CN113811502A - Moving body movement control system - Google Patents
Moving body movement control system Download PDFInfo
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- CN113811502A CN113811502A CN201980096188.5A CN201980096188A CN113811502A CN 113811502 A CN113811502 A CN 113811502A CN 201980096188 A CN201980096188 A CN 201980096188A CN 113811502 A CN113811502 A CN 113811502A
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- car
- event
- instruction
- floor
- moving body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/14—Applications of loading and unloading equipment
- B66B17/16—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
- B66B17/20—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
Abstract
The invention provides a movement control system for a user, which is difficult to make a moving body moving by using a car of an elevator system obstruct the occurrence of special events of the elevator system. A movement control system (1) is provided with an event detection unit (18) and an instruction unit (19). An event detection unit (18) detects a special event. Special events occur in the elevator system. The elevator system has a car (10) on which a moving body (5) rides. When the event detection unit (18) detects a special event, the instruction unit (19) outputs an instruction to the moving body (5) mounted on the car (10) to give priority to the user of the elevator system over the moving body (5) according to the type of the special event.
Description
Technical Field
The present invention relates to a movement control system for a mobile body.
Background
Patent document 1 discloses an example of an elevator. When an abnormal situation is detected, the elevator stops the car at a predetermined floor. The elevator is configured such that a car door of a car stopped at a predetermined floor is opened for a predetermined time.
Documents of the prior art
Patent document
Patent document 1: japanese laid-open patent publication No. 62-161691
Disclosure of Invention
Problems to be solved by the invention
In the elevator of patent document 1, as an operation when an abnormal situation is detected, an operation different from a normal operation is set. Here, the operation when an abnormal situation is detected may be an operation that is not assumed in a moving body that moves between a plurality of floors using the car of the elevator. In this case, the moving body may hinder the user from handling the detected situation due to malfunction or the like caused by the operation of the elevator that is not assumed.
The present invention has been made to solve such problems. The present invention has an object to provide a movement control system for a user who is unlikely to cause a moving body moving by a car of an elevator system to interfere with the occurrence of a special event in the elevator system.
Means for solving the problems
A movement control system for a mobile body according to the present invention includes: an event detection unit that detects a special event occurring in an elevator system having a car on which a mobile body rides; and an instruction unit that outputs, when the event detection unit detects a special event, an instruction to give priority to a user of the elevator system over the moving body according to the type of the special event to the moving body mounted on the car.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, the movement control system includes an event detection unit and an instruction unit. The event detection unit detects a special event. Special events occur in the elevator system. An elevator system has a car on which a moving body rides. When the event detection unit detects a special event, the instruction unit outputs an instruction to the moving body mounted on the car to give priority to a user of the elevator system over the moving body according to the type of the special event. Therefore, the moving body moving by the car of the elevator system is difficult to obstruct the user who deals with the special event of the elevator system.
Drawings
Fig. 1 is a configuration diagram of a movement control system according to embodiment 1.
Fig. 2 is a flowchart showing an example of the operation of the movement control system according to embodiment 1.
Fig. 3 is a flowchart showing an example of the operation of the movement control system according to embodiment 1.
Fig. 4 is a diagram showing an example of a hardware configuration of a main part of the movement control system according to embodiment 1.
Fig. 5 is a configuration diagram of a movement control system according to embodiment 2.
Detailed Description
A mode for carrying out the present invention will be described with reference to the accompanying drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and overlapping description is omitted or simplified as appropriate.
Embodiment 1.
Fig. 1 is a configuration diagram of a movement control system according to embodiment 1.
In this example, the movement control system 1 is an elevator system. Elevator systems are applied, for example, to buildings having a plurality of floors. In a building, a hoistway 2 of an elevator is installed across a plurality of floors. In a building, a plurality of landings 3 of an elevator are provided on each of a plurality of floors. Landing entrances and exits are provided in each of the plurality of landings 3. The landing doorway is an opening communicating with the hoistway 2. In each of the plurality of landings 3, a landing door 4 is provided at a landing doorway.
The movement control system 1 is a system that controls movement of a mobile body 5 in a building. Here, the mobile body 5 is a device that moves inside a building, for example. Alternatively, the mobile body 5 may be a device that moves across the outside and inside of a building. The moving body 5 is, for example, a self-propelled robot. The moving body 5 includes a driving unit 6, a 1 st communication unit 7, a speaker 8, and a projector 9. The drive unit 6 is a part that generates a drive force for moving the mobile body 5 between a departure floor including a departure position and a destination floor including a destination position. The driving unit 6 includes, for example, a motor and a tire. The 1 st communication unit 7 is a unit that performs communication with a device outside the mobile body 5. The 1 st communication unit 7 is equipped with a function of wireless communication, for example. The communication by the 1 st communication unit 7 includes, for example, reception of an instruction input from a device external to the mobile body 5. The speaker 8 is a device that emits sound. The projector 9 is, for example, a device that projects an image including characters, images, and the like onto a floor, a wall surface, and the like on which the moving body 5 moves.
The elevator system includes a plurality of cars 10, a plurality of control panels 11, and a group management device 12.
