot and the monitoring device. FIG. 4B is an explanatory diagram showing a communication configuration (communication pattern B) between the robot and the monitoring device. FIG. 4C is an explanatory diagram showing a communication configuration (communication pattern C) between the robot and the monitoring device. FIG. 4D is an explanatory diagram showing a communication configuration (communication pattern D) between the robot and the monitoring device. FIG. 4E is an explanatory diagram showing a communication configuration (communication pattern E) between the robot and the monitoring device. FIG. 5 is a flowchart showing the processing procedure of the robot. FIG. 6A is a flowchart showing a processing procedure of the device management server. FIG. 6B is a flowchart showing a processing procedure of the device communication terminal. FIG. 6C is a flowchart showing a processing procedure of the monitoring device. FIG. 6D is a flowchart showing a processing procedure of the remote monitoring server. FIG. 7 is a flowchart showing a processing procedure of the on-car control device. FIG. 8 is an explanatory diagram showing another example of the configuration of a portion of the elevator car movement control system including the on-car control device of this embodiment 1. FIG. 9 is an explanatory diagram showing an example of the configuration of a portion of an elevator car movement control system according to the second embodiment of the present invention. FIG. 10 is an explanatory diagram showing an example of the configuration of a portion of an elevator car movement control system according to the third embodiment of the present invention.

Preferred embodiments of the control method and monitoring device of the present invention are described in detail below with reference to the attached drawings.

Figure 1 is an explanatory diagram showing an overview of elevator car movement control. In Figure 1, reference numeral 101 denotes an operation button provided in the elevator car into which passengers board, reference numeral 102 denotes an in-car operation panel provided in the car, reference numeral 103 denotes a car control board provided on the car, and reference numeral 104 denotes a control panel provided in the elevator machine room or the like.

The operation buttons 101 are usually provided at a predetermined height where an occupant of the elevator car can operate them, for example, on both sides of the door inside the elevator car or on the wall of the car. The operation buttons 101 are composed of buttons indicating the number of the floor (desired floor) to which the occupant wishes to move (go up or down). In FIG. 1, a five-story building is assumed, and five buttons "1" to "5" corresponding to each floor (first floor to fifth floor) are provided as the operation buttons 101. Although not shown in the figure, in addition to the five buttons "1" to "5", buttons such as an "open" button and a "close" button for opening and closing the door may also be provided.

Each of buttons "1" to "5" is connected to the car-mounted operation panel 102 via signal lines 111 to 115, and when a button is operated (for example, touched or pressed), the button operation signal (car call signal) is input in parallel to the car-mounted operation panel 102 via one of the signal lines 111 to 115 corresponding to each button.

The car-inside operation panel 102 is provided inside the elevator car. Specifically, it is provided at a location that is outside the car relative to the inner wall surface of the car, such as behind the operation buttons 101, and is not visible to users. The car-inside operation panel 102 receives operation signals from each button of the operation buttons 101 via signal lines 111-115.

The cage operation panel 102 and cage control board 103 are connected by a wired signal line 116. Signal exchange between the cage operation panel 102 and cage control board 103 is not limited to wired (signal line 116) and may be via wireless communication (such as Wi-Fi (registered trademark)).

Based on the operation signal received via signal lines 111-115, the car operation panel 102 determines which of signal lines 111-115 the operation signal comes from, and based on the result of the determination, transmits the operation signal (car call signal) for the corresponding floor to the car control board 103 via signal line 116.

The car control board 103 is provided, for example, on the car and centralizes the control of car-related devices. Specifically, the car control board 103 performs controls within the car, such as checking which of the operation buttons 101 has been pressed, displaying information on a display in the car that indicates floors and directional arrows, controlling the motors that open and close the doors, and understanding the status of safety switches.

The control panel 104 is connected to the car control board 103 by a wired signal line (e.g., tail cord 117) and transmits and receives signals between the car control board 103. The car control board 103 receives an operation signal (car call signal) from the car operation panel 102 via signal line 116, and transmits the operation signal to the control panel 104 via the tail cord 117.

The control panel 104 drives and controls each part of the elevator. For example, the control panel 104 drives and controls the hoist to move (raise and lower) the car. Although not shown, the control panel 104 may be connected to a management server computer installed in a remote location of the elevator via a network. In this case, the management server computer can monitor and remotely control the operation of the elevator via the control panel 104 by communicating with the control panel 104 wirelessly or via a wire.

The control panel 104 receives an operation signal (car call signal) via the tail code 117 and controls the hoist based on the operation signal to move (raise or lower) the car to the corresponding floor. In this way, the car occupant can operate the operation button 101 to move the car to the desired floor.

Next, the flow of elevator car movement control will be explained in more detail. For example, when a passenger presses button "5" of the operation buttons 101 inside the car, the signal is input to the car internal operation panel 102 via signal line 115. The car internal operation panel 102 sends a car call signal for "5" (fifth floor) to the car control board 103 via wired signal line 116. The car control board 103 transmits a car call signal for the fifth floor to the control panel 104 via tail code 117. The control panel 104 receives the car call signal for the fifth floor and controls the raising and lowering of the car, thereby moving it to the fifth floor.

When button "4" of the operation buttons 101 is pressed, the signal is input to the car operation panel 102 via signal line 114, and the raising and lowering of the car to the 4th floor is controlled in the same manner. When button "3" is pressed, the signal is input to the car operation panel 102 via signal line 113, when button "2" is pressed, the signal is input to the car operation panel 102 via signal line 112, and when button "1" is pressed, the car call signal is input to the car operation panel 102 via signal line 111 and sent to the control panel 104 via the car control board 103, and the control panel 104 controls the raising and lowering of the car to the 3rd, 2nd, and 1st floors, respectively.

In this way, the car is moved to the desired floor by the passenger inside the car operating the operation button 101. Because buttons "1" to "5" of the operation button 101 and the car internal operation panel 102 are connected in parallel via signal lines 111 to 115, when multiple buttons of the operation button 101 "1" to "5" are operated, for example, when "2" and "4" are operated, operation signals are input from signal lines 112 and 114 to the car internal operation panel 102, and the car internal operation panel 102 sends a car call signal for "2" (second floor) and a car call signal for "4" (fourth floor) to the car control board 103 via signal line 116.

(Embodiment 1)
2 is an explanatory diagram showing an example of the configuration of an elevator car movement control system including an on-car control device according to the first embodiment of the present invention. Note that components that are the same as those shown in FIG. 1 are given the same reference numerals and their description will be omitted.

In FIG. 2, reference numeral 201 denotes a robot capable of entering an elevator, reference numeral 202a denotes a remote monitoring server that remotely controls and manages multiple elevators, reference numeral 202b denotes an equipment management server that manages various equipment including the robot 201, reference numeral 203 denotes a monitoring device installed near the elevator that monitors the elevator, reference numeral 204 denotes an equipment communication terminal that controls communication between the robot 201 and the remote monitoring device 203, reference numeral 205 denotes an on-car control device installed on the car, reference numeral 206 denotes a communication unit provided in the on-car control device 205, and reference numeral 207 denotes a control unit provided in the on-car control device 205.

The robot 201 is, for example, a self-propelled autonomous transport robot that can move by itself without relying on human hands, actually get into an elevator car, and move between floors of a building. A detailed description of the robot 201 will be given later with reference to FIG. 3.

