JP5545539B2 - Autonomous traveling body moving system - Google Patents

Description

  The present invention relates to an autonomous traveling body moving system for operating an autonomous traveling body and an elevator in cooperation with each other.

  In recent years, research and development of autonomous traveling bodies such as autonomously traveling robots have been promoted. For example, it is possible to contribute to the reduction of human burdens by causing this type of robot to carry out the work of transporting medical records, medicines, catered items and the like in a hospital or the like. A system is known in which an autonomous traveling body and an elevator are operated in cooperation so that this type of autonomous traveling body can move to different floors using an elevator. Patent Document 1 and Patent Document 2 disclose this type of system.

  In the moving system of an autonomous vehicle using an elevator disclosed in Patent Document 1, when the autonomous vehicle is located outside the elevator car (when an elevator car call process is executed), the relay device for the autonomous vehicle and the machine room is used. Are configured to pass signals through the FOMA line. On the other hand, when the autonomous vehicle is located inside the elevator car (when the destination of the elevator car is designated), the autonomous vehicle and the relay device in the machine room are configured to pass signals by SS radio. .

  In the movement system of the autonomous traveling vehicle by the elevator of patent document 2, the structure to which an autonomous traveling vehicle and the relay apparatus of a machine room deliver a signal via a PHS line is disclosed. Since the PHS line has a low transmission output, this system can be applied even in hospitals and airports.

JP 2010-23959 A JP 2005-332059 A

  However, since the configurations of Patent Document 1 and Patent Document 2 use a FOMA line and a PHS line, even when a call is made from a communication terminal other than an autonomous vehicle to a relay device in a machine room, the communication terminal And the relay device are established.

  In this case, the autonomous vehicle and the relay device cannot be connected, and the system cannot function.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an autonomous traveling body moving system capable of maintaining a function even when a call is made from a communication terminal other than the autonomous traveling body. It is in.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

According to an aspect of the present invention, an autonomous traveling body moving system having the following configuration is provided. That is, the autonomous traveling body moving system includes an autonomous traveling body, an elevator control device, and a relay device. In the building where the elevator is installed, the autonomous vehicle can get on and off the elevator car and move to the destination floor. The elevator control device can control the elevator based on a signal received from the autonomous traveling body. The relay device can establish a connection with the autonomous vehicle and relay a signal transmitted / received to / from the elevator control device, and within a preset time from the time when the connection with the communication terminal is established. If the specific signal indicating the autonomous traveling body cannot be received, the connection is disconnected.

  As a result, even when an unexpected communication terminal makes a call to a relay device and a connection is established, the relay device disconnects the connection after a preset time, so the number of connections of the relay device is reduced. When there is an upper limit, the number of available connections can be prevented from being unnecessarily reduced. Further, if the system is a one-to-one connection between the relay device and the autonomous traveling body, it is possible to prevent a long-term communication connection occupation by an unexpected communication terminal.

  In the autonomous traveling body moving system, it is preferable that a signal related to elevator control transmitted by the autonomous traveling body is used as the specific signal.

  Thereby, since it is not necessary to set the password etc. for identifying an autonomous vehicle, the process which a relay apparatus performs can be simplified.

  In the autonomous traveling body moving system, it is preferable that the autonomous traveling body performs a process of starting a connection again when the process of starting a connection with the relay device is performed and the process is not accepted. .

  That is, when the autonomous mobile unit tries to connect to the relay device while the connection between the relay device and the unexpected communication terminal is established, the connection process of the autonomous mobile unit fails. However, since the connection between the relay device and the unexpected communication terminal is disconnected after a predetermined time, the connection between the autonomous vehicle and the relay device is performed when the autonomous vehicle again performs the connection process as in the above configuration. Can be established.

  The autonomous traveling body moving system preferably has the following configuration. That is, the autonomous mobile body and the relay device include a PHS modem. The autonomous mobile body and the relay device perform wireless signal transmission / reception using a PHS line.

  As a result, the present invention can be used even in places (such as hospitals and airports) where radio with high transmission output cannot be used.

