JP2022128021A - Management device for autonomous movable body - Google Patents

Abstract

To provide a management device for an autonomous movable body capable of suppressing damage to the autonomous movable body.SOLUTION: A management device for an autonomous movable body includes a movement command unit that transmits to the autonomous movable body which autonomously moves a movement command to perform action of getting into or out of an elevator car, and a movement abortion command unit that transmits to the autonomous movable body to which the movement command is transmitted from the movement command unit, a command to abort the action of getting into or out of the car. The management device for the autonomous movable body also includes a movement command unit that transmits to the autonomous movable body which autonomously moves a movement command to perform action of passing through an entrance/exit device, and a movement abortion command unit that transmits to the autonomous movable body to which the movement command is transmitted from the movement command unit, a command to abort the action of passing through the entrance/exit device.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a management device for autonomous mobile bodies.

Patent Literature 1 discloses an elevator device. The elevator device stops the operation of the car when a serious abnormality occurs in the autonomous mobile body while transporting the autonomous mobile body. The elevator device can avoid failure of the elevator device due to an abnormality of the autonomous mobile body.

JP 2011-042444 A

However, in Patent Literature 1, even if an abnormality occurs in the autonomous mobile body or the elevator device, the elevator device continues normal operation if the operation of the car is not hindered. As a result, the autonomous mobile body can be damaged.

The present disclosure has been made to solve the above problems. An object of the present disclosure is to provide an autonomous mobile body management apparatus capable of suppressing damage to an autonomous mobile body.

A management apparatus for an autonomous mobile body according to the present disclosure includes a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off the car; a movement stop command unit that transmits a command to the autonomous mobile body to which the movement command has been transmitted from the movement command unit to stop the operation of getting in or out of the car.

A management apparatus for an autonomous mobile body according to the present disclosure includes a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off the car; When the autonomous mobile body to which the movement command is transmitted from the movement command unit receives a cancellation notification indicating that the movement of getting into the car or the movement of getting off the car is stopped, the autonomous moving body moves to the car. and a use permission/prohibition setting unit for setting not to use.

A management apparatus for an autonomous mobile body according to the present disclosure includes a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off the car; When an autonomous mobile body different from the autonomous mobile body to which the movement command is transmitted from the movement command unit performs an operation of getting into the car, the control device of the elevator stops the operation of the car. and an operation stop command unit that transmits a command to stop the operation.

A management apparatus for an autonomous mobile body according to the present disclosure includes a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off the car; While the autonomous mobile body to which the movement command is transmitted from the movement command unit is in the car, the car cannot drive to the destination floor of the autonomous mobile body and stops at a floor different from the destination floor. and an evacuation information transmitting unit configured to transmit, to the autonomous mobile body, information on a position at which the autonomous mobile body is to be evacuated on a floor different from the destination floor.

A management apparatus for an autonomous mobile body according to the present disclosure includes a movement command unit that transmits a movement command to cause an autonomous mobile body that moves autonomously to perform an operation of passing through an entrance device, and the movement command from the movement command unit. and a movement stop command unit that transmits a command to stop the operation of passing through the entrance device to the autonomous mobile body that has received the.

A management apparatus for an autonomous mobile body according to the present disclosure includes a movement command unit that transmits a movement command to cause an autonomous mobile body that moves autonomously to perform an operation of passing through an entrance device, and the movement command from the movement command unit. a use enable/disable setting unit that sets the autonomous mobile body not to use the gateway device when the autonomous mobile body that has received a cancellation notification that the operation of passing through the gateway device is suspended, and prepared.

An autonomous mobile body management apparatus according to the present disclosure includes a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an operation to pass through a gateway device, and an object that can pass through the gateway device. After transmitting a command to put the entrance/exit device into a state and transmitting a command to put the entrance/exit device into a state in which an object can pass, the autonomous moving body, to which the movement command is transmitted from the movement command unit, causes the autonomous moving body to pass through the entrance/exit device. and a state changing unit that transmits a command to put the entrance/exit device into a state where objects cannot pass when an abnormality occurs before completion.

According to the present disclosure, when an abnormality occurs, the management device transmits a command corresponding to the abnormality to the autonomous mobile body or the device used by the autonomous mobile body, or the autonomous mobile body uses the device. set to not. Therefore, it is possible to suppress damage to the autonomous mobile body.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the building to which the management apparatus of the autonomous moving body in Embodiment 1 is applied. 1 is a block diagram of a management device for autonomous mobile bodies according to Embodiment 1. FIG. 4 is a diagram showing history information of movement stop notifications stored in the management apparatus for autonomous mobile bodies according to Embodiment 1. FIG. 4 is a diagram showing usability information stored in the management device for autonomous mobile bodies according to Embodiment 1. FIG. 4 is a flowchart for explaining operations performed by the management device for autonomous mobile bodies according to Embodiment 1. FIG. 4 is a flowchart for explaining operations performed by the management device for autonomous mobile bodies according to Embodiment 1. FIG. 2 is a hardware configuration diagram of a control device for the elevator system according to Embodiment 1. FIG. FIG. 10 is a diagram showing an overview of a building to which an autonomous mobile body management apparatus according to Embodiment 2 is applied; It is a top view of the gate to which the management apparatus of the autonomous mobile body in Embodiment 2 is applied. FIG. 10 is a top view of a main part of a door to which the autonomous mobile body management device according to Embodiment 2 is applied; FIG. 10 is a block diagram of a management device for autonomous mobile bodies according to Embodiment 2; FIG. 10 is a diagram showing history information of movement stop notifications stored in the management device for autonomous mobile bodies according to Embodiment 2; FIG. 10 is a diagram showing usability information stored in the management device for autonomous mobile bodies according to Embodiment 2; 9 is a flowchart for explaining operations performed by a management device for autonomous mobile bodies according to Embodiment 2. FIG.

Embodiments for carrying out the present disclosure will be described with reference to the accompanying drawings. In addition, the same code|symbol is attached|subjected to the part which is the same or corresponds in each figure. Redundant description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a diagram showing a building to which an autonomous mobile body management apparatus according to Embodiment 1 is applied.

As shown in FIG. 1, an elevator system 1 is installed in a building. The hoistway 2 runs through each floor of the building. The machine room 3 is provided directly above the hoistway 2 . A plurality of landings 4 are provided on each floor of the building. Each of the plurality of landings 4 faces the hoistway 2 . A plurality of cars 5 are provided inside the hoistway 2 . One of a plurality of cars 5 is shown in FIG. Each of the plurality of cars 5 is provided so as to be able to move up and down inside the hoistway 2 . A car door 6 is provided for each of the plurality of cars 5 . A control device 7 is provided in the machine room 3 . A controller 7 is provided to control the operation of each of the plurality of cars 5 .

A plurality of autonomous mobile bodies 8 are arranged in a building. Each of the plurality of autonomous moving bodies 8 is provided so as to be able to autonomously move on the floor surface of each floor of the building.

For example, the management device 9 is provided in another building (not shown). The management device 9 is provided so as to be able to communicate with the control device 7 at arbitrary timing. The management device 9 is provided so as to communicate with each of the plurality of autonomous mobile bodies 8 at arbitrary timing. The management device 9 is provided so as to be able to grasp the position of each of the plurality of autonomous mobile bodies 8 .

For example, the management device 9 sends a command to a certain autonomous mobile body 8 to move from the current floor to another floor. In this case, the autonomous mobile body 8 that has received the command moves to the hall 4 on the current floor. When the autonomous mobile body 8 arrives at the hall 4 , the management device 9 transmits to the control device 7 car call registration information for the hall 4 including information on the destination floor. Based on the car call registration information received from the management device 9, the control device 7 dispatches the car 5 to the hall 4 where the autonomous mobile body 8 is present.

When the car 5 arrives at the hall 4, the control device 7 detects that the car door 6 is fully opened. In this case, the management device 9 determines that the car 5 is ready for boarding. When the management device 9 determines that the car 5 is ready for boarding, the management device 9 transmits to the autonomous mobile body 8 a boarding movement command to cause the autonomous mobile body 8 to perform an operation of boarding the car 5 . The autonomous mobile body 8 boards the car 5 based on the boarding movement command received from the management device 9 . When the autonomous mobile body 8 completes the operation of getting on the car 5 , the management device 9 transmits a command to start the operation of the car 5 to the control device 7 . The control device 7 starts the car 5 toward the destination floor of the autonomous mobile body 8 .

When the car 5 reaches the landing 4 of the destination floor of the autonomous mobile body 8, the control device 7 detects that the car door 6 is fully open. The management device 9 determines that the car 5 is ready to get off. In this case, the management device 9 transmits to the autonomous mobile body 8 a move command for getting off the car 5 to cause the autonomous mobile body 8 to get off the car 5 . The autonomous mobile body 8 gets off the car 5 based on the movement command to get off received from the management device 9 . The autonomous mobile body 8 completes the operation of moving to another floor. When the autonomous mobile body 8 completes the operation of getting off the car 5 , the management device 9 transmits to the control device 7 a command to start driving the car 5 . The control device 7 starts the operation of the car 5 .

If an abnormality occurs when the autonomous mobile body 8 to which the movement command to get on or the movement command to get off the car uses the car 5, the management device 9 notifies the control device 7 or the autonomous mobile body 8 of the abnormality. send commands corresponding to

For example, if an obstacle exists inside the car 5 , the autonomous mobile body 8 cannot complete the action of getting into the car 5 , which is the action of stopping at a specified position inside the car 5 . In this state, when a threshold time set to be shorter than the upper limit time for opening the car door 6 elapses, the management device 9 causes the autonomous mobile body 8 to stop boarding the car 5. Send orders. In this case, the autonomous mobile body 8 leaves the car 5 . The autonomous mobile body 8 transmits to the management device 9 a movement stop notification indicating that the movement of boarding the car 5 has been stopped. After that, when the upper limit time for opening the car door 6 has passed, the control device 7 causes the car 5 to start.

