CN115490120A

CN115490120A - Elevator device

Info

Publication number: CN115490120A
Application number: CN202210656344.2A
Authority: CN
Inventors: 菅野豊明
Original assignee: Toshiba Elevator Co Ltd
Current assignee: Toshiba Elevator and Building Systems Corp
Priority date: 2021-06-18
Filing date: 2022-06-10
Publication date: 2022-12-20
Anticipated expiration: 2042-06-10
Also published as: CN115490120B; JP2023000909A; JP7242762B2

Abstract

Embodiments of the present invention relate to an elevator apparatus. The problem is to suppress the increase of the waiting time of a user who calls a car at other floors when communication abnormality between an elevator device and an autonomous mobile body occurs. The elevator apparatus according to the present embodiment is an elevator apparatus that performs control of opening and closing a door of a car based on communication with an autonomous moving body when only the autonomous moving body gets inside the car. An elevator device according to an embodiment includes a recognition device, a detection device, and a control device. The recognition device recognizes an autonomous moving body riding in the car. The detection device detects completion of boarding of the autonomous moving body to the car and boarding and alighting from the car. The control device controls the opening and closing of the doors of the car based on a signal indicating that only the autonomous moving body has taken a ride on the car acquired from the recognition device and a signal indicating that the autonomous moving body has completed a ride on the car or has left the car acquired from the detection device.

Description

Elevator device

Cross Reference to Related Applications

The present application is based on Japanese patent application No. 2021-101979, filed on 18/6/2021, from which priority benefits are enjoyed. This application incorporates by reference the entirety of this application.

Technical Field

An embodiment of the invention relates to an elevator device.

Background

Service robots (hereinafter referred to as autonomous moving bodies) that perform delivery, cleaning, guard, and the like are becoming widespread. In response to the spread of autonomous moving bodies, elevator apparatuses have been developed which can control the opening and closing of a door of a car and register a floor where the car is located by communicating with the autonomous moving bodies.

When it is detected that the passenger in the car is only an autonomous moving body, the elevator apparatus capable of communicating with the autonomous moving body switches to operation control dedicated to the autonomous moving body, and performs opening/closing control of the door of the car and registration of the floor where the passenger arrives by communicating with the autonomous moving body.

However, there is a problem that the closing control of the door cannot be performed when communication abnormality between the elevator apparatus and the autonomous moving body occurs after the autonomous moving body gets on the elevator apparatus. Since the car with the doors open cannot move, the car with the doors open cannot be dispatched to another call floor even if a car call is made at another floor. Therefore, the waiting time of the user who makes a car call at another floor becomes long. In addition, the operation rate of the elevator apparatus is also reduced.

As conventional techniques, there have been proposed a technique of efficiently moving an autonomous moving body using an elevator, a technique of comparing a boarding space in a car with the size of the autonomous moving body and rejecting boarding of the autonomous moving body to the car, and the like. However, there has not been known a technique for suppressing the increase in the waiting time of a user who makes a car call at another floor when a communication abnormality between an elevator apparatus and an autonomous moving body occurs.

Disclosure of Invention

The present invention has been made in view of the above circumstances, and an object thereof is to suppress an increase in the waiting time of a user who makes a car call at another floor when a communication abnormality between an elevator apparatus and an autonomous mobile body occurs.

An elevator apparatus according to an embodiment for solving the above-described problem is an elevator apparatus that performs control of opening and closing a door of a car based on communication with an autonomous moving body when only the autonomous moving body gets inside the car. An elevator device according to an embodiment includes a recognition device, a detection device, and a control device. The recognition device recognizes an autonomous moving body riding in the car. The detection device detects completion of boarding of the autonomous moving body to the car and boarding and alighting from the car. The control device controls the opening and closing of the doors of the car based on a signal indicating that only the autonomous moving body has mounted on the car and a signal indicating that the autonomous moving body has completed mounting on the car or has left the car and is acquired from the detection device.

The elevator device with the structure can make the waiting time of the user who calls the car at other floors shorter than the prior art.

Drawings

Fig. 1 is a perspective view of an elevator apparatus according to the present embodiment.