The remote monitoring server 202a is an information processing device that is usually installed in a remote location away from the building in which the elevator is installed, and that remotely monitors the operation of the elevator and distributes and collects various information. The server 202 may be the management server computer described above, or may be another information processing device.

The equipment management server 202b is provided separately from the server for remote monitoring of elevator operations, and is a robot management server that controls and manages the robot 201 and exchanges information between the robot 201 and the elevator.

The remote monitoring server 202a and the device management server 202b are connected to the robot 201 by a wireless communication method such as LTE (Long Term Evolution), and can transmit and receive various information between the robot 201. The wireless communication method between the remote monitoring server 202a and the device management server 202b and the robot 201 is not limited to LTE, and may be wireless communication using other communication methods.

The remote monitoring server 202a and the equipment management server 202b are connected by the IP protocol. The remote monitoring server 202a is provided with an input/output port of a predetermined API (Application Programming Interface) so that it can receive elevator operation instructions from the equipment management server 202b.

The monitoring device 203 can be realized by a so-called remote monitoring device that is attached near the elevator, for example, to a housing that houses the elevator control panel 104 or to the wall of the elevator shaft.

More specifically, an I/O board integrated with the remote monitoring device serves as an interface to directly communicate with the control panel 104 in serial or parallel, or it may be connected in parallel to the circuit of the operation button 101 in the car via the on-car control device 205, allowing the button to be operated from outside. The I/O board of the monitoring device 203 can be shared for remote monitoring purposes as well. This makes it possible to receive commands from devices such as remote monitoring, remote inspection, and the robot 201, and control the elevator, all with the same device.

As shown in FIG. 2, the monitoring device 203 is connected to the control panel 104, acquires signals (control signals) output from the control panel 104 to each part of the elevator, generates notification information (including information regarding the elevator status and identification information of the elevator that is the sender of the notification information) based on the acquired control signals, and transmits the generated notification information to a management server computer (not shown in the figure) (the management server computer may be a remote monitoring server 202a).

In this way, in the case of a relatively new elevator, the monitoring device 203 can obtain information from the control panel 104, and based on the obtained information, the monitoring device 203 can determine the car position, i.e., where the car is located in the elevator shaft.

However, in the case of relatively old elevators, there are cases where information cannot be obtained from the control panel 104, and the monitoring device 203 cannot reliably determine the car position. In such cases, the car position can be identified using, for example, UWB (Ultra-Wide Band) wireless communication. Specifically, a communication device (not shown) is installed at the top of the elevator shaft, and the distance from the communication device to the car is measured using an ultra-wideband frequency bandwidth, and the car position is identified based on the measured distance.

The monitoring device 203 has a wireless communication function, is connected to the remote monitoring server 202a by a wireless communication method such as LTE, and can transmit and receive various information such as operation signals and cage position information between the remote monitoring server 202a. The wireless communication method between the monitoring device 203 and the remote monitoring server 202a is not limited to LTE, and may be wireless communication by other communication methods.

The monitoring device 203 can also change the elevator's operation depending on the source of the command. For example, if the command comes from the robot 201, it can be configured to not close the door after it has opened until the robot has finished boarding. If the command comes from an occupant of the car, it can be configured to close the door a certain amount of time after it has opened. If the command comes from the autolock, it can be configured to move the car to a floor with an entrance and wait with the door open.

The monitoring device 203 is also connected directly to the robot 201 by a wireless communication method such as LTE without going through the remote monitoring server 202a, and can transmit and receive various information such as operation signals and cage position information between the robot 201 and the monitoring device 203. Details will be described later with reference to FIG. 4C.

The equipment communication terminal 204 is connected to equipment such as the robot 201 via wireless communication and communicates with the equipment such as the robot 201, and is also connected to the monitoring device 203 via wired or wireless communication and manages communication between the robot 201 and the monitoring device 203.

The on-car control device 205 is provided on the car, for example, near the car control board 103. Alternatively, the on-car control device 205 may be provided integrally with the car control board 103. The on-car control device 205 has a communication unit 206 and a control unit 207.

The car-mounted control device 205 can use the communication unit 206 to transmit and receive various information between the monitoring device 203 and the monitoring device 203 via a short-range wireless communication method such as Wi-Fi. The communication between the communication unit 206 and the monitoring device 203 is not limited to Wi-Fi, and other wireless communication methods may be used, or the communication may be wired.

The control unit 207 is connected to the communication unit 206 in the on-car control device 205 by a wired signal line or the like, and a signal received by the communication unit 206 is input via the signal line. The control unit 207 and the communication unit 206 may be formed as an integrated device (single housing) as the on-car control device 205, or the communication unit 206 may be provided as a communication device separately from the on-car control device 205.

The control unit 207 connects signal lines 211-215 individually, for example with crimp terminals, to the signal lines 111-115 between the operation button 101 and the car operation panel 102. In this way, branch wiring (signal lines 211-215) are connected to the existing wiring (signal lines 111-115) between the operation panel that receives the operation signals of each operation button. The control unit 207 can then transmit signals similar to the button operation signals (car call signals) transmitted when each button of the operation button 101 is operated to each signal line 111-115 via each signal line 211-215.

In this way, for example, when an operation signal is sent (output) from control unit 207 to signal line 211, the operation signal is input from the contact point between signal line 211 and signal line 111 via signal line 111 to car internal operation panel 102. When the signal is input, car internal operation panel 102 determines that an operation to call a car for the first floor has been performed and sends a signal to that effect via signal line 116 to car control board 103, and car control board 103, which receives the signal, sends a signal regarding the car call operation for the first floor to control panel 104 via tail code 117. This allows control panel 104 to perform the operation of moving the car to the first floor.

Therefore, the control unit 207 of the on-car control device 205 can simply send an operation signal to the signal line 211, and even if the occupant does not operate button "1" of the operation buttons 101 inside the car, the car can be moved to the first floor in the same way as if the occupant had operated button "1" of the operation buttons 101 inside the car. Even if the control unit 207 sends operation signals to the signal lines 212 to 215, the car can be moved to each floor (2nd to 5th floors) in the same way.

Next, the flow of the operation of the robot 201 will be described. Assume that the robot 201, which is on the first floor, moves to the desired floor, the fourth floor. First, information regarding the floor on which the robot 201 is currently located, i.e., the floor on which the user wishes to board (the first floor), is input to the robot 201. The information regarding the floor on which the user wishes to board may be input to the robot 201 manually by an operator directly using a touch panel, which will be described later, or may be input remotely by wireless communication. Information regarding the floor on which the robot 201 is currently located may be input to the robot 201 in advance, or the robot 201 itself may obtain information regarding the floor on which the robot is currently located.

When information regarding the desired floor (first floor) to board is input, the robot 201 transmits request information requesting the movement of the car to that floor (first floor) to the monitoring device 203 via the remote monitoring server 202a, the equipment management server 202b, the equipment communication terminal 204, etc. This request information includes information regarding the desired floor (first floor) to board, as well as the ID information of the robot 201 itself and the ID information of the elevator (cage) to board. The robot 201 may transmit the request information directly to the monitoring device 203 without going through these. Details of the communication configuration between the robot 201 and the monitoring device 203 will be described later.

When the remote monitoring server 202a receives the request information, it identifies the corresponding elevator based on the request information, and transmits operation command information including information about the desired floor (first floor) and the ID information of the robot 201 to a monitoring device 203 installed near the identified elevator.