After that, when the obstacle continues to exist inside the car 5, the autonomous mobile body 8, every time it performs the action of getting on the car 5, displays a message indicating that the action of getting on the car 5 has been stopped. A movement stop notification is sent to the management device 9 . When the number of times the management device 9 has received a movement stop notification indicating that the operation of getting on the car 5 has been stopped is equal to or greater than a specified number of times, the management device 9 determines that the autonomous mobile body 8 is using the car 5. set to not. When the car 5 is set to not be used, the management device 9 does not send the movement command for boarding the car 5 to the autonomous mobile body 8 .

For example, when an abnormality occurs in another autonomous mobile body 8 that is not the autonomous mobile body 8 that has received the movement command to get on the car 5 among the plurality of autonomous mobile bodies 8, the other autonomous mobile body 8 The moving body 8 may try to get on the car 5 . In this case, the management device 9 sends a command to the control device 7 to stop the operation of the car 5 . The control device 7 stops the operation of the car 5 . The management device 9 transmits a boarding movement stop command to stop the movement of boarding the car 5 to the autonomous mobile body 8 that has transmitted the boarding movement command. When the autonomous mobile body 8 receives the boarding movement stop command, the autonomous mobile body 8 stops the operation of boarding the car 5 .

For example, if the autonomous mobile body 8 in the car 5 cannot move, the autonomous mobile body 8 does not complete the operation of getting off the car 5 . In this state, when a threshold time set to be shorter than the upper limit time for opening the car door 6 elapses, the management device 9 causes the autonomous mobile body 8 to stop the operation of getting off the car 5. Send orders. The management device 9 is set so that the car 5 is not used. After that, when the upper limit time for opening the car door 6 has passed, the control device 7 causes the car 5 to start.

For example, when the autonomous mobile body 8 present in the car 5 is unable to move and a movement command to get off is sent, the autonomous mobile body 8 stops the operation of getting off the car 5 to the management device 9. We may send you notifications. In this case, the management device 9 is set so that the car 5 is not used. After that, when the upper limit time for opening the car door 6 has passed, the control device 7 causes the car 5 to start.

For example, if an earthquake occurs while the autonomous mobile body 8 is in the car 5, the car 5 stops at the nearest floor and then gets off at the nearest floor. In this case, the management device 9 determines that the car 5 cannot be driven to the destination floor of the autonomous mobile body 8 . The management device 9 transmits to the autonomous mobile body 8 information on the position at which the autonomous mobile body 8 is to be evacuated on the nearest floor. The autonomous mobile body 8 moves to the retracted position.

Next, the management device 9 will be explained using FIG.
FIG. 2 is a block diagram of an autonomous mobile body management apparatus according to the first embodiment.

As shown in FIG. 2, the management device 9 includes a first positional information acquisition unit 10, a first control information acquisition unit 11, a registration unit 12, a first movement command unit 13, a first movement stop command unit 14, and a first A cancellation notification storage unit 15, a first cancellation notification reception unit 16, an evacuation information transmission unit 17, a first usage permission storage unit 18, a first usage permission setting unit 19, an operation start command unit 20, and an operation stop command unit 21. .

The first position information acquisition unit 10 acquires position information representing the position of the autonomous mobile body 8 from the autonomous mobile body 8 .

The first control information acquisition unit 11 acquires control information of the elevator system 1 from the control device 7 .

The registration unit 12 detects that the autonomous mobile body 8 has arrived at the hall 4 using the position information of the autonomous mobile body 8 acquired by the first position information acquisition unit 10 . When the registration unit 12 detects that the autonomous mobile body 8 has arrived at the hall 4, the registration unit 12 transmits to the control device 7 car call registration information for the hall 4 including information on the destination floor of the autonomous mobile body 8. .

The first movement command unit 13 uses the position information acquired by the first position information acquisition unit 10 to determine whether or not the autonomous mobile body 8 has arrived at the landing 4 . When determining that the autonomous mobile body 8 has arrived at the hall 4, the first movement command unit 13 uses the control information acquired by the first control information acquisition unit 11 to determine whether the car 5 is ready for boarding. judge. When the first movement command unit 13 determines that the car 5 is ready for boarding, the first movement command unit 13 transmits a boarding movement command to the autonomous mobile body 8 to cause the autonomous mobile body 8 to perform the operation of boarding the car 5. .

When the autonomous mobile body 8 is in the car 5, the first movement command unit 13 uses the control information acquired by the first control information acquisition unit 11 to determine whether the car 5 is ready to exit. judge. When the first movement command unit 13 determines that the car 5 is ready to get off, the first movement command unit 13 transmits to the autonomous mobile body 8 a movement command to get off the car 8 to cause the autonomous mobile body 8 to get off the car 5. .

When the first movement command unit 13 determines that the car 5 is ready to board, the first movement stop command unit 14 starts measuring time. When the autonomous mobile body 8 completes the operation of getting on the car 5, the first movement stop command section 14 stops measuring the time and resets the measured time. The first movement stop command unit 14 determines whether or not a prescribed time has passed since the car 5 became ready for boarding. The first movement stop command unit 14 instructs the autonomous mobile body 8 to get on the car 5 when it is determined that a specified time has passed since the car 5 became ready for boarding. If not completed, a boarding movement stop command is transmitted to the autonomous mobile body 8 to stop the operation of boarding the car 5 .

When a command to stop the operation of the car 5 is transmitted to the control device 7, the first movement stop command unit 14 issues a boarding movement stop command to the autonomous mobile body 8 to stop the operation of getting on the car 5. to send.

When the first movement command unit 13 determines that the car 5 is ready to get off, the first movement stop command unit 14 starts measuring time. When the autonomous mobile body 8 completes the operation of getting off the car 5, the first movement stop command section 14 stops measuring the time and resets the measured time. The first movement stop command unit 14 determines whether or not a prescribed time has passed since the car 5 became ready to get off. The first movement stop command unit 14 instructs the autonomous mobile body 8 to get off the car 5 to which the movement command to get off is transmitted when it is determined that a specified time has passed since the car 5 became ready to get off. If not completed, an unloading movement stop command is sent to the autonomous mobile body 8 to stop the operation of unloading from the car 5 .

The first stop notification storage unit 15 stores history information of movement stop notifications indicating that the autonomous mobile body 8 has stopped getting into the car 5 or getting off the car 5 .

The first stop notification receiving unit 16 receives a movement stop notification transmitted from the autonomous mobile body 8 . When receiving the movement stop notification, the first stop notification receiving unit 16 causes the first stop notification storage unit 15 to store history information of the movement stop notification reflecting the movement stop notification.

When the autonomous mobile body 8 is on the car 5, the evacuation information transmission unit 17 uses the control information acquired by the first control information acquisition unit 11 to drive the car 5 to the destination floor of the autonomous mobile body 8. Determine if it is no longer possible. When the evacuation information transmission unit 17 determines that the car 5 cannot be driven to the destination floor of the autonomous mobile body 8, it uses the control information acquired by the first control information acquisition unit 11 to specify the floor where the car 5 has stopped. do. Thereafter, the evacuation information transmitting unit 17 creates information on the evacuation position of the autonomous mobile body 8 on the floor where the car 5 has stopped. The evacuation information transmission unit 17 transmits to the autonomous mobile body 8 information on the position at which the autonomous mobile body 8 is to be evacuated on the floor where the autonomous mobile body 8 has stopped.

The first use permission/prohibition storage unit 18 stores use permission/prohibition information indicating whether the autonomous mobile body 8 is set to use the cage 5 or not to use the cage 5 for each of the plurality of cages 5. .

The first use enable/disable setting unit 19 determines that the first stop notification receiving unit 16 receives a boarding movement stop notification regarding the car 5 from the autonomous mobile body 8 in a state in which the boarding movement stop command is not transmitted to the autonomous mobile body 8. Determine whether or not it has been received. The first use enable/disable setting unit 19 determines that the first stop notification receiving unit 16 receives a boarding movement stop notification regarding the car 5 from the autonomous mobile body 8 in a state in which the boarding movement stop command is not transmitted to the autonomous mobile body 8. If it is determined that it has been received, the number of times that the travel stop notice for the car 5 has been received from the set date and time using the history information of the travel stop notice stored in the first stop notice storage unit 15 is equal to or greater than a prescribed number of times. At this time, the first stop notification receiving unit 16 refers to the history information of the boarding movement stop notifications transmitted from all the autonomous mobile bodies 8 . When the first use permission/prohibition setting unit 19 determines that the number of times of receiving the movement stop notification regarding the car 5 is equal to or greater than the specified number of times, the first use permission/prohibition setting unit 19 sets the car 5 not to be used. Specifically, in this case, the first usability setting unit 19 changes the setting of the usability information stored in the first usability storage unit 18 so that the car 5 is not used.

The first use permission/prohibition setting unit 19 determines that the first stop notification receiving unit 16 receives a stop movement stop notice for getting off the car 5 from the autonomous moving body 8 in a state in which a command to stop moving to get off the car 8 is not transmitted to the autonomous mobile body 8. Determine whether or not it has been received. The first use permission/prohibition setting unit 19 determines that the first stop notification receiving unit 16 receives a stop movement stop notice for getting off the car 5 from the autonomous moving body 8 in a state in which a command to stop moving to get off the car 8 is not transmitted to the autonomous mobile body 8. If it is determined that the information has been received, the car 5 is set not to be used.

When the first movement stop command unit 14 transmits a movement stop command to get off the autonomous mobile body 8 , the first usage permission/prohibition setting unit 19 sets the car 5 not to be used.

The operation start command unit 20 uses the position information of the autonomous mobile body 8 acquired by the first position information acquisition unit 10 to determine whether or not the autonomous mobile body 8 has completed the operation of getting into the car 5 . When determining that the autonomous mobile body 8 has completed the operation of getting into the car 5 , the operation start command unit 20 transmits a command to start the operation of the car 5 to the control device 7 .

