CN113811502B

CN113811502B - Movement control system for mobile body

Info

Publication number: CN113811502B
Application number: CN201980096188.5A
Authority: CN
Inventors: 釜坂等; 铃木悠太; 渡边启嗣; 五明清司; 丸田正一; 根岸启吾
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2023-07-21
Anticipated expiration: 2039-05-15
Also published as: CN113811502A; JPWO2020230298A1; WO2020230298A1; JP7097533B2

Abstract

The present invention provides a movement control system which makes it difficult for a moving body moving by a car of an elevator system to prevent a user who handles the occurrence of a special event of the elevator system. The movement control system (1) is provided with an event detection unit (18) and an instruction unit (19). The event detection unit (18) detects a special event. Special events occur in the elevator system. An 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 mobile body (5) mounted on the car (10) to prioritize the user of the elevator system over the mobile body (5) according to the type of the special event.

Description

Movement control system for mobile body

Technical Field

The present invention relates to a movement control system for a moving body.

Background

Patent document 1 discloses an example of an elevator. When an abnormal situation is detected, the elevator stops the car at a prescribed floor. The elevator opens a car door of a car stopped at a predetermined floor for a predetermined time.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open 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 that in a normal operation is set. Here, the operation when the abnormal situation is detected may be an unexpected operation in a moving body that moves between a plurality of floors by the car of the elevator. At this time, the mobile body may interfere with a user who should deal with the detected situation due to malfunction or the like caused by an unexpected operation of the elevator.

The present invention has been made to solve such a problem. The present invention aims to provide a movement control system which makes it difficult for a mobile body moving by a car of an elevator system to prevent a user who handles the occurrence of a special event of the elevator system.

Means for solving the problems

A movement control system for a moving body of the present invention comprises: an event detection unit that detects a special event occurring in an elevator system having a car on which a moving body rides; and an instruction unit that outputs an instruction to give priority to the user of the elevator system to the mobile body that is mounted on the car according to the type of the special event when the special event is detected by the event detection unit.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, a 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 detecting unit detects a special event, the instruction unit outputs an instruction to give priority to the user of the elevator system to the mobile body that is mounted on the car according to the type of the special event. Thus, it is difficult for a mobile body moving by the car of the elevator system to interfere with a user who handles the occurrence of a special event of the elevator system.

Drawings

Fig. 1 is a block 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

The mode for carrying out the 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 repetitive description thereof will be omitted or simplified as appropriate.

Embodiment 1.

In this example, the movement control system 1 is an elevator system. Elevator systems are applied, for example, to buildings having multiple floors. In a building, the hoistway 2 of an elevator is provided 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. The plurality of landing stations 3 are provided with landing station entrances and exits, respectively. The landing doorway is an opening communicating with the hoistway 2. In each of the plurality of landing 3, a landing door 4 is provided at a landing entrance.

The movement control system 1 is a system that controls movement of a moving body 5 in a building. Here, the moving body 5 is a device that moves inside a building, for example. Alternatively, the movable body 5 may be a device that moves across the outside and inside of the building. The moving body 5 is, for example, a self-propelled robot. The mobile unit 5 includes a driving unit 6, a 1 st communication unit 7, a speaker 8, and a projector 9. The driving unit 6 is a portion that generates a driving force for moving the moving 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, a tire, and the like. The 1 st communication unit 7 is a part for communicating with an external device of the mobile unit 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 unit 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, or the like onto a floor, a ground, a wall, or 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 travels in the vertical direction inside the hoistway 2 to convey users, the moving body 5, and the like between a plurality of floors. 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 ride on and off the inside of the car 10 when the car 10 stops at any one of a plurality of floors. The car door 13 opens and closes the landing door 4 of the floor where the car is stopped in a linked manner. The scale device 14 is a device for measuring the load weight inside the car 10. The car camera 15 is a device that photographs the inside of the car 10.

The plurality of control discs 11 correspond to the respective cars 10 of the plurality of cars 10. Each of the plurality of control panels 11 controls 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 door 13, and the like.