When the monitoring device 203 receives the operation command information, it transmits information regarding the desired boarding floor (1st floor) to the communication unit 206 of the on-car control device 205. Having received this information regarding the desired boarding floor (1st floor), the communication unit 206 passes the information regarding this desired boarding floor (1st floor) to the control unit 207. The control unit 207 then sends an operation signal to the signal line 211 based on the information regarding the desired boarding floor (1st floor).

This allows the cage to be moved to the first floor, so that the robot 201 can get into the cage on the first floor without a human having to manually operate button "1" of the operation button 101 inside the cage or operate the call button at the boarding area on the first floor.

Next, after getting into the elevator car, the robot 201 transmits request information requesting movement to a desired floor (fourth floor) to the monitoring device 203 via the remote monitoring server 202a, the equipment management server 202b, the equipment communication terminal 204, etc. This request information may include information about the desired floor (fourth floor), as well as ID information of the robot 201 and ID information of the elevator that moves the car.

For example, when the remote monitoring server 202a receives request information from the robot 201, it identifies the corresponding elevator based on the request information, and transmits operation command information including information about the desired floor (fourth floor) and the ID information of the robot 201 to the monitoring device 203 installed near the identified elevator.

When the monitoring device 203 receives the operation command information, it transmits information regarding the desired floor (fourth floor) to the communication unit 206 of the on-car control device 205. Having received the information regarding the desired floor (fourth floor), the communication unit 206 passes the information regarding the desired floor (fourth floor) to the control unit 207. The control unit 207 then sends an operation signal to the signal line 214 based on the information regarding the desired floor (fourth floor).

This allows the robot 201 to enter the cage on the first floor, travel in the cage to the fourth floor, and then get off the cage on the fourth floor, making it possible to move from the first floor to the fourth floor without manually operating an operating button.

(Configuration of Robot 201)
Next, the configuration of the robot 201 will be described. Fig. 3 is an explanatory diagram showing an example of the configuration of the robot. In Fig. 3, reference numeral 301 denotes a robot body (housing), reference numeral 302 denotes a luggage placement space, reference numeral 303 denotes wheels, and reference numeral 304 denotes a display screen (touch panel).

Also, reference numeral 305 is a display control unit, reference numeral 306 is an information input unit, reference numeral 307 is a communication unit, reference numeral 308 is an imaging unit, reference numeral 309 is a driving control unit, reference numeral 310 is a wheel drive unit, and reference numeral 311 is a storage battery.

The robot body (housing) 301 is provided with a luggage placement space 302, in which luggage, food, etc. can be placed and transported. Specifically, this robot 201 can be used, for example, in a hotel, where the robot 201 can transport guests' luggage to the guest rooms on each floor and deliver room service meals. It can also be used in buildings other than hotels, for example, to transport items between different floors of the building.

For this purpose, the robot body (housing) 301 is provided with multiple wheels 303, which enable the robot to move independently in any desired direction, including changing direction, over 360 degrees.

A lid member may also be provided in the luggage placement space 302. This lid member may be equipped with a locking mechanism to prevent theft or vandalism of luggage, etc., and may be designed so that only the owner of the luggage can unlock it using a PIN number or the like.

The robot body (housing) 301 is also provided with a display screen 304. The robot body (housing) 301 is also provided with a camera that captures images of the surroundings of the robot 201, various sensors for grasping the situation around the robot 201, a speaker that outputs sound, and the like, all of which are not shown in the figure.

The dimensions of the robot 201 are not particularly limited, but it needs to be a size that allows it to pass through the entrance of the car when the elevator doors are open. In addition, since the robot boards the elevator together with the passenger, it is desirable that the size does not impede the passenger from boarding the elevator when the robot boards the elevator. The dimensions of the robot 201 can be optimized according to the type and size of the luggage to be transported. In addition, the luggage placement space 302 can be made variable according to the type and size of the luggage.

The robot 201 is equipped with hardware such as a CPU, memory, a communication interface, and an input/output interface, and realizes various functions such as a display control unit 305, an information input unit 306, a communication unit 307, an imaging unit 308, and a driving control unit 309.

The display control unit 305 can display various information using the display screen 304. The information input unit 306 realizes its function by an input/output interface, and can accept input of information related to movement commands and various information by an operator touching the surface of the display screen 304 using, for example, the touch panel function of the display screen 304.

The communication unit 307 realizes its functions through a communication interface and can transmit information regarding the floor to which the elevator will move to an external device. It can also receive information regarding a movement command for the robot 201 transmitted by wireless communication from an external device, and information regarding the position of the elevator car into which the robot 201 will board.

The imaging unit 308 controls a camera (not shown) to capture images of the surroundings, and transmits the captured information to the outside via the communication unit 307, or to the driving control unit 309. The driving control unit 309 controls the wheel drive unit 310 to move (drive) the robot main body 301 based on movement commands received by the information input unit 306 or the communication unit 307. At that time, the robot 201 can be driven safely by avoiding obstacles based on information from the imaging unit 308 and various sensors (not shown).

The wheel drive unit 310 realizes its functions using a motor or the like. The wheel drive unit 310 can rotate the motor based on a control signal from the travel control unit 309 and transmit the rotation to the wheel 303. This allows the robot body 301 to move.

The storage battery 311 is a rechargeable battery such as a lithium battery, and supplies power to each component of the robot 201. Although not shown, a charging station is provided and the robot 201 can be moved there to charge the storage battery 311. The storage battery 311 may be a fuel cell that generates electricity using hydrogen, in addition to a lithium battery.

As shown in Fig. 3, the robot 201 is self-propelled using wheels 303, but is not limited to this as long as it is self-propelled. Specifically, for example, it may be a bipedal humanoid robot or a quadrupedal walking animal robot.

(Communication configuration between the robot 201 and the monitoring device 203)
Next, a description will be given of the communication configuration between the robot 201 and the monitoring device 203. Figures 4A to 4E are explanatory diagrams showing the communication configurations (communication patterns A to E) between the robot 201 and the monitoring device 203, respectively.

Communication patterns A and B are configured using the device communication terminal 204, and communication patterns C to E are configured without using the device communication terminal 204.

Figure 4A shows an example of a communication configuration (communication pattern A) between the robot 201 and the monitoring device 203. As shown in Figure 4A, information transmission from the robot 201 to the monitoring device 203 according to communication pattern A is performed via the device management server 202b and the device communication terminal 204.

That is, information transmitted from the robot 201 to the monitoring device 203 is first transmitted from the robot 201 to the device management server 202b. The device management server 202b identifies the device communication terminal 204 connected to the relevant monitoring device 203, and the information is transmitted from the device management server 202b to the identified device communication terminal 204. Furthermore, the information is transmitted from the device communication terminal 204 to the monitoring device 203, and the monitoring device 203 receives the information.

Figure 4B shows another example (communication pattern B) of the communication configuration between the robot 201 and the monitoring device 203. As shown in Figure 4B, in communication pattern B, information is transmitted from the robot 201 to the monitoring device 203 via the device communication terminal 204. Therefore, in communication pattern B, unlike pattern A shown in Figure 4A, the robot 201 identifies the device communication terminal 204 connected to the relevant monitoring device 203 without going through the device management server 202b. The robot 201 is then directly connected to the identified device communication terminal 204, and transmits information from the robot 201 to the device communication terminal 204.

That is, information transmitted from the robot 201 to the monitoring device 203 is first transmitted from the robot 201 to the communication terminal 204 for the specified device. The information is then transmitted from the communication terminal 204 for the device to the monitoring device 203, and the information is received by the monitoring device 203.