The operation start command unit 20 uses the position information of the autonomous mobile body 8 acquired by the first position information acquisition unit 10 to determine whether or not the autonomous mobile body 8 has completed the operation of getting off the car 5 . When the operation start command unit 20 determines that the autonomous mobile body 8 has completed the operation of getting off the car 5 , it transmits a command to start the operation of the car 5 to the control device 7 .

The operation stop command unit 21 uses the position information of the plurality of autonomous mobile bodies 8, and before the autonomous mobile body 8 to which the first movement command unit 13 has transmitted the boarding movement command completes the operation of boarding the car 5 determines whether another autonomous mobile body 8 other than the autonomous mobile body 8 to which the first movement command unit 13 has transmitted the boarding movement command among the plurality of autonomous mobile bodies 8 has performed an operation to get on the car 5. . The operation stop command section 21 causes another autonomous mobile body 8 to get on the car 5 before the autonomous mobile body 8 to which the first movement command section 13 has transmitted the boarding movement command completes the operation of getting on the car 5. When it is determined that the operation has been performed, a command to stop the operation of the car 5 is transmitted to the control device 7 .

Next, history information of movement stop notifications stored in the first stop notification storage unit 15 will be described with reference to FIG.
FIG. 3 is a diagram showing history information of movement stop notifications stored in the management device for autonomous mobile bodies according to Embodiment 1. FIG.

As shown in FIG. 3, the movement stop notification history information associates "notification date and time" information, "notification source" information, "target device" information, and "boarding/getting off" information. information.

The “notification date and time” information is information on the date and time when the movement stop notification was received from the autonomous mobile body 8 . The "notification source" information is information for identifying the autonomous mobile body 8 that has transmitted the movement stop notification. The information of the “target device” is information indicating the target device to which the autonomous mobile body 8 has stopped moving. The information of “Stop boarding/Stop getting off” is information indicating whether the movement stop notification is a movement stop notification for getting on or a movement stop notification for getting off.

Next, the usability information stored in the first usability storage unit 18 will be described with reference to FIG.
FIG. 4 is a diagram showing usability information stored in the management apparatus for autonomous mobile bodies according to the first embodiment.

As shown in FIG. 4, the usability information is information in which information of "target device" and information of "usability" are associated with each other.

The "target device" information is information for identifying the target device. The "usability" information is information indicating whether the target device is set to be used or not to be used.

The display of "usable" in the information of "usability" indicates that the setting is used by the target device. The display of "cannot be used" in the information of "can be used" indicates that the target device is not used.

Next, operations performed by the management device 9 will be described with reference to FIGS. 5 and 6. FIG.
FIG. 5 is a flow chart for explaining the operation performed by the management device for autonomous mobile bodies according to the first embodiment. FIG. 6 is a flowchart for explaining the operation performed by the management device for autonomous mobile bodies according to the first embodiment.

The management device 9 starts the operation of step S<b>101 when a certain autonomous mobile body 8 arrives at the hall 4 .

As shown in FIGS. 5 and 6, in step S101, the management device 9 uses the control information to determine whether or not the car 5 is ready for boarding.

When it is determined in step S101 that the car 5 is not ready for boarding, the management device 9 repeats the operation of step S101.

When it is determined in step S101 that the car 5 is ready for boarding, the management device 9 performs the operation of step S102. In step S<b>102 , the management device 9 transmits to the autonomous mobile body 8 a boarding movement command that causes the autonomous mobile body 8 to perform an action of boarding the car 5 .

After that, the management device 9 performs the operation of step S103. In step S103, the management device 9 determines whether or not a prescribed time has passed since the car 5 became available for boarding.

If it is determined in step S103 that the specified time has not elapsed since the car 5 became available for boarding, the management device 9 performs the operation of step S104. In step S<b>104 , the management device 9 determines whether or not another autonomous mobile body 8 other than the autonomous mobile body 8 that has transmitted the movement command has performed an operation to get into the car 5 .

When it is determined in step S104 that another autonomous mobile body 8 is not performing the operation of getting on the car 5, the management device 9 performs the operation of step S105. In step S105, the management device 9 determines whether or not it has received a boarding movement stop notification regarding the car 5 from the autonomous mobile body 8 in a state in which a boarding movement stop command has not been transmitted to the autonomous mobile body 8. do.

If it is determined in step S105 that the boarding movement stop notification regarding the car 5 has not been received from the autonomous mobile body 8 while the boarding movement stop command has not been transmitted to the autonomous mobile body 8, the management device 9 performs the operation of step S106. In step S<b>106 , the management device 9 determines whether or not the autonomous mobile body 8 has completed the operation of getting into the car 5 .

If it is determined in step S106 that the autonomous mobile body 8 has not completed the operation of getting into the car 5, the management device 9 performs the operations from step S103 onward.

When it is determined in step S106 that the autonomous mobile body 8 has completed the operation of getting into the car 5, the management device 9 performs the operation of step S107. In step S<b>107 , the management device 9 sends a command to the control device 7 to start the operation of the car 5 . In this case, the control device 7 causes the car 5 to operate.

After that, the management device 9 performs the operation of step S108. In step S<b>108 , the management device 9 uses the control information of the car 5 to determine whether or not the car 5 cannot be driven to the destination floor of the autonomous mobile body 8 .

When it is determined in step S108 that the car 5 can be driven to the destination floor of the autonomous mobile body 8, the management device 9 performs the operation of step S109. In step S109, the management device 9 determines whether or not the car 5 is ready to exit.

If it is determined in step S109 that the car 5 is not ready to get off, the management device 9 performs operations from step S108 onward.

When it is determined in step S109 that the car 5 is ready to exit, the management device 9 performs the operation of step S110. In step S<b>110 , the management device 9 transmits a movement command to get off the car 5 to the autonomous mobile body 8 .

After that, the management device 9 performs the operation of step S111. In step S111, the management device 9 determines whether or not a prescribed time has passed since the car 5 became ready to get off.

If it is determined in step S111 that the specified time has not passed since the car 5 became ready to get off, the management device 9 performs the operation of step S112. In step S<b>112 , the management device 9 determines whether or not it has received a disembarkation movement stop notification regarding the car 5 from the autonomous mobile body 8 in a state in which a disembarkation movement stop command has not been transmitted to the autonomous mobile body 8 . do.

In step S112, if it is determined that a dismount movement stop notification regarding the car 5 has not been received from the autonomous mobile body 8 in a state in which a dismount movement stop command has not been transmitted to the autonomous mobile body 8, the management device 9 performs the operation of step S113. In step S<b>113 , the management device 9 uses the position information of the autonomous mobile body 8 to determine whether or not the autonomous mobile body 8 has completed the operation of getting off the car 5 .

If it is determined in step S113 that the autonomous mobile body 8 has not completed the operation of getting off the car 5, the management device 9 performs the operations from step S111.

When determining in step S113 that the autonomous mobile body 8 has completed the operation of getting off the car 5, the management device 9 performs the operation of step S114. In step S114, a command for starting the operation of the car 5 is transmitted to the control device 7. FIG. In this case, the control device 7 causes the car 5 to operate.

After that, the management device 9 ends the operation.

If it is determined in step S103 that the specified time has elapsed since the car 5 became ready for boarding, the management device 9 performs the operation of step S115. In step S<b>115 , the management device 9 transmits to the autonomous mobile body 8 a boarding movement stop command for stopping the action of boarding the car 5 . After that, the management device 9 ends the operation.

If it is determined in step S104 that another autonomous mobile body 8 has performed the operation of getting on the car 5, the management device 9 performs the operation of step S116. In step S<b>116 , the management device 9 sends a command to the control device 7 to stop the operation of the car 5 . After that, the management device 9 performs operations after step S115.

If it is determined in step S105 that the boarding movement stop notification regarding the car 5 has been received from the autonomous mobile body 8 while the boarding movement stop command has not been transmitted to the autonomous mobile body 8, the management device 9 The operation of step S117 is performed. In step S117, the management device 9 determines whether or not the number of times the movement suspension notification related to the car 5 has been received is equal to or greater than a prescribed threshold, based on the movement suspension notification information stored in the first suspension notification storage unit 15. judge.

If it is determined in step S117 that the number of times that the movement stop notification related to the car 5 has been received is not equal to or greater than the prescribed threshold value, the management device 9 ends the operation.

If it is determined in step S117 that the number of times that the movement stop notification related to the car 5 has been received is greater than or equal to the specified threshold value, the management device 9 performs the operation of step S118. In step S118, the management device 9 sets the car 5 not to be used. After that, the management device 9 ends the operation.

When it is determined in step S108 that the car 5 cannot be driven to the destination floor of the autonomous mobile body 8, the management device 9 performs the operation of step S119. In step S<b>119 , the management device 9 transmits to the autonomous mobile body 8 information on a position to evacuate to on the floor where the autonomous mobile body 8 has stopped. After that, the management device 9 ends the operation.

If it is determined in step S111 that the specified time has elapsed since the car 5 became ready to get off, the management device 9 performs the operation of step S120. In step S<b>120 , the management device 9 transmits to the autonomous mobile body 8 a move stop command for getting off the car 5 to stop the operation of getting off the car 5 .

If the operation of step S120 has been performed, or if the movement stop notification for getting off regarding the car 5 has been received from the autonomous mobile body 8 while the movement stop command for getting off the car 8 has not been sent to the autonomous mobile body 8 in step S112. When determined, the management device 9 performs the operation of step S121. In step S121, the management device 9 sets the car 5 not to be used. After that, the management device 9 ends the operation.

According to the first embodiment described above, the management device 9 transmits a movement stop command to the autonomous mobile body 8 to stop the action of getting on or off the car 5 . The autonomous mobile body 8 that has received the movement stop command moves away from the car door 6 of the car 5 . Therefore, it is possible to prevent the autonomous mobile body 8 from being caught in the car door 6 . As a result, damage to the autonomous mobile body 8 can be suppressed. Also, damage to the car door 6 can be suppressed.