Each of the plurality of cars 10 is a device that transports users, moving bodies 5, and the like between a plurality of floors by traveling in the vertical direction inside the hoistway 2. Each of the plurality of cars 10 includes a car door 13, a scale device 14, and a car camera 15. The car door 13 is a device that opens and closes so that a user, the moving body 5, and the like can get in and out of the car 10 when the car 10 stops at any of a plurality of floors. The car door 13 opens and closes the landing door 4 of the floor at which the car is parked in an interlocking manner. The weighing device 14 is a device that measures the weight of the load inside the car 10. The car camera 15 is a device that photographs the inside of the car 10.
The plurality of control panels 11 correspond to the respective cars 10 of the plurality of cars 10. Each of the plurality of control panels 11 is a device for controlling the operation of the corresponding car 10. The operation of the car 10 includes, for example, traveling of the car 10, opening and closing of the car doors 13, and the like.
The group management device 12 manages calls registered in each of the plurality of cars 10. In this example, the group management device 12 is equipped with the functions of the movement control system 1. The group management device 12 includes a 2 nd communication unit 16, an assignment unit 17, an event detection unit 18, and an instruction unit 19.
The 2 nd communication unit 16 is a part that performs communication with a device outside the group management device 12. The 2 nd communication unit 16 is connected to each of the plurality of control panels 11, and can acquire information of each of the plurality of cars 10, for example.
The assignment section 17 is a section that assigns calls to each of the plurality of cars 10. The calls assigned by the assignment unit 17 include, for example, a hall call of the user and a hall call of the moving vehicle 5 in which a destination floor is specified. In this example, the calls assigned by the assignment section 17 include priority calls. A priority call is a call that is handled in preference to other calls. The priority calls include, for example, a wheelchair call when a wheelchair user boards the car 10, or a VIP call when a VIP (Very inportant Person: Important Person) boards the car 10. The assignment unit 17 is connected to each of the plurality of control panels 11 via the 2 nd communication unit 16 so that the control panel 11 corresponding to the car 10 can register a call assigned to the car 10.
The event detector 18 is a part that detects the occurrence of a special event. The special event is a special event that occurs less frequently than the normal event. Here, a normal event is an event occurring in normal operation of the elevator system. A normal event is, for example, an event that occurs during a period in which the car 10 travels from a stop floor at which the car stops to another floor and stops again. The normal event includes, for example, opening and closing of the car door 13. The special event includes, for example, an event in which a disaster occurs, an event in which a call is called by priority, an overweight event, or the like. The event detection unit 18 detects a special event based on, for example, a detection signal input from a sensor or the like provided in the elevator system or a notification signal input from a server or the like outside the elevator system.
The instruction section 19 is a section that outputs an instruction to the moving body 5 mounted on the car 10. Here, the moving body 5 mounted on the car 10 includes, for example, the moving body 5 already mounted on the car 10 and the moving body 5 waiting for boarding to the car 10 in the landing 3. The instruction output by the instruction unit 19 includes an instruction to give priority to the user over the mobile object 5 depending on the type of the special event. In this example, the instruction output by the instruction unit 19 includes a content to be notified to the user. The instruction unit 19 is connected to the mobile body 5 via the 2 nd communication unit 16 so as to be able to output an instruction to the mobile body 5.
The functions of the movement control system 1 according to embodiment 1 will be described with reference to fig. 1.
During normal operation of the elevator system, the mobile body 5 is moved between a plurality of floors by the car 10.
First, an example in the case where no special event occurs will be described. The moving body 5 moves from the starting position to the landing 3 on the starting floor. The mobile body 5 transmits a hall call designating a destination floor to the group management device 12 via the 1 st communication unit 7.
The 2 nd communication part 16 of the group management device 12 receives a call transmitted from the mobile body 5. The assigning unit 17 assigns the received call to any of the plurality of cars 10. The assignment section 17 outputs the call to the control panel 11 corresponding to the car 10 to which the call is assigned. The control panel 11 registers an entered call. The control panel 11 causes the car 10 to travel to the departure floor in accordance with the registered call. The car 10 stops at the landing 3 of the departure floor. The control panel 11 causes the landing door 4 at the departure floor to open the car door 13 in an interlocking manner.
The moving body 5 rides in the car 10 from the landing 3 on the starting floor.
The control panel 11 causes the landing door 4 at the departure floor to close the car door 13 in an interlocking manner. The control panel 11 causes the car 10 to travel to a destination floor in accordance with the registered call. The car 10 stops at the landing 3 of the destination floor. The control panel 11 causes the landing door 4 at the destination floor to open the car door 13 in conjunction therewith.
The moving body 5 is lifted from the inside of the car 10 at the landing 3 of the destination floor. The moving body 5 moves from the landing 3 on the destination floor to the destination position.
Next, an example of a case where a disaster occurs is described as a special event. The disaster event is, for example, an earthquake or a fire. The occurrence of an earthquake is detected by a seismometer not shown, for example. When an earthquake is detected, each of the plurality of control boards 11 stops the corresponding car 10 at, for example, the nearest floor. At this time, the plurality of control panels 11 notify the occurrence of the special event to the users riding in the corresponding car 10 through a display device or a sound notification device, not shown, of the car 10. When the special event is a disaster event, the plurality of control panels 11 notify the user of the occurrence of the disaster.