Figure 4C shows another example (communication pattern C) of the communication configuration between the robot 201 and the monitoring device 203. As shown in Figure 4C, information from the robot 201 to the monitoring device 203 in communication pattern C is transmitted directly. Therefore, communication pattern C differs from pattern A shown in Figure 4A and pattern B shown in Figure 4B in that the robot 201 is connected directly to the relevant monitoring device 203 without going through the device management server 202b or the device communication terminal 204. In other words, information transmitted from the robot 201 to the monitoring device 203 is transmitted directly to the relevant monitoring device 203. The information is then received by the monitoring device 203.

Figure 4D shows another example (communication pattern D) of a communication configuration between the robot 201 and the monitoring device 203. As shown in Figure 4D, the transmission of information from the robot 201 to the monitoring device 203 according to communication pattern D is performed via the device management server 202b and the remote monitoring server 202a.

That is, information transmitted from the robot 201 to the monitoring device 203 is first transmitted from the robot 201 to the device management server 202b. The information is then transmitted from the device management server 202b to the remote monitoring server 202a. The information is then transmitted from the remote monitoring server 202a to the monitoring device 203, and is received by the monitoring device 203.

Figure 4E shows another example (communication pattern E) of a communication configuration between the robot 201 and the monitoring device 203. As shown in Figure 4E, the transmission of information from the robot 201 to the monitoring device 203 according to communication pattern E is performed via the remote monitoring server 202a.

That is, information transmitted from the robot 201 to the monitoring device 203 is first transmitted from the robot 201 to the remote monitoring server 202a. The information is then transmitted from the remote monitoring server 202a to the monitoring device 203, and the information is received by the monitoring device 203.

Although the above has described information from the robot 201 to the monitoring device 203 (upstream information), information from the monitoring device 203 to the robot 201 (downstream information) is also transmitted to the robot 201 via the same route as the upstream information. Also, the information may be transmitted to the robot 201 via a route different from that of the upstream information. Specifically, for example, the upstream information may be transmitted by communication pattern A, and the downstream information may be transmitted by communication pattern C.

Here, communication between the robot 201 and the device management server 202b in communication patterns A and D can use a wireless communication method such as a mobile phone network such as LTE, as described above.

In addition, the communication between the device management server 202b and the device communication terminal 204 in communication pattern A can also use a wireless communication method such as a mobile phone line network such as LTE. The wireless communication method between the device management server 202b and the device communication terminal 204 is not limited to LTE, and may be wireless communication using other communication methods.

In addition, in communication patterns A and B, communication between the equipment communication terminal 204 and the monitoring device 203 can be performed by wired communication such as USB, LAN, CAN (Controller Area Network), RS232C/422, etc., since the two are installed in close proximity. It can also be performed by wireless communication using Bluetooth, Wi-Fi, or Sub-GHz transceivers. In the case of wireless connections, whether communication can be performed normally depends on the elevator installation environment and the building structure. Sub-GHz has a low frequency band, so radio wave diffraction can be expected, making communication easier and more preferable.

When communicating with the equipment communication terminal 204, the monitoring device 203, for example, provides an area in the header file to identify the equipment (robot 201), and records the type of equipment and the contents of the operation instructions in a device-specific operation table (not shown) in advance. There may be multiple operation instructions for one piece of equipment. Then, the type of equipment can be identified by reading the header file, and operation instructions suited to the equipment can be sent to the elevator by referring to the device-specific operation table. If the IP protocol is used for communication with the equipment communication terminal 204, the equipment may be identified based on the IP address and port.

The equipment communication terminal 204 may be configured to transmit information to the monitoring device 203 using an external network (not shown) rather than directly connecting to the monitoring device 203. In this way, the equipment communication terminal 204 does not necessarily need to be installed near the monitoring device 203, and the freedom of installation of the equipment communication terminal 204 can be increased. In particular, by installing the equipment communication terminal 204 in a position where communication is easy to carry out, the quality of communication with the robot 201 and the crisis management server 202b can be improved.

In addition, the communication between the robot 201 and the device communication terminal 204 in communication pattern B can use a wireless communication method such as a mobile phone line network such as LTE. The wireless communication method between the robot 201 and the device communication terminal 204 is not limited to LTE, and may be wireless communication using other communication methods.

In addition, the communication between the robot 201 and the monitoring device 203 in communication pattern C can also use a wireless communication method such as a mobile phone network such as LTE. The wireless communication method between the robot 201 and the monitoring device 203 is not limited to LTE, and may be wireless communication using other communication methods.

When communicating with the robot 201, the monitoring device 203, for example, provides an area in the header file to identify the equipment (robot 201), and records the type of equipment and the contents of the operation instructions in a device-specific operation table (not shown) in advance. There may be multiple operation instructions for one piece of equipment. Then, the type of equipment can be identified by reading the header file, and operation instructions suited to the equipment can be sent to the elevator by referring to the device-specific operation table. If the IP protocol is used for communication with the equipment communication terminal 204, the equipment may be identified based on the IP address and port.

In addition, communication between the device management server 202b and the remote monitoring server 202a in communication pattern D is connected, for example, by the IP protocol. The remote monitoring server 202a can be provided with an input/output port of a predetermined API (Application Programming Interface) so as to receive elevator operation instructions from the device management server 202b. When an elevator operation instruction is received as an API input to the remote monitoring server 202a, the type of the device management server 202b and the content of the operation instruction received by the API can be transmitted to the monitoring device 202.

In addition, the communication between the remote monitoring server 202a and the monitoring device 203 in communication pattern D can also use a wireless communication method such as a mobile phone line network such as LTE. The wireless communication method between the remote monitoring server 202a and the monitoring device 203 is not limited to LTE, and may be wireless communication using other communication methods.

In communication with the remote monitoring server 202a, the monitoring device 203 records in advance, for example, the type of equipment management server 202b and the contents of the operation instructions in an equipment-specific operation table (not shown). There may be multiple operation instructions for one equipment. Then, based on the type of equipment management server and the contents of the operation instructions received from the remote monitoring server 202a, the monitoring device 203 can refer to the equipment-specific operation table and send to the elevator an operation instruction that matches the type of equipment management server 202b and the contents of the operation instructions.

In addition, the communication between the robot 201 and the remote monitoring server 202a in communication pattern E can also use a wireless communication method such as a mobile phone line network such as LTE. The wireless communication method between the robot 201 and the remote monitoring server 202a is not limited to LTE, and may be wireless communication using other communication methods.

In addition, the communication between the remote monitoring server 202a and the monitoring device 203 in communication pattern E can also use a wireless communication method such as a mobile phone line network such as LTE. The wireless communication method between the remote monitoring server 202a and the monitoring device 203 is not limited to LTE, and may be wireless communication using other communication methods.

When communicating with the remote monitoring server 202a, the monitoring device 203, for example, provides an area in the header file for identifying the equipment (robot 201), and records the type of equipment and the contents of the operation instructions in a device-specific operation table (not shown) in advance. There may be multiple operation instructions for one piece of equipment. Then, the type of equipment can be identified by reading the header file, and operation instructions tailored to the equipment can be sent to the elevator by referring to the device-specific operation table.

(Processing Procedure of Robot 201)
Next, the processing procedure of the robot 201 will be described. FIG. 5 is a flowchart showing the processing procedure of the robot. In the flowchart of FIG. 5, the robot 201 judges whether or not a movement instruction to another floor has been input (step S501). Here, the robot 201 waits for the input of the movement instruction (step S501: No), and if the movement instruction has been input (step S501: Yes), transmits information (current floor information) about the desired floor to board, that is, the floor where the robot itself is currently located (step S502). The transmission destination is the device communication terminal 204 in communication patterns A and B, the monitoring device 203 in communication pattern C, the device management server 202b in communication pattern D, and the remote monitoring server 202a in communication pattern E.

The current floor information includes the identification information of the device itself (device itself ID) and the identification information of the elevator (cage) to be moved to (elevator ID). It may also include information indicating that the movement is to the current floor. It may also include information regarding the desired boarding time (desired time = current time, desired time = yymmdd, hhmmss (year, month, day, hour, minute, second), or "7 minutes and 30 seconds from now", etc.).

Next, the robot 201 receives information regarding which floor the car of the elevator it is about to board is located on (car position information) from either the equipment management server 202b (communication patterns A and D), the equipment communication terminal 204 (communication pattern B), the remote monitoring device 203 (communication pattern C), or the remote monitoring server 202a (communication pattern E) (step S503), and determines whether the car has arrived at the current floor (the floor where the robot's own device is located) based on the received car position information (step S504).

Here, the robot waits for the cage to arrive at the current floor (step S504: No), and if it is determined that the cage has arrived at the current floor (step S504: Yes), the robot moves by itself and performs an operation for boarding the cage (step S505), while transmitting information about the desired floor to which the robot wishes to move (desired floor information) to the server 202 (step S506). This causes the cage door to close, and the cage carrying the robot 201 starts moving.

The desired floor information includes the identification information of the device itself (device itself ID) and the identification information of the elevator to be moved (elevator ID). It may also include information indicating that the user is moving to the desired floor (car call).

Then, the robot 201 receives information (car position information) regarding which floor the car of the elevator the robot has boarded is located on from either the equipment management server 202b, the equipment communication terminal 204, the remote monitoring device 203, or the remote monitoring server 202a (step S507), and determines based on the received car position information whether the car has arrived at the desired floor (the floor to which the robot itself wishes to move) (step S508).

Here, the robot 201 waits for the car to arrive at the desired floor (step S508: No), and if it determines that the car has arrived at the desired floor (step S508: Yes), the robot 201 confirms (by using a camera, various sensors, etc.) that the door is open, and then moves under its own power to disembark from the car (step S509), thereby completing the series of processes of the robot 201.

(Processing Procedure of Device Management Server 202b)
Next, the procedure of the processing of the device management server 202b will be described. Fig. 6A is a flowchart showing the procedure of the device management server. In the flowchart of Fig. 6A, the device management server 202b judges whether or not it has received moving floor information (current floor information/desired floor information) from the robot 201 (step S601).

Here, the system waits for receipt of floor information (step S601: No), and if it has been received (step S601: Yes), it then determines whether the destination is the device communication terminal 204 (step S602). In other words, it determines whether communication is to be performed using communication pattern A. If the communication pattern has been determined in advance, this determination process is omitted.

Here, if the transmission destination is the device communication terminal 204 (communication pattern A) (step S602: Yes), the target device communication terminal 204 is identified (step S603). The target device communication terminal 204 can identify the device communication terminal 204 corresponding to the elevator based on the elevator ID included in the received information.

Then, the equipment management server 202b transmits the movement floor information (current floor information or desired floor information) to the identified equipment communication terminal 204 (step S604) and proceeds to step S606.

In step S602, if the destination is not the device communication terminal 204 (not communication pattern A) (step S602: No), the destination is the remote monitoring server 202a (communication pattern D), so the travel floor information (current floor information or desired floor information) is sent to the remote monitoring server 202a (step S605), and the process proceeds to step S606.

Then, it is determined whether or not the basket position information has been received from the device communication terminal 204 (step S606). Here, the device management server 202b waits for reception of the basket position information (step S606: No), and if it has been received (step S606: Yes), it transmits the received basket position information to the robot 201 (step S607). This ends the series of processes of the server 202.

(Processing Procedure of the Device Communication Terminal 204)
Next, the procedure of the processing of the device communication terminal 204 will be described. Fig. 6B is a flowchart showing the procedure of the device communication terminal. In the flowchart of Fig. 6B, the device communication terminal 204 judges whether or not it has received moving floor information (step S611). Here, the source of the moving floor information is the device management server 202b (communication pattern A) or the robot 201 (communication pattern B).

In step S611, the equipment communication terminal 204 waits to receive the movement floor information (step S611: No), and if received (step S611: Yes), transmits the movement floor information to the monitoring device 203 (step S612).

Thereafter, the device communication terminal 204 determines whether or not it has received basket position information from the monitoring device 203 (step S613). Here, it waits for basket position information to be received (step S613: No), and if it has been received (step S613: Yes), the device communication terminal 204 transmits the received basket position information (step S614). The basket position information is transmitted to the device management server 202b (communication pattern A) or the robot 201 (communication pattern B). This ends the series of processes of the device communication terminal 204.

(Processing Procedure of Monitoring Device 203)
Next, the processing procedure of the monitoring device 203 will be described. Fig. 6C is a flowchart showing the processing procedure of the monitoring device. In the flowchart of Fig. 6C, the monitoring device 203 judges whether or not it has received moving floor information from the robot 201 (step S621). The moving floor information is information that was transmitted by the robot 201 in step S503 of the flowchart of Fig. 5, reached the monitoring device 203 by any one of communication patterns A to E, and was received by the monitoring device 203.

In step S621, the monitoring device 203 waits to receive the movement floor information (step S621: No), and if received (step S621: Yes), transmits the movement floor information to the car control device 205 (step S622).

Then, the monitoring device 203 acquires the car's position information (step S623). Specifically, for example, information about the car's position (information about where the car is located) can be acquired from the elevator control panel 104.

In addition, depending on the elevator model, the monitoring device 203 may not be able to obtain car position information from the elevator control panel 104. In that case, the monitoring device 203 identifies the car position using UWB wireless communication as described above.

The monitoring device 203 then transmits the acquired cage position information to the robot 201 using one of the communication patterns A to E (step S624). The cage position information may be, for example, information about the current cage position, or information indicating that the cage has arrived at the movement floor (or will soon arrive at the movement floor). Any cage position information may be received by the robot 201 so long as it allows the robot 201 to recognize that the cage has arrived at the movement floor. This completes the series of processes of the monitoring device 203.

(Processing Procedure of Remote Monitoring Server 202a)
Next, the processing procedure of the remote monitoring server 202a will be described. Fig. 6D is a flowchart showing the processing procedure of the remote monitoring server in the elevator car movement control system. In the flowchart of Fig. 6D, the remote monitoring server 202a judges whether or not it has received moving floor information (step S631). Here, the source of the moving floor information is the equipment management server 202b (communication pattern D) or the robot 201 (communication pattern E).

The moving floor information is either the current floor information transmitted in step S502 or the desired floor information transmitted in step S506, as shown in the flowchart of FIG. 5. In step S501, the server 202 treats the current floor information and the desired floor information transmitted from the robot 201 as moving floor information without distinguishing between them, but the transmitted information may be distinguished and treated as either current floor information or desired floor information. To enable distinguishing between the two, the information transmitted by the robot 201 may include information for identifying whether it is current floor information or desired floor information.

In step S631, the remote monitoring server 202a waits to receive the moving floor information (step S631: No), and if the moving floor information is received (step S631: Yes), it identifies the target elevator (step S632). The target elevator can be identified based on the elevator ID included in the received information.

Then, the remote monitoring server 202a transmits the moving floor information (current floor information or desired floor information) to the monitoring device 203 of the identified elevator (step S633).

After that, it is determined whether or not basket position information has been received from the monitoring device 203 (step S634). Here, the remote monitoring server 202a waits for reception of basket position information (step S634: No), and if it has been received (step S634: Yes), it transmits the received basket position information (step S635). The basket position information is transmitted to the device management server 202b (communication pattern D) or the robot 201 (communication pattern E). This ends the series of processes of the server 202.

(Processing procedure of the on-car control device 205)
Next, the processing procedure of the on-car control device 205 will be described. Fig. 7 is a flowchart showing the processing procedure of the on-car control device of embodiment 1 according to the present invention. In the flowchart of Fig. 7, the on-car control device 205 judges whether the communication unit 206 has received moving floor information from the monitoring device 203 (step S701). The moving floor information is information transmitted by the monitoring device 203 to the on-car control device 205 in step S602 of the flowchart of Fig. 6.

In step S701, the car-mounted control device 205 waits to receive the travel floor information (step S701: No), and if it has received it (step S701: Yes), it identifies the signal line from among the signal lines 211 to 215 from which the control unit 207 will transmit an operation signal based on the received travel floor information (step S702), and transmits the operation signal from the identified signal line (step S703). This ends the series of processes of the car-mounted control device 205.

In this way, the control device (on-cage control device 205) is a control device 205 that controls operations performed by users inside the elevator car by remote operation instructions, and connects branch wiring (signal lines 211-215) to the existing wiring (signal lines 111-115) between each operation button 101 provided in the car and the operation panel (in-cage operation panel 102) that receives the operation signals of each operation button 101, and based on information regarding the operation instructions of the operation buttons 101 received by the elevator receiving unit (communication unit 206) from an external device (monitoring device 203, server 202, robot 201, other communication terminal devices, etc.) via wireless communication, it can transmit an operation signal to the operation panel (in-cage operation panel 102) using the branch wiring (signal lines 211-215) corresponding to the operation instruction.

Therefore, with this on-car control device 205, it is possible to perform a call operation using the robot 201, and to have the robot 201 enter the car and move the car to the desired floor without making any changes to the elevator configuration (operation buttons 101, in-car operation panel 102, car control board 103, control panel 104, etc.).

In the explanatory diagram of Fig. 2 and the flowcharts shown in Figs. 5 to 7, the robot 201 transmits the movement floor information, but this is not limited to the robot 201, and communication devices such as a personal computer with communication functions or a smartphone may be used instead of the robot 201. This makes it possible to easily and reliably give instructions to move the car even when it is not possible to directly operate the call button at the elevator hall or the operation button inside the car.

Specifically, when the moving floor information is sent using a computer or smartphone, the car on-board control device 205 receives the moving floor information via the remote monitoring server 202a, the equipment management server 202b, the equipment communication terminal 204, etc., or directly, and the control unit 207 outputs an operation signal to the specified signal lines 211-215, allowing the car to move to the desired floor. This allows the elevator to be remotely controlled to move to a destination floor depending on the time, such as a floor with a large number of users.

In addition, by transmitting moving floor information using a server or the like, it becomes possible to more easily perform group management of elevator car movements by installing an on-car control device 205 or the like, even if there are multiple types of elevators made by different manufacturers.

As described above, the control method of embodiment 1 of the present invention is a control method for controlling operations performed by a user inside an elevator car by remote operation instructions, in which a communication device such as an autonomous robot 201 that uses the elevator executes a process of transmitting instruction information related to operations performed by the user inside the elevator car, and a monitoring device 203 that is provided near the elevator and monitors the status of the elevator receives the instruction information and, based on the received instruction information, executes a process of transmitting an operation signal to an in-car operation panel 102 that receives operation signals from each operation button 101 provided inside the car, or to the elevator control panel 104 (communication patterns A to E).

In addition, this control method executes a process in which the robot 201 transmits instruction information to an equipment communication terminal 204 connected to the robot 201 via wireless communication, and the equipment communication terminal 204 receives the instruction information transmitted from the robot 201 and transmits the received instruction information to the monitoring device 203 (communication pattern B).

In addition, in this control method, the robot 201 executes a process of transmitting instruction information to an equipment management server 202b that manages the robot 200, and the monitoring device 203 executes a process of receiving the instruction information via the equipment management server 202b (communication pattern A).

In addition, in this control method, the robot 201 is provided at a location remote from the elevator, is connected to a monitoring device 203, and executes a process of transmitting instruction information to a remote monitoring server 202a that manages the elevator, and the monitoring device 203 executes a process of receiving the instruction information via the remote monitoring server 202a (communication pattern E).

In addition, in this control method, the robot 201 executes a process of transmitting instruction information to an equipment management server 202b that manages the robot 201, and the monitoring device 203 executes a process of receiving the instruction information via the equipment management server 202b and a remote monitoring server 202a that is provided in a remote location from the elevator, is connected to the monitoring device 203, and manages the elevator (communication pattern D).

In addition, the monitoring device of embodiment 1 of the present invention is a monitoring device 203 that is installed near an elevator and monitors the status of the elevator, and receives instruction information regarding operations performed by a user inside the elevator car from a communication device such as an autonomous robot 201 that uses the elevator, and transmits operation signals based on the received instruction information to an in-car operation panel 102 that receives operation signals from each operation button 101 installed inside the car, or to the elevator control panel 104.

The control device (on-cage control device 205) of embodiment 1 of the present invention is a control device 205 that controls operations performed by a user inside the elevator car by remote operation instructions, and connects branch wiring (signal lines 211-215) to existing wiring (signal lines 111-115) between each operation button 101 provided in the car and an operation panel (in-cage operation panel 102) that receives operation signals from each operation button 101, and based on information regarding an operation instruction for the operation button 101 received by the elevator receiving unit (communication unit 206) from an external device (monitoring device 203) via wireless communication, transmits an operation signal to the operation panel (in-cage operation panel 102) using the branch wiring (signal lines 211-215) corresponding to the operation instruction.

According to the control device of embodiment 1 of the present invention (on-cage control device 205), a call operation can be performed by the robot 201 without making any changes to the elevator configuration (operation button 101, in-cage operation panel 102, car control board 103, control panel 104, etc.), and the robot 201 can be caused to enter the car and the car can be moved to the desired floor.

This makes it possible to create an elevator that allows for the use of self-propelled robots more easily and at lower cost, with minimal modifications to existing elevator systems.

(Another embodiment of the first embodiment (part 1))
Fig. 8 is an explanatory diagram showing another example of the configuration of a part of an elevator car movement control system including an on-car control device according to another embodiment of this embodiment 1. Note that components that are the same as those shown in Fig. 1 and Fig. 2 are given the same reference numerals and their description will be omitted. Fig. 8 also includes the same components (reference numerals 201 to 207) as Fig. 2, but these are not shown.

In Figure 8, symbols 801 to 805 are connectors, symbols 811 to 815 are signal lines between the control unit 207 and the connectors 801 to 805, and symbols 821 to 825 are signal lines between the connectors 801 to 805 and the car operation panel 102.

For each of the operation buttons "1" to "5," signal lines (existing wiring) 111 to 115 are connected by wire between the connectors 801 to 805, respectively, and signal lines 821 to 825 corresponding to each of the signal lines 111 to 115 are connected between the connectors 801 to 805 and the car operation panel 102. Therefore, when each button is operated (for example, touched or pressed), the button operation signal (car call signal) is input in parallel to the car operation panel 102 via the signal lines 111 to 115 corresponding to each button → connectors 801 to 805 → each signal line 821 to 825.

Furthermore, signal lines 811-815 are connected by wire between the control unit 207 of the on-car control device 205 (not shown in FIG. 8) and each of the connectors 801-805. Therefore, when an operation signal is output from the control unit 207 to each of the signal lines 811-815, the operation signal passes through each of the signal lines 811-815 → connectors 801-805 → each of the signal lines 821-825, and is input in parallel to the in-car operation panel 102.

In this way, in the first embodiment, instead of the control unit 207 individually connecting the signal lines 211-215 with crimp terminals or the like to the signal lines 111-115 between the operation button 101 and the car internal operation panel 102, the control unit 207 can use the connectors 801-805 and the signal lines 811-815 similar to the signal lines 211-215 to send the operation signal from the control unit 207 to the car internal operation panel 102. Note that for the connectors 801-805, for example, branch harnesses or the like may be used.

In this way, for example, when an operation signal is sent (output) from control unit 207 to signal line 811, the operation signal is input from connector 801 via signal line 821 to car internal operation panel 102. When the signal is input, car internal operation panel 102 determines that an operation to call a car for the first floor has been performed and sends a signal to that effect via signal line 116 to car control board 103, and car control board 103 sends a signal regarding the car call operation for the first floor to control panel 104 via tail code 117. This allows control panel 104 to perform the operation of moving the car to the first floor.

Therefore, when the control unit 207 of the on-car control device 205 simply sends an operation signal to the signal line 811, the car can be moved to the first floor, even if the occupant does not operate button "1" of the operation buttons 101 inside the car, in the same way as if the occupant had operated button "1" of the operation buttons 101 inside the car. Similarly, when the control unit 207 sends operation signals to the signal lines 812 to 815, the car can be moved to each floor (2nd to 5th floors).

The rest of the configuration is the same as in the embodiment described above, so detailed explanation will be omitted.

Thus, the control device 205 of this embodiment is a control device 205 that controls operations performed by a user inside the elevator car by remote operation instructions, and has connectors 801-805 provided between each operation button 101 provided inside the car and an operation panel that receives the operation signals of each operation button 101, and is characterized in that, based on information regarding the operation instructions of the operation buttons 101 received by the elevator receiving unit (communication unit 206) from the monitoring device 203 via wireless communication, it transmits the operation signal of the operation button corresponding to the operation instruction to the in-car operation panel 102 using the connectors 801-805.

According to the control device 205 of this embodiment, as with the control device of the above-mentioned embodiment, it is possible to perform a call operation using the robot 201, have the robot 201 enter the car, and move the car to the desired floor, without making any changes to the elevator configuration (operation buttons 101, in-car operation panel 102, car control board 103, control panel 104, etc.). This makes it possible to realize an elevator that allows the use of a self-propelled robot more simply and inexpensively, with minimal improvements to existing elevator systems. Furthermore, the use of connectors 801-805 allows for easy installation by simply plugging and unplugging.

(Another embodiment (part 2) of the first embodiment)
Although not shown in the figure, the control unit 207 may be provided with a pressing mechanism provided near each operation button 101 provided inside the basket, which presses each operation button 101 individually.

Specifically, this pressing mechanism includes, for example, an electromagnetic solenoid arm, and in response to an operation signal from the control unit 207, the electromagnetic solenoid arm is driven and the tip of the arm presses each of the operation buttons 101, thereby generating a car call signal.

Multiple electromagnetic solenoid arms (the same number as the buttons) may be provided for each of the operation buttons 101, and a moving mechanism may be further provided to move one or more electromagnetic solenoid arms, so that after the electromagnetic solenoid arm is moved to the position of the desired button, the button is pressed by the tip of the arm.

In this way, this control device 205 is a control device 205 that controls operations performed by a user inside the elevator car by remote operation instructions, and is characterized in that it has a pressing mechanism that individually presses each operation button 101 provided near each operation button 101 provided inside the car, and based on information regarding the operation instruction for the operation button 101 received by the elevator receiving unit (communication unit 206) from the monitoring device 203 via wireless communication, the pressing mechanism presses the operation button 101 corresponding to the operation instruction.

As a result, by simply installing the pressing mechanism near the operation button 101, there is no need to perform branch wiring as in embodiment 1. There is also no need to use a connector as in embodiment 2. Therefore, such construction is not required. Also, since each button can be physically pressed or contacted with the tip of the electromagnetic solenoid arm, the car call signal can be generated more reliably.

(Another Example (Part 3) of the First Embodiment)
Although not shown in the figure, the control unit 207 may be provided with a capacitance switch provided near each operation button 101 provided inside the basket, which changes the individual capacitance of each operation button 101.

Specifically, for example, when each operation button 101 is an electrostatic touch switch, this capacitance switch may be a circuit affixed to the electrostatic touch button, the circuit being adjusted to react to the electrostatic switch, and the capacitance can be changed by sending a signal to the circuit, thereby operating each operation button 101.

In this way, this control device 205 is a control device 205 that controls operations performed by a user inside the elevator car by remote operation instructions, and is characterized in that it has a capacitance switch attached to each operation button 101 provided inside the car, and changes the capacitance of the capacitance switch attached to the operation button 101 corresponding to the operation instruction based on information regarding the operation instruction of the operation button 101 received by the elevator receiving unit (communication unit 206) from an external device (such as the monitoring device 203, server 202, robot 201, or other communication terminal device) by wireless communication.

This eliminates the need for branch wiring as in the above-mentioned embodiment. It also eliminates the need to use connectors as in the above-mentioned embodiment (part 2). In addition, since the capacitance switch can perform the same function as pressing or touching each button, when each operation button 101 is an electrostatic touch switch, it is possible to more reliably generate a car call signal.

(Embodiment 2)
Fig. 9 is an explanatory diagram showing an example of a partial configuration of an elevator car movement control system according to a second embodiment of the present invention. Note that components that are the same as those shown in Fig. 1 and Fig. 2 are given the same reference numerals and their description will be omitted. Fig. 9 also includes the same components (reference numerals 201 to 207) as those in Fig. 2, but these are not shown.

As shown in Figure 9, the elevator car movement control system in embodiment 2 is composed of two cars (car A and car B), each of which can move (rise and fall) in conjunction with one another.

Cage A is equipped with a control panel 104a and an on-cage control device 205a, and cage B is equipped with a control panel 104b and an on-cage control device 205b. A group management device 902 is connected to the control panel 104a of cage A and the control panel 104b of cage B, and the movements of cage A and cage B can be linked by the group management device 902 controlling the respective control panels.

9 differs from embodiment 1 shown in FIG. 2 in that a parent monitoring device 901 is provided instead of the monitoring device 203 in FIG. 2, and this parent monitoring device 901 is provided with a child monitoring device 203a for cage A and a child monitoring device 203b for cage B. The configurations of the parent monitoring device 901 and the child monitoring devices 203a and 203b are the same as those of the monitoring device 203 in embodiment 1, and therefore detailed explanations thereof will be omitted.