In addition, the management device 9 allows the autonomous mobile body 8 that has transmitted the movement command to enter or exit the car 5 when a predetermined time has elapsed since the car 5 became available for boarding or exiting. When the operation of getting off the car 5 has not been completed, a movement stop command is transmitted to the autonomous mobile body 8 . Therefore, the management device 9 can prevent the autonomous mobile body 8 from colliding with the car door 6 when the autonomous mobile body 8 takes a long time getting into the car 5 or getting off the car 5 . .

In addition, when another autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement command for boarding the car 5 was transmitted performs the operation of boarding the car 5, the management device 9 receives the movement command. A movement stop command is transmitted to the autonomous mobile body 8 . Therefore, the management device 9 can suppress collision between the autonomous mobile body 8 to which the movement command is transmitted and another autonomous mobile body 8 . When another autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement command to get off from the car 5 performs an operation to get on the car 5, the management device 9 detects the autonomous mobile body 8 to which the movement command was transmitted. A movement stop command may be transmitted to the moving body 8 . In this case, even if two autonomous mobile bodies 8 collide, the impact of the collision can be suppressed. As a result, damage to the autonomous mobile body 8 can be suppressed.

Further, for example, in the conventional elevator system 1, even if an abnormality occurs inside the car 5 that determines that a certain autonomous mobile body 8 cannot board, if the abnormality does not hinder the operation of the car 5, the autonomous mobile body 8 can An autonomous mobile body 8 other than the mobile body 8 may get on the car 5 . In this case, the other autonomous mobile body 8 may be damaged by the anomaly. According to Embodiment 1, when the management device 9 receives a notification that the autonomous mobile body 8 has stopped the action of getting into the car 5 or getting off the car 5, the management device 9 prevents the car 5 from being used. set. Therefore, when an abnormality occurs in which it is determined that a certain autonomous mobile body 8 cannot board, it is possible to prevent another autonomous mobile body 8 from boarding the car 5 .

In addition, if the number of times the movement stop notification is received is less than the specified number of times, the management device 9 does not set the car 5 so as not to be used. For example, when the autonomous mobile body 8 sends a movement stop notification to the management device 9 due to a failure occurring in the autonomous mobile body 8, the management device 9 sends a movement stop notification to the car 5 only once. receive. In this case, the management device 9 does not set the car 5 not to be used. Therefore, it is possible to prevent the operating efficiency of the car 5 from deteriorating due to the setting so that the car 5 is not used even though the car 5 has no abnormality.

Also, for example, if the shape of the autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement stop notification is transmitted is a shape that is not suitable for moving on the destination floor, the other autonomous mobile body 8 , there is a risk of damage due to collision with equipment on the destination floor. The management device 9 issues a command to the control device 7 to stop driving the car 5 when an autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement command is transmitted takes the action of getting on the car 5. to send. Therefore, it is possible to prevent the other autonomous mobile body 8 from moving to the destination floor of the autonomous mobile body 8 to which the movement command has been transmitted. As a result, damage to the other autonomous mobile body 8 can be suppressed.

Further, for example, in the conventional elevator system 1, when an autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement command is transmitted gets on the car 5, the other autonomous mobile body 8 transmits the movement command. It is possible to move to the destination floor of the autonomous mobile body 8 that has been set. The other autonomous mobile body 8 may not be permitted to move to the destination floor from the viewpoint of security. In Embodiment 1, the management device 9 instructs the control device 7 to move the car 5 when the autonomous mobile body 8 different from the autonomous mobile body 8 to which the movement command is transmitted takes the action of getting on the car 5 . Send a command to stop the operation of Therefore, it is possible to prevent the other autonomous mobile body 8 from moving to the destination floor of the autonomous mobile body 8 to which the movement command has been transmitted. As a result, security of the elevator system 1 can be improved.

In addition, the operation stop command unit 21 of the management device 9 instructs the autonomous mobile body 8 different from the autonomous mobile body 8 to which the move command to get off the car 5 to get off the car 5 to get on the car 5 to get on. A command to stop the operation of the car 5 may be transmitted to the control device 7 when the operation is performed. Therefore, it is possible to prevent the other autonomous mobile body 8 from moving to a floor on which movement is not permitted.

Further, for example, in the conventional elevator system 1, when the car 5 arrives at a floor for which the movement behavior of the autonomous mobile body 8 is not set when an earthquake occurs, the autonomous mobile body 8 may not move out of the car 5. be. In this case, the autonomous mobile body 8 may be damaged together with the car 5 by the earthquake. In the first embodiment, when the car 5 cannot drive to the destination floor of the autonomous mobile body 8 and stops at a floor different from the destination floor, the management device 9 determines the position where the autonomous mobile body 8 evacuates on the different floor. information to the autonomous mobile body 8. In this case, the autonomous mobile body 8 gets off the car 5 based on the information on the retreat position. Therefore, the management device 9 can prevent the autonomous mobile body 8 from being damaged.

When determining whether or not the car 5 is ready for boarding, the first movement command unit 13 determines the position of the car 5 and the car door 6 included in the control information acquired by the first control information acquisition unit 11. information such as the state of When determining whether or not the car 5 is ready to exit the car, the first movement command unit 13 determines the position of the car 5 and the state of the car door 6 included in the control information acquired by the first control information acquisition unit 11 . , etc. may be used.

Note that the first movement command unit 13 may refer to the usability information stored in the first usability storage unit 18 when determining whether or not the car 5 is ready for boarding. Specifically, when the use permission/prohibition information stored in the first use permission/prohibition storage unit 18 indicates that the car 5 is not to be used, the first movement command unit 13 obtains the control information obtained by the first control information obtaining unit 11. It may be determined that the car 5 cannot be boarded regardless of the contents.

Note that the first movement stop command unit 14 may determine that the autonomous mobile body 8 has completed the action of getting on the car 5 when the autonomous mobile body 8 performs a motion to get on the car 5 . Specifically, for example, when the first movement stop command unit 14 detects that the autonomous mobile body 8 has passed between the car doors 6, the autonomous mobile body 8 completes the operation of getting into the car 5. You can judge. For example, when the first movement stop command unit 14 detects that the autonomous mobile body 8 exists in the vicinity of the position where it should stop inside the car 5, the autonomous mobile body 8 completes the operation of getting into the car 5. can be determined.

In addition, instead of the operation stop command unit 21, the first movement stop command unit 14 uses the position information of the plurality of autonomous mobile bodies 8 to Before the autonomous mobile body 8 completes the operation of boarding the car 5, another autonomous mobile body 8 other than the autonomous mobile body 8 for which the first movement command unit 13 has transmitted the movement command to get on among the plurality of autonomous mobile bodies 8 enters the car. It may be determined whether or not the action of getting on the bus 5 has been performed. When the first movement stop command unit 14 determines that another autonomous mobile body 8 has performed an operation to get on the car 5, the first movement command unit 13 sends the movement command to get on to the autonomous mobile body 8 A dismount movement stop command for stopping the operation of disembarking from the car 5 may be transmitted. In this case, the operation stop command section 21 may send a command to the control device 7 to stop the operation of the car 5 .

In addition, when determining whether or not the number of times that the ride movement stop notification regarding the car 5 has been received is equal to or greater than the specified number of times, the first use permission/prohibition setting unit 19 has received the You may use the history information of the notice of movement stop of boarding.

In addition, when the evacuation information transmission unit 17 determines whether or not the car 5 cannot be driven to the destination floor of the autonomous mobile body 8, the evacuation information transmission unit 17 Information on the position, information on the open/close state of the car door 6, and the like may be used. In this case, for example, the evacuation information transmission unit 17 detects that the position of the car 5 does not change for a longer time than the predetermined time, and determines that the car 5 cannot be driven to the destination floor of the autonomous mobile body 8. You may

When specifying the floor at which the car 5 has stopped, the evacuation information transmission unit 17 uses the control information acquired by the first control information acquisition unit 11 to determine the floor where the car 5 is about to stop. It may be regarded as a stopped floor.

The evacuation information transmitting unit 17 may create information representing the evacuation range of the autonomous mobile body 8 on the floor where the car 5 has stopped as the information on the evacuation position of the autonomous mobile body 8 . When creating information on a plurality of evacuation positions for a plurality of autonomous mobile bodies 8, the evacuation information transmission unit 17 creates information on a plurality of evacuation positions corresponding to each of the plurality of autonomous mobile bodies 8. good too. The evacuation information transmission unit 17 creates information on a plurality of evacuation positions corresponding to each of the plurality of autonomous mobile bodies 8, thereby suppressing congestion caused by evacuation of the plurality of autonomous mobile bodies 8 to one place. do.

When determining whether or not the autonomous mobile body 8 has boarded the car 5 , the operation start command unit 20 directly indicates that the autonomous mobile body 8 has boarded the car 5 . may be obtained from the autonomous mobile body 8 . The operation start command unit 20 may use the state information instead of the position information of the autonomous mobile body 8 to determine that the autonomous mobile body 8 has completed the operation of getting into the car 5 . When the operation start command unit 20 determines whether or not the autonomous mobile body 8 has exited the car 5, the state information directly indicating that the autonomous mobile body 8 has exited the car 5 is sent to the relevant It may be obtained from the autonomous mobile body 8 . The operation start command unit 20 may use the state information instead of the position information of the autonomous mobile body 8 to determine that the autonomous mobile body 8 has completed the operation of getting off the car 5 .

The operation stop command unit 21 determines whether or not another autonomous mobile body 8 other than the autonomous mobile body 8 to which the first movement command unit 13 has transmitted the boarding movement command has performed an operation to get on the car 5. At this time, state information that directly indicates that another autonomous mobile body 8 has performed the action of getting into the car 5 may be obtained from the other autonomous mobile body. The operation stop command unit 21 may use the state information instead of the position information of the other autonomous mobile body 8 to determine that the other autonomous mobile body has performed the action of getting into the car 5 .