Explanatory drawing which shows schematically the autonomous traveling body movement system which concerns on one Embodiment of this invention. The block diagram which shows the flow of a signal when an autonomous running body is located outside the elevator car. The block diagram which shows the flow of a signal when an autonomous running body is located inside the elevator car. Explanatory drawing which shows the relationship between an antenna cable and a communication cable. Explanatory drawing which shows the relationship between the antenna cable and communication cable in a machine room less type elevator. The sequence diagram which shows the signal exchanged when an autonomous traveling body moves to a destination floor on an elevator. The flowchart which shows the control which cut | disconnects a connection, when a call originates from communication terminals other than an autonomous vehicle. The flowchart which shows the flow of a response | compatibility performed when abnormality generate | occur | produces in an autonomous running body.

  Next, embodiments of the present invention will be described with reference to the drawings. First, an outline of the autonomous traveling body moving system 1 of the present embodiment will be described with reference to FIG. FIG. 1 is an explanatory diagram schematically showing an autonomous traveling body moving system 1.

  The autonomous traveling body moving system 1 includes an autonomous traveling body 40 that can autonomously move to a destination in a building 10 such as a hospital, an airport, a warehouse, and a company. This is a system for operating the elevator 30 installed in the vehicle in cooperation with each other.

  The autonomous traveling body 40 includes a transported portion such as a wagon, and can transport a document or the like using the transported portion. The elevator 30 is supplied with driving force from the machine room 20 installed on the rooftop of the building 10 and can move up and down in a hoistway (shaft, elevator duct) 35.

  And the autonomously traveling body 40 can get on and off the elevator car 31 and move to a different floor by operating in cooperation with the elevator 30.

  Next, a specific configuration of the autonomous mobile body moving system 1 will be described with reference to FIGS. FIG. 2 is a block diagram showing a signal flow when the autonomous traveling body 40 is located outside the elevator car 31. FIG. 3 is a block diagram showing a signal flow when the autonomous traveling body 40 is located inside the elevator car 31. FIG. 4 is an explanatory diagram showing the relationship between the antenna cable 51 and the communication cable 52. FIG. 5 is an explanatory diagram showing the relationship between the antenna cable 51 and the communication cable 52 in the machine room-less type elevator 30.

  As shown in FIGS. 2 and 3, an elevator controller 21, a first relay device (relay device) 22, and a motor 36 are arranged in the machine room 20.

  The elevator control device 21 controls the elevator 30. Specifically, the elevator control device 21 can open and close and announce the door of the elevator car 31. Further, the elevator control device 21 controls the motor 36 to operate the hoisting machine (not shown) to wind and unwind the rope that suspends the elevator rod 31 and to move the elevator rod 31 up and down. Can do.

  Further, the elevator control device 21 is configured to be able to connect a communication cable 52 disposed from the inside of the machine room 20 to the outside, and the elevator monitoring center 60 is connected via the communication cable 52 and a public line 72 such as a telephone line. Connected with. The elevator monitoring center 60 monitors the elevator 30 and is used to perform repairs and the like when an emergency button inside the elevator car 31 is pressed to notify the occurrence of an abnormality.

  The first relay device 22 includes a PHS modem 23, and an antenna 24 is connected to the PHS modem 23. Since the machine room 20 is surrounded by concrete or metal and shields radio waves, the antenna 24 is installed outside the machine room 20 via the antenna cable 51. The first relay device 22 is configured to transmit the signal received by the antenna 24 to the elevator control device 21 after appropriately converting the signal as necessary.

  In addition, a mode that this antenna cable 51 and the said communication cable 52 are arrange | positioned from the inside of the machine room 20 to the exterior is shown in FIG. As shown in FIG. 4, a wiring hole 25 is formed in the machine room 20, and the antenna cable 51 and the communication cable 52 pass through the same wiring hole 25 (see FIG. 4A). .

  With this configuration, since it is not necessary to form a plurality of wiring holes 25, the cost for installation work can be reduced. In particular, when the autonomous mobile body moving system 1 is newly introduced into the building 10, the antenna cable 51 passes through the existing wiring hole 25, so that it is not necessary to newly form the wiring hole 25. .

  As shown in FIG. 4B, the antenna cable 51 and the communication cable 52 may share a part of the wiring. Partial sharing is a configuration in which, for example, the antenna cable 51 and the communication cable 52 are combined into one multi-core transmission cable. In this case, since the number of cables to be used can be reduced, the cost for installation work can be reduced. In particular, when the autonomous mobile body moving system 1 is newly introduced into the building 10, it is possible to eliminate the trouble of passing the wiring hole 25 through the antenna cable 51 by using the existing communication cable 52.