When the parent monitoring device 901 receives instruction information from the robot 201 through any of the communication patterns A to E, it controls the two child monitoring devices 203a, 203b based on the received instruction information to transmit operation signals to the car control devices 205a, 205b. Alternatively, the parent monitoring device 901 controls the two child monitoring devices 203a, 203b to transmit operation signals to the elevator control panels 104a, 104b.

In this way, by using parent monitoring device 901 with group management function and child monitoring device 203a and child monitoring device 203b as monitoring devices, two cages can be managed as a group. Specifically, when an instruction signal is received from robot 201, parent monitoring device 901 acquires information about the elevator status from child monitoring device 203a and child monitoring device 203b, determines which cage to send the instruction signal to, and transmits (outputs) an operation signal to the child monitoring device of the determined cage. Therefore, the two cages can be operated efficiently, and robot 201 can be moved more quickly.

(Embodiment 3)
Fig. 10 is an explanatory diagram showing an example of a partial configuration of an elevator car movement control system according to a third embodiment of the present invention. Note that components that are the same as those shown in Fig. 1, Fig. 2, and Fig. 9 are given the same reference numerals and their description will be omitted. Fig. 10 also includes the same components (reference numerals 201 to 207) as Fig. 2, but these are not shown.

As shown in Figure 10, the elevator car movement control system in embodiment 3 is composed of two cars (car A and car B), which can move (rise and fall) in conjunction with each other. It differs from the movement control system in embodiment 2 shown in Figure 9 in that it does not have child monitoring devices 203a and 203b. The configuration of monitoring device 1001 is the same as that of monitoring device 203 in embodiment 1, so a detailed description thereof will be omitted.

In Figure 10, when the monitoring device 1001 receives instruction information from the robot 201 by any of the communication patterns A to E, it identifies either the car control device 205a or the car control device 205b based on the received instruction information, and transmits an operation signal to the car control device that was identified. Alternatively, the monitoring device 1001 identifies either the elevator control panel 104a or the control panel 104b, and transmits an operation signal to the control panel that was identified.

In this way, the monitoring device 1001 is equipped with a group management function for the two cages, and is therefore capable of group management of the two cages. Therefore, as in the second embodiment, the two cages can be operated efficiently, and the movement of the robot 201 can be made faster.

In embodiments 2 and 3, two cages (cage A and cage B) have been described, but even if there are three or more cages, each embodiment can be realized with a similar configuration (a parent monitoring device and the same number of child monitoring devices as the number of cages).

As described above, the control method and monitoring device of the present invention are useful for a control method that controls operations performed by a user inside an elevator car via remote control instructions and a monitoring device that is installed near an elevator and monitors the status of the elevator, and are suitable for a control method and monitoring device that controls the movement of a car in an elevator used by communication devices such as self-propelled robots.

101 Operation button 102 In-car operation panel 103 Car control board 104, 104a, 104b Control panel 111 Signal line (call signal line for operation button "1" (1st floor))
112 Signal line (call signal line for operation button "2" (2nd floor))
113 Signal line (call signal line for operation button "3" (3rd floor))
114 Signal line (call signal line for operation button "4" (4th floor))
115 Signal line (call signal line for operation button "5" (5th floor))
116 Signal line (signal line between car operation panel and car control board)
117 Signal line (tail cord between car control board and control panel)
201 Robot 202a Remote monitoring server 202b Device management server 203, 203a, 203b, 901, 1001 Monitoring device (remote monitoring device)
204 Equipment communication terminal 205, 205a, 205b Car-mounted control device 206 Communication unit 207 Control unit 211 Signal line (branch wiring of signal line 111)
212 signal line (branch wiring of signal line 112)
213 Signal line (branch wiring of signal line 113)
214 Signal line (branch wiring of signal line 114)
215 Signal line (branch wiring of signal line 115)
301 Robot body (casing)
302 Luggage storage space 303 Wheels 304 Display screen (touch panel)
305 Display control unit 306 Information input unit 307 Communication unit 308 Imaging unit 309 Travel control unit 310 Wheel drive unit 311 Storage battery 801 to 805 Connectors 811 to 815 Signal lines (signal lines between the control unit and the connector)
821 to 825 Signal line (signal line between connector and car operation panel)

Claims (8)

A control method for controlling operations performed by a user in an elevator car by remote control instructions, comprising:
The autonomous robot using the elevator executes a process of transmitting instruction information regarding an operation performed by a user in the elevator car;
A monitoring device that is provided near the elevator and monitors the state of the elevator receives the instruction information, and executes a process of transmitting an operation signal to a car operation panel that receives operation signals of each operation button provided in the car based on the received instruction information ;
A control method characterized in that the process of transmitting the operation signal is performed by connecting branch wiring to each existing wiring between each operation button and the car-mounted operation panel and using the corresponding branch wiring, or by providing a connector between the operation button and the car-mounted operation panel and using the connector . The robot executes a process of transmitting the instruction information to a communication terminal device connected to the robot via wireless communication;
2. The control method according to claim 1, wherein the communication terminal device executes a process of receiving instruction information transmitted from the robot and transmitting the received instruction information to the monitoring device. The robot executes a process of transmitting the instruction information to a management server that manages the robot;
3. The control method according to claim 2, wherein the communication terminal device executes a process of receiving the instruction information via the management server. The robot is provided at a remote location of the elevator, is connected to the monitoring device, and executes a process of transmitting the instruction information to a remote monitoring server that manages the elevator;
2. The control method according to claim 1, wherein the monitoring device executes a process of receiving the instruction information via the remote monitoring server. The robot executes a process of transmitting the instruction information to a management server that manages the robot;
The control method described in claim 1, characterized in that the monitoring device executes a process of receiving the instruction information via a remote monitoring server that is provided at a remote location from the management server and the elevator, connected to the monitoring device, and manages the elevator. A control method for controlling operations performed by a user in an elevator car by remote operation instructions, comprising:
The communication device executes a process of transmitting instruction information regarding an operation to be performed by a user in the elevator car;
A monitoring device that is provided near the elevator and monitors the state of the elevator receives the instruction information, and executes a process of transmitting an operation signal to a car operation panel that receives operation signals of each operation button provided in the car based on the received instruction information ;
A control method characterized in that the process of transmitting the operation signal is performed by connecting branch wiring to each existing wiring between each operation button and the car-mounted operation panel and using the corresponding branch wiring, or by providing a connector between the operation button and the car-mounted operation panel and using the connector . A monitoring device that is provided near an elevator and monitors the state of the elevator,
receiving instruction information from the autonomous robot using the elevator regarding an operation to be performed by a user in the elevator car;
Transmitting an operation signal to a car operation panel that receives operation signals of each operation button provided in the car based on the received instruction information;
A monitoring device characterized in that the operation signal is transmitted by connecting branch wiring to each existing wiring between each operation button and the car-mounted operation panel and using the corresponding branch wiring, or by providing a connector between the operation button and the car-mounted operation panel and using the connector . A monitoring device that is provided near an elevator and monitors the state of the elevator,
receiving instruction information regarding an operation to be performed by a user in the elevator car from the communication device;
Transmitting an operation signal to a car operation panel that receives operation signals of each operation button provided in the car based on the received instruction information;
A monitoring device characterized in that the operation signal is transmitted by connecting branch wiring to each existing wiring between each operation button and the car-mounted operation panel and using the corresponding branch wiring, or by providing a connector between the operation button and the car-mounted operation panel and using the connector .

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