Note that, when another autonomous mobile body 8 makes an action to get on the car 5, the operation stop command unit 21 may determine that the other autonomous mobile body 8 makes an action to get on the car 5. . Specifically, for example, when the operation stop command unit 21 detects that another autonomous mobile body 8 has passed through the car door 6 using the position information of a plurality of autonomous mobile bodies 8, another autonomous mobile body It may be determined that 8 has performed the action of getting on the car 5 . For example, when the operation stop command unit 21 detects that another autonomous mobile body 8 has moved to the vicinity of the car door 6 using the position information of a plurality of autonomous mobile bodies 8, the other autonomous mobile body 8 moves to the car. It may be determined that the action of getting on the bus 5 has been performed.

Next, an example of hardware constituting the management device 9 will be described with reference to FIG.
FIG. 7 is a hardware configuration diagram of the elevator system control device according to the first embodiment.

Each function of the management device 9 can be implemented by a processing circuit. For example, the processing circuitry comprises at least one processor 100a and at least one memory 100b. For example, the processing circuitry comprises at least one piece of dedicated hardware 200 .

When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the management device 9 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. At least one of software and firmware is stored in at least one memory 100b. At least one processor 100a implements each function of the management device 9 by reading and executing a program stored in at least one memory 100b. The at least one processor 100a is also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP. For example, the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.

Where the processing circuitry comprises at least one piece of dedicated hardware 200, the processing circuitry may be implemented, for example, in single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. be. For example, each function of the management device 9 is implemented by a processing circuit. For example, each function of the management device 9 is collectively realized by a processing circuit.

A part of each function of the management device 9 may be realized by dedicated hardware 200 and the other part may be realized by software or firmware. For example, the function of transmitting a command to start operation of the car 5 is realized by a processing circuit as the dedicated hardware 200, and the functions other than the function of starting the operation of the car 5 are implemented by at least one processor 100a. It may be realized by reading and executing a program stored in one memory 100b.

Thus, the processing circuit implements each function of the management device 9 with hardware 200, software, firmware, or a combination thereof.

Embodiment 2.
FIG. 8 is a diagram showing an overview of a building to which the autonomous mobile body management apparatus according to Embodiment 2 is applied. The same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.

As shown in FIG. 8, for example, the interior of a building is divided into an exterior area, a common area, and an individual area according to security levels.

The gate 22 is provided at the entrance floor of the building as a doorway device. The gate 22 is provided at a position that separates the outside area from the common area on the entrance floor of the building. The gate 22 is provided so as to allow the user, the autonomous mobile body 8, etc. to pass through.

A plurality of doors 23 are provided on each floor of the building as an entrance/exit device. A plurality of doors 23 are provided at positions separating common areas and individual areas on each floor of the building. Each of the plurality of doors 23 is provided to allow the passage of users, autonomous mobile bodies 8, and the like.

The entrance/exit management device 24 is provided in the machine room 3 . An entrance/exit control device 24 is provided to communicate with the gate 22 . The entrance/exit management device 24 is provided so as to communicate with each of the plurality of doors 23 . The entrance/exit management device 24 is provided so as to communicate with the management device 9 .

The management device 9 transmits commands to the autonomous mobile body 8 and the entrance/exit management device 24 to cause the autonomous mobile body 8 to pass through the target entrance/exit device.

For example, the management device 9 transmits a command to the autonomous mobile body 8 existing in the external area to move from the external area to the common area. In this case, the management device 9 transmits a command to the entrance/exit management device 24 to make the gate 22, which is the target entrance/exit device, ready for objects to pass through. The autonomous mobile body 8 moves to a waiting area near the gate 22 . When the entry/exit management device 24 receives a command to put the gate 22 in a state where objects can pass through, the gate 22 is changed from the closed state to the open state. After that, the entrance/exit management device 24 transmits to the management device 9 information indicating that the gate 22 is passable.

If the autonomous mobile body 8 exists in the waiting area of the gate 22 when receiving the information indicating that the gate 22 is passable, the management device 9 causes the autonomous mobile body 8 to pass through the gate 22. A movement command for passage is transmitted to the autonomous mobile body 8 . The autonomous mobile body 8 passes through the gate 22 based on the movement command for passage received from the management device 9 . When the autonomous mobile body 8 completes the operation of passing through the gate 22, the management device 9 transmits a command to the entrance/exit management device 24 to put the gate 22 into a state where objects cannot pass. When the entrance/exit management device 24 receives a command to put the gate 22 in a state where objects cannot pass, the gate 22 is closed from the open state.

When an abnormality occurs when the autonomous mobile body 8 to which the movement command for passage is transmitted passes through the target entrance/exit device, the management device 9 instructs at least one of the autonomous mobile body 8 and the entrance/exit management device 24 to Send a command corresponding to the anomaly.

For example, if there is an obstacle in the path of the autonomous mobile body 8 at a certain door 23 , the autonomous mobile body 8 cannot pass through the door 23 . In this state, when a prescribed time set to be shorter than the upper limit time for opening the door 23 has passed, the management device 9 instructs the autonomous mobile body 8 to which the movement command for passage is transmitted to open the door 23 Send a stop movement command to stop the movement of passing through. In this case, the autonomous mobile body 8 moves to a position away from the door 23 . The autonomous mobile body 8 transmits to the management device 9 a movement stop notification indicating that the operation of passing through the door 23 has been stopped. The management device 9 transmits to the entrance/exit management device 24 a command to put the door 23 into a state where objects cannot pass. The entrance/exit management device 24 closes the door 23 .

Further, when there is an obstacle in the path of the autonomous mobile body 8 at a certain door 23, the autonomous mobile body 8 may autonomously determine that the door 23 cannot be passed. In this case, the autonomous mobile body 8 stops passing through the door 23 and moves away from the door 23 . The autonomous mobile body 8 transmits to the management device 9 a movement stop notification indicating that the operation of passing through the door 23 has been stopped. The management device 9 transmits to the entrance/exit management device 24 a command to put the door 23 into a state where objects cannot pass. The entrance/exit management device 24 closes the door 23 .

After that, when the obstacle continues to exist in the path of the autonomous mobile body 8 at the door 23, the autonomous mobile body 8 performs the action of passing through the door 23 every time it performs the action of passing through the door 23. A travel stop notice indicating that the passage has been stopped is sent to the management device 9 . When the number of times of receiving the movement stop notification for the door 23 is equal to or greater than the specified number of times, the management device 9 sets the door 23 not to be used. If the door 23 is set to not be used, the management device 9 does not send the movement command for passing through the door 23 to the autonomous mobile body 8 .

Next, the gate 22 and the standby area of the gate 22 will be described with reference to FIG.
FIG. 9 is a top view of a gate to which the autonomous mobile body management apparatus according to Embodiment 2 is applied.

As shown in FIG. 9, for example, gate 22 comprises lane 22a, lane 22b and lane 22c. Lane 22a, lane 22b, and lane 22c are provided so that an autonomous mobile body 8 (not shown in FIG. 9) can pass.

The waiting area 25 of the gate 22 is set in each of the external area and the common area. The standby area 25 is set at a position close to the gate 22 so that the autonomous mobile body 8 existing in the standby area 25 can quickly complete the operation of passing through the gate 22 . The standby areas 25 are composed of a pair of standby areas 25a, a pair of standby areas 25b, and a pair of standby areas 25c.

A pair of waiting areas 25a correspond to lanes 22a. A pair of waiting areas 25a are set at positions adjacent to the lane 22a in each of the outside area and the common area. The waiting area 25b corresponds to the lane 22b. The waiting area 25b is set at a position adjacent to the lane 22b in each of the outside area and the common area. The waiting area 25c corresponds to the lane 22c. The waiting area 25c is set at a position adjacent to the lane 22c in each of the outside area and the common area.

Next, the door 23 and the waiting area of the door 23 will be described with reference to FIG.
FIG. 10 is a top view of a main part of a door to which the autonomous mobile body management apparatus according to Embodiment 2 is applied.

As shown in FIG. 10, for example, the door 23 includes a door lane 23a and a door lane 23b. The door lane 23a is provided so that the autonomous mobile body 8 (not shown in FIG. 10) can pass through. The door lane 23b is provided so that the autonomous mobile body 8 can pass through.

The waiting area 26 of the door 23 is set as a common area and an individual area. The standby area 26 is set at a position close to the door 23 so that the autonomous mobile body 8 existing in the standby area 26 can quickly complete the operation of passing through the door 23 . The standby area 26 consists of a pair of standby areas 26a and a pair of standby areas 26b.

A pair of waiting areas 26a correspond to the door lanes 23a. A pair of standby areas 26a are set at positions adjacent to the door lanes 23a in each of the common area and the individual area. A pair of standby areas 26b correspond to the door lanes 23b. A pair of standby areas 26b are set at positions adjacent to the door lanes 23b in each of the common area and the individual area.

Next, the management device 9 will be described with reference to FIG. 11 .
FIG. 11 is a block diagram of an autonomous mobile body management apparatus according to the second embodiment.

As shown in FIG. 11, the management device 9 includes a second position information acquisition unit 27, a second control information acquisition unit 28, a second movement command unit 29, a second movement stop command unit 30, and a second stop notification storage unit. 31 , a second suspension notification reception unit 32 , a second usability storage unit 33 , a second usability setting unit 34 , and a state change unit 35 .

The second position information acquisition unit 27 acquires position information indicating the position of the autonomous mobile body 8 from the autonomous mobile body 8 .

The second control information acquisition unit 28 acquires control information for the gate 22 and the plurality of doors 23 from the entrance/exit management device 24 as control information for the entrance/exit device.

The second movement command unit 29 uses the control information of the entrance/exit device acquired by the second control information acquisition unit 28 to determine whether or not the entrance/exit device is in a passable state. When the second movement command unit 29 determines that the entrance/exit device is passable, the autonomous moving body 8 is present in the standby area of the entrance/exit device using the position information acquired by the second position information acquisition unit 27. Determine whether or not When the second movement command unit 29 determines that the autonomous mobile body 8 exists in the standby area of the entrance/exit device, the second movement command unit 29 issues a movement command to the autonomous mobile body 8 to cause the autonomous mobile body 8 to pass through the entrance/exit device. 8.