  Further, the configuration in which the same wiring hole 25 is allowed to pass through the antenna cable 51 and the communication cable 52 can be applied to a machine room-less type elevator 30 as shown in FIG. In the machine room-less type elevator 30, the elevator control device 21 and the first relay device 22 are installed on the inner wall and the lowermost portion of the hoistway 35. Then, the antenna cable 51 and the communication cable 52 are passed through the same wiring hole 25 formed in the wall portion of the hoistway 35 (or the wiring may be partially shared), thereby obtaining the above effect. be able to.

  In addition, the second relay device 32 disposed in the elevator car 31 includes a PHS modem 33 and an antenna 34. Then, as shown in FIG. 3, the signal received by the antenna 34 is configured to be transmitted to the first relay device 22. Since the elevator car 31 is surrounded by metal or the like and shields radio waves, the second relay device 32 and the first relay device 22 are configured to transmit and receive signals not by radio but by wire. Yes.

  The autonomous traveling body 40 includes a PHS modem 43 and an antenna 44. A signal can be transmitted / received to / from the first relay device 22 and the second relay device 32 via the antenna 44.

  Next, the flow of signals when the autonomous vehicle 40 is located outside the elevator car 31 and when it is located inside the elevator car 31 will be described. In the present embodiment, an appropriate laser signal is generated in front of the door and inside the elevator rod 31 so that the autonomous traveling body 40 can grasp its own position. Then, the autonomous vehicle 40 is positioned in front of the door by the laser signal or by matching the laser signal and the map data of the building stored in advance, or is located inside the elevator car 31. It can be detected.

  First, the flow of signals when the autonomous traveling body 40 is located outside the elevator car 31 will be described with reference to FIG. In this case, the autonomous traveling body 40 transmits a signal to the first relay device 22 via the PHS public line 71. Then, the first relay device 22 transmits this signal to the elevator control device 21. On the other hand, the signal transmitted by the elevator control device 21 is received by the autonomous traveling body 40 via the first relay device 22 in the same manner as at the time of reception.

  Next, the flow of signals when the autonomous traveling body 40 is located inside the elevator car 31 will be described with reference to FIG. In this case, the autonomous traveling body 40 transmits a signal to the second relay device 32 by performing a direct call between the terminals by the transceiver function of the PHS. The second relay device 32 that has received the signal transmits this signal to the first relay device 22 by wire. Then, the first relay device 22 transmits this signal to the elevator control device 21. On the other hand, the signal transmitted by the elevator control device 21 is received by the autonomous traveling body 40 via the first relay device 22 and the second relay device 32 in the same manner as at the time of reception.

  With this configuration, regardless of whether the autonomous traveling body 40 is located outside or inside the elevator car 31, the autonomous traveling body 40 and the elevator control device 21 can transmit and receive signals. 30 and the autonomous traveling body 40 can be linked.

  Next, the control performed by the elevator 30 and the autonomous traveling body 40 when the autonomous traveling body 40 gets on and off the elevator car 31 and moves to a different floor will be described with reference to FIGS. 6 and 7. FIG. 6 is a sequence diagram showing signals exchanged when the autonomous traveling body 40 moves on the elevator 30 to the destination floor. FIG. 7 is a flowchart showing control for disconnecting a connection when a call is made from a communication terminal other than the autonomous vehicle 40.

  In the elevator 30 of the present embodiment, in order to prevent the person and the autonomous traveling body 40 from getting on the elevator rod 31 at the same time, only the autonomous traveling body 40 is placed on the elevator rod 31 and the normal operation in which only the person is on the elevator rod 31 There are two modes of operation: cooperative operation for riding.

  When the autonomous traveling body 40 receives an instruction to deliver documents or the like to different floors, the autonomous traveling body 40 autonomously travels to the front of the elevator car 31. And a cooperation driving | operation request signal is transmitted to the elevator control apparatus 21 using the PHS public line 71 (sequence number 10).

  This cooperative operation request signal is transmitted to the elevator control device 21 via the first relay device 22 as described above. The first relay device 22 performs control to disconnect the connection when a call is made from a communication terminal other than the autonomous vehicle 40, which will be described later.