Fig. 2 is a diagram showing the inside of the car of the present embodiment.

Fig. 3 is a block diagram of the autonomous moving body of the present embodiment.

Fig. 4 is a block diagram showing a control system of an elevator apparatus according to the present embodiment.

Fig. 5 is a block diagram of the control unit of the present embodiment.

Fig. 6 is a flowchart for explaining the operation of the elevator apparatus according to the present embodiment.

Fig. 7 is a flowchart for explaining the operation of the elevator apparatus according to the present embodiment.

Fig. 8 is a flowchart for explaining an operation of a conventional elevator apparatus.

Fig. 9 is a diagram for explaining an operation of a conventional elevator apparatus.

Fig. 10 is a diagram for explaining an operation of the elevator apparatus according to the present embodiment.

Fig. 11 is a flowchart for explaining the operation of the elevator apparatus according to the present embodiment.

Fig. 12 is a flowchart for explaining an operation of a conventional elevator apparatus.

Fig. 13 is a diagram for explaining an operation of a conventional elevator apparatus.

Fig. 14 is a diagram for explaining the operation of the elevator apparatus according to the present embodiment.

Detailed Description

Hereinafter, the present embodiment will be described with reference to the drawings. In the description, an XYZ coordinate system composed of mutually orthogonal X, Y, and Z axes will be used as appropriate.

Fig. 1 is a perspective view of an elevator apparatus 10 according to the present embodiment. The elevator apparatus 10 is disposed inside a hoistway 100 installed in a building such as a commercial facility or a residential facility. As shown in fig. 1, the elevator apparatus 10 includes a car 31, a counterweight 50, a hoist motor 40, guide rails 21 to 24, and a control panel 70.

The guide rails 21 to 24 each have a longitudinal direction as a Z-axis direction. The guide rails 21 and 22 are a pair of members for guiding the car 31 to be movable up and down. The guide rails 23 and 24 are a pair of members for guiding the counterweight 50 to be movable up and down. The guide rails 21 and 22 are arranged to be separated from each other in the Y-axis direction. The guide rails 23 and 24 are also arranged so as to be spaced apart from each other in the Y-axis direction. In fig. 1, the guide rails 23 and 24 of the counterweight 50 are disposed apart from the guide rails 21 and 22 of the car 31 in the X-axis direction. The arrangement of the guide rails 21 to 24 is not limited to the arrangement shown in fig. 1.

The car 31 is a unit that accommodates users and moves up and down in the hoistway 100. The car 31 is disposed between the guide rails 21, 22, and is attached to the guide rails 21, 22 so as to be movable in the vertical direction.

An opening 31a for allowing an operator to enter and exit is formed in the + X side surface of the car 31. The opening 31a is closed or opened by a pair of doors 32 that move along the side surfaces of the car 31. The door 32 is opened and closed by an opening and closing motor (not shown in fig. 1).

The counterweight 50 is attached to the guide rails 23, 24 so as to be movable in the vertical direction. The weight of the counterweight 50 is adjusted to be in a predetermined ratio to the weight of the car 31.

The lifting motor 40 is a motor for lifting the car 31. The elevator motor 40 is disposed in an upper portion of the hoistway 100 such that a rotation axis thereof is parallel to the Y axis. A pulley 42 is fixed to a rotary shaft of the lifting motor 40.

A wire rope 60 is wound around the pulley 42 of the elevator motor 40. One end of the wire rope 60 is fixed to the car 31, and the other end is fixed to the counterweight 50.

Fig. 2 is a diagram showing the inside of the car 31. As shown in fig. 2, the car 31 is provided with an operation panel 36, a communication device 37, a recognition device 38, and a detection device 39. The autonomous moving body 200 is an autonomous moving body riding in the car 31.

Fig. 3 is a block diagram of the autonomous mobile unit 200. Autonomous mobile unit 200 includes control section 210, communication section 220, QR code 230, and RFID240. The control unit 210 includes a CPU, a storage device, and the like, and stores application software for operating the autonomous moving body 200 in the storage device. The communication unit 220 is constituted by a wireless communication device such as a wireless LAN or bluetooth, for example. The autonomous moving body 200 communicates with the communication device 37 of the elevator apparatus 10 via the communication means 220, and calls the car 31, registers the floor where the car is located, and the like.