When the second movement command unit 29 determines that the entrance/exit device is in a passable state, the second movement stop command unit 30 starts measuring time. The second movement stop command unit 30 stops measuring the time and resets the measured time when the autonomous mobile body 8 completes the operation of passing through the entrance/exit device.

The second movement stop command unit 30 determines whether or not a prescribed time has passed since the entrance device became passable. The second movement stop command unit 30 instructs the autonomous mobile body 8 to pass through the entrance/exit when it is determined that a specified time has passed since the entrance/exit device became passable. If not completed, the second movement command unit 29 transmits a movement stop command for stopping the operation of passing through the entrance/exit device to the autonomous mobile body 8 that has transmitted the movement command for traffic.

The second movement stop command section 30 uses the position information of the plurality of autonomous mobile bodies 8 acquired by the second position information acquisition section 27 to determine whether the second movement command section 29 among the plurality of autonomous mobile bodies 8 is moving through traffic. It is determined whether or not another autonomous mobile body 8 other than the autonomous mobile body 8 that has transmitted the command performs an operation to pass through the entrance/exit device. When the second movement stop command unit 30 determines that another autonomous mobile body 8 has performed an operation to pass through the entrance device, to transmit a travel movement stop command to stop the operation of passing through the entrance/exit device.

The second stop notification storage unit 31 stores history information of movement stop notifications indicating that the autonomous mobile body 8 has stopped moving through the entrance/exit device.

The second stop notification reception unit 32 receives the movement stop notification transmitted from the autonomous mobile body 8 . When receiving the movement stop notification, the second stop notification receiving unit 32 causes the second stop notification storage unit 31 to store history information of the movement stop notification reflecting the movement stop notification.

The second usage propriety storage unit 33 stores usage propriety information indicating whether the autonomous mobile body 8 is set to use or not to use a certain gateway device.

The second use permission/prohibition setting unit 34 allows the second suspension notification receiving unit 32 to send a travel suspension notice related to a certain entrance/exit device from the autonomous mobile body 8 in a state in which a travel suspension command has not been transmitted to the autonomous mobile body 8. Determine whether or not it has been received. The second use permission/prohibition setting unit 34 allows the second suspension notification receiving unit 32 to send a travel suspension notice related to a certain entrance/exit device from the autonomous mobile body 8 in a state in which a travel suspension command has not been transmitted to the autonomous mobile body 8. If it is determined that it has been received, the number of times that the travel stop notice regarding the entrance/exit device has been received from the set date and time using the history information of the travel stop notice stored in the second stop notice storage unit 31 is equal to or greater than a prescribed number of times. At this time, the second suspension notification receiving unit 32 refers to the history information of the traffic suspension notifications transmitted from all the autonomous mobile bodies 8 . If the second use permission/prohibition setting unit 34 determines that the number of times that the traffic movement stop notice regarding the entrance/exit device has been received is equal to or greater than the prescribed number of times, the second use permission/rejection setting unit 34 sets the entrance/exit device not to be used. Specifically, in this case, the second usability setting unit 34 sets the usage permission information stored in the second usability storage unit 33 so that the entrance device is not used.

The state changing unit 35 transmits to the entrance/exit management device 24 a command to put the entrance/exit device into a state where objects can pass. The state changing unit 35 uses the position information of the autonomous mobile body 8 acquired by the second position information acquiring unit 27 to determine whether or not the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device. When the state change unit 35 determines that the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device, it sends a command to the entrance/exit management device 24 to change the state in which objects cannot pass through the entrance/exit.

Next, history information of movement stop notifications stored in the second stop notification storage unit 31 will be described with reference to FIG. 12 .
FIG. 12 is a diagram showing history information of movement stop notifications stored in the management device for autonomous mobile bodies according to the second embodiment.

As shown in FIG. 12, the movement stop notification history information is information in which "notification date and time" information, "notification source" information, and "target entrance device" information are associated with each other.

The “notification date and time” information is information on the date and time when the movement stop notification was received from the autonomous mobile body 8 . The "notification source" information is information for identifying the autonomous mobile body 8 that has transmitted the movement stop notification. The information of the “target device” is information indicating the target entrance device that has stopped the movement of the autonomous mobile body 8 to pass through.

Next, using FIG. 13, the usability information stored in the second usability storage unit 33 will be described.
FIG. 13 is a diagram showing usability information stored in the management device for autonomous mobile bodies according to the second embodiment.

As shown in FIG. 13, the usability information is information in which the information of the "target entrance device" and the information of "usability" are associated with each other.

The information of the "target entrance device" is information indicating the target entrance device. The "usability" information is information indicating whether the target entrance device is set to be used or not to be used.

"Usable" in the "Usability" information indicates that the setting is used by the target entrance/exit device. "Usable" in the information of "Usability" indicates that the target entrance device is not used.

Next, operations performed by the management device 9 will be described with reference to FIG. 14 .
FIG. 14 is a flowchart for explaining the operation performed by the management device for autonomous mobile bodies according to the second embodiment.

For example, the management device 9 starts the operation after step S201 when the autonomous mobile body 8 starts to move to the waiting area of the entrance/exit device.

As shown in FIG. 14, in step S201, the management device 9 determines whether or not the entrance/exit device is passable.

When it is determined in step S201 that the entrance/exit device is not passable, the management device 9 repeats the operation of step S201.

When it is determined in step S201 that the entrance/exit device is passable, the management device 9 performs the operation of step S202. In step S202, the management device 9 determines whether or not the autonomous mobile body 8 exists in the waiting area of the entrance/exit device.

When it is determined in step S202 that the autonomous mobile body 8 does not exist in the standby area of the entrance/exit device, the management device 9 performs operations from step S201.

When it is determined in step S202 that the autonomous mobile body 8 exists in the standby area of the entrance/exit device, the management device 9 performs the operation of step S203. In step S<b>203 , the management device 9 transmits to the autonomous mobile body 8 a movement command for passing through the entrance/exit device to the autonomous mobile body 8 .

After that, the management device 9 performs the operation of step S204. In step S204, the management device 9 determines whether or not a prescribed time has passed since the entrance/exit device became passable.

If it is determined in step S204 that the prescribed time has not passed since the entrance/exit device became passable, the management device 9 performs the operation of step S205. In step S205, the management device 9 determines whether or not another autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement command for passage has been transmitted performs an operation to pass through the entrance/exit device.

When it is determined in step S205 that another autonomous mobile body 8 is not operating to pass through the entrance/exit device, the management device 9 performs the operation of step S206. In step S<b>206 , the management device 9 determines whether or not it has received a traffic movement stop notification regarding the entrance device from the autonomous mobile body 8 in a state in which a traffic movement stop command has not been sent to the autonomous mobile body 8 . .

In step S206, when it is determined that the movement stop notification regarding the entrance device has not been received from the autonomous mobile body 8 while the traffic movement stop command has not been transmitted to the autonomous mobile body 8, the management device 9 , the operation of step S207 is performed. In step S207, the management device 9 determines whether or not the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device.

When it is determined in step S207 that the autonomous mobile body 8 has not completed the operation of passing through the entrance/exit device, the management device 9 performs operations from step S204 onward.

When it is determined in step S207 that the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device, the management device 9 performs the operation of step S208. In step S<b>208 , the management device 9 transmits to the entrance/exit management device 24 a command to put the entrance/exit device into a state in which objects cannot pass through.

After that, the management device 9 ends the operation.

If it is determined in step S204 that the specified time has passed after the entrance/exit device becomes passable, or if it is determined in step S205 that another autonomous mobile body 8 performs an operation to pass through the entrance/exit device, The management device 9 performs the operation of step S209. In step S209, the management device 9 transmits a travel movement stop command to stop the operation of passing through the entrance/exit device to the autonomous mobile body 8 that has transmitted the traffic movement command. After that, the management device 9 performs operations after step S208.

If it is determined in step S206 that a traffic movement stop notification regarding the entrance device has been received from the autonomous mobile body 8 while the traffic movement stop command has not been transmitted to the autonomous mobile body 8, the management device 9 performs step S210. perform the operation of In step S210, the management device 9 determines whether or not the number of times of receiving movement stop notices regarding the entrance/exit device from the set date and time is equal to or greater than a specified number of times.

If it is determined in step S210 that the number of times that the movement stop notification related to the entrance/exit device has been received is less than the specified number of times, the management device 9 performs the operations from step S208.

If it is determined in step S210 that the number of times that the movement stop notification related to the entrance/exit device has been received is equal to or greater than the specified number of times, the management device 9 performs the operation of step S211. In step S211, the management device 9 sets the entrance/exit device not to be used. After that, the management device 9 performs operations after step S208.

According to the second embodiment described above, the management device 9 causes the autonomous moving body 8 that has received the movement command to perform the operation of passing through the entrance/exit device to stop the operation of passing through the entrance/exit device. Send stop movement command. Therefore, the management device 9 can prevent the autonomous mobile body 8 from passing through the entrance/exit device in which an abnormality has occurred. The management device 9 can suppress collision between the entrance/exit device and the autonomous mobile body 8 . As a result, damage to the autonomous mobile body 8 can be suppressed. Moreover, it is possible to suppress damage to the entrance/exit device.

In addition, the management device 9 transmits a travel stop notice to the autonomous mobile body 8 when a specified time has passed since the entrance device became passable. Therefore, when the autonomous mobile body 8 has trouble passing through the entrance/exit device, the autonomous mobile body 8 can leave the entrance/exit device before the entrance/exit device changes from the open state to the closed state due to the time limit. . As a result, the management device 9 can suppress collision between the autonomous mobile body 8 and the entrance/exit device.

In addition, when an autonomous mobile body 8 other than the autonomous mobile body 8 that has sent the movement command for passage performs an operation to pass through the entrance/exit device, the management device 9 controls the autonomous mobile body 8 that has sent the movement command for passage. Send a traffic stop movement command to Therefore, it is possible to suppress collision between the autonomous mobile body 8 that has transmitted the movement command for passage and another autonomous mobile body 8 .

Further, for example, in the conventional entrance/exit management system, even if an abnormality occurs in the entrance/exit device that determines that a certain autonomous mobile body 8 cannot pass through, the autonomous mobile body 8 other than the autonomous mobile body 8 cannot pass through. You may pass through the entrance/exit device. In this case, the other autonomous mobile body 8 may be damaged by the anomaly. According to Embodiment 2, the management device 9 makes a setting not to use the entrance/exit device when receiving a movement stop notification indicating that the autonomous mobile body 8 has stopped passing through the entrance/exit device. For this reason, when an abnormality occurs in an entrance/exit device determined to be inaccessible to a certain autonomous mobile body 8, it is possible to prevent another autonomous mobile body 8 from passing through the entrance/exit device. As a result, damage to the autonomous mobile body 8 can be suppressed.

In addition, if the number of times the movement stop notification is received is less than the specified number of times, the management device 9 does not set the entrance/exit device so as not to be used. Therefore, it is possible to prevent the efficiency of movement of the autonomous mobile body 8 from being lowered by setting the entrance device not to be used even though there is no abnormality in the entrance device.

In addition, the management device 9 issues an entry/exit management command to change the state of the entrance/exit device from a state in which an object can pass to a state in which an object cannot pass, when an abnormality occurs after transmitting a movement command to pass to the autonomous mobile body 8. Send to device 24 . Therefore, the management device 9 can prevent the autonomous mobile body 8 from passing through the entrance/exit device. As a result, it is possible to prevent the autonomous mobile body 8 from being damaged by the abnormality.

Also, in the conventional entrance/exit management system, even if an abnormality occurs after the autonomous mobile body 8 has been sent a movement command to pass through, the autonomous mobile body 8 does not complete the operation to pass through the entrance/exit device. The device may remain passable for objects. In this case, a person who is not permitted to pass may pass through the entrance/exit device. In the second embodiment, when an abnormality occurs after transmitting a movement command for passage to the autonomous mobile body 8, the management device 9 switches the entrance/exit device from a state in which passage of objects is permitted to a state in which passage of objects is not permitted. to the entrance/exit management device 24. Therefore, it is possible to prevent a person who is not permitted to pass from passing through the doorway. As a result, the security of entrance/exit management can be improved.

In addition, when the autonomous mobile body 8 to which the movement command is transmitted has not completed the operation of passing through the entrance/exit device when a specified time has passed since the entrance/exit device became passable, the management device 9 A command is sent to the entrance/exit management device 24 to change the entrance/exit device from a state in which passage of objects is permitted to a state in which passage of objects is not permitted. Therefore, when the autonomous mobile body 8 has trouble passing through the entrance/exit device, it is possible to prevent a person who is not permitted to pass from passing through the entrance/exit.

In addition, when the autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement command is transmitted performs an operation to pass through the entrance/exit device, the management device 9 changes the entrance/exit device from the state in which the passage of the object is permitted. A command is sent to the entrance/exit management device 24 to change the state to a state in which passage of objects is not permitted. Therefore, the management device 9 can prevent the other autonomous mobile body 8, which is not permitted to pass, from passing through the doorway. As a result, the security of entrance/exit management can be improved.

In addition, the management device 9 transmits a movement command for passage to the autonomous mobile body 8 when the autonomous mobile body 8 exists in the standby area of the entrance/exit device. Therefore, the autonomous mobile body 8 can quickly pass through the entrance/exit device after receiving the movement command for passage. As a result, it is possible to prevent a person who is not permitted to pass through the doorway before the autonomous mobile body 8 passes through the doorway device.

In addition, instead of transmitting to the entrance/exit management device 24 a command to put the entrance/exit device into a state in which objects cannot pass, the management device 9 restores the state of the entrance/exit device to the state before sending the command to make the state in which objects can pass. A return command may be sent to the entrance/exit management device 24 . When receiving a command to return the state of the entrance/exit device to the previous state, the entrance/exit management device 24 may return the state of the entrance/exit device to the state before sending the command to allow objects to pass through.

Each of the plurality of doors 23, which are the entrance/exit devices, may be in a state of not permitting passage of objects or a state of permitting passage of objects by locking or unlocking the panels of the doors 23. FIG.

If the standby area 25 of the gate 22 is close enough to the gate 22 that the autonomous mobile body 8 existing in the standby area 25 can quickly complete the operation of passing through the gate 22, the range shown in FIG. It doesn't have to be. If the waiting area 26 of the door 23 is close enough to the door 23 that the autonomous mobile body 8 existing in the waiting area 26 can quickly complete the operation of passing through the door 23, the range shown in FIG. good too.

When determining whether or not the entrance/exit device is in a passable state, the second movement command unit 29 uses information on the open/closed state of the gate 22 included in the control information acquired by the second control information acquisition unit 28, Alternatively, information on the open/closed state of the door 23 may be used.

The second movement command unit 29 may refer to the usability information stored in the second usability storage unit 33 when determining whether or not the entrance device is passable. In the usability information stored in the second usability storage unit 33, if the entry/exit device is set not to be used, the second movement command unit 29 determines whether the control information acquired by the second control information acquisition unit 28 is It may be determined that the entrance/exit device is in an impassable state.

In addition, when determining whether or not the autonomous mobile body 8 exists in the standby area of the entrance/exit device, the second movement command unit 29 directly indicates that the autonomous mobile body 8 exists in the standby area of the entrance/exit device. The indicated state information may be acquired from the autonomous mobile body 8 . Specifically, the autonomous mobile body 8 may create the state information by detecting that it is in the standby area of the entrance/exit device. The second movement command unit 29 may use the state information instead of the position information of the autonomous mobile body 8 to determine that the autonomous mobile body 8 exists in the standby area of the entrance/exit device.

In addition, when determining whether or not another autonomous mobile body 8 has performed an action to pass through the entrance/exit device, the second movement stop command unit 30 instructs the other autonomous mobile body 8 to pass through the entrance/exit device. State information that directly indicates what has been done may be obtained from the other autonomous mobile body 8 . The second movement stop command unit 30 may use the state information instead of the position information of the other autonomous mobile body 8 to determine that the other autonomous mobile body 8 has made an action to pass through the entrance/exit device. .

In addition, the second movement stop command unit 30 determines that the other autonomous mobile body 8 has performed an action to pass through the entrance/exit device when another autonomous mobile body 8 performs an operation to pass through the entrance/exit device. good too. Specifically, when the second movement stop command unit 30 detects that another autonomous mobile body 8 has moved to the standby area 25 of the gate 22 using the position information of the plurality of autonomous mobile bodies 8, another It may be determined that the autonomous mobile body 8 performs an operation to pass through the gate 22 .

In addition, when determining whether or not the number of times that the movement stop notification regarding the entrance/exit device has been received is equal to or greater than the specified number of times, the second usage permission/prohibition setting unit 34 has received within a specified period from the time of determination. History information of traffic stop notification may be used.

Note that the state changing unit 35 directly indicates that the autonomous mobile body 8 has completed the operation of passing through the gateway device when determining whether or not the autonomous mobile body 8 has completed the motion of passing through the gateway device. The indicated state information may be acquired from the autonomous mobile body 8 . The state changing unit 35 may use the state information instead of the position information of the autonomous mobile body 8 to determine that the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device.

In addition, in Embodiment 1 and Embodiment 2, the management apparatus 9 may be applied to the control system of the autonomous mobile body provided with the apparatus which collectively controls the movement of the several autonomous mobile body 8. FIG. In this case, instead of sending various commands to the autonomous mobile bodies 8, the management device 9 may send them to a device that collectively controls the movement of the plurality of autonomous mobile bodies 8. FIG.

1 Elevator System 2 Hoistway 3 Machine Room 4 Boarding Hall 5 Car 6 Car Door 7 Control Device 8 Autonomous Mobile Body 9 Management Device 10 First Position Information Acquisition Unit 11 First Control Information Acquisition Unit 12 registration unit 13 first movement command unit 14 first movement stop command unit 15 first stop notification storage unit 16 first stop notification reception unit 17 evacuation information transmission unit 18 first usability storage unit 19 first use enable/disable setting unit 20 operation start command unit 21 operation stop command unit 22 gate 22a, 22b, 22c lane 23 door 23a, 23b door lane 24 entrance/exit management device 25, 25a, 25b, 25c standby area 26, 26a, 26b standby area 27 second position information acquisition unit 28 second control information acquisition unit 29 second movement command unit 30 second movement stop command unit 31 second stop notification storage unit , 32 second suspension notification reception unit, 33 second use permission/prohibition storage unit, 34 second use permission/prohibition setting unit, 35 state change unit, 100a processor, 100b memory, 200 hardware

A management apparatus for an autonomous mobile body according to the present disclosure includes a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off the car; a movement stop command unit that transmits a command to stop an operation of getting into the car or an operation of getting off the car to the autonomous mobile body to which the movement command has been transmitted from the movement command unit; and the movement command unit . When an autonomous mobile body different from the autonomous mobile body to which the movement command is sent from performs an operation of getting into the car, a command to stop the operation of the car is sent to the control device of the elevator. and a stop command unit for stopping movement, wherein the stop command unit causes an autonomous moving body different from the autonomous moving body to which the movement command is transmitted from the movement command unit to get into the car. In this case, a command is transmitted to the autonomous mobile body to which the movement command is transmitted from the movement command unit to stop the operation of getting into or out of the car .