The event detection unit 18 detects an event in which a disaster occurs, for example, based on a detection signal from a seismograph. Alternatively, the event detection unit 18 may detect an event in which a disaster occurs based on a signal from a disaster information server, for example. When detecting an event in which a disaster has occurred, the event detector 18 outputs information of the event to the instructing unit 19.
When the information of the special event is input, the instruction section 19 determines the state of the moving body 5 in each of the plurality of cars 10. The instruction unit 19 acquires information on the state of the mobile body 5, for example, by communication with the mobile body 5. Alternatively, the instruction unit 19 may acquire information on the state of the moving object 5 based on an image captured by the car camera 15. Here, the state of the moving body 5 in the car 10 includes the presence or absence of the moving body 5 inside the car 10, the position of the moving body 5 inside the car 10, and the like. When the moving body 5 rides on any of the plurality of cars 10, the instruction section 19 outputs an instruction corresponding to the type of the special event to the moving body 5.
When the car 10 stops at the destination floor of the moving body 5 riding on the car 10, the indication portion 19 outputs an indication of remaining inside the car 10 to the moving body 5. The moving body 5 remains inside the car 10 even when the car 10 stops at the target floor based on the instruction input from the instruction section 19. Here, the instruction portion 19 may also output an instruction to the moving body 5 to remain inside the car 10 when the car 10 stops at a floor other than the destination floor of the moving body 5 riding on the car 10.
When there is no passenger riding in the car 10 behind the moving body 5, the instruction section 19 outputs an instruction to stop the moving body 5 inside the car 10. Here, the rear in the interior of the car 10 is a direction away from the car door 13 opened in the car 10. Further, the car door 13 opened in the car 10 includes the car door 13 already opened, and the car door 13 to be opened in the floor where the car 10 stops due to the occurrence of a disaster. The moving body 5 stops inside the car 10 based on the instruction input from the instruction section 19.
When there is a user riding on the car 10 behind the moving body 5, the instruction section 19 outputs an instruction to the moving body 5 to get off from the inside of the car 10. The moving body 5 gets off the hall 3 from the inside of the car 10 based on the instruction input from the instruction section 19. At this time, the mobile body 5 moves while notifying the surrounding users of the descent through the speaker 8, the projector 9, and the like. The indication section 19 may output an indication to get off from the inside of the car 10 at the landing 3 regardless of whether the floor at which the car 10 stops is the target floor of the moving body 5 riding on the car 10. For example, when there is a user riding on the car 10 both behind and in front of the moving body 5, the instruction portion 19 may output an instruction to the moving body 5 to move the moving body to a position away from the escape guide line of the user and wait. The evacuation guide line is a guide line of the user from the position of the user to the landing 3. The moving body 5 moves to a position away from the escape guide line of the user and waits based on the instruction input from the instruction unit 19. At this time, the mobile body 5 moves while notifying the surrounding users of the movement through the speaker 8, the projector 9, and the like. The moving body 5 waits close to the side surface inside the car 10, for example.
At this time, the instruction section 19 outputs an instruction to the moving body 5 to notify the user or a passer near the hall 3 of the retraction method. The moving body 5 notifies the landing 3 getting off from the inside of the car 10 of the evacuation method based on the instruction input from the instruction section 19. The evacuation method includes information on an evacuation route, for example. The moving body 5 notifies the backoff method by a sound emitted from the speaker 8, for example. The moving object 5 notifies the retraction method by, for example, a video projected from the projector 9. The video projected by the projector 9 includes, for example, an image such as an arrow indicating the retraction direction.
Next, an example of a case where an event in which a priority call is generated is a special event will be described. The event of a priority call occurs as a wheelchair call by, for example, operation of a wheelchair call button. Alternatively, the event of a priority call occurs as an event of a VIP call, for example, by an operation of a landing call button on a VIP-only floor. The assigning unit 17 of the group management device 12 assigns a priority call to any car 10 among the plurality of cars 10. The control panel 11 corresponding to the car 10 to which the priority call is assigned causes the car 10 to travel to the departure floor of the priority call. The departure floor of the priority call is a floor on which a user of the car 10 assigned with the priority call gets into the car 10.
The event detecting unit 18 detects an event of a priority call based on the information of the priority call inputted to the group management device 12.
When the car 10 to which a priority call is assigned stops at a floor other than the destination floor of the moving body 5 riding on the car 10 while the car 10 travels to the departure floor of the priority call, the instruction section 19 outputs an instruction to the moving body 5 to get off from the inside of the car 10. The moving body 5 gets off from the inside of the car 10 at the landing 3 of the floor where the moving body stops, based on the instruction input from the instruction section 19.
When the car 10 to which the priority call is assigned passes through the destination floor of the moving body 5 riding on the car 10 in the middle of traveling to the departure floor of the priority call, the assignment section 17 cancels the call of the destination floor designated by the moving body 5. Since the call is cancelled, the car 10 travels to the departure floor of the priority call without stopping at the destination floor of the moving body 5. At this time, the instruction section 19 outputs an instruction to the moving body 5 to take the elevator at the departure floor of the priority call. The moving vehicle 5 gets off from the car 10 at the landing 3 at the departure floor of the priority call based on the input instruction. At this time, the mobile body 5 moves while notifying the surrounding users of the movement through the speaker 8, the projector 9, and the like. The assigning unit 17 reassigns a call whose destination floor is designated by the mobile body 5 to the car 10 to which a priority call is not assigned. The moving body 5 moves from the departure floor of the priority call that has been temporarily alighted to the destination floor by the car 10 to which the call has been newly assigned.
Next, an example of a case where an overweight event occurs as a special event will be described. An overweight event occurs, for example, when the load weight of the car 10 measured by the weighing device 14 exceeds a preset upper limit value. The event detection unit 18 detects an overweight event based on the measurement result of the scale device 14.
An overweight event occurs, for example, when a user gets into a parked car 10. When the floor at which the car 10 at which the overweight event is detected stops is not the target floor of the mobile body 5 riding on the car 10, the instruction section 19 outputs an instruction to the mobile body 5 to get off from the inside of the car 10 to the floor at which the car 10 stops. The mobile 5 gets out of the car 10 from the landing 3 at the floor where the mobile is stopped, based on the input instruction. At this time, the mobile body 5 moves while notifying the surrounding users of the descent through the speaker 8, the projector 9, and the like.
The instruction unit 19 may output an instruction to give priority to the user over the mobile body 5 to the mobile body 5 when it is predicted that the overweight event will be detected. When the floor at which the car 10, which is predicted to detect the overweight event, stops is not the target floor of the mobile body 5 riding on the car 10, the instruction section 19 outputs an instruction to the mobile body 5 to take the car 10 off from the inside of the car 10 at the floor at which the car 10 stops. The mobile 5 gets out of the car 10 from the landing 3 at the floor where the mobile is stopped, based on the input instruction. At this time, the mobile body 5 moves while notifying the surrounding users of the descent through the speaker 8, the projector 9, and the like.
The event detection unit 18 predicts that an overweight event is detected when, for example, a margin between a measured value of the load weight of the moving body 5 after the moving body 5 has entered the car 10 and a set upper limit value is smaller than a preset margin. Alternatively, the event detection unit 18 predicts that an overweight event is detected when, for example, the margin between the measured value of the load weight after the moving body 5 has landed on the car 10 and the set upper limit value is smaller than the predicted value of the weight of the user landed on the car 10. The predicted value of the weight of the user may be calculated by, for example, multiplying the number of users detected based on an image captured by a camera of the hall 3, not shown, by the average value of the weight of the users. Alternatively, the event detection unit 18 predicts that an overweight event is detected when, for example, there is a hall call in a floor between the floor at which the car 10 stops and the destination floor of the moving body 5 riding on the car 10.
Next, an example of the operation of the movement control system 1 will be described with reference to fig. 2 and 3.
Fig. 2 and 3 are flowcharts showing an example of the operation of the movement control system according to embodiment 1.
Fig. 2 and 3 show an example of the operation of the movement control system 1 related to the detection of an overweight event.
In step S1 of fig. 2, the event detector 18 obtains the measured value of the load weight from the scale device 14. At this time, the mobile body 5 waits at the landing 3. After that, the operation of the movement control system 1 proceeds to step S2.
In step S2, the event detector 18 determines whether or not the margin between the measured value of the load weight and the upper limit value is larger than a predetermined margin. The margin is set to a value greater than the weight of the mobile body 5, for example. If the determination result is yes, the operation of the movement control system 1 proceeds to step S3. If the determination result is "no," the event detection unit 18 predicts that an overweight event will be detected. After that, the operation of the movement control system 1 proceeds to step S5.
In step S3, the event detecting unit 18 determines whether or not a hall call is present on a floor between the destination floor of the moving object 5. If the determination result is "no", the operation of the movement control system 1 proceeds to step S4. If the determination result is yes, the event detection unit 18 predicts that an overweight event will be detected. After that, the operation of the movement control system 1 proceeds to step S5.
In step S4, the instruction unit 19 outputs an instruction to the moving object 5 to get it into the car 10. Thereafter, the car 10 travels in the hoistway 2 and stops at another floor. After that, the operation of the movement control system 1 proceeds to step S6.
In step S5, the instruction section 19 outputs an instruction to the moving body 5 to wait at the landing 3 without riding in the car 10. After that, the operation of the movement control system 1 proceeds to step S1.
In step S6, the instruction unit 19 determines whether or not the floor at which the car 10 stops is the destination floor of the moving body 5. If the determination result is yes, the operation of the movement control system 1 proceeds to step S7. If the determination result is "no", the operation of the movement control system 1 proceeds to step S8.
In step S7, the instruction unit 19 outputs an instruction to the moving object 5 to get off from the inside of the car 10. After that, the operation of the movement control system 1 is ended.
In step S8, the event detecting unit 18 determines whether or not a user who is going to get into the car 10 is detected by, for example, a camera of the landing 3. If the determination result is yes, the operation of the movement control system 1 proceeds to step S9 in fig. 3. If the determination result is "no", the operation of the movement control system 1 proceeds to step S14 in fig. 3.
In step S9 of fig. 3, the event detecting unit 18 obtains a measured value of the load weight of the user before the user gets into the car 10 from the weighing device 14. After that, the operation of the movement control system 1 proceeds to step S10.
In step S10, the event detector 18 determines whether or not the margin between the measured value of the load weight and the upper limit value is larger than a predetermined margin. The margin is set to a value larger than the predicted weight of the detected user, for example. If the determination result is yes, the operation of the movement control system 1 proceeds to step S11. If the determination result is "no," the event detection unit 18 predicts that an overweight event will be detected. After that, the operation of the movement control system 1 proceeds to step S15.
In step S11, the event detection unit 18 determines whether or not a hall call exists at a floor intermediate to the destination floor of the moving object 5. If the determination result is "no", the operation of the movement control system 1 proceeds to step S12. If the determination result is yes, the event detection unit 18 predicts that an overweight event will be detected. After that, the operation of the movement control system 1 proceeds to step S15.
In step S12, the event detecting unit 18 obtains a measured value of the load weight of the user after riding in the car 10 from the weighing device 14. After that, the operation of the movement control system 1 proceeds to step S13.
In step S13, the event detector 18 determines whether or not the measured value of the load weight exceeds the upper limit value. If the determination result is "no", the operation of the movement control system 1 proceeds to step S14. If the determination result is yes, the event detection unit 18 detects an overweight event. After that, the operation of the movement control system 1 proceeds to step S15.
In step S14, the instruction unit 19 outputs an instruction to leave the car 10 inside the moving body 5. Thereafter, the car 10 travels in the hoistway 2 and stops at another floor. After that, the operation of the movement control system 1 proceeds to step S6 of fig. 2.
In step S15, the instruction unit 19 outputs an instruction to the moving object 5 to temporarily get off from the inside of the car 10. After that, the operation of the movement control system 1 proceeds to step S1 of fig. 2.
As described above, the movement control system 1 according to embodiment 1 includes the event detection unit 18 and the instruction unit 19. The event detecting unit 18 detects a special event. Special events occur in the elevator system. The elevator system includes a car 10 on which the moving body 5 rides. When the event detection unit 18 detects a special event, the instruction unit 19 outputs an instruction to give priority to a user of the elevator system over the mobile body 5 according to the type of the special event to the mobile body 5 mounted on the car 10.
Even when a special event occurs, the movement control system 1 explicitly outputs an instruction to give priority to the user to the moving body 5 even when the elevator performs an operation that is not expected by the moving body 5. Thus, the moving body 5 moving using the car 10 of the elevator system is less likely to interfere with a user who is riding on the car 10 and is to cope with the occurrence of a special event.
When the event detection unit 18 detects that the car 10 stops at the destination floor of the mobile body 5 when the occurrence of a disaster is a special event, the instruction unit 19 outputs an instruction to the mobile body 5 to leave the car 10 inside.
When the special event is an event in which a disaster occurs, the user can cope with the event, for example, by a back-off action. Even when the car 10 stops at a floor other than the target floor, the moving body 5 descends from the inside of the car 10 to avoid the escape guide line, so that a user riding on the same floor can descend. This does not hinder the evacuation of the user.
The event detecting unit 18 detects an event in which a disaster occurs as a special event. At this time, if there is no passenger on the side away from the car door 13 opened in the car 10 with respect to the moving body 5 riding on the car 10, the instruction section 19 outputs an instruction to stop the moving body 5 inside the car 10.
The event detecting unit 18 detects an event in which a disaster occurs as a special event. At this time, when there is a passenger on the side that is farther from the car door 13 opened in the car 10 than the moving body 5 riding on the car 10, the instruction section 19 outputs an instruction to the moving body 5 to get off from the inside of the car 10.
The instruction unit 19 instructs the operation of the mobile body 5 so as not to hinder the evacuation of the user, based on the positional relationship between the mobile body 5 and the fellow user. This enables the user to quickly retreat.
The event detecting unit 18 detects an event in which a disaster occurs as a special event. At this time, the instruction unit 19 outputs an instruction to the mobile body 5 to notify the user of the retraction method.
The instruction unit 19 outputs an instruction to notify the moving body 5 of the backoff method by sound.
The instruction unit 19 outputs an instruction to the moving object 5 to notify the moving object of the retraction method by projecting a video.
A user who does not frequently use a building in which an elevator system is installed sometimes does not grasp a retraction guide line. Even in such a case, the movement control system 1 can use the moving body 5 as a device for notifying the user of the retreat method. This can support rapid withdrawal of the user.
The event detecting unit 18 detects an event of a priority call as a special event. At this time, when the car 10 to which the priority call is assigned stops at a floor other than the destination floor of the moving body 5 riding on the car 10 while traveling to the departure floor of the priority call, the instruction section 19 outputs an instruction to the moving body 5 to cause the moving body 10 to descend from the inside thereof to the floor.
The moving body 5 avoids in advance the co-riding of the user who uses the car 10 to which the priority call is assigned and the moving body 5 based on the input instruction. This reduces the sense of restraint and anxiety caused by the co-riding of the user of the wheelchair, the user of the priority call such as the VIP, and the mobile body 5. This can show that the user has priority over the mobile body 5.
The movement control system 1 further includes a distribution unit 17. The assignment section 17 assigns a call to the car 10, the call being a destination floor designated by the mobile body 5. The event detecting section 18 detects an event of a priority call as a special event. At this time, when the car 10 to which the priority call is assigned passes through the destination floor of the moving body 5 riding on the car 10 in the middle of traveling to the departure floor of the priority call, the assignment section 17 cancels the call of the destination floor designated by the moving body 5.
The car 10 to which the priority call is assigned quickly travels to the departure floor of the priority call by the destination floor of the moving body 5. This reduces the waiting time of the user of the priority call. Therefore, the convenience of the user is improved.
When a call for a destination floor designated by the mobile body 5 is cancelled, the instruction unit 19 outputs an instruction to the mobile body 5 to take the elevator at the departure floor of the priority call.
Even if the floor to which the moving body 5 is stopped is a floor other than the target floor, the moving body 5 temporarily gets off from the car 10. The user of the priority call can use the car 10 after the moving body 5 has descended from the car 10. Therefore, the user can avoid the co-multiplication with the mobile body 5.
When an instruction to get off at the departure floor of a priority call is output to the moving body 5, the assignment section 17 assigns a call whose destination floor is designated by the moving body 5 to the car 10 to which no priority call is assigned.
The cancelled call of the mobile body 5 is assigned to a car 10 other than the car 10 to which the priority call is assigned. At this time, the time until the car 10 on which the mobile body 5 rides reaches the floor where the mobile body 5 temporarily descends becomes short. This reduces the time taken to move the mobile body 5. Therefore, convenience of the person using the service of the mobile body 5 is improved.
Further, the event detecting section 18 detects an overweight event as a special event. At this time, when the floor at which the car 10 at which the overweight event is detected stops is not the target floor of the mobile body 5 riding on the car 10, the instruction section 19 outputs an instruction to the mobile body 5 to cause the mobile body 5 to descend from the inside of the car 10 to the floor at which the car 10 stops.
Thus, even when a user gets into the car 10 on which the mobile body 5 has already been mounted and the load weight of the car 10 exceeds the upper limit value, the mobile body 5 gets out of the way to eliminate the overweight. This improves the convenience of the user.
The event detection unit 18 detects a user riding the car 10 from the floor where the car 10 stops, and thereby predicts that an overweight event of the car 10 will be detected as a special event. At this time, when the floor is not the target floor of the moving body 5 mounted on the car 10, the instruction section 19 outputs an instruction to the moving body 5 to cause the floor at which the car 10 stops to descend from the inside of the car 10.
The event detection unit 18 predicts that an overweight event of the car 10 is detected as a special event by a hall call in a floor between the floor at which the car 10 stops and the destination floor of the moving body 5 riding on the car 10. At this time, when the floor at which the car 10 stops is not the target floor of the moving body 5, the instruction section 19 outputs an instruction to the moving body 5 to get off from the inside of the car 10 at the floor at which the car 10 stops.
Thus, when overweight is predicted, the mobile body 5 goes down the elevator in advance to avoid overweight. This improves the convenience of the user.
In addition, a part or all of the functions of the motion control system 1 may be realized by integrated hardware. Some or all of the functions of the mobile control system 1 may be realized by cooperation of a plurality of pieces of hardware. Some or all of the functions of the mobile control system 1 may also be implemented by other hardware of the group management device 12. Some or all of the functions of the motion control system 1 may also be implemented by hardware external to the elevator system.
Next, an example of the hardware configuration of the movement control system 1 will be described with reference to fig. 4.
Fig. 4 is a diagram showing a hardware configuration of a main part of the movement control system according to embodiment 1.
The functions of the motion control system 1 can be implemented by a processing circuit. The processing circuit is provided with at least 1 processor 1b and at least 1 memory 1 c. The processing circuit may include at least 1 dedicated hardware 1a together with or instead of the processor 1b and the memory 1 c.
When the processing circuit includes the processor 1b and the memory 1c, each function of the motion control system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and the firmware is described in the form of a program. The program is stored in the memory 1 c. The processor 1b realizes each function of the movement control system 1 by reading out and executing a program stored in the memory 1 c.
The processor 1b is also called a CPU (Central Processing Unit), a Processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 1c is constituted by, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD.
In the case where the processing circuit includes dedicated hardware 1a, the processing circuit is realized by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
The functions of the motion control system 1 can be implemented by the processing circuits, respectively. Alternatively, the functions of the motion control system 1 may be realized by the processing circuit in a unified manner. The functions of the motion control system 1 may be partially implemented by dedicated hardware 1a and partially implemented by software or firmware. In this way, the processing circuit implements each function of the mobile control system 1 by hardware 1a, software, firmware, or a combination thereof.
In embodiment 2, points different from the example disclosed in embodiment 1 will be described in detail. As for the features not described in embodiment 2, any of the features of the examples disclosed in embodiment 1 may be adopted.
Fig. 5 is a configuration diagram of a movement control system according to embodiment 2.
The movement control system 1 includes a data observation unit 20, a data storage unit 21, a data acquisition unit 22, and a learning unit 23. In this example, the data acquisition unit 22 and the learning unit 23 are implemented by hardware of the group management device 12.
The data observation unit 20 is a part that observes the current backoff data. The back-off data includes data on the occurrence of a disaster and data on the back-off status of the person to be backed off. The data of the occurrence status of the disaster includes information such as the type, scale, progress, location of occurrence, and time of occurrence of the disaster. The evacuation target person is, for example, a person or a mobile body 5 located inside or outside a building. The data of the evacuation state includes, for example, the number of persons to be evacuated, position, weight, attribute, and the like. The attribute of the evacuation target person is, for example, a child, an adult, a wheelchair user, or the moving body 5. The data observation unit 20 observes the evacuation data with the car camera 15, the camera of the hall 3, or the camera or the sensor provided in the building. The evacuation data may include data on the state of a system operating in the building, such as the operating state of the elevator system.
The data storage unit 21 is a part that stores the backoff data. The data storage unit 21 acquires the backoff data from the data observation unit 20 and the like. The data storage unit 21 may store the backoff data, the backoff method, and the backoff result in association with each other. The back-off method includes, for example, a back-off guide line. The backoff result includes, for example, a time required for backoff. The data storage unit 21 may store the back-off data of a plurality of buildings. The data storage unit 21 may store data acquired during the backoff training. The data storage unit 21 may store simulation data obtained by the backoff computer simulation as data. The data storage unit 21 may store simulation data generated based on empirical backoff knowledge as data.
The data acquisition unit 22 is a part that acquires backoff data. The data acquisition unit 22 acquires data before occurrence of a disaster from the data storage unit 21. The data acquisition unit 22 acquires data after occurrence of a disaster from the data observation unit 20 and the like.
The learning unit 23 is a part that learns the back-off model. The back-off model is part of deriving a back-off method from back-off data. The learning section 23 learns the backoff model by a method such as machine learning including, for example, teaching learning, non-teaching learning, and reinforcement learning. The learning unit 23 learns the back-off model based on the data acquired by the data acquisition unit 22 before occurrence of a disaster. The learning unit 23 outputs the learned backoff model to the instructing unit 19.
The instructing unit 19 stores the inputted back-off model. When the event detecting unit 18 detects an event in which a disaster has occurred, the instructing unit 19 acquires back-off data from the data acquiring unit 22. The instructing unit 19 derives a backoff method based on backoff data acquired after occurrence of a disaster and a stored backoff model. The instruction unit 19 outputs an instruction to the mobile body 5 to notify the user of the derived backoff method.
The data observation unit 20, the data storage unit 21, and the data acquisition unit 22 may be external to the group management device 12. The data acquisition unit 22 may use the backoff data prepared separately. In this way, only the learning unit 23 that has learned the backoff model may be placed in the group management device 12.
As described above, the movement control system according to embodiment 2 includes the data acquisition unit 22 and the learning unit 23. The data acquisition unit 22 acquires backoff data. The back-off data includes data on the occurrence of a disaster and data on the back-off status of the person to be backed off. The learning unit 23 learns the back-off model based on the back-off data acquired by the data acquisition unit 22 before the event detection unit 18 detects the occurrence of the disaster as the special event. The back-off model is a model for deriving a back-off method from back-off data. The instruction unit 19 outputs an instruction to notify the moving body 5 of the backoff method. The back-off method is derived based on the back-off data acquired by the data acquisition unit 22 and the back-off model learned by the learning unit 23 after the event detection unit 18 detects the occurrence of a disaster as a special event.
Thus, the instruction unit 19 can quickly instruct the mobile body 5 to notify the reliable evacuation method based on the occurrence of the disaster and the evacuation situation of the evacuation target person. Since the back-off method is derived based on the learning model learned in advance by the learning unit 23, no manual intervention is required. Therefore, for example, even when a large-scale disaster occurs, the mobile control system 1 can promptly notify the user of the back-off method.
Industrial applicability
The movement control system of the present invention can be applied to movement control of a moving body.
Description of the reference symbols
The elevator control system comprises a movement control system 1, a hoistway 2, a landing 3, a landing door 4, a moving body 5, a driving part 6, a communication part 1 of 7, a loudspeaker 8, a projector 9, a car 10, a control panel 11, a management device 12, a car door 13, a weighing device 14, a car camera 15, a communication part 2 of 16, a distribution part 17, an event detection part 18, an indication part 19, a data observation part 20, a data storage part 21, a data acquisition part 22, a learning part 23, hardware 1a, a processor 1b and a memory 1 c.
Claims (15)
1. A movement control system for a mobile body, wherein,
the movement control system for a mobile body includes:
an event detection unit that detects a special event occurring in an elevator system having a car on which a mobile body rides; and
and an instruction unit that outputs, to the mobile body mounted on the car, an instruction to give priority to a user of the elevator system over the mobile body according to a type of the special event when the event detection unit detects the special event.
2. The movement control system of a movable body according to claim 1,
the indication unit may output an indication to the mobile body to leave the mobile body inside the car when the car stops at a destination floor of the mobile body when the event detection unit detects the occurrence of the disaster as the special event.
3. The movement control system of a movable body according to claim 1 or 2, wherein,
when the event detection unit detects that a disaster has occurred as the special event, and when there is no passenger of the same car on a side that is farther from a car door opened in the car than the moving object that is riding in the car, the instruction unit outputs an instruction to the moving object to stop the moving object inside the car.
4. The movement control system of a moving body according to any one of claims 1 to 3, wherein,
when the event detection unit detects that an event in which a disaster has occurred as the special event and when a user of the same car is present on a side that is farther from a car door opened in the car than the moving object that is riding in the car, the instruction unit outputs an instruction to the moving object to get off from the inside of the car.
5. The movement control system of a moving body according to any one of claims 1 to 4, wherein,
when the event detection unit detects an event in which a disaster occurs as the special event, the instruction unit outputs an instruction to the mobile body to notify a user of a retreat method.
6. The movement control system of a movable body according to claim 5,
the instruction unit outputs an instruction to the mobile body to notify the moving body of the backoff method by sound.
7. The movement control system of a moving body according to claim 5 or 6, wherein,
the instruction unit outputs an instruction to the moving object to notify the moving object of the retraction method by projecting a video.
8. The movement control system of a moving body according to any one of claims 5 to 7, wherein,
the movement control system includes:
a data acquisition unit that acquires backoff data including data on an occurrence status of a disaster and data on a backoff status of a backoff target person; and
a learning unit that learns a back-off model for deriving a back-off method from the back-off data based on the back-off data acquired by the data acquisition unit before the event detection unit detects an event in which a disaster occurs as the special event,
the instruction unit outputs, to the mobile object, an instruction to notify the mobile object of a back-off method derived based on the back-off data acquired by the data acquisition unit and the back-off model learned by the learning unit after the event detection unit detects an occurrence of a disaster as the special event.
9. The movement control system of a moving body according to any one of claims 1 to 8, wherein,
when the event detection unit detects a priority call as the special event, the instruction unit outputs an instruction to the mobile body to take the car off from the inside of the car at the floor when the car stops at a floor other than the destination floor of the mobile body on which the car is mounted while the car to which the priority call is assigned is traveling to the departure floor of the priority call.
10. The movement control system of a moving body according to any one of claims 1 to 9, wherein,
the movement control system is provided with an assignment section that assigns a call of a destination floor designated by the moving body to the car, and when the event in which the event detection section detects a priority call is the special event, cancels the call of the destination floor designated by the moving body when the car to which the priority call is assigned travels via the destination floor of the moving body riding on the car in the middle of traveling to the departure floor of the priority call.
11. The movement control system of a moving body according to claim 10,
the instruction unit outputs an instruction to the mobile body to take the elevator to the departure floor of the priority call when the call of the destination floor designated by the mobile body is cancelled.
12. The movement control system of a moving body according to claim 11, wherein,
when an instruction to take the car to the departure floor of the priority call is output to the moving body, the assignment section assigns a call whose destination floor is designated by the moving body to the car to which the priority call is not assigned.
13. The movement control system of a moving body according to any one of claims 1 to 12, wherein,
when the event detection unit detects an overweight event as the special event, the instruction unit outputs an instruction to the mobile body to take the mobile body off from the inside of the car at the floor at which the car stops when the floor at which the car stopped at which the overweight event was detected is not the target floor of the mobile body riding on the car.
14. The movement control system of a moving body according to any one of claims 1 to 13, wherein,
when the event detection unit detects a user who is going to board the car from a floor at which the car stops and predicts that an overweight event of the car will be detected as the special event, the instruction unit outputs an instruction to the mobile body to take the mobile body off from the inside of the car at the floor at which the car stops when the floor is not a target floor of the mobile body that boards the car.
15. The movement control system of a moving body according to any one of claims 1 to 14, wherein,
when the event detection unit predicts that an overweight event of the car will be detected as the special event by a landing call in a floor between a floor at which the car stops and a target floor of the moving body riding on the car, the instruction unit outputs an instruction to the moving body to take the car off from the inside of the car at the floor at which the car stops, when the floor at which the car stops is not the target floor of the moving body.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2019/019349 WO2020230298A1 (en) | 2019-05-15 | 2019-05-15 | System for controlling movement of mobile body |
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| CN113811502A true CN113811502A (en) | 2021-12-17 |
| CN113811502B CN113811502B (en) | 2023-07-21 |
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| CN201980096188.5A Active CN113811502B (en) | 2019-05-15 | 2019-05-15 | Movement control system for mobile body |
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| JP (1) | JP7097533B2 (en) |
| CN (1) | CN113811502B (en) |
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| JP7099504B2 (en) * | 2020-10-13 | 2022-07-12 | 三菱電機株式会社 | Elevator controller |
| JPWO2022176858A1 (en) * | 2021-02-22 | 2022-08-25 | ||
| JP7173226B1 (en) | 2021-06-30 | 2022-11-16 | フジテック株式会社 | Learning model generation device, driving situation estimation device, learning model generation method executed by learning model generation device, estimation method executed by driving situation estimation device, program |
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- 2019-05-15 JP JP2021519209A patent/JP7097533B2/en active Active
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| JP7097533B2 (en) | 2022-07-08 |
| JPWO2020230298A1 (en) | 2021-10-28 |
| WO2020230298A1 (en) | 2020-11-19 |
| CN113811502B (en) | 2023-07-21 |
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