  And if the elevator control apparatus 21 has received the operation instruction by the person from the operation panel in the elevator car 31 or the operation panel in front of the open / close door, after completing all the received processing, If the operation instruction is not received, the cooperative operation permission signal is immediately transmitted to the autonomous traveling body 40 (sequence number 11). At the time of transmission of this cooperative operation permission signal or before and after that, the operation mode of the elevator 30 shifts from normal operation to cooperative operation. The elevator 30 that has shifted to the cooperative operation does not move to the floor where the elevator call button is pressed even when a person presses the elevator call button on the operation panel.

  And the autonomous traveling body 40 which received the cooperation driving | operation permission signal transmits the calling floor designation | designated signal which is a signal which designates the present floor of an own machine to the elevator control apparatus 21 (sequence number 12). Receiving this call floor designation signal, the elevator control device 21 transmits an acceptance completion signal indicating that designation of the autonomous traveling body 40 has been accepted to the autonomous traveling body 40 (sequence number 13).

  After the elevator car 31 moves and arrives at the floor designated by the autonomous traveling body 40 and the door is opened, the elevator control device 21 transmits a door opening completion signal to the autonomous traveling body 40 (sequence number 14). ). The autonomous traveling body 40 that has received this door opening completion signal moves into the elevator car 31. As described above, the autonomous traveling body 40 after moving into the elevator car 31 uses a direct call between terminals instead of the PHS public line 71 to further transmit and receive signals via the second relay device 32.

  Then, the autonomous traveling body 40 that has finished moving inside the elevator car 31 transmits a destination floor designation signal that designates a destination floor (a floor designated as a transport destination for documents, etc.) to the elevator control device 21 (sequence number). 15). And elevator controller 21 will transmit the reception completion signal which shows having been received to autonomous running body 40, if a destination floor is received (sequence number 16).

  Next, the autonomous traveling body 40 transmits a door closing request signal to the elevator control device 21 (sequence number 17). Note that the elevator control device 21 fails when the door closing request signal cannot be received or when an abnormality such as the autonomous traveling body 40 being caught by the door occurs and the door remains open for a predetermined time or more. Is transmitted to the manager of the autonomous mobile unit moving system 1 or the elevator monitoring center 60.

  The above-described configuration for designating the destination floor before closing the door is the configuration for designating the destination floor (after performing processing of sequence number 17) (after performing processing of sequence numbers 15 and 16) after closing the door. You may change to

  And after the elevator car 31 moves and arrives at a destination floor and a door opens, the elevator control apparatus 21 transmits a door opening completion signal to the autonomous traveling body 40 (sequence number 18). The autonomous traveling body 40 that has received the door opening completion signal moves to the outside of the elevator car 31. The autonomous traveling body 40 after moving to the outside of the elevator car 31 transmits and receives signals via the PHS public line 71 instead of a direct call between terminals.

  The autonomous traveling body 40 transmits a door closing request signal to the elevator control device 21 after completion of movement outside the elevator car 31 (sequence number 19), and transmits a cooperative operation release signal to the elevator control device 21 (sequence). Number 20). With this cooperative operation release signal, the operation mode of the elevator 30 can be returned from the cooperative operation to the normal operation. The autonomous traveling body 40 can move to different levels by transmitting and receiving the above signals.

  Next, control for disconnecting a connection when a call is made from a communication terminal other than the autonomous vehicle 40 will be described with reference to FIG. Since the first relay device 22 of the present embodiment uses the PHS public line 71, a call may be made to the first relay device 22 from a terminal other than the autonomous vehicle 40 by a wrong call or mischief call. . In this case, the first relay device 22 is connected to another terminal, and the autonomous traveling body 40 cannot be connected to the first relay device 22 until this connection is released.

  Therefore, in this embodiment, a specific signal indicating that the terminal connected to the first relay device 22 is the autonomous traveling body 40 and a predetermined time indicating the time until the connection is disconnected are set. The following control is performed. That is, when there is an incoming call from the communication terminal (S101), the first relay device 22 determines whether or not a specific signal has been received (S102), and when the specific signal has been received. Relay processing of the signal is performed. On the other hand, if a predetermined time elapses without receiving a specific signal (S103), the communication is disconnected.

  Note that a special signal such as a password may be employed as the specific signal, but in the present embodiment, a signal for controlling the elevator shown in FIG. 6 is employed as the specific signal. That is, for example, when a cooperative driving request signal is sent from the other party, the first relay device 22 is considered to be able to normally communicate with the autonomous traveling body 40. In addition, it is preferable to employ | adopt the first elevator control signal (this embodiment cooperation request signal) sent from the autonomous traveling body 40 as this specific signal. With the above configuration, it is possible to eliminate the need to make a special arrangement such as a password.

  This specific signal and the predetermined time can be changed according to the configuration of the autonomous traveling body moving system 1 and the connected devices. In addition, when the autonomous traveling body 40 tries to connect to the first relay device 22 while the connection between the first relay device 22 and an unexpected communication terminal is established (or connected via the second relay device 32). ), The connection process of the autonomous traveling body 40 fails. However, the autonomous traveling body 40 according to the present embodiment performs the connection process again after the set time has elapsed or after receiving from the first relay device 22 that the connection with the other communication terminal has been disconnected. It is configured. Thereby, the autonomous traveling body 40 can establish a connection with the first relay device 22.

  Next, a response that is performed when the autonomous traveling body 40 detects that there is an abnormality in the own aircraft will be described with reference to FIG. FIG. 8 is a flowchart showing a flow of correspondence performed when an abnormality occurs in the autonomous traveling body 40.

  When the autonomous traveling body 40 is moving by the elevator car 31 or waiting for the arrival of the elevator car 31 in front of the door, an abnormality occurs in the autonomous traveling body 40 and the signal shown in FIG. However, the operation of the elevator 30 will be affected. Therefore, in this embodiment, the elevator 30 is restored at an early stage by taking the following measures.

  When the autonomous traveling body 40 located in front of the door or inside the elevator car 31 detects an abnormality of the own machine (S201), the autonomous traveling body 40 transmits a notification that the abnormality has occurred to the first relay device 22 (S202). At this time, the position of the own device may also be transmitted to the first relay device 22.

  The autonomous traveling body 40 determines whether or not communication with the first relay device 22 has been normally performed (S203), and when communication with the first relay device 22 has been normally performed, the position of the own aircraft is determined. It is configured to perform different operations in accordance with (S204).

  When the self-machine is located in front of the door, the autonomous traveling body 40 cancels the cooperative operation by transmitting the above-described cooperative operation cancellation signal or a cancellation signal different from the cooperative operation cancellation signal to the elevator control device 21. (S205). Thereby, the elevator 30 can be returned to normal operation.

  Moreover, when the own machine is located inside the elevator car 31, the autonomous traveling body 40 moves the elevator 30 to the floor where the administrator of the autonomous traveling body moving system 1 is located (S206). Then, the administrator of the autonomous traveling body moving system 1 sends the cooperative operation cancellation signal to the elevator control device 21 using the communication terminal of the administrator or the autonomous traveling body 40 after taking out the autonomous traveling body 40 from the elevator car 31. The cooperative operation is canceled by transmitting (S207). Thereby, after taking out the autonomous running body 40 from the elevator car 31, the elevator 30 can be returned to a normal driving | operation.

  Moreover, the autonomous mobile body 40 waits as it is, when communication with the 1st relay apparatus 22 cannot be performed normally. However, in this embodiment, when communication with the autonomous traveling body 40 is interrupted for a certain period of time or longer, it is configured to notify the administrator to that effect (S208). Therefore, the administrator who has received this notification specifies the position in consideration of the communication log of the autonomous traveling body 40 and determines whether the autonomous traveling body 40 is located inside the elevator car 31 (S209). ).

  When the autonomous traveling body 40 is located inside the elevator car 31, the elevator 30 is moved to the floor where it is located using its own communication terminal (S 206). And after taking out the autonomous traveling body 40 from the elevator car 31 similarly to the previous time, cooperation driving | operation is cancelled | released (S207).

  Moreover, when the autonomous traveling body 40 is located in front of the door, the cooperative operation cancellation signal or the cancellation signal described above is sent from the communication terminal of the manager of the autonomous traveling body moving system 1 or the autonomous traveling body 40 to the elevator control device 21. Is transmitted to cancel cooperative operation (S210). Thereafter, the manager collects the autonomous traveling body 40. In addition to the signal from the communication terminal owned by the administrator, the elevator control device 21 can detect a timeout and cancel the cooperative operation by itself.

  By responding as described above, the elevator 30 can be quickly returned to normal operation.

  As described above, the autonomous traveling body moving system 1 of the present embodiment includes the autonomous traveling body 40, the elevator control device 21, and the first relay device 22. The autonomous traveling body 40 can move onto the elevator floor 31 and move to the destination floor in the building 10 where the elevator 30 is installed. The elevator control device 21 can control the elevator 30 based on a signal received from the autonomous traveling body 40. The first relay device 22 relays a signal transmitted and received between the autonomous traveling body 40 and the elevator control device 21, and a specific signal within a preset time from the time when the connection with the communication terminal is established. If the connection cannot be received, the connection is disconnected.

  As a result, even when an unexpected communication terminal makes a call to the first relay device 22 by mistake and the connection is established, the first relay device 22 disconnects the connection after the elapse of a preset time. Therefore, it is possible to prevent the number of available connections from being unnecessarily reduced when the number of connections of the first relay device 22 has an upper limit. Moreover, if it is the system which connected the 1st relay apparatus 22 and the autonomous traveling body 40 by 1 to 1, it can prevent long-term communication connection occupation by the communication terminal which is not assumed.

  Moreover, in the autonomous traveling body movement system 1 of this embodiment, the signal regarding control of the elevator 30 which the autonomous traveling body 40 transmits is used as a specific signal.

  Thereby, since it is not necessary to set the password etc. for identifying the autonomous mobile body 40, the process which the 1st relay apparatus 22 performs can be simplified.

  Moreover, in the autonomous traveling body movement system 1 of this embodiment, the autonomous traveling body 40 starts a connection again when the process which starts the connection with the 1st relay apparatus 22 is performed, and the said process is not received. Perform the process.

  Thereby, even if the first relay device 22 is connected to another terminal when the autonomous traveling body 40 performs the connection process, the connection between the autonomous traveling body 40 and the first relay device 22 is established. Can do.

  Further, in the autonomous traveling body moving system 1 of the present embodiment, the autonomous traveling body 40 and the first relay device 22 include PHS modems 43 and 23, respectively. The autonomous traveling body 40 and the first relay device 22 perform wireless signal transmission / reception using the public line 72.

  As a result, the present invention can be used without problems even in places where a radio with high transmission output cannot be used (such as hospitals and airports).

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  In the above embodiment, the autonomous traveling body 40 and the first relay device 22 communicate with each other via the PHS public line 71. However, instead of the PHS public line 71, for example, a mobile phone line (FOMA or the like) may be used. good.

  In the above embodiment, the autonomous traveling body 40 and the PHS modem 23 communicate with each other by direct communication between terminals, but instead of this, for example, industrial wireless or the like may be used.

  The second relay device 32 is not limited to the configuration in which the entire device is disposed inside the elevator rod 31, and can be configured such that only the antenna 34 is disposed in the elevator rod 31.

  The block diagrams shown in FIGS. 2 and 3 are examples, and other devices may be added. For example, a conversion device may be disposed between the first relay device 22 and the second relay device 32, and the signal may be transmitted after being converted into a format suitable for long-distance transmission by the conversion device.

  The autonomous traveling body moving system 1 can be applied not only to a building in which a machine room type elevator is installed, but also to a building having a machine room-less type elevator.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling body movement system 21 Elevator control apparatus 22 1st relay apparatus (relay apparatus)
30 Elevator 31 Elevator car 32 Second relay device 40 Autonomous traveling body 71 PHS public line

Claims (4)

In the building where the elevator is installed, an autonomous traveling body that can get on and off the elevator car and move to the destination floor,
An elevator control device capable of controlling an elevator based on a signal received from the autonomous traveling body;
The autonomous traveling body and of establishing a connection is possible relaying signals transmitted and received between the elevator control device, the autonomous traveling body within a preset from the time the connection with the communication terminal is established time A relay device that disconnects the connection when a specific signal indicating
An autonomous traveling body moving system comprising:
The autonomous traveling body moving system according to claim 1,
As the specific signal, a signal related to elevator control transmitted by the autonomous traveling body is used. The autonomous traveling body moving system according to claim 1 or 2,
The autonomous traveling body moving system, wherein the autonