JP7792816B2 - Management device and management method - Google Patents

Description

This disclosure relates to a management device and management method for managing at least one robot equipped with a storage battery.

Patent Document 1 (WO 2020/016925) discloses an elevator system in which an autonomous mobile body equipped with a storage battery supplies power to an elevator. In this elevator system, the autonomous mobile body moving within the building is configured to supply power to the elevator when it determines that power supply to the elevator is necessary.

International Publication No. 2020/016925

In the elevator system described in Patent Document 1, if the battery charge of a robot, such as an autonomous mobile object, is insufficient, it may be unable to supply sufficient power to the elevator. For example, a power outage could occur, cutting off the power supply from the commercial power source, causing the elevator car to stop between floors, trapping passengers and preventing them from exiting the car.

In this case, the car needs to travel to the nearest floor, then open the doors and allow passengers to disembark. However, if the robot's battery does not have enough remaining power, the car will stop again before reaching the nearest floor, making it impossible to rescue passengers trapped inside.

When multiple elevators are installed, the amount of power required to rescue passengers varies for each elevator depending on the number of passengers in the car (load weight) and the maximum load weight. The elevator system described in Patent Document 1 did not take into consideration whether a robot can supply the elevator with the power required for rescue, or, if multiple robots are installed, which robot should be assigned to which elevator to supply power in order to rescue passengers.

The present disclosure has been made to solve the above-mentioned problems, and its purpose is to provide a management device and management method that can optimally assign robots that can supply power to elevators in order to resolve situations where people are trapped due to a power outage.

The management device according to the present disclosure is a device that manages at least one robot equipped with a storage battery. The management device includes a processor and memory that stores a program executable by the processor. At least one robot and an elevator are configured so that, when any of the at least one robot is connected to the elevator, power can be supplied to the elevator from the storage battery installed in the robot connected to the elevator. The processor calculates the power required to resolve the trapped state when a power outage occurs and the elevator car doors cannot be opened. The processor assigns, as the assigned robot, a robot from among the at least one robot that can resolve the trapped state, based on specified information. The specified information includes the remaining charge of the storage battery installed in the at least one robot and the required power.

The management method disclosed herein is a method for managing at least one robot equipped with a storage battery. The at least one robot and the elevator are configured so that connecting any of the at least one robot to the elevator allows power to be supplied to the elevator from the storage battery installed in the robot connected to the elevator. The management method includes the steps of: calculating the required power to resolve a trapped state when a power outage occurs and the elevator car doors cannot be opened; and assigning, as an assigned robot, one of the at least one robots that can resolve the trapped state based on specified information. The specified information includes the remaining charge of the storage battery installed in the at least one robot and the required power.

According to the present disclosure, a robot capable of supplying power can be appropriately assigned to an elevator to resolve a situation where a person is trapped due to a power outage.

FIG. 1 is a diagram for explaining an overview of a robot management system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an example of a hardware configuration of a robot management system. FIG. 10 is a diagram for explaining a power supply method for a management device, an elevator system, and a robot. FIG. 10 is a diagram for explaining power supply to an elevator by a robot. FIG. 10 is a diagram for explaining the load in the car and the running direction. FIG. 2 is a diagram illustrating an example of an image captured by an information acquisition device. FIG. 10 is a diagram showing an example of a screen displayed on a user terminal. 10 is a flowchart of a main process. 10 is a flowchart of a power calculation process. 10 is a flowchart of a robot allocation process. 10 is a flowchart of a priority determination process. 10 is a flowchart of a car information generation process. 10 is a flowchart of a car information generation process according to a modified example.

The following describes the embodiments with reference to the drawings. In the following description, identical components are designated by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions of them will not be repeated.

Figure 1 is a diagram illustrating an overview of the robot management system in this embodiment. The robot management system includes a management device 100, multiple robots 200, an information acquisition device 300, a user terminal 400, and an elevator system 10 (see Figure 3 below) equipped with multiple elevators 20.

The management device 100 is a server device that manages the robots 200. The number of robots managed may be one or more. In this embodiment, the multiple robots 200 and elevators 20 are configured so that when any of the multiple robots 200 is connected to the elevator 20, power can be supplied to the elevator 20 from a battery (storage battery) 217 installed in the robot 200 connected to the elevator 20. The number of elevators 20 installed in a building may also be one or more.

In this example, the management device 100 manages multiple robots 200, including robot 200a (also referred to as "robot A") and robot 200b (also referred to as "robot B").

As will be described in more detail below, the management device 100 assigns a robot 200 to supply power to the elevator 200 in which the trapped state has occurred, based on the remaining battery charge of the robot 200 and the power required to resolve the trapped state (hereinafter, the robot assigned in this manner will also be referred to as the "assigned robot"). In the example of Figure 1, the battery of robot A is 80% charged, and the battery of robot B is 40% charged.

The robot 200 is an autonomous mobile robot. The assigned robot 200 (assigned robot) automatically travels to a supply port (connector) installed on the elevator 20 and connects to the supply port, allowing the assigned robot to supply power to the elevator 20.

Figure 1 shows the state inside car 71 of elevator 20 in which a trapped state has occurred. Assume that car 71 is currently trapped. A trapped state is a state in which car 71 of elevator 20 cannot open its doors (doors 32 of car 71 cannot open) due to a power outage. More specifically, a trapped state refers to a state in which passengers cannot get off car 71 because car 71 cannot move or open its doors due to a power outage.

A passenger 54 in a wheelchair is riding in car 71. Inside car 71 is a display 31 that indicates the floor location of car 71 and the direction of travel of car 71 (upward or downward). Here, the "floor location" indicates the floor on which car 71 is located. For example, in a four-story building, the floor location is indicated as either the first, second, third, or fourth floor.

An information acquisition device 300 is installed inside the car 71. The information acquisition device 300 is, for example, a mobile terminal. The information acquisition device 300 is capable of photographing the inside of the car 71, including the display 31 and passengers 54, and measuring the acceleration of the car 71. The management device 100 calculates car information based on the information acquired from the information acquisition device 300. The management device 100 calculates the required power based on the car information. This will be described in more detail below using Figures 6 and 12.

Furthermore, a two-dimensional code 33 is attached to the wall surface of the car 71. Passengers 54 can read the two-dimensional code 33 using the user terminal 400 used by the passengers 54. The user terminal 400 is, for example, a smartphone.

Passengers 54 can connect to the management device 100 from their user terminal 400 by accessing the URL identified by the two-dimensional code 33. Then, by notifying the management device 100 of information about the inside of the car (the urgency of rescue) from the user terminal 400, the robot 200 will prioritize rescuing the car 71. Details will be described later using Figures 7 and 11.

Figure 2 shows an example of the hardware configuration of a robot management system. As described above, the robot management system includes a management device 100, a robot 200, an information acquisition device 300, a user terminal 400, and an elevator system 10.

The management device 100 comprises a CPU (Central Processing Unit) 111, memory 112, and a communication interface 113. These are connected to each other via a bus so that they can communicate with each other.

The memory 112 may be configured to include a read-only memory (ROM), a random access memory (RAM), and a storage unit. The storage unit is a non-volatile storage device. The storage unit may be, for example, a hard disk drive (HDD) or a solid state drive (SSD).

The CPU 111 loads programs stored in ROM into RAM and executes them to realize the various functions of the management device 100. The ROM stores programs that describe the processing procedures of the management device 100. The RAM serves as a working area when the CPU executes programs, and temporarily stores programs and data used when executing programs.

The management device 100 can be connected to the robot 200, information acquisition device 300, user terminal 400, and elevator system 10 via the communication interface 113. The management device 100 communicates wirelessly with the robot 200, information acquisition device 300, and user terminal 400, and communicates wired with the elevator system 10.

The robot 200 in this embodiment is an autonomously mobile vacuum cleaner (cleaning robot). The robot 200 is equipped with a battery 217 and can travel across the floor to be cleaned using the power stored in the battery 217. The robot 200 can clean the floor using cleaning members while moving autonomously.

Furthermore, the robot 200 can operate the elevator 20 using the battery 217 during a power outage. In this way, in this embodiment, the robot 200 used for cleaning the interior of a building is effectively utilized to operate the elevator 20 during a power outage. Note that the robot 200 may be, for example, a robot for transporting luggage, a guide robot, a robot used only during a power outage, or a robot used for any other purpose.

The robot 200 includes a CPU 211, memory 212, a communication device 213, a camera 214, a display unit 221, a drive unit 231, and a battery 217. These are connected to each other via a bus so that they can communicate with each other. Similarly, the memory 212 may be configured to include a ROM, a RAM, and a storage unit.

The CPU 211 loads programs stored in the ROM into the RAM and executes them to realize the various functions of the robot 200. The ROM stores programs that describe the processing procedures of the robot 200. The display unit 221 displays various types of information. The display unit 221 is, for example, a liquid crystal display or a display.

In this embodiment, the communicator 213 is a wireless communication device. The robot 200 can connect to the management device 100 via the communicator 213. The management device 100 can also identify the location of the robot 200 using the communicator 213.

The communicator 213 transmits a signal for detecting the position of the robot 200, for example, using a communication method that complies with the BLE (Bluetooth Low Energy; "Bluetooth" is a registered trademark) communication standard. Instead of the BLE communication standard, a communication method that complies with the UWB (Ultra Wide Band) communication standard or the like may be used. The communicator 213 also transmits an ID for identifying the robot 200, signals indicating the start/end of cleaning by the robot 200, and the like to the management device 100, for example, using a communication method that complies with a wireless communication standard such as LTE (Long Term Evolution).

Also, for example, multiple communication devices (not shown, hereinafter referred to as "installed communication devices") are placed at appropriate distances from each other on the ceiling of a building. The installed communication devices receive signals transmitted from the robot 200 and detect the reception strength thereof using a communication method that complies with the same communication standard as the communication device 213 of the robot 200. The position of the robot 200 on the floor can be determined from the reception strength at the installed communication device. The installed communication devices are connected to the management device 100 by wire. The installed communication devices output the reception strength of the signals received from the robot 200 to the management device 100. In this way, the management device 100 determines the position of the robot 200.

Alternatively, instead of an "installed communication device," multiple cameras (not shown; hereinafter referred to as "installed cameras") installed on the ceiling of the building may be used. The installed cameras capture images of the building, including the floors. Images captured by the installed cameras include images of the robot 200. The installed cameras are connected to the management device 100 by wire. The installed cameras output data representing the captured images to the management device 100. The management device 100 identifies the position of the robot 200 from the captured images using known image analysis technology.

The management device 100 receives an ID for identifying the robot 200 and various information output from the robot, which are transmitted from the communication device 213. The management device 100 can also transmit, via the communication device 213, signals to instruct the robot 200 to clean, or signals to instruct the elevator 20 to supply power in the event of a power outage.

CPU 211 controls the operation of robot 200. When cleaning, it controls drive unit 231 and cleaning member (not shown) so that robot 200 moves autonomously while cleaning. The cleaning member is provided on the bottom surface of robot 200 and is used to suck up dust on the floor. The cleaning member is composed of, for example, a suction port, a blower for sucking dust through the suction port, a rotating brush provided at the suction port, and a motor for driving the rotating brush.

The camera 214 captures images of the robot 200's surroundings and outputs the captured images to the CPU 211. Based on the captured images and cleaning area information from the camera 214, the CPU 211 controls the drive unit 231 and cleaning members so that the robot 200 moves autonomously while cleaning.

The drive unit 231 generates a drive force for the robot 200 to move. The drive unit 231 includes, for example, wheels for the robot 200 to move on and a motor for driving the wheels. The drive unit 231 can be operated by receiving a supply of power from the battery 217. The battery 217 supplies power for the drive unit 231 and other devices of the robot 200 to operate.

When the robot 200 connects to the elevator 20 to supply power, it drives the drive unit 231 based on instructions from the management device 100 to travel to the location of the elevator 20's power supply connector. Then, based on the image captured by the camera 214, it connects the connector on the robot 200 side with the connector on the elevator 20 side. Then, it supplies power from the battery 217 to the elevator 20. Details of these operations will be described later using Figure 3 and subsequent figures.

The information acquisition device 300 includes a CPU 311, memory 312, a communication interface 313, a camera 314, and an acceleration sensor 315. These are connected to each other via a bus so that they can communicate with each other. Similarly, the memory 312 may also be configured to include a ROM, RAM, and a storage unit.

The CPU 311 loads programs stored in the ROM into the RAM and executes them to realize the various functions of the information acquisition device 300. The ROM stores programs that describe the processing procedures of the information acquisition device 300. The information acquisition device 300 can be connected to the management device 100 via the communication interface 313.

As described above, the information acquisition device 300 is installed inside the car 71. The acceleration sensor 315 is a sensor for measuring the acceleration of the car 71. The acceleration information measured by the acceleration sensor 315 is transmitted to the management device 100. The camera 314 captures images of the inside of the car 71. The images captured by the camera 314 are transmitted to the management device 100.

The user terminal 400 comprises a CPU 411, memory 412, a communication interface 413, a camera 414, an input unit 420, and a display unit 421. These are connected to each other via a bus so that they can communicate with each other. Similarly, the memory 412 may also be configured to comprise a ROM, RAM, and a storage unit.

The CPU 411 loads programs stored in the ROM into the RAM and executes them to realize the various functions of the user terminal 400. The ROM stores programs that describe the processing procedures of the user terminal 400. The user terminal 400 can be connected to the management device 100 via the communication interface 413.

The input unit 420 accepts input from the user. The input unit 420 is, for example, a touch panel, but may also be a keyboard or mouse. The display unit 421 displays various types of information. The display unit 421 is, for example, a liquid crystal display or display.

The user terminal 400 uses the camera 414 to read the two-dimensional code 33 placed inside the car 71, thereby enabling access to the management device 100.

Figure 3 is a diagram illustrating the power supply method between the management device 100, elevator system 10, and robot 200.

The elevator system 10 includes a power source 11 (commercial power source) and multiple elevators 20. The multiple elevators 20 include elevators 20a to 20c. Elevator 20a is also referred to as "Elevator No. 1," elevator 20b is also referred to as "Elevator No. 2," and elevator 20c is also referred to as "Elevator No. 3." In this embodiment, it is assumed that N elevators 20 are installed (Elevators No. 1 to No. N are installed).

The elevator car 71 of the elevator 20 is installed in a hoistway provided within the building. The car 71 travels within the hoistway to move between multiple floors.

Each elevator 20 is equipped with a CC control unit 22, a hoisting machine 23, a car device 24, and a connector 25. Elevator 20a (No. 1) is also equipped with a GC control unit 21. Power is supplied to each of these devices from power source 11 via cables 41 to 43. In the event of a power outage, power will no longer be supplied from power source 11, and power will no longer be supplied to all of this equipment.

A machine room is located directly above the elevator shaft. The machine room contains a hoisting machine 23 and a control panel. The control panel contains a CC control unit 22 and a GC control unit 21. A car device 24 is located inside the car.

The elevator system 10 is equipped with a GC control unit 21 and a CC control unit 22 as control units that control the elevator, including the operation of the car 71.

The GC control unit (also referred to as the "group management control unit") 21 is a device that controls multiple elevators (elevators 20a-c, etc.). The CC control unit (also referred to as the "individual elevator management control unit") 22 is a device that controls each elevator (elevators 20a-c, etc.). The GC control unit 21 and each CC control unit 22 communicate with each other and exchange various elevator-related data.

The hoist 23 is a motor that drives the car 71 to raise and lower it. The car device 24 is various devices installed on the car, including the display 31 shown in Figure 1. The connector 25 is a supply port for supplying power from the robot 200 in the event of a power outage. Details will be explained using Figure 4 and subsequent figures.

The management device 100 is also normally supplied with power from the power supply 11. The management device 100 is connected to an uninterruptible power supply (UPS) 101. Even if a power outage occurs and power is no longer supplied from the power supply 11, the management device 100 is configured to continue to receive power from the UPS 101 for a certain period of time.

The robot 200 is equipped with a battery 217 and a connector 218. Because the robot 200 is autonomous, it can move to the location where the connector 25 is installed, such as elevators 20a-c, and connect the connector 218 to the connector 25.

This allows power to be supplied from the battery 217 of the robot 200 to each piece of equipment in the elevator 20. In the example of Figure 3, the connector 218 of the robot 200 is connected to the connector 25 of the elevator 20a (No. 1). This allows power to be supplied from the battery 217 of the robot 200 to the GC control unit 21, CC control unit 22, hoisting machine 23, and car device 24 of the elevator 20a (No. 1). When the robot 200 is connected to the connector 25 of the elevator 20a, it supplies power to the CC control unit 22, hoisting machine 23, and car device 24 of the elevator 20a (No. 2).

The management device 100 can communicate with elevators 20a-c, etc. The management device 100 can communicate with the GC control unit 21 of elevator 20a. The GC control unit 21 can communicate with each CC control unit 22 of elevators 20a-c. The management device 100 can acquire data held by the GC control unit 21 or CC control unit 22.

For example, the CC control unit 22 acquires the floor position of each car 71. The management device 100 can receive the floor position information acquired by the CC control unit 22 via the GC control unit 21. The information acquired in this manner is stored in the memory 112 of the management device 100.

The management device 100 is also capable of communicating with the robot 200. This allows the management device 100 to acquire information from the robot 200 and output various commands to the robot 200.

Figure 4 is a diagram illustrating the power supply to the elevator by the robot 200. Figure 4 shows the elevator hall on the first floor. Here, the halls for elevator 20a (No. 1), elevator 20b (No. 2), and elevator 20c (No. 3) are shown.

Let's assume that there is currently a power outage and people are trapped in elevators 1 and 3. The doors 26 of elevators 20a-c (elevators 1-3) are closed (door-closed state). A connector 25 is provided on the left side of each door 26 of elevators 20a-c.

When the allocating robot connects to a supply port (connector 25) installed on the elevator 20, power can be supplied from the battery 217 installed on the allocating robot to the elevator 20 that is the power supply target. The management device 100 instructs the allocating robot to travel to the location where the connector 25 is installed, then connect to the connector 25 and supply power to the elevator 20 that is the power supply target.

Let's assume that robot 200a (robot A) is assigned to Unit 1. Robot 200a is currently traveling toward Unit 1. Robot 200a is attempting to supply power to Unit 1 by connecting connector 218 to connector 25 of Unit 1.

Let's assume that robot 200b (robot B) is assigned to Unit 3. Robot 200b has connector 218 connected to connector 25 of Unit 3. Robot 200b is currently supplying power to Unit 3.

The display units 221 of the robots 200a and 200b display information about the elevator 20. The display indicates that elevator No. 1 is trapped. The display indicates that elevator No. 2 is not trapped and is currently out of service. The display indicates that elevator No. 3 is trapped and is currently being rescued. Here, "rescuing" indicates that the robot 200 is supplying power to the elevator 20, and that the elevator 20 is moving toward the nearest floor or opening the doors 26.

Figure 5 is a diagram explaining the load in the car and the running direction. In this embodiment, the elevator 20 is assumed to be a balancing rope type elevator.

The elevator 20 comprises a car 71, a weighing device 72, a counterweight (balancing weight) 73, a rope 74, a hoist 23 (motor), and a deflector sheave 75. A rope (main rope) 74 is hung between the hoist 23 and the deflector sheave 75, with the car 71 and counterweight 73 suspended from both ends of the rope 74.

By driving the hoisting machine 23, the elevator 20 can move the car 71 installed in the hoistway in an upward direction (also referred to as the "UP direction") or a downward direction (also referred to as the "DN direction"), and can stop the car 71 by braking.

The weight of car 71, including passengers, can be measured using scale device 72. Elevator 20 is designed so that the weight of counterweight 73 balances the weight of car 71, including passengers, when car 71 is loaded with 50% of its maximum load weight.

In this embodiment, the car 71 has a maximum load capacity of 390 kg and can accommodate six passengers. Furthermore, in this embodiment, the weight of each passenger is assumed to be 65 kg. In this case, when 50% of the car's capacity (three people) is loaded inside the car 71, the weight of the counterweight 73 and the weight of the car 71 including the passengers are balanced.

Here, the load inside the car is defined as the load weight / maximum load weight [%]. When six people are on board, the load weight = 65 kg x 6 people = 390 kg (full load = maximum load weight). The load inside the car = (65 kg x 6 people) / (65 kg x 6 people) = 100%.

When three people are on board, the load inside the car = (65 kg x 3 people) / (65 kg x 6 people) = 50%. Similarly, when one person is on board, the load inside the car is 17%, and when there are no passengers, the load inside the car is 0%.

As shown in Figure 5(a), when one person is on board, the load inside the car is 17% (<50%). As a result, the counterweight 73 is heavier than the car 71. Therefore, if the brake is simply released, the car 71 will travel in the UP direction.

In the example of Figure 5(a), car 71 is assumed to have stopped between the second floor 77 and the third floor 78 due to a power outage. The distance traveled by car 71 in the UP direction until it arrives (lands) on the third floor 78 is assumed to be distance L1. When it arrives (lands) on the third floor 78, the doors of car 71 can be opened.

On the other hand, the distance traveled by car 71 traveling in the DN direction until it arrives (lands) at floor 77 on the second floor is assumed to be distance L2. When car 71 arrives at floor 77 on the second floor, the door of car 71 can be opened. Here, distance L1 > distance L2.

To resolve the trapped state, the car 71 can be driven at least to the nearest floor, the second or third floor, and then the door can be opened. However, since the battery capacity of the robot 200 is also limited, it is desirable to resolve the trapped state using as little power as possible.

For this reason, in this embodiment, the doors are opened after the car is driven to the nearest floor where the least amount of power is used to resolve the trapped state (hereinafter also referred to as the "nearest low-load floor"). In the example of Figure 5(a), less power is used when driving in the UP direction than in the DN direction, so car 71 is driven to the third floor to resolve the trapped state. In other words, the third floor is the nearest low-load floor.

As shown in Figure 5(b), when six passengers are on board, the load inside the car is 100% (>50%). As a result, the car 71 is heavier than the counterweight 73. Therefore, if the brake is simply released, the car 71 will travel in the DN direction.

In the example of Figure 5(b), less power is used when traveling in the DN direction than in the UP direction, so car 71 is made to travel to the second floor to resolve the trapped state. In other words, the second floor is the nearest floor with the lowest load.

As shown in Figure 5(c), when three passengers are on board, the load inside the car is 50%. Therefore, the car 71 and counterweight 73 are balanced. In this case, even if the brake is released, the car 71 will not travel in either the UP or DN direction. Therefore, the amount of power used per unit distance traveled will not change regardless of the direction in which the car is traveled.

However, the distance to the third floor 78 is L1, and the distance to the second floor 77 is L2, which is shorter than L1. For this reason, in the example of Figure 5(c), running the car 71 to the second floor, which is the shorter distance, uses less power, so to resolve the trapped state, the car 71 is run to the second floor. In other words, the second floor is the nearest floor with the lowest load.

In a balancing rope elevator like the one described above, for example, when the load inside the car is 100%, only the output required for brake release and operation (power supply to the control panel, etc., operation control power) is required, and since it is regenerative braking operation, no large amount of power is required. On the other hand, when the load inside the car is 50%, the weight of the counterweight 73 and the weight of the car 71 are balanced, so a large amount of power is required to move the car 71.

Note that the elevator 20 is not limited to the counterbalanced rope type elevator described above, but may also be a hydraulic elevator or a drum elevator. In the case of a hydraulic elevator, only control power and valve control power are required, and driving force is obtained by dropping a load in the DN direction, so only the time required for rescue operation (which increases depending on the distance to the landing) affects the required power. In the case of a drum elevator, the brake is released and the elevator moves in the DN direction under its own weight, so only the time required for rescue operation affects the required power.

Figure 6 shows an example of an image captured by the information acquisition device 300. Image 80 is an image of the inside of the car 71 captured by the information acquisition device 300 shown in Figure 1. The information acquisition device 300 is always capturing images of the inside of the car 71, regardless of whether a power outage has occurred. The information acquisition device 300 is equipped with a battery (not shown), so it can operate even during a power outage.

Image 80 shows five passengers 53 on board with doors 32 closed (door closed state). Image 80 also shows, on display 31, car 71 traveling in the UP direction on the second floor (floor position = 2nd floor, traveling direction = UP direction).

The management device 100 periodically (for example, every 100 msec) acquires images captured by the information acquisition device 300. Then, using publicly known image analysis technology, the management device 100 extracts the door open/close status, position, traveling direction, and number of passengers of the car 71 from the acquired images.

In this example, the following information is extracted: car 71 door status = door closed, floor location = 2nd floor, running direction = UP, and number of passengers = 5. Furthermore, the load inside the car is calculated from the number of passengers. As mentioned above, if the car is carrying six passengers, the load inside the car = (65 kg x 5 passengers) / (65 kg x 6 passengers = 390 kg) = 83% is calculated.

The management device 100 can also acquire acceleration information detected by the acceleration sensor 315 installed in the information acquisition device 300. The management device 100 estimates the distance to the nearest floor from the acceleration, door open/close status, floor position, and traveling direction.

For example, suppose the car is traveling in an upward direction from the second floor to the third floor. If the car is currently stopped on the second floor with the doors open, the traveling direction = upward, floor position = second floor, door open/closed state = door open, and acceleration = 0 (state A). After that, the door open/closed state = door closed (state B), and when acceleration > 0 (state C), the car enters a traveling state.

Furthermore, the floor position becomes the third floor (state D), acceleration becomes less than 0 (state E), and then acceleration becomes 0 (state F), the door open/close state becomes the door open state (state G), and the door opens and the vehicle stops on the third floor. Using this information, it is possible to estimate the distances L1 and L2 to the nearest floor, as shown in Figure 5.

Specifically, in the series of states A through G described above, states B through F are traveling states. In this embodiment, as described above, the "floor position" indicates which floor the car is on (for example, any of the first through fourth floors). In contrast, the car position indicates a more specific location. For example, the car position may indicate the distance from the lowest floor (first floor).

For example, the distance to the nearest floor may be calculated based on the measured time from state B (floor position = 2nd floor, running direction = UP). Cage 71 runs based on a fixed speed pattern (speed curve) (the relationship between car position and speed is specified). Therefore, the specific car position can be calculated by applying the measured time from state B (measurement is limited to state F) to this speed pattern (associating the relationship between time and distance). Using the car position and distance information between each floor, the distance to the nearest floor, such as L1 and L2 in Figure 5, can be calculated.

In addition, the specific car position can be calculated using the value obtained by integrating the acceleration twice (a value equivalent to the position) starting from state B (floor position = 2nd floor, running direction = UP). In this case, by combining this with the above-mentioned speed pattern information, the car position can be calculated more accurately.

In this way, in this embodiment, information about the car's position (car position, distance to the nearest floor) is estimated based on information including an image of the position display (floor position, running direction) captured by camera 314. Alternatively, information about the car's position (car position, distance to the nearest floor) is estimated based on information including an image of the position display (floor position, running direction) captured by camera 314 and acceleration measured by acceleration sensor 315.

Figure 7 shows an example of a screen displayed on the user terminal 400. As explained using Figure 1, if a trapped state occurs, passengers in the car 71 can access the management device 100 by reading the two-dimensional code 33 using the user terminal 400 (smartphone).

When the management device 100 is accessed, a screen such as that shown in Figure 7 is displayed on the display unit 421 of the user terminal 400 owned by passenger 53. The two-dimensional code 33 in car 71 is linked to the building name and the car number. The screen displays that the name of the building passenger 53 is using is "ABC Building" and that he is currently riding in "Car No. 3."

On this screen, the display unit 421 displays "Please enter the number of passengers," prompting the user to enter the number of passengers in the car 71. In this example, passenger 53 uses the input unit 420 to enter that the number of passengers is "5."

In addition, the display unit 421 displays "Please check the appropriate items" to prompt the user to enter information about the passengers in the car 71. These check items include "Wheelchair," which indicates that there is a passenger in a wheelchair, "Elderly," which indicates that there is an elderly person on board, "Infant," which indicates that there is a young child on board, "Pregnant woman," which indicates that there is a pregnant woman on board, and "Illness," which indicates that there is a passenger who is ill.

In this example, there is a passenger in a wheelchair and one who is ill, so passenger 53 uses the input unit 420 to check "wheelchair" and "illness."

Then, by clicking the "Send" button, the above information is sent to the management device 100. This allows the management device 100 to obtain passenger information from the information entered on the user terminal 400. Based on this passenger information, the management device 100 prioritizes the rescue of cars 71 with a high level of urgency (see Figure 11 below).

The processing executed in this embodiment will be explained below using flowcharts with reference to Figures 8 to 13. Figure 8 is a flowchart of the main processing. The management device 100 executes the main processing. For example, the main processing may be started when the power to the management device is turned on. Hereinafter, "step" may also be simply referred to as "S."

As shown in FIG. 8, when the main processing starts, the management device 100 determines in S101 whether a power outage (switching to UPS 101) has occurred. If the management device 100 determines that a power outage has occurred (YES in S101), the processing proceeds to S102. On the other hand, if the management device 100 does not determine that a power outage has occurred (NO in S101), the processing returns to S101 again. In other words, if a power outage has occurred, the processing from S102 onwards is executed.

UPS 101 is capable of detecting whether a power outage has occurred (whether the supply of power from the commercial power source (power source 11) has stopped). The management device 100 can determine whether a power outage has occurred based on information from UPS 101.

In S102, the management device 100 acquires car information. The car information is information generated in the car information generation process described in FIG. 12 or 13 below. The car information includes car load, car position, door open/close information, etc.

In S103, the management device 100 sets i = 0. In S104, the management device 100 adds 1 to i (i++). In S105, the management device 100 determines whether or not a person has been trapped based on the door opening/closing information and car load of car No. i. In this way, the management device 100 determines whether or not a person has been trapped, starting from car No. 1.

Specifically, if the doors of car i are closed and the load inside the car is greater than 0%, it is determined that a passenger is trapped. If the load inside the car is greater than 0%, it can be determined that there is a passenger inside car 71. Furthermore, if the doors of car 71 are closed when a power outage occurs, it can be determined that a passenger is trapped inside car 71 and cannot get off.

If the management device 100 determines in S106 that a person is trapped (YES in S106), the process proceeds to S107 and executes the power calculation process (Figure 9). On the other hand, if the management device 100 does not determine that a person is trapped (NO in S106), the process proceeds to S108.

The power calculation process calculates the power required to resolve the trapped state, and as described above, calculates the power required for car 71 in which the trapping has occurred.

In S108, the management device 100 determines whether i = N (number of installed cars). If the management device 100 determines that i = N (YES in S108), the processing proceeds to S109. On the other hand, if the management device 100 does not determine that i = N (NO in S108), the processing proceeds to S104.

In this embodiment, the management device 100 calculates the power required to resolve a trapped state for all cars 71, from No. 1 to No. N, installed in the building if a passenger is trapped.

In S109, the management device 100 executes the robot allocation process (Figure 10) and returns to S101. The robot allocation process determines which robot 200 to assign to supply power to the car 71 (elevator 20) in which the entrapment occurred (determines the assigned robot), and commands the assigned robot to supply power to the car 71 (elevator 20) in which the entrapment occurred.

By executing the robot allocation process, the robot 200 operates to resolve the trapped state. The process then returns to S101, and the robot will be assigned again the next time a power outage occurs.

Figure 9 is a flowchart of the power calculation process. The management device 100 determines the floor with the least power consumption (the floor nearest to the lowest load) based on car information including information about the weight of the car 71 (e.g., car load) and information about the position of the car 71 (e.g., car position).

When the power calculation process begins, in S201, the management device 100 determines the running direction and running distance to the nearest low-load floor based on the load in the car and the car position.

For example, as shown in Figure 5(a), if the load in the car is less than 50%, the running direction is determined to be UP. The running distance to the nearest floor (= nearest floor with low load) when running in the UP direction is determined based on the car position (distance from the first floor). In the example of Figure 5(a), the running distance to the nearest floor with low load is L1.

As shown in Figure 5(b), if the load in the car is greater than 50%, the running direction is determined to be the DN direction. The running distance to the nearest floor (= nearest floor with low load) when running in the DN direction is then determined based on the car position (distance from the first floor). In the example of Figure 5(b), the running distance to the nearest floor with low load is L2.

As shown in Figure 5(c), when the load in the car is 50% (the weight of the car 71 and the weight of the counterweight 73 are balanced), and L1 > L2, the running direction is determined to be the DN direction. In the example of Figure 5(c), the running distance to the nearest low-load floor is L2.

When the load in the car is 50% and L1 < L2, the running direction is determined to be UP. In other words, the running direction is determined so that the car will run to the nearest floor where the distance from car 71 to the landing is short. In this case, the running distance to the nearest floor with low load is L1.

Note that the state in which the weight of the car 71 and the weight of the counterweight 73 are balanced, as shown in Figure 5(c), is not limited to when the car load is 50%, but may also be defined with a range of several percent, such as when the car load is 47-53%, for example.

In S202, the management device 100 calculates the power required for travel to the nearest low-load floor. In other words, when the car 71 is not stopped at any of the multiple stoppable floors where the doors can be opened, the management device 100 calculates the power required for the car 71 to travel to the floor (nearest low-load floor) among the multiple stoppable floors that consumes the least amount of power for travel.

In the cases of Figures 5(a) and (b), car 71 can travel to the nearest low-load floor simply by releasing the brake, so no power is required for travel to the nearest low-load floor. However, if speed control is performed to maintain a constant speed, power is required to compensate. In this case, power required for travel = power required per unit travel distance x distance to the nearest low-load floor.

In the case of Figure 5 (c), even if the brake is released, the car 71 does not move, so the hoist 23 is driven to run the car 71 to the nearest low-load floor. The power required for running is calculated as the power required per unit running distance x the distance to the nearest low-load floor.

In S203, the management device 100 calculates the power required to release the trapped state. The required power includes the power required for running calculated in S202, as well as the power required to open the car 71 doors, the power required to operate the control panel (GC control unit 21 and CC control unit 22), the power required to operate the car device 24, etc.

Figure 10 is a flowchart of the robot allocation process. The management device 100 assigns a robot 200 that can resolve the confinement state as the assigned robot based on information including the remaining charge of the battery 217 and the required power.

When the robot allocation process begins, the management device 100 acquires the remaining battery power of each robot 200 in S301. For example, in the example of Figure 1, the remaining battery power of robot A is 80% (80% of the maximum power that robot A can supply), and the remaining battery power of robot B is 40%.

In S302, the management device 100 obtains the power requirements for each cage 71 in which a trapped passenger has occurred. Here, the required power calculated in the power calculation process is obtained.

In S303, the management device 100 assigns (determines the assigned robot) a robot 200 whose remaining battery charge does not fall below a predetermined amount (e.g., 10%) even when the required power is supplied. For example, in the above example, robot A has a larger remaining battery charge than robot B.

In a situation like Figure 5(c), if robot No. 1 is required to run to the nearest low-load floor (second floor) and then open the car 71 door, and the remaining battery charge of robot B (40%) is insufficient but the remaining battery charge of robot A (80%) can cover it, robot A is assigned to robot No. 1 as the assigned robot.

On the other hand, for example, if Robot No. 3 is stopped on the third floor but is trapped because the doors are closed, it does not need power to move but does need power to open the doors. If the remaining battery power in Robot B is sufficient to resolve this trapped state, then Robot B can be assigned to Robot No. 3 as the assigned robot.

In addition, since the robot 200 supplies power after traveling to the platform, it is necessary to allocate the robot 200 so that the remaining battery power does not reach 0, taking into account at least the power required to travel to the platform.

In S304, the management device 100 commands the assigned robots to supply power. In the above example, it commands robot A to supply power to robot No. 1, and commands robot B to supply power to robot No. 3.

In S305, the management device 100 determines whether or not a single assigned robot will supply power to multiple cages 71. If the management device 100 determines that a single assigned robot will supply power to multiple cages 71 (YES in S305), the processing proceeds to S306. On the other hand, if the management device 100 does not determine that a single assigned robot will supply power to multiple cages 71 (NO in S305), the robot allocation processing ends.

In S306, the management device 100 executes the priority determination process. For example, if robot A is assigned to robots 1 and 3 because robot B has insufficient battery power, the priority determination process is executed.

The assigned robot supplies power to the elevators 20 in the order determined in the priority determination process. In the above example, if elevator No. 1 has a higher priority than elevator No. 3, robot A will supply power to elevator No. 1 and then elevator No. 3.

In S307, the management device 100 instructs the assigned robots on the order in which to supply power. In the above example, robot A is instructed to supply power to robot No. 1 and then to robot No. 3.

In S308, the management device 100 determines whether all of the trapped-in situations have been resolved. If the management device 100 determines that all of the trapped-in situations have been resolved (YES in S308), it ends the robot allocation process. On the other hand, if the management device 100 does not determine that all of the trapped-in situations have been resolved (NO in S308), it proceeds to S309.

In the above example, when the assigned robot supplies power to cars 1 and 3 where the entrapment occurred, and all passengers have disembarked from both cars (load inside the car = 0%), it is determined that all entrapment has been resolved.

In S309, the management device 100 determines whether information from the user ("passenger information") has been received. If the management device 100 determines that information from the user has been received (YES in S309), the processing proceeds to S306. On the other hand, if the management device 100 does not determine that information from the user has been received (NO in S309), the processing proceeds to S308.

After a lock-in occurs, as explained with reference to Figures 1 and 7, if passengers 53 and 54 in car 71 transmit passenger information (information from users) such as the number of passengers and passengers in poor health or wheelchairs from the user terminal 400 (smartphone), the process returns to S306 and the priority determination process is performed again. In this way, in this embodiment, the priority is reviewed each time passenger information for each car 71 is transmitted.

Figure 11 is a flowchart of the priority determination process. When power is supplied to multiple cars 71 by one allocation robot, the management device 100 is configured to instruct the allocation robot to supply power to the multiple cars 71 in descending order of priority. As explained below, the priority is determined based on passenger information including the number of passengers, passenger attributes, and passenger status.

When the priority determination process begins, the management device 100 determines in S401 whether or not information (passenger information) has been received from a user. If the management device 100 determines that passenger information has been received (YES in S401), the process proceeds to S402. On the other hand, if the management device 100 does not determine that passenger information has been received (NO in S401), the process proceeds to S403.

In S402, the management device 100 acquires passenger information from the received information. In the example of Figure 7, passenger information is acquired indicating that there are five passengers on board No. 3, that the passenger attributes include passengers in wheelchairs, and that the passenger conditions include passengers who are unwell.

In S404, the management device 100 determines the priority based on the acquired passenger information and ends the priority determination process. For example, if there is a passenger who is unwell, the priority may be set to the highest. Alternatively, the priority may be set to a high value depending on the number of items corresponding to unwell, pregnant women, wheelchair users, elderly people, and young children (or the number of people who fall into this category). If there are no such passengers, the priority of the car 71 with the most passengers may be set to a high value. In this way, in this embodiment, the priority is determined according to the urgency of the passengers in the car 71.

In the above example, there is a wheelchair-bound passenger and a passenger who is ill on board Car No. 3. However, there are no such passengers on Car No. 1. Therefore, priority is determined in the order of Car No. 3, then Car No. 1.

Furthermore, if information from the user (passenger information) is not acquired, this information may be inferred based on information from the information acquisition device 300. For example, as explained using Figure 6, known image analysis technology may be used to detect that there are five passengers on board in image 80. Furthermore, areas corresponding to passengers may be extracted from the image, and based on the size, shape, etc. of the extracted area, it may be possible to determine whether the passenger is in a wheelchair, a small child, a collapsed passenger (unwell), etc.

In S403, the management device 100 determines the priority based on the number of passengers and wheelchair calls, and then ends the priority determination process. In cases where the management device 100 is able to acquire information from the GC control unit 21, as in this embodiment, it can acquire from the GC control unit 21 the load weight of each car 71 (see the explanation in Figure 5) and whether or not there is a wheelchair car call.

In the example of Figure 5, car 71 has a maximum load capacity of 390 kg and can carry six people (65 kg x 6 people). In this case, for example, if the load capacity is 65 kg, the number of passengers is calculated to be 1 person (= 65 kg / 65 kg), and if the load capacity is 390 kg, the number of passengers is calculated to be 6 people (= 390 kg / 65 kg).

In addition, in this embodiment, a wheelchair car call button (not shown) is installed inside car 71. Wheelchair passengers register their destination floor by pressing the wheelchair car call button. The management device 100 can then determine whether a wheelchair passenger is in car 71 by obtaining wheelchair car call information from the GC control unit 21.

For example, a higher priority may be set for a car 71 that has a registered wheelchair car call. If there are no such passengers, a higher priority may be set for a car 71 with a larger number of passengers. For example, if a wheelchair car call is registered in car No. 3 but not in car No. 1, the priority order is determined as car No. 3, then car No. 1.

In this embodiment, the management device 100 can acquire information about the car 71 from an information acquisition device 300 (mobile terminal) installed inside the car 71. The management device 100 can also acquire information about the car 71 from a GC control unit 21 (CC control unit 22) installed on the control panel.

However, the configuration is not limited to the above, and the management device 100 may be configured to acquire information from either the information acquisition device 300 or the GC control unit 21. The management device 100 can determine the robot to be assigned based on information from the information acquisition device 300, or can determine the robot to be assigned based on information from the GC control unit 21. Furthermore, even if the management device 100 is unable to acquire information from the user terminal 400, it can calculate the priority by acquiring information from the GC control unit 21.

For example, an elevator manufacturer can understand what signals can be obtained from the GC control unit 21, and therefore can build a robot management system that calculates priorities and determines assigned robots without obtaining information from the information acquisition device 300 and user terminal 400.

On the other hand, elevator manufacturers or maintenance companies unrelated to the above manufacturers may not necessarily be able to freely connect to the GC control unit 21 and obtain information. In such cases, by installing an information acquisition device 300 (mobile terminal) inside the car 71 and obtaining information from the user terminal 400, it is possible to build a robot management system that calculates priorities and determines assigned robots without connecting to the GC control unit 21.

The flowchart for the car information generation process for generating car information in the latter case (not connecting to the GC control unit 21 and using information from the information acquisition device 300) will be explained below using Figure 12. On the other hand, as a variation of the latter case, the flowchart for the car information generation process for generating car information in the former case (connecting to the GC control unit 21 and using this information, but not using the information acquisition device 300) will be explained below using Figure 13.

Figure 12 is a flowchart of the car information generation process. As shown in Figure 6, the camera 314 provided on the information acquisition device 300 installed in the car 71 captures images of the passengers in the car 71 and also captures images of the display 31.

The display 31 displays information related to the position of the car 71. Specifically, the display 31 displays the floor position of the car 71 and the direction of travel of the car 71. In addition, the acceleration sensor 315 provided in the information acquisition device 300 measures the acceleration of the car 71.

When the car information generation process begins, in S501, the management device 100 acquires images captured by the camera 314 and acceleration detected by the acceleration sensor 315 for each car.

In S502, the management device 100 extracts floor information from the image. Specifically, in the example of Figure 6, the floor information extracted is floor position = 2 and running direction = UP. In S503, the management device 100 estimates the number of passengers from the image. Specifically, in the example of Figure 6, the number of passengers is estimated to be 5.

In S504, the management device 100 calculates the car load from the maximum load weight and the number of passengers. Specifically, in the example of Figure 6, the car load is calculated as (65 kg x 5 passengers) / 390 kg = 83%.

In S505, the management device 100 estimates the car's position from the time-series data of acceleration and floor information. Specifically, as explained in Figure 6, the time-series data is the data for states A to G in the explanation of Figure 6.

In S506, the management device 100 stores car information including the car position and car load of each car in the memory 112, and ends the car information generation process.

In this way, the management device 100 estimates the number of passengers (number of passengers) as passenger information based on images of passengers captured by the camera 314, and further estimates the load inside the car as information related to the weight of the car 71 based on the maximum load weight and number of passengers. The management device 100 estimates the car position as information related to the position of the car 71 based on information including the image of the display 31 captured by the camera 314. The car position may also be estimated based on acceleration information measured by the acceleration sensor 315 in addition to the image captured by the camera 314.

Figure 13 is a flowchart of the car information generation process according to a modified example. In this modified example, the management device 100 can obtain or generate car information from the control units (GC control unit 21, CC control unit 22).

When the car information generation process begins, the management device 100 connects to the GC control unit 21 in S601. In S602, the management device 100 acquires the car position, scale information, and maximum load capacity of each car.

In S603, the management device 100 calculates the car load from the scale information and maximum load weight acquired from the scale device 72. For example, assume that the load weight is calculated to be 325 kg based on the scale information. If the maximum load weight is 390 kg, the car load is calculated as 325 kg/390 kg = 83%.

In S604, the management device 100 stores the car position and car load of each car in the memory 112, and then ends the car information generation process.

In this embodiment, one robot 200 is assigned to one or more elevators 20. However, this is not limited to this, and if the power supply from one robot 200 is not enough to resolve the trapped state, multiple robots 200 may be assigned to one elevator 20.

In addition, in this embodiment, the connector 25 is provided at the landing on the first floor, but this is not limiting and it may be installed at a landing on any floor or at a landing on each floor. If it is installed at a landing on each floor, cleaning robots located on each floor can be utilized.

In this embodiment, the management device 200 sends a pause signal to the GC control unit 21 for cars 71 that are not trapped or have been rescued. By sending the pause signal, the car 71 closes its doors and pauses operation. In this case, as shown in Figure 4, the display unit 221 of the robot 200 indicates that the car 71 is unoccupied and paused.

The robot 200 may also be equipped with a power generation function. For example, power may be generated by operating an engine provided in the robot 200, or by using sunlight, and the power generated in this manner may be supplied to the elevator 20.

As described above, in the present embodiment, the management device 100 is configured so that by connecting at least one robot 200 to the elevator 20, power can be supplied to the elevator 20 from the battery 217 installed in the robot 200 connected to the elevator 20. When a power outage occurs and the elevator 20 car 71 becomes trapped and the doors cannot be opened, the CPU 111 of the management device 100 calculates the power required to resolve the trapped state. Based on specified information, the CPU 111 assigns, as the assigned robot, a robot 200 out of the at least one robot 200 that can resolve the trapped state. The specified information includes the remaining charge of the battery 217 installed in the at least one robot 200 and the required power.

By doing this, a robot 200 that can supply power can be appropriately assigned to the elevator 20 to resolve a trapped situation caused by a power outage.

If a power outage causes a person to become trapped, it is possible to communicate with the maintenance company's information center from inside the car 71 via telephone lines. However, if a large-scale power outage occurs and the maintenance company dispatches maintenance personnel to carry out a rescue operation, it may take, for example, half a day due to a lack of manpower. In contrast, with the configuration of this embodiment, the robots 200 located within the building can respond immediately, making it possible to quickly resolve the trapped state. Furthermore, by assigning a robot 200 with sufficient battery power, it is possible to prevent a situation in which the car 71 stops again due to a lack of battery power during a rescue operation, causing a secondary disaster.

Each of the at least one robot 200 is an autonomous mobile robot 200. The trapped state is a state in which passengers cannot disembark from the car 71 because a power outage has occurred and the car 71 cannot move or open its doors. By connecting the assigned robot to a supply port (connector 25) installed in the elevator 20, power can be supplied to the elevator 20 from a battery 217 installed in the assigned robot. The CPU 111 commands the assigned robot to move to the location where the connector 25 is installed, and then connect to the connector 25 to supply power to the elevator 20.

In this way, the autonomous mobile robot 200 can travel to a position where it can connect with the elevator 20 and supply power to the elevator 20. For example, an autonomous mobile cleaning robot can be used to supply power to an elevator 20 in which a person is trapped, thereby reducing the cost of installing the robot.

The required power includes a first power and a second power. The first power is the power required for the car 71 to travel to the floor among the multiple stoppable floors at which the power consumption for travel is the least when the car 71 is not stopped at any of the multiple stoppable floors where the doors can be opened. The second power is the power required for the car 71 to open the doors. The CPU 111 determines the floor with the least power consumption based on car 71 information, which includes information about the weight of the car 71 and information about the position of the car 71. In this way, the trapped state can be resolved with the minimum amount of power required.

The elevator 20 is provided with control units (GC control unit 21, CC control unit 22) that control the operation of the car 71. The CPU 111 acquires car information from the control units (GC control unit 21, CC control unit 22). The memory 112 stores the car information. In this way, the information from the elevator 20 control units (GC control unit 21, CC control unit 22) can be used to resolve the trapped state.

A camera 314 is installed in car 71 to capture images of the interior of car 71. Camera 314 captures images of passengers inside car 71 and also captures an image of a position display that displays information about the position of car 71. CPU 111 estimates information about the weight of car 71 based on information including the images of passengers captured by camera 314. CPU 111 estimates information about the position of car 71 based on information including the image of the position display captured by camera 314. In this way, even when information from the control unit of elevator 20 cannot be used, installing camera 314 makes it possible to resolve a trapped state.

An acceleration sensor 315 that measures the acceleration of the car 71 is installed on the car 71. The CPU 111 infers information about the position of the car 71 based on information including an image of the position display captured by the camera 314 and the acceleration measured by the acceleration sensor 315. By installing the camera 314 and the acceleration sensor 315, information about the position of the car 71 can be inferred with greater accuracy.

When power is supplied to multiple cars 71 by the assigned robot, the CPU 111 instructs the assigned robot to supply power to the multiple cars 71 in descending order of priority. Priority is determined based on passenger information including passenger attributes and passenger status. In this way, it is possible to resolve trapped passengers in cars 71 in descending order of the urgency of rescue.

The CPU 111 estimates passenger information based on images of passengers captured by the camera 314. In this way, information from the elevator 20 control units (GC control unit 21, CC control unit 22) can be utilized to resolve trapped passengers in order of the car 71 requiring rescue most urgently.

The management device 100 can wirelessly communicate with the user terminal 400 operated by the passenger. The CPU 111 acquires passenger information from information entered on the user terminal 400. In this way, the trapped state can be resolved in order of the car 71 with the highest level of urgency, based on information from the trapped passenger. In this case, the trapped state can be resolved in order of the car 71 with the highest level of urgency, without using information from the control unit of the elevator 20.

The embodiments disclosed herein are illustrative and are not limited to the above. The scope of the present invention is defined by the claims, and it is intended to include all modifications that are equivalent to and within the scope of the claims.

10 elevator system, 11 power supply, 20, 20a to c elevator, 21 GC control unit, 22 CC control unit, 23 hoist, 24 cage device, 25 connector, 26 door, 31 display, 32 door, 33 two-dimensional code 33, 41 cable, 53, 54 passenger, 71 cage, 72 weighing device, 73 counterweight, 74 rope, 75 deflector car, 77, 78 floor, 80 image, 100 management device, 101 UPS, 111, 211, 311, 411 CPU, 112, 212, 312, 412 memory, 113, 413 communication interface, 213 communication device, 200, 200a, 200b robot, 214, 314, 414 camera, 217 battery, 218 Connector, 221 display unit, 231 drive unit, 300 information acquisition device, 313 acceleration sensor, 400 user terminal, 420 input unit, 421 display unit.

Claims (10)

A management device that manages at least one robot equipped with a storage battery,
a processor;
a memory that stores a program executable by the processor;
the at least one robot and the elevator are configured such that, by connecting any one of the at least one robot to an elevator, power can be supplied to the elevator from a storage battery mounted on the robot connected to the elevator;
The processor:
When a power outage occurs and the elevator car is trapped and the doors cannot be opened, the required power to resolve the trapped state is calculated;
assigning a robot that can resolve the confinement state from among the at least one robot as an assigned robot based on predetermined information;
The predetermined information includes the remaining charge of a storage battery mounted on the at least one robot and the required power. each of the at least one robot is an autonomous mobile robot;
The trapped state is a state in which passengers cannot get off the car because the car cannot run or open its doors due to a power outage,
By connecting the allocation robot to a supply port installed in the elevator, power can be supplied to the elevator from a storage battery installed in the allocation robot,
The management device according to claim 1 , wherein the processor instructs the allocation robot to travel to a location where the supply port is provided, and then connect to the supply port to supply power to the elevator. the required power includes a first power and a second power;
the first power is power required for the car to travel to a floor among the plurality of stoppable floors where power consumption due to travel is the least when the car is not stopped at any of the plurality of stoppable floors where the door can be opened,
the second power is power for the car to open a door,
The management device according to claim 1 or 2, wherein the processor determines the floor with the least power consumption based on car information including information about the weight of the car and information about the position of the car. The elevator is provided with a control unit that controls the operation of the car,
The processor acquires the car information from the control unit,
The management device according to claim 3 , wherein the memory stores the car information. A camera for capturing images of the inside of the car is installed in the car,
the camera captures an image of a passenger in the elevator car and a position display that displays information about the position of the elevator car;
The processor:
Inferring information about the weight of the car based on information including images of the passengers captured by the camera;
The management device according to claim 3 , wherein information relating to the position of the car is estimated based on information including an image of the position display captured by the camera. a sensor for measuring acceleration of the car is installed in the car;
The management device according to claim 5 , wherein the processor estimates information relating to the position of the car based on information including an image of the position display captured by the camera and the acceleration measured by the sensor. When power is supplied to multiple cages by the allocation robot, the processor instructs the allocation robot to supply power to the multiple cages in descending order of priority.
The management device according to claim 5 or 6, wherein the priority is determined based on passenger information including attributes of the passengers and states of the passengers. The management device described in claim 7, wherein the processor estimates the passenger information based on images of the passengers captured by the camera. the management device is capable of wirelessly communicating with the terminal operated by the passenger,
The management device according to claim 7 , wherein the processor acquires the passenger information from information input by the passenger on the terminal. A management method for managing at least one robot equipped with a storage battery, comprising:
the at least one robot and the elevator are configured such that, by connecting any one of the at least one robot to an elevator, power can be supplied to the elevator from a storage battery mounted on the robot connected to the elevator;
a step of calculating a required power to resolve a trapped state in a case where a power outage occurs and the elevator car is in a trapped state where the doors cannot be opened;
and assigning, as an assigned robot, a robot that can resolve the confinement state from among the at least one robot based on predetermined information,
The management method, wherein the predetermined information includes the remaining charge of a storage battery mounted on the at least one robot and the required power.