The QR code 230 and the RFID240 are means for indicating that the autonomous mobile unit 200 is an autonomous mobile unit. The QR code 230 is displayed on the upper surface of the autonomous moving body 200 capable of reading the QR code 230 by the recognition device 38. The RFID240 notifies the recognition device 38 of the fact that it is an autonomous mobile body by communicating with the recognition device 38. Note that the autonomous mobile unit 200 may have at least one of the QR code 230 and the RFID240.

The operation panel 36 shown in fig. 2 is provided on an inner wall surface of the car 31. The operation panel 36 is an interface for receiving a destination floor or the like from a user of the car 31. The user can register the floor where the car 31 arrives and open and close the door 32 by operating the operation panel 36.

The communication device 37 is provided above the ceiling wall or the inner wall surface of the car 31. The communication device 37 is a communication interface with the autonomous mobile unit 200 mounted on the car 31. Specifically, the communication device 37 notifies the autonomous mobile unit 200 that the door 32 has become the open state, and receives a signal indicating that the autonomous mobile unit 200 has completed boarding or disembarking from the autonomous mobile unit 200. Further, the communication device 37 receives a signal indicating the floor reached by the autonomous mobile unit 200. The communication device 37 is constituted by a wireless communication device such as a wireless LAN or bluetooth.

The identification device 38 is provided above the ceiling wall or the inner wall surface of the car 31. The recognition device 38 is a device that recognizes the autonomous moving body 200 riding in the car 31. When the information indicating that the vehicle is an autonomous moving body is indicated by a QR code (registered trademark), the recognition device 38 is a reading device that reads the QR code (registered trademark). The recognition device 38 recognizes the passenger of the car 31 as an autonomous moving body by reading a QR code (registered trademark) displayed on the autonomous moving body 200 and indicating that the autonomous moving body 200 is the autonomous moving body. When the information indicating that the autonomous mobile unit 200 is an autonomous mobile unit is indicated by using an IC tag such as an RFID, or wireless communication such as a wireless LAN or bluetooth, the identification device 38 is configured by a wireless communication device that receives a signal output from the IC tag such as an RFID, or a wireless LAN or bluetooth. The recognition device 38 acquires information indicating that the vehicle is an autonomous vehicle, which is wirelessly transmitted from the autonomous vehicle 200, and thereby recognizes the passenger in the car 31 as the autonomous vehicle.

The recognition device 38 includes a camera and an image analysis device. The recognition device 38 analyzes the camera image to detect whether or not there is a user other than the autonomous moving object in the car 31. When detecting that the passenger in the car 31 is only the autonomous moving body 200, the recognition device 38 notifies the control unit 80 that the passenger in the car 31 is only the autonomous moving body 200.

The detection device 39 detects completion of boarding of the autonomous moving body 200 to the car 31 and boarding and disembarking from the car 31. Specifically, the detection device 39 detects the completion of boarding of the autonomous moving body 200 to the car 31 and alighting from the car 31 by performing image analysis on an image obtained by imaging the entrance of the car 31. Specifically, the detection device 39 detects completion of boarding of the autonomous moving body 200 onto the car 31 and alighting from the car 31 by detecting that the distance between the autonomous moving body 200 and the door 32 is equal to or more than a predetermined distance (for example, 10 cm). When detecting the completion of the boarding of the autonomous moving body 200 to the car 31 and the alighting from the car 31, the detection device 39 notifies the control unit 80 of the completion of the boarding of the autonomous moving body 200 to the car 31 and the alighting from the car 31.

Returning to fig. 1, the control panel 70 is disposed in the hoistway 100. The control panel 70 houses a control device for controlling the elevator motor 40 and the equipment provided in the car 31.

Fig. 4 is a block diagram showing a control system of the elevator apparatus 10. The control system includes a control unit 80 and a drive unit 91 housed in the control panel 70, and an operation panel 36, a communication device 37, a recognition device 38, and a detection device 39 provided in the car 31.

The drive unit 91 includes a power supply, an inverter, and the like for supplying electric power to the elevator motor 40, the door 32 of the car 31, and the opening/closing motor 41 (not shown in fig. 1) provided in the boarding area of each floor. The driving unit 91 drives the elevation motor 40 based on an instruction from the control unit 80. Further, the driving unit 91 drives the opening/closing motor 41 based on an instruction from the control unit 80.

The operation panel 36, the communication device 37, the recognition device 38, and the detection device 39 are connected to the control unit 80. The user can register the floor or the like to the control unit 80 by operating the operation panel 36. The autonomous mobile unit 200 can register the floor to which it is located and the like with the control unit 80 by communicating with the communication device 37.

The operation panel 36, the communication device 37, the recognition device 38, the detection device 39, and the like are connected to the control unit 80 housed in the control panel 70 via a cable 71 shown in fig. 1.

Fig. 5 is a block diagram of the control unit 80. The control Unit 80 is a computer having a CPU (Central Processing Unit) 81, a main storage Unit 82, an auxiliary storage Unit 83, and an interface Unit 84 connected to each other via a bus 85.

The CPU81 executes a process described later in accordance with a program stored in the auxiliary storage unit 83.

The main storage unit 82 includes a RAM (Random Access Memory) and the like. The main storage 82 is used as a work area of the CPU81.

The auxiliary storage unit 83 includes a nonvolatile Memory such as a ROM (Read Only Memory) or a semiconductor Memory. The auxiliary storage unit 83 stores programs executed by the CPU81, various parameters, and the like.

The interface section 84 has a serial interface, a parallel interface, a wireless LAN interface, and the like. The operation panel 36, the communication device 37, the recognition device 38, the detection device 39, and the drive unit 91 are connected to the CPU81 via the interface 84.

In the elevator apparatus 10 configured as described above, the CPU81 controls the driving unit 91 based on the inputs from the operation panel 36, the communication device 37, the recognition device 38, and the detection device 39. For example, when the CPU81 rotates the elevating motor 40 in the normal direction via the driving unit 91, the car 31 is raised and the counterweight 50 is lowered. When the CPU81 reverses the lifting motor 40 via the driving unit 91, the car 31 descends and the counterweight 50 ascends. When the CPU81 rotates the opening/closing motor 41 forward via the driving unit 91, the doors 32 of the car 31 and the doors provided in the boarding area of each floor are controlled to open the doors, and when the opening/closing motor 41 rotates backward, the doors 32 of the car 31 and the doors provided in the boarding area of each floor are controlled to close the doors.

In the elevator apparatus 10 according to the embodiment, the control means 80 recognizes that the host moving body 200 has mounted in the car 31 based on the information from the recognition device 38. Further, the control unit 80 recognizes that the boarding of the main moving body 200 to the car 31 or the alighting from the car 31 has been completed based on the information from the detection device 39. Upon receiving a signal indicating that only the autonomous moving body 200 is mounted on the car 31 from the recognition device 38, the control unit 80 switches to the operation in the autonomous moving body-dedicated operation mode. The autonomous mobile unit-dedicated operation mode is a control mode in which the opening/closing of the door 32 and the registration of the floor to which the door is moved are controlled based on a signal acquired from the communication device 37 instead of the operation panel 36. In the autonomous mobile unit-dedicated operation mode, when the signal indicating that the autonomous mobile unit 200 has completed boarding to the car 31 is not acquired from the communication device 37, the control unit 80 of the embodiment performs control to close the door 32 based on the signal indicating that the autonomous mobile unit 200 has completed boarding to the car 31 acquired from the detection device 39. In the autonomous moving body dedicated operation mode, when the signal indicating that the autonomous moving body 200 has completed departing from the car 31 is not acquired from the communication device 37, the control unit 80 according to the embodiment performs control to close the door 32 based on the signal indicating that the autonomous moving body 200 has completed departing from the car 31, which is acquired from the detection device 39.

Next, the opening/closing control of the door 32 of the elevator apparatus 10 when the autonomous moving body 200 uses the elevator apparatus 10 will be described with reference to the flowchart shown in fig. 6. The control described below is performed based on a program stored in the auxiliary storage unit 83, and the main body of the control is the CPU81.