The group management device 12 is a device that manages calls registered in each of the plurality of cars 10. In this example, the group management device 12 is equipped with the function 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 unit for communicating with a device external to the group management device 12. The 2 nd communication unit 16 is connected to each of the plurality of control boards 11 so that, for example, information on each of the plurality of cars 10 can be acquired.

The assigning unit 17 is a unit that assigns calls to the plurality of cars 10, respectively. The calls allocated by the allocation unit 17 include, for example, a hall call of a user and a hall call of the mobile unit 5 on which a destination floor is designated. In this example, the calls allocated by the allocation unit 17 include priority calls. A priority call is a call that should be handled in preference to other calls. The priority calls include, for example, a wheelchair call in the case where a user of a wheelchair gets on the car 10, or a VIP call in the case where VIP (Very Important Person: important person) gets on the car 10. The assignment unit 17 is connected to each of the plurality of control boards 11 through the 2 nd communication unit 16, so that the control board 11 corresponding to the car 10 can register a call assigned to the car 10.

The event detecting unit 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, the normal event is an event occurring during normal operation of the elevator system. The normal event is, for example, an event occurring during a period from when the car 10 travels from a stop floor to which the car is stopped 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 preferentially made, or an overweight event. The event detecting 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, a notification signal input from a server or the like outside the elevator system, or the like.

The instruction unit 19 is a part 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 mounted on the car 10 and the moving body 5 waiting for the car 10 to be mounted on the landing 3. The instruction output by the instruction unit 19 includes an instruction to prioritize the user over the mobile body 5 according to 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 unit 5 through the 2 nd communication unit 16 so that an instruction can be output to the mobile unit 5.

The function of the movement control system 1 according to embodiment 1 will be described with reference to fig. 1.

In the normal operation of the elevator system, the moving body 5 moves between a plurality of floors by the car 10.

First, an example in the case where no special event occurs will be described. The mobile body 5 moves from the departure position to the landing 3 at the departure floor. The mobile unit 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 unit 16 of the group management device 12 receives the call transmitted from the mobile unit 5. The assigning unit 17 assigns the received call to any car 10 among the plurality of cars 10. The assigning unit 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 the incoming call. The control panel 11 moves the car 10 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 doors 4 of the departure floor to open the car doors 13 in linkage.

The mobile body 5 gets on the inside of the car 10 from the landing 3 at the departure floor.

The control panel 11 causes the landing doors 4 of the departure floor to close the car doors 13 in linkage. The control panel 11 moves the car 10 to the 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 of the destination floor to open the car door 13 in conjunction.

The mobile body 5 is stepped down from the inside of the car 10 at the landing 3 at the destination floor. The mobile body 5 moves from the landing 3 of the destination floor to the destination position.

Next, an example in the case where an event in which a disaster occurs is a special event will be described. The event of a disaster is, for example, an image of an earthquake or a fire. The occurrence of the earthquake is detected by, for example, a seismometer not shown. When an earthquake is detected, the plurality of control panels 11 stop 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 user riding in the car 10 by a display device, a sound notification device, or the like, not shown, of the corresponding car 10. When the special event is a disaster event, the plurality of control boards 11 notify the user of the disaster event.

The event detection unit 18 detects an event in which a disaster has occurred, for example, based on a detection signal from a seismometer. Alternatively, the event detecting unit 18 may detect an event in which a disaster has occurred based on a signal from the disaster information server, for example. When detecting an event in which a disaster has occurred, the event detection unit 18 outputs information of the event to the instruction unit 19.

When the information of the special event is input, the instruction unit 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 mobile body 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 car 10 of the plurality of cars 10, the instruction unit 19 outputs an instruction according 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 mounted on the car 10, the instruction unit 19 outputs an instruction to the moving body 5 to remain inside the car 10. The moving body 5 remains inside the car 10 even when the car 10 stops at the destination floor based on the instruction input from the instruction unit 19. Here, the instruction unit 19 may output an instruction to the mobile body 5 to remain inside the car 10 when the car 10 stops at a floor other than the destination floor of the mobile body 5 mounted on the car 10.

When there is no simultaneous user behind the moving body 5 mounted on the car 10, the instruction unit 19 outputs an instruction to stop the moving body 5 in 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. The car doors 13 that are opened in the car 10 include car doors 13 that have been opened, and car doors 13 that are to be opened at floors where the car 10 stops due to occurrence of a disaster. The moving body 5 stops inside the car 10 based on the instruction input from the instruction unit 19.

When a simultaneous user is present behind the moving body 5 mounted on the car 10, the instruction unit 19 outputs an instruction to the moving body 5 to get off the elevator from the inside of the car 10. The moving body 5 moves down from the inside of the car 10 to the landing 3 based on the instruction input from the instruction unit 19. At this time, the moving body 5 moves while notifying the surrounding users of the departure through the speaker 8, the projector 9, and the like. The instruction unit 19 may output an instruction to get off the elevator from the inside of the car 10 at the landing 3, regardless of whether or not the floor at which the car 10 stops is a destination floor on which the moving body 5 is mounted on the car 10. For example, when a user riding on both the rear and front sides of the moving body 5 mounted on the car 10 is present, the instruction unit 19 may output an instruction to the moving body 5 to move the moving body to a position away from the retraction guide line of the user in the car 10 and wait. The escape 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 user's retraction guide line based on the instruction input from the instruction unit 19 and waits. At this time, the moving body 5 moves while notifying the surrounding users of the movement by the speaker 8, the projector 9, and the like. The moving body 5 waits, for example, near the side surface of the interior of the car 10.

At this time, the instruction unit 19 outputs an instruction to notify the moving body 5 of the evacuation method to the user or the passers-by in the vicinity of the landing 3. The moving body 5 notifies the retraction method at the landing 3 stepped down from the inside of the car 10 based on the instruction input from the instruction unit 19. The evacuation method includes, for example, information on evacuation routes. The mobile body 5 notifies the back-off method by, for example, a sound emitted from the speaker 8. The moving body 5 notifies the back-off method by, for example, an image projected from the projector 9. The image projected by the projector 9 includes, for example, an image such as an arrow indicating the retraction direction.

Next, an example in the case where an event of a priority call occurs as a special event will be described. The event of the priority call occurs as an event of the wheelchair call by, for example, an operation of a wheelchair call button or the like. Alternatively, the event of the priority call occurs as an event of the VIP call by, for example, an operation of a landing call button in a VIP-dedicated floor or the like. The allocation unit 17 of the group management device 12 allocates the priority call to any one of 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 where a user who uses the car 10 to which the priority call is assigned gets into the car 10.

The event detecting unit 18 detects an event of the priority call based on the information of the priority call input to the group management device 12.

When the car 10 to which the priority call is assigned is stopped at a floor other than the destination floor of the moving body 5 that is mounted on the car 10 while the car 10 travels to the departure floor of the priority call, the instruction unit 19 outputs an instruction to the moving body 5 to move the car 10 from the inside. The moving body 5 gets off the inside of the car 10 at the landing 3 at the floor where the car is stopped based on the instruction input from the instruction unit 19.

When the car 10 to which the priority call is assigned passes through the destination floor of the moving body 5 mounted on the car 10 during traveling to the departure floor of the priority call, the assigning unit 17 cancels the call to the destination floor designated by the moving body 5. Since the call is canceled, the car 10 travels to the departure floor of the priority call without stopping at the destination floor of the mobile unit 5. At this time, the instruction unit 19 outputs an instruction to the mobile unit 5 to get off the elevator at the departure floor of the priority call. Based on the input instruction, the mobile unit 5 gets down from the inside of the car 10 to the landing 3 at the departure floor of the priority call. At this time, the moving body 5 moves while notifying the surrounding users of the movement by the speaker 8, the projector 9, and the like. The allocation unit 17 also reallocates calls to the destination floor designated by the mobile unit 5 to the cars 10 to which no priority call is allocated. The moving body 5 moves to a destination floor by using the car 10 to which the call is reassigned from the departure floor of the priority call that temporarily gets down.

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 scale device 14 exceeds a preset upper limit. 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 where the car 10 at which the overweight event is detected stops is not the destination floor of the moving body 5 that is mounted on the car 10, the instruction unit 19 outputs an instruction to the moving body 5 to move the car from the inside of the car 10 to the floor where the car 10 stops. The mobile body 5 gets off the landing 3 at the floor where the car is stopped from inside the car 10 based on the input instruction. At this time, the moving body 5 moves while notifying the surrounding users of the departure 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 an overweight event will be detected. When the floor at which the car 10 is stopped, at which the overweight event is predicted to be detected, is not the destination floor of the mobile body 5 that is mounted on the car 10, the instruction unit 19 outputs an instruction to the mobile body 5 to move the floor at which the car 10 is stopped from the inside of the car 10. The mobile body 5 gets off the landing 3 at the floor where the car is stopped from inside the car 10 based on the input instruction. At this time, the moving body 5 moves while notifying the surrounding users of the departure through the speaker 8, the projector 9, and the like.

The event detecting 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 being loaded in the car 10 and a set upper limit value is smaller than a preset margin. Alternatively, the event detecting 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 is loaded in the car 10 and the set upper limit value is smaller than the predicted value of the weight of the user who is loaded in the car 10. The predicted value of the user's weight may be calculated by multiplying the number of users detected based on an image captured by a camera of the not-shown hall 3 by an average value of the user's weight. Alternatively, the event detecting unit 18 predicts that an overweight event is detected when there is a landing call from a floor where the car 10 stops to a floor between the destination floors of the mobile body 5 that is mounted on the car 10, for example.

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 examples of the operation of the movement control system 1 in connection with the detection of an overweight event.

In step S1 of fig. 2, the event detecting unit 18 obtains a measurement value of the load weight from the scale device 14. At this time, the mobile body 5 waits at the landing 3. Thereafter, the operation of the movement control system 1 proceeds to step S2.

In step S2, the event detecting unit 18 determines whether or not the margin between the measured value of the load weight and the upper limit value is greater than a preset margin. This margin is set to a value larger than the weight of the moving 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. Thereafter, 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 exists at a floor between the mobile unit 5 and the destination floor. 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. Thereafter, 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 body 5 to drive the car 10. Thereafter, the car 10 travels in the hoistway 2 and stops at other floors. Thereafter, the operation of the movement control system 1 proceeds to step S6.

In step S5, the instruction unit 19 outputs an instruction to the mobile unit 5 to wait at the landing 3 without taking in the car 10. Thereafter, 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 mobile unit 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 mobile unit 5 to get off the elevator from the inside of the car 10. Thereafter, the operation of the movement control system 1 ends.

In step S8, the event detecting unit 18 determines whether or not a user who is to get on the car 10 is detected by, for example, a camera or the like of the hall 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 scale device 14. Thereafter, the operation of the movement control system 1 proceeds to step S10.

In step S10, the event detecting unit 18 determines whether or not the margin between the measured value of the load weight and the upper limit value is greater than a preset 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 detecting unit 18 determines whether or not there is a hall call at a floor intermediate to the destination floor of the mobile unit 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 the user has loaded the car 10 from the scale device 14. Thereafter, the operation of the movement control system 1 proceeds to step S13.

In step S13, the event detecting unit 18 determines whether or not the measured value of the loading 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 the mobile body 5 to leave the mobile body inside the car 10. Thereafter, the car 10 travels in the hoistway 2 and stops at other floors. Thereafter, the operation of the movement control system 1 proceeds to step S6 in fig. 2.

In step S15, the instruction unit 19 outputs an instruction to the mobile unit 5 to temporarily get off the elevator from the inside of the car 10. Thereafter, the operation of the movement control system 1 proceeds to step S1 in 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 section 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 detecting unit 18 detects a special event, the instruction unit 19 outputs an instruction to give priority to the user of the elevator system to the mobile unit 5 according to the type of the special event to the mobile unit 5 mounted on the car 10.

When a special event occurs, even in the case where the elevator performs an operation which is not expected by the moving body 5, the movement control system 1 explicitly outputs an instruction to give priority to the user to the moving body 5. Thus, the mobile body 5 moving using the car 10 of the elevator system is less likely to interfere with the user who is on the same side as the car 10 and is dealing with the occurrence of a special event.

When the event detecting unit 18 detects that the car 10 is stopped at the destination floor of the moving body 5 as a special event, the instruction unit 19 outputs an instruction to the moving body 5 to leave the car 10 inside.

When the special event is a disaster event, the user handles the disaster event, for example, a backoff action. Even when the car 10 stops at a floor other than the destination floor, the moving body 5 gets off the inside of the car 10 and avoids the escape guide line, so that the user on the same side can get off the elevator. This prevents the user from being prevented from escaping.

The event detecting unit 18 detects an event in which a disaster has occurred as a special event. At this time, when there is no simultaneous user on the side of the car door 13 opened in the car 10, which is farther from the moving body 5 mounted on the car 10, the instruction unit 19 outputs an instruction to stop the moving body 5 in the car 10.

The event detecting unit 18 detects an event in which a disaster has occurred as a special event. At this time, when there is a user who is on the same side as the moving body 5 that is mounted on the car 10 and is away from the car door 13 that is opened in the car 10, the instruction unit 19 outputs an instruction to the moving body 5 to move the moving body from the inside of the car 10.

The instruction unit 19 instructs the movement of the moving body 5 so as not to interfere with the retraction of the user, based on the positional relationship between the moving body 5 and the user. This allows the user to quickly withdraw.

The event detecting unit 18 detects an event in which a disaster has occurred as a special event. At this time, the instruction unit 19 outputs an instruction to notify the user of the evacuation method to the mobile unit 5.

The instruction unit 19 outputs an instruction to notify the moving object 5 of the evacuation method by sound.

The instruction unit 19 outputs an instruction to notify the moving object 5 of the evacuation method by projecting an image.

A user who does not frequently use a building provided with an elevator system sometimes does not grasp the escape guide line. Even in such a case, the movement control system 1 can use the mobile body 5 as a means for notifying the user of the evacuation method. This can support the rapid backoff of the user.

Further, 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 is stopped at a floor other than the destination floor of the mobile unit 5 that is mounted on the car 10 while the car 10 is traveling to the departure floor of the priority call, the instruction unit 19 outputs an instruction to the mobile unit 5 to make the car 10 descend at the floor from the inside.

The mobile unit 5 avoids the user who uses the car 10 to which the priority call is assigned from being on the same side as the mobile unit 5 in advance based on the input instruction. This reduces the restraint and the sense of uneasiness caused by the user of the wheelchair or the user of the priority call such as VIP riding on the mobile body 5. In addition, it is thereby possible to show that the user takes precedence over the mobile body 5.

The movement control system 1 further includes a distribution unit 17. The allocation unit 17 allocates a call to the destination floor designated by the mobile unit 5 to the car 10. 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 mounted on the car 10 during traveling to the departure floor of the priority call, the assigning unit 17 cancels the call to the destination floor designated by the moving body 5.

The car 10 assigned with the priority call promptly travels to the departure floor of the priority call by the destination floor of the mobile body 5. This reduces the waiting time of the user who calls preferentially. Therefore, the convenience of the user is improved.

When the call to the destination floor designated by the mobile unit 5 is canceled, the instruction unit 19 outputs an instruction to the mobile unit 5 to get off the call at the departure floor of the priority call.

Even if the floor to which the car stops is a floor other than the destination floor, the mobile unit 5 temporarily gets off the car 10. The user who calls preferentially can get off the car 10 by using the mobile body 5 and then get off the car 10. Therefore, the user can be prevented from riding on the mobile body 5.

When an instruction to move the car down to the departure floor of the priority call is output to the mobile unit 5, the assignment unit 17 assigns the call of the destination floor designated by the mobile unit 5 to the car 10 to which the priority call is not assigned.

The call of the moving body 5 after cancellation is assigned to the car 10 other than the car 10 to which the priority call is assigned. At this time, the time required for the car 10 on which the moving body 5 rides to reach the floor on which the moving body 5 temporarily gets off is shortened. This reduces the time taken for the moving body 5 to move. Therefore, the convenience of the person who uses the service of the mobile body 5 improves.

Further, the event detecting section 18 detects an overweight event as a special event. At this time, when the floor where the car 10 at which the overweight event is detected stops is not the destination floor of the moving body 5 that is mounted on the car 10, the instruction unit 19 outputs an instruction to the moving body 5 to move from the inside of the car 10 to the floor where the car 10 is stopped.

Thus, even when the user gets into the car 10 on which the moving body 5 has been mounted and the loading weight of the car 10 exceeds the upper limit value, the moving body 5 gets off the elevator to eliminate overweight. Thereby, convenience for the user is improved.

The event detecting unit 18 predicts that an overweight event of the car 10 is detected as a special event by detecting a user who will board the car 10 from a floor where the car 10 stops. At this time, the instruction unit 19 outputs an instruction to the mobile unit 5 to get off the elevator from the inside of the car 10 at the floor where the car 10 is stopped, when the floor is not the destination floor of the mobile unit 5 that is mounted on the car 10.

The event detecting unit 18 predicts that an overweight event of the car 10 is detected as a special event by a landing call from a floor where the car 10 stops to a floor between the destination floors of the mobile bodies 5 that are mounted on the car 10. At this time, when the floor at which the car 10 stops is not the destination floor of the moving body 5, the instruction unit 19 outputs an instruction to the moving body 5 to get off the floor at which the car 10 stops from the inside of the car 10.

Thus, when overweight is predicted, the mobile body 5 is stepped off in advance to avoid the occurrence of overweight. Thereby, convenience for the user is improved.

In addition, part or all of the functions of the movement control system 1 may be realized by integrated hardware. Part or all of the functions of the mobile control system 1 may also be implemented by cooperative cooperation of a plurality of hardware. Part or all of the functions of the mobile control system 1 may also be implemented by other hardware of the group management device 12. Part or all of the functions of the mobile control system 1 may also be implemented by hardware external to the elevator system.

Next, an example of the hardware configuration of the mobile 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 mobile 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 1c. The processing circuit may also be provided with at least 1 piece of dedicated hardware 1a together with or instead of the processor 1b and the memory 1c.

In the case where the processing circuit includes the processor 1b and the memory 1c, each function of the mobile 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 1c. The processor 1b realizes the functions of the mobile control system 1 by reading out and executing a program stored in the memory 1c.

The processor 1b is also called a CPU (Central Processing Unit: 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 RAM, ROM, flash memory, EPROM, EEPROM, etc., a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk, a DVD, etc.

In the case where the processing circuit is provided with dedicated hardware 1a, the processing circuit is implemented 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 movement control system 1 can be implemented by a processing circuit, respectively. Alternatively, the functions of the mobile control system 1 may be realized by a processing circuit. Regarding each function of the mobile control system 1, a part may be implemented by dedicated hardware 1a, and the other part may be implemented by software or firmware. Thus, the processing circuit implements the functions of the mobile control system 1 by means of hardware 1a, software, firmware, or a combination thereof.

Embodiment 2.

In embodiment 2, differences 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 example disclosed in embodiment 1 may be employed.

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 unit for observing the current backoff data. The backoff data includes data of occurrence status of disaster and data of backoff status of the backoff target person. The data of the occurrence status of the disaster includes, for example, information such as the type, size, progress, place of occurrence, and time of occurrence of the disaster. The person to be evacuated is, for example, a person or a moving body 5 located inside or outside the building. The data of the retreat state includes, for example, the number of persons, the position, the weight, the attribute, and the like of the retreat target person. The attribute of the person to be evacuated is, for example, a child, a adult, a wheelchair user, or the mobile body 5. The data observation unit 20 observes the retraction data by using the car camera 15, the camera of the landing 3, or a camera or a sensor provided in the building. The back-off data may include data of a state of a system operating in a building, such as an operation state of an elevator system.