A management apparatus for an autonomous mobile body according to the present disclosure includes a movement command unit that transmits a movement command to cause an autonomous mobile body that moves autonomously to perform an operation of passing through an entrance device, and the movement command from the movement command unit. A movement stop command unit that transmits a command to stop the operation of passing through the doorway device to the autonomous mobile body that has been transmitted , and a command to put the doorway device into a state where objects can pass. When an abnormality occurs before the autonomous moving body, to which the movement command is transmitted from the movement command unit, completes the operation of passing through the entrance/exit device after transmitting a command to put the device into a state in which an object can pass. , a state changing unit that transmits a command to put the entrance device into a state where objects cannot pass, and the movement stop command unit is separate from the autonomous mobile body to which the movement command is transmitted from the movement command unit When the autonomous mobile body performs an operation to pass through the entrance/exit device, a command is transmitted to the autonomous mobile body to which the movement command has been transmitted from the movement command unit to stop the operation to pass through the entrance/exit device. do .

Claims (27)

a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off from the car;
a movement stop command unit that transmits a command to the autonomous mobile object to which the movement command has been transmitted from the movement command unit to stop the operation of getting into the car or the operation of getting off the car;
A management device for an autonomous mobile body. The movement stop command unit causes the autonomous mobile body to which the movement command is transmitted from the movement command unit to stop moving when a predetermined time has elapsed after the car becomes available for boarding or exits. When the movement of getting into the car or the movement of getting off the car has not been completed, the autonomous mobile body to which the movement command has been transmitted from the movement command unit gets into the car or gets off the car. 2. The autonomous mobile body management device according to claim 1, which transmits a command to stop the operation to be performed. The movement stop command unit sends the movement instruction unit to the movement command unit when an autonomous moving object different from the autonomous moving object to which the movement command is transmitted from the movement command unit performs an operation of getting into the car. 3. The autonomous mobile body management apparatus according to claim 1, wherein a command is sent to the autonomous mobile body to which the command has been sent to stop the action of getting into the car or the action of getting off the car. When the autonomous mobile body to which the movement command is transmitted from the movement command unit receives a cancellation notification indicating that the movement of getting into the car or the movement of getting off the car is stopped, the autonomous moving body moves to the car. Use enable/disable setting section for setting not to use,
The autonomous mobile body management device according to claim 1, comprising: The use permission/prohibition setting unit does not set the autonomous mobile body not to use the car when the number of times the cancellation notice is received from the autonomous mobile body is less than a prescribed number of times, and sends the cancellation notice to the autonomous mobile body. 5. The autonomous mobile body management apparatus according to claim 4, wherein the autonomous mobile body is set so as not to use the car when the number of receptions from the mobile body is equal to or greater than a specified number of times. When an autonomous mobile body different from the autonomous mobile body to which the movement command is transmitted from the movement command unit performs an operation of getting into the car, the control device of the elevator stops the operation of the car. A stop command unit that transmits a command to cause
The autonomous mobile body management device according to claim 1, comprising: While the autonomous mobile body to which the movement command is transmitted from the movement command unit is in the car, the car cannot drive to the destination floor of the autonomous mobile body and stops at a floor different from the destination floor. case, an evacuation information transmission unit that transmits to the autonomous mobile body information on a position at which the autonomous mobile body is to be evacuated on a floor different from the destination floor;
The autonomous mobile body management device according to claim 1, comprising: a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off from the car;
When the autonomous mobile body to which the movement command is transmitted from the movement command unit receives a cancellation notification indicating that the movement of getting into the car or the movement of getting off the car is stopped, the autonomous moving body moves to the car. a usage permission/prohibition setting section for setting not to use;
A management device for an autonomous mobile body. The use permission/prohibition setting unit does not set the autonomous mobile body not to use the car when the number of times the cancellation notice is received from the autonomous mobile body is less than a prescribed number of times, and sends the cancellation notice to the autonomous mobile body. 9. The autonomous mobile body management apparatus according to claim 8, wherein the autonomous mobile body is set so as not to use the car when the number of times of reception from the mobile body is equal to or greater than a specified number of times. a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off from the car;
When an autonomous mobile body different from the autonomous mobile body to which the movement command is transmitted from the movement command unit performs an operation of getting into the car, the control device of the elevator stops the operation of the car. an operation stop command unit that transmits a command to
A management device for an autonomous mobile body. a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to perform an action of getting into an elevator car or an action of getting off from the car;
While the autonomous mobile body to which the movement command is transmitted from the movement command unit is in the car, the car cannot drive to the destination floor of the autonomous mobile body and stops at a floor different from the destination floor. an evacuation information transmission unit that transmits to the autonomous mobile body information on a position at which the autonomous mobile body is to be evacuated on a floor different from the destination floor,
A management device for an autonomous mobile body. a movement command unit that transmits a movement command that causes an autonomous mobile object that moves autonomously to perform an operation of passing through the entrance/exit device;
A movement stop command unit that transmits a command to stop the operation of passing through the entrance device to the autonomous mobile body that has received the movement command from the movement command unit;
A management device for an autonomous mobile body. The movement stop command unit causes the autonomous mobile body, to which the movement command is transmitted from the movement command unit, to pass through the entrance/exit device when a specified time has elapsed after the entrance/exit device becomes passable. 13. The autonomous mobile body according to claim 12, wherein an instruction is sent to the autonomous mobile body to which the movement command is sent from the movement command unit to stop the operation of passing through the entrance device when the is not completed. management device. The movement stop command unit sends the movement command unit to the movement command unit when an autonomous moving body other than the autonomous moving body to which the movement command is transmitted performs an operation to pass through the entrance device. 14. The management apparatus for autonomous mobile bodies according to claim 12 or 13, which transmits a command to stop the operation of passing through the entrance/exit device to the autonomous mobile body to which the movement command has been transmitted. When the autonomous mobile body to which the movement command is transmitted from the movement command unit receives a stop notification indicating that the movement through the doorway device is stopped, the autonomous mobile body is prevented from using the doorway device. a usability setting section to be set;
The autonomous mobile body management device according to claim 12, comprising: The use permission/prohibition setting unit does not set the entrance device not to be used when the number of times the cancellation notice is received from the autonomous mobile body is less than a prescribed number of times, and receives the cancellation notice from the autonomous mobile body. 16. The autonomous mobile body management device according to claim 15, wherein the autonomous mobile body is set so as not to use the entrance device when the number of times of the operation is equal to or more than a specified number of times. After transmitting a command to put the entrance device into a state where the object can pass, and after transmitting a command to put the entrance device into a state where the object can pass, the autonomous mobile body to which the movement command is transmitted from the movement command unit a state changing unit that transmits a command to put the entrance/exit device into a state in which an object cannot pass when an abnormality occurs before the operation of passing through the entrance/exit device is completed;
The autonomous mobile body management device according to claim 12, comprising: The state changing unit causes the autonomous moving body, to which the movement command is transmitted from the movement command unit, to pass through the entrance/exit device when a prescribed time has elapsed after the entrance/exit device becomes passable. 18. The autonomous mobile body management apparatus according to claim 17, which transmits a command to put the entrance/exit device into a state where objects cannot pass, if the above has not been completed. The state change unit is configured to allow an object to pass through the entrance/exit device when an autonomous moving object other than the autonomous moving object to which the movement command is transmitted from the movement command unit performs an operation of passing through the entrance/exit device. 19. The autonomous mobile body management device according to claim 17 or 18, which transmits a command to disable the autonomous mobile body. The state changing unit prevents an object from passing through the entrance/exit device when receiving a notification indicating that the autonomous mobile body, to which the movement command has been transmitted from the movement command unit, has stopped moving through the entrance/exit device. 20. The management device for an autonomous mobile body according to any one of claims 17 to 19, which transmits a command to set the state. The movement command unit does not transmit the movement command to the autonomous moving body when the autonomous moving body does not exist in the standby area of the entrance/exit device, and the autonomous moving body is in the standby area of the entrance/exit device. 21. The management device for an autonomous mobile body according to any one of claims 12 to 20, which transmits the movement command to the autonomous mobile body when it exists. a movement command unit that transmits a movement command that causes an autonomous mobile object that moves autonomously to perform an operation of passing through the entrance/exit device;
When the autonomous mobile body to which the movement command is transmitted from the movement command unit receives a stop notification indicating that the movement of passing through the gateway device is stopped, the autonomous mobile body is set not to use the gateway device. a usability setting unit for
A management device for an autonomous mobile body. The use permission/prohibition setting unit does not set the entrance device not to be used when the number of times the cancellation notice is received from the autonomous mobile body is less than a prescribed number of times, and receives the cancellation notice from the autonomous mobile body. 23. The autonomous mobile body management device according to claim 22, wherein the autonomous mobile body is set so as not to use the gateway device when the number of times the door is opened is equal to or greater than a specified number of times. a movement command unit that transmits a movement command that causes an autonomous mobile object that moves autonomously to perform an operation of passing through the entrance/exit device;
After transmitting a command to put the entrance device into a state where the object can pass, and after transmitting a command to put the entrance device into a state where the object can pass, the autonomous mobile body to which the movement command is transmitted from the movement command unit a state changing unit that transmits a command to put the entrance/exit device into a state in which an object cannot pass when an abnormality occurs before the operation of passing through the entrance/exit device is completed;
A management device for an autonomous mobile body. The state changing unit causes the autonomous moving body, to which the movement command is transmitted from the movement command unit, to pass through the entrance/exit device when a specified time has elapsed after the entrance/exit device becomes passable. 25. The autonomous mobile body management device according to claim 24, which transmits a command to put the entrance/exit device into a state where objects cannot pass, if not completed. The state change unit is configured to allow an object to pass through the entrance/exit device when an autonomous moving object other than the autonomous moving object to which the movement command is transmitted from the movement command unit performs an operation of passing through the entrance/exit device. 26. The autonomous mobile body management device according to claim 24 or 25, which transmits a command to disable the autonomous mobile body. The state changing unit prevents an object from passing through the entrance/exit device when receiving a notification indicating that the autonomous mobile body, to which the movement command has been transmitted from the movement command unit, has stopped moving through the entrance/exit device. 27. The management device for an autonomous mobile body according to any one of claims 24 to 26, which transmits a command to set the state.

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