When the autonomous moving body 200 moves to the elevator hall where the elevator apparatus 10 is installed, a car call signal is transmitted (step S11). When the car 31 reaches the call floor, the elevator apparatus 10 controls the door 32 of the car 31 to open (step S12). Then, the elevator apparatus 10 transmits a boarding permission signal to the autonomous mobile unit 200 via the communication device 37 (step S13).

The recognition device 38 recognizes whether or not the car 31 is riding on only the autonomous moving body 200 (step S14). When the recognition device 38 recognizes that the car 31 is being ridden with not only the autonomous moving body 200 (no in step S14), the control means 80 controls the opening and closing of the door 32 of the car 31 in the normal operation mode (step S15). In the normal operation mode, the control unit 80 sets the destination floor based on a button of the operation panel 36 corresponding to the stop floor of the car 31 or a signal indicating the destination floor received from the autonomous moving body 200. In the normal operation mode, the control unit 80 performs control for closing the door 32 when the button of the operation panel 36 for closing the door 32 is not pressed even when a predetermined time (for example, 10 seconds) has elapsed during door closing control of the door 32 after boarding completion. In the normal operation mode, the control unit 80 performs control for closing the door 32 after a predetermined time (for example, 10 seconds) from completion of the door opening control in the door closing control after the door is opened after the arrival at the floor.

On the other hand, when the recognition device 38 recognizes that only the autonomous moving body 200 is mounted in the car 31 (yes in step S14), the control unit 80 controls opening and closing of the door 32 of the car 31 in the autonomous moving body-dedicated operation mode (step S16).

Next, control of the door 32 at the time of riding in the autonomous moving body dedicated operation mode will be described with reference to a flowchart shown in fig. 7.

When the car 31 reaches the destination floor, the control means 80 controls the door 32 to open the door (step S31), and transmits a boarding permission signal to the autonomous moving body 200 via the communication device 37. The control unit 80 determines whether or not the boarding completion notification is received from the autonomous mobile unit 200 via the communication device 37 (step S32). When the boarding completion notification and the arrival floor registration signal are received from the autonomous moving body 200 (yes in step S32), the control unit 80 closes the door 32 (step S34), and controls the car 31 to move to the destination floor.

On the other hand, when the boarding completion notification is not received from the autonomous mobile unit 200 (no in step S32), the control unit 80 detects whether the autonomous mobile unit 200 has completed the boarding via the detection device 39 (step S33). In the case where the boarding has not been completed (step S32: no), the control unit 80 maintains the open state of the door 32.

On the other hand, when it is detected via the detection device 39 that the autonomous moving body 200 has completed boarding (yes in step S33), the control unit 80 performs control to close the door 32 (step S34).

Fig. 8 is a flowchart for explaining an operation of a conventional elevator apparatus. In the conventional technique, when the boarding completion notification is not received from the autonomous mobile unit in the autonomous mobile unit-dedicated operation mode, the state of step S32 is continued, and the door is kept in the open state.

Fig. 9 is a diagram for explaining the control of opening and closing the doors of a conventional elevator apparatus. The horizontal axis represents the open/close state of the door. The vertical axis represents the passage of time. In the conventional art, when communication between an autonomous moving body and an elevator apparatus is normal, as shown by a solid line a, door opening control of a door is performed at time tJ1 when a destination floor is reached, and the door is opened (J1). Then, the door is closed at time tJ2 when the boarding completion notification is received from the autonomous moving body, and the door is set to the closed state (J2). On the other hand, when the communication between the autonomous moving body and the elevator apparatus is abnormal, the door closing control is not performed at time tJ2 as indicated by a broken line B, and the door continues to be in the open state (J2). In the door-open state, the car cannot be moved, and therefore, even if the car is called at another floor, the car cannot be moved, and a user who calls the car at another floor is on standby.

Fig. 10 is a diagram for explaining the opening and closing control of the door 32 of the elevator apparatus 10 according to the embodiment. In the elevator apparatus 10 of the embodiment, when the communication between the autonomous moving body 200 and the elevator apparatus 10 is normal, as shown by the solid line a, the door 32 is controlled to be opened at the time tJ1 when the destination floor is reached, and the door 32 is opened (J1). After that, the door 32 is closed at time tJ2 when the boarding completion notification is received from the autonomous moving body 200, and the door 32 is closed (J2).

On the other hand, when the communication between the autonomous mobile unit 200 and the elevator apparatus 10 is not normal, the control unit 80 performs door closing control of the door 32 when the completion of boarding of the autonomous mobile unit 200 is detected by the detection device 39 at time tJ3 as shown by a thick solid line C even if the boarding completion notification cannot be received from the autonomous mobile unit 200, and the door 32 is in the closed state (J3). A predetermined time (for example, about 3 seconds) may be provided until the detection device 39 detects that the autonomous moving body 200 has completed riding and the door 32 is closed. For example, the predetermined time is set to a time slightly longer than a time (assumed time) taken from when the autonomous mobile unit 200 completes boarding the car 31 to when the autonomous mobile unit 200 transmits a signal indicating that boarding to the car 31 has been completed. The elevator apparatus 10 according to the embodiment performs control to close the door 32 when the detection device 39 detects that the boarding of the autonomous mobile unit 200 is completed even if the boarding completion notification cannot be received from the autonomous mobile unit 200, and therefore can move the car 31 in response to a car call from another floor. Therefore, the elevator apparatus 10 according to the embodiment can make the waiting time of the user who makes a car call at another floor shorter than that of the related art. In addition, the elevator apparatus 10 of the embodiment can increase the operation rate of the elevator apparatus 10 as compared with the conventional art.

Next, the control of the gate 32 when the vehicle leaves the elevator in the autonomous moving body dedicated operation mode will be described with reference to a flowchart shown in fig. 11.

When the car 31 reaches the destination floor, the control means 80 controls the door 32 to open (step S51), and transmits an escape permission signal to the autonomous moving body 200 via the communication device 37. The control unit 80 determines whether or not the departure completion notification is received from the autonomous moving body 200 via the communication device 37 (step S52). When the departure completion notification is received from the autonomous moving body 200 (yes in step S52), the control unit 80 closes the door 32 (step S54), and ends the autonomous moving body-dedicated operation mode.

On the other hand, when the departure completion notification is not received from the autonomous moving body 200 (no in step S52), the control unit 80 detects whether the autonomous moving body 200 has completed the departure via the detection device 39 (step S53). In the case where the departure from the ladder has not been completed (step S53: no), the control unit 80 maintains the open state of the door 32.

On the other hand, when it is detected via the detection device 39 that the autonomous moving body 200 has finished getting off the elevator (yes in step S53), the control unit 80 performs control to close the door 32 (step S54), and ends the autonomous moving body-dedicated operation mode.

Fig. 12 is a flowchart for explaining an operation of a conventional elevator apparatus. In the related art, when the departure completion notification is not received from the autonomous moving body in the autonomous moving body-dedicated operation mode, the state of step S52 is continued, and the door 32 is kept in the open state.

Fig. 13 is a diagram for explaining the control of opening and closing the doors of a conventional elevator apparatus. The horizontal axis represents the open/close state of the door. The vertical axis represents the passage of time. In the conventional art, when communication between an autonomous moving body and an elevator apparatus is normal, door opening control of a door is performed at time tK1 when the autonomous moving body reaches a destination floor as shown by a solid line D, and the door is opened (K1). After that, the door closing control is performed at time tK2 when the departure completion notification is received from the autonomous moving body, and the door is brought into the closed state (K2). On the other hand, when the communication between the autonomous moving body and the elevator apparatus is abnormal, the door closing control of the door is not performed at time tK2 as indicated by broken line E, and the door continues to be in the open state (K2). In the door-open state, the car cannot be moved, and therefore, even if the car is called at another floor, the car cannot be moved, and a user who calls the car at another floor is on standby.

Fig. 14 is a diagram for explaining the opening and closing control of the door 32 of the elevator apparatus 10 according to the embodiment. In the elevator apparatus 10 of the embodiment, when the communication between the autonomous moving body 200 and the elevator apparatus 10 is normal, the door 32 is opened at time tK1 when the destination floor is reached as shown by solid line D, and the door 32 is opened (K1). After that, the door 32 is controlled to be closed at time tK2 when the departure completion notification is received from the autonomous moving body 200, and the door 32 is closed (K2).

On the other hand, when the communication between the autonomous moving body 200 and the elevator apparatus 10 is not normal, the control unit 80 performs the door closing control of the door 32 when the departure completion of the autonomous moving body 200 is detected by the detection device 39 at time tK3 as shown by the thick solid line F even if the departure completion notification cannot be received from the autonomous moving body 200, and the door 32 is in the closed state (K3). A predetermined time (for example, about 3 seconds) may be set until the detection device 39 detects that the autonomous moving body 200 has completed leaving the elevator and the door 32 is closed. For example, the predetermined time is set to a time slightly longer than a time (assumed time) taken from when the autonomous mobile unit 200 finishes going off from the car 31 to when the autonomous mobile unit 200 transmits a signal indicating that the going off from the car 31 has been finished. The elevator apparatus 10 according to the embodiment performs control to close the door 32 when the detection device 39 detects the completion of the departure of the autonomous moving body 200 even if the departure completion notification cannot be received from the autonomous moving body 200, and thus can move the car 31 in response to a car call from another floor. Therefore, the elevator apparatus 10 according to the embodiment can suppress the waiting time of the user who makes a car call at another floor from becoming longer than that of the related art. In addition, the elevator apparatus 10 of the embodiment can increase the operation rate of the elevator apparatus 10 as compared with the conventional art.

As described above, even when the communication device 37 does not receive a signal indicating that the boarding of the autonomous moving body 200 to the car 31 is completed from the autonomous moving body 200, the elevator apparatus 10 according to the embodiment performs control to close the door 32 when the detection device 39 detects that the autonomous moving body 200 has been boarded to the car 31. In the elevator apparatus 10 according to the embodiment, even when the communication device 37 does not receive the signal indicating that the autonomous moving body 200 has already detached from the car 31 from the autonomous moving body 200, the detection device 39 performs control to close the door 32 when detecting that the autonomous moving body 200 has detached from the car 31. As described above, the elevator apparatus 10 according to the embodiment closes the door 32 when the autonomous moving body 200 is detected to complete boarding or disembarkation even when communication with the autonomous moving body 200 is abnormal, and therefore the car 31 can be moved in response to a car call from another floor. Therefore, the elevator apparatus 10 according to the embodiment can suppress the increase in the waiting time of the user who makes a car call at another floor when the communication abnormality between the elevator apparatus 10 and the autonomous moving body 200 occurs. In addition, the elevator apparatus 10 of the embodiment can increase the operation rate of the elevator apparatus 10 as compared with the conventional art.

The embodiments of the present invention have been described above, and the present invention is not limited to the above embodiments. For example, in the above-described embodiment, the case where the detection device 39 is configured by a camera and an image analysis device is described. The detection device 39 is not limited to this, and may be a device that detects the completion of boarding of the autonomous moving body 200 to the car 31 and boarding and disembarking from the car 31 using an optical sensor provided in the opening/closing portion of the door 32 of the car 31. In this case, the optical sensor is provided with a transmission unit and a reception unit through the opening 31a. The detection device 39 detects the completion of boarding of the autonomous moving body 200 to the car 31 or boarding from the car 31 based on the fact that the optical sensor can no longer sense the autonomous moving body 200 after sensing the autonomous moving body 200 by the optical sensor. The detection device 39 may be a contact sensor or the like that detects the object being caught by the door 32. The detection device 39 detects that the autonomous moving body 200 caught by the door 32 is not yet completed by sensing the autonomous moving body 200 by the contact sensor, and detects that the boarding of the autonomous moving body 200 to the car 31 or the alighting from the car 31 is not completed.

In the above embodiment, it has been described that the recognition device 38 and the detection device 39 include a camera and an image analysis device. However, the camera of the recognition device 38 and the camera of the detection device 39 may be the same camera. The image analysis device of the recognition device 38 and the image analysis device of the detection device 39 may perform time-division processing on the respective image analyses by one image analysis device (one CPU), or may perform parallel processing by two image analysis devices (two CPUs).