The data storage unit 21 is a portion for storing backoff data. The data storage unit 21 acquires 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 retraction method includes, for example, a retraction guide wire. 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 analog data obtained by computer simulation with back-off as data. The data storage unit 21 may store analog data generated based on empirical back-off knowledge as data.

The data acquisition unit 22 is a unit 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 disaster occurrence from the data observation unit 20 and the like.

The learning unit 23 is a part that learns the back-off model. The backoff model is a part that derives a backoff method from backoff data. The learning unit 23 learns the back-off model by a method such as machine learning including teaching learning, non-teaching learning, reinforcement learning, or the like. The learning unit 23 learns the back-off model based on the data acquired by the data acquisition unit 22 before the disaster occurs. The learning unit 23 outputs the learned back-off model to the instruction unit 19.

The instruction unit 19 stores the inputted backoff model. When the event detecting unit 18 detects an event of a disaster, the instructing unit 19 acquires the backoff data from the data acquiring unit 22. The instruction 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 notify the user of the derived backoff method to the mobile body 5.

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 back-off data prepared separately. Thus, only the learning unit 23 that learns the back-off 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 backoff data includes data of occurrence status of disaster and data of backoff status of the backoff target person. The learning unit 23 learns the backoff model based on the backoff data acquired by the data acquisition unit 22 before the event detection unit 18 detects the event in which the disaster has occurred as the special event. The backoff model is a model for deriving a backoff method from backoff data. The instruction unit 19 outputs an instruction to notify the moving body 5 of the backoff method. The backoff method is derived based on the backoff data acquired by the data acquisition unit 22 after the event detection unit 18 detects the event in which the disaster has occurred as a special event and the backoff model learned by the learning unit 23.

In this way, the instruction unit 19 can quickly instruct the mobile body 5 of a reliable notification of the evacuation method based on the occurrence status of the disaster and the evacuation status of the person to be evacuated. Since the backoff 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 movement control system 1 can promptly notify the user of the evacuation 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 numerals

The system comprises a mobile control system 1, a hoistway, a 3-floor, a 4-floor door, a 5-moving body, a 6-driving part, a 7 st communication part, an 8-speaker, a 9-projector, a 10-car, an 11-control panel, a 12-group management device, a 13-car door, a 14-scale device, a 15-car camera, a 16 nd communication part, a 17 allocation part, an 18-event detection part, a 19 instruction part, a 20-data observation part, a 21-data storage part, a 22-data acquisition part, a 23-learning part, 1a hardware, a 1b processor and a 1c memory.

Claims

1. A movement control system for a moving body, wherein,

the movement control system for a moving body includes:

an event detection unit that detects a special event occurring in an elevator system having a car on which a moving body rides; and

An instruction unit that outputs an instruction to the mobile body that rides on the car to prioritize the user of the elevator system over the mobile body according to the type of the special event when the special event is detected by the event detection unit,

when the event detecting unit detects a disaster event as the special event, and a user who is on the same side as the moving body that is on the car and is away from the car door that is opened in the car, the instruction unit outputs an instruction to the moving body to get off the elevator from the inside of the car.

2. The mobile control system for a mobile body according to claim 1, wherein,

when the event detecting unit detects a disaster occurrence event as the special event, the instruction unit outputs an instruction to the moving body to leave the car inside, when the car stops at a destination floor of the moving body and there is no simultaneous user on a side farther from a car door opened in the car than the moving body that is landed on the car.

3. The mobile control system for a mobile body according to claim 1, wherein,

When the event detecting unit detects a disaster-occurring event as the special event, and there is no simultaneous user on a side of the car door opened in the car, which is farther from the moving body riding on the car, the instruction unit outputs an instruction to stop the moving body in the car.

4. A movement control system for a moving body, wherein,

the movement control system for a moving body includes:

when the event detecting unit detects an event in which a disaster has occurred as the special event, the instructing unit outputs an instruction to notify a user of a backoff method to the mobile body,

5. The mobile control system for a mobile body according to claim 4, wherein,

the instruction unit outputs an instruction to the mobile body to notify the backoff method by sound.

6. The mobile control system for a mobile body according to claim 4, wherein,

the instruction unit outputs an instruction to notify the moving object of the retraction method by projecting an image.

7. The mobile control system for a mobile body according to claim 5, wherein,

8. The movement control system for a mobile body according to any one of claims 4 to 7, wherein,

the movement control system is provided with:

a data acquisition unit that acquires backoff data including data of a disaster occurrence state and data of a backoff state of a backoff target person; and

a learning unit that learns a backoff model for deriving a backoff method from the backoff data based on the backoff data acquired by the data acquisition unit before the event detection unit detects the event in which the disaster has occurred as the special event,

The instruction unit outputs an instruction to notify the mobile body of the backoff method derived based on the backoff data acquired by the data acquisition unit and the backoff model learned by the learning unit after the event detection unit detects the event in which the disaster has occurred as the special event.

9. The movement control system for a mobile body according to any one of claims 4 to 7, wherein,

10. The mobile control system for a mobile body according to claim 8, wherein,

11. A movement control system for a moving body, wherein,

the movement control system for a moving body includes:

when the event detecting unit detects an event of a priority call as the special event, the instruction unit outputs an instruction to the mobile unit to get the car down from the inside of the car at a floor other than the destination floor of the mobile unit on which the car is mounted, in a case where the car stops at a floor in the middle of traveling to the departure floor of the priority call by the car to which the priority call is assigned.

12. The mobile control system for a mobile body according to claim 11, wherein,

13. The mobile control system for a mobile body according to claim 11, wherein,

14. A movement control system for a moving body, wherein,

the movement control system for a moving body includes:

an event detection unit that detects a special event occurring in an elevator system having a car on which a moving body rides;

an instruction unit that outputs an instruction to the mobile body that gets on the car to prioritize the user of the elevator system over the mobile body according to the type of the special event when the special event is detected by the event detection unit; and

an allocation unit that, when a call to a destination floor designated by the mobile unit is allocated to the car and an event of a priority call is detected by the event detection unit as the special event, cancels the call to the destination floor designated by the mobile unit when the car to which the priority call is allocated passes through the destination floor of the mobile unit riding on the car while traveling to the departure floor of the priority call,

15. The mobile control system for a mobile body according to claim 14, wherein,

the instruction unit outputs an instruction to the mobile unit to get down at the departure floor of the priority call when the call at the destination floor designated by the mobile unit is canceled.

16. The mobile control system for a mobile body according to claim 15, wherein,

when an instruction to get off the car at the departure floor of the priority call is output to the mobile body, the assignment unit assigns a call at a destination floor designated by the mobile body to the car to which the priority call is not assigned.

17. The movement control system for a mobile body according to any one of claims 14 to 16, wherein,

18. A movement control system for a moving body, wherein,

the movement control system for a moving body includes:

when the event detecting unit detects an overweight event as the special event, and the floor at which the car is stopped at which the overweight event is detected is not the destination floor of the moving body that is to be mounted on the car, the instructing unit outputs an instruction to the moving body to make the car descend from the inside of the car at the floor at which the car is stopped,

19. The mobile control system for a mobile body according to claim 18, wherein,

20. A movement control system for a moving body, wherein,

the movement control system for a moving body includes:

when the event detecting unit predicts that an overweight event of the car is detected as the special event by detecting a user who is about to board the car from a floor where the car is to be stopped, the instructing unit outputs an instruction to the moving body to get the car off from the inside of the car at the floor where the car is to be stopped,

21. The mobile control system for a mobile body according to claim 20, wherein,

22. A movement control system for a moving body, wherein,

the movement control system for a moving body includes:

When the event detecting unit predicts that an overweight event of the car is detected as the special event by a landing call from a floor where the car is stopped to a floor among the destination floors of the moving body that is landed on the car, the instruction unit outputs an instruction to the moving body to make the car stop from the inside of the car when the floor where the car is stopped is not the destination floor of the moving body,

23. The mobile control system for a mobile body according to claim 22, wherein,