In the above-described embodiment, the case where the recognition device 38 recognizes the passenger in the car 31 as an autonomous moving body by wireless communication such as QR code (registered trademark) or RFID has been described. The recognition device 38 may include a camera and an image recognition device having a learning function, and may recognize whether or not the passenger in the car 31 is an autonomous moving body from an image captured by the camera.

In the above-described embodiment, the case where the autonomous mobile body 200 notifies that the autonomous mobile body is an autonomous mobile body by using the QR code 230 or the RFID240 has been described, but information indicating that the autonomous mobile body 200 is an autonomous mobile body may be notified to the elevator apparatus 10 via the communication means 220.

The flowcharts shown in fig. 6, 7, and 11 are merely examples, and are not limited thereto. For example, in the flowchart shown in fig. 7, step S32 may be omitted. In the flowchart shown in fig. 11, step S52 may be omitted.

Some embodiments of the present invention have been described, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These new embodiments may be implemented in other various ways, and various omissions, substitutions, and changes may be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

Claims

1. An elevator apparatus that performs control of opening and closing a door of a car based on communication with an autonomous moving body when only the autonomous moving body gets inside the car, the elevator apparatus comprising:

a recognition device that recognizes the autonomous moving body riding in the car;

a detection device that detects completion of boarding of the autonomous moving body to the car and completion of alighting from the car; and

and a control device that controls opening and closing of the doors of the car based on a signal indicating that only the autonomous moving body gets on the car, which is acquired from the recognition device, and a signal indicating that the autonomous moving body has completed getting on the car or has left the car, which is acquired from the detection device.

2. Elevator arrangement according to claim 1,

the elevator device includes a communication device that receives a signal indicating that the autonomous mobile body has completed boarding to the car or disembarking from the car from the autonomous mobile body,

the control device performs control of closing the door based on a signal indicating that the autonomous moving body has completed boarding to the car, acquired from the communication device, when acquiring a signal indicating that only the autonomous moving body boards to the car from the identification device and acquiring a signal indicating that the autonomous moving body has completed boarding to the car from the communication device,

the control device performs control of closing the door based on the signal indicating that the autonomous moving body has completed boarding to the car acquired from the detection device, when receiving the signal indicating that only the autonomous moving body boards to the car from the recognition device and not receiving the signal indicating that the autonomous moving body has completed boarding to the car from the communication device.

3. Elevator arrangement according to claim 1,

the control device performs control of closing the door based on a signal indicating that the autonomous moving body has completed going off from the car, acquired from the communication device, when acquiring, from the recognition device, a signal indicating that only the autonomous moving body gets on the car and acquiring, from the communication device, a signal indicating that the autonomous moving body has completed going off from the car,

the control device performs control of closing the door based on the signal indicating that the autonomous moving body has completed going off from the car, which is acquired from the detection device, when the signal indicating that only the autonomous moving body gets on the car is acquired from the recognition device and the signal indicating that the autonomous moving body has completed going off from the car is not acquired from the communication device.

4. Elevator arrangement according to any one of claims 1-3,

the autonomous mobile body has a QR code for transmitting information indicating that it is an autonomous mobile body,

the recognition device reads a QR code indicating that the passenger is an autonomous moving body displayed on the autonomous moving body, and recognizes whether or not the passenger in the car is an autonomous moving body.

5. Elevator arrangement according to any of claims 1-3,

the autonomous mobile unit has a wireless communication means that transmits information indicating that it is an autonomous mobile unit,

the recognition device recognizes whether or not the passenger of the car is an autonomous moving body by wirelessly acquiring information indicating that the passenger is an autonomous moving body, the information being wirelessly transmitted from the autonomous moving body.

6. Elevator arrangement according to any one of claims 1-3,

the detection device detects completion of boarding of the autonomous moving body to the car and boarding and disembarkation of the car by performing image analysis on an image obtained by imaging an entrance of the car.

7. Elevator arrangement according to any one of claims 1-3,

the detection device detects completion of boarding of the autonomous moving body to the car and boarding of the autonomous moving body from the car by using an optical sensor or a contact sensor provided in an opening/closing portion of a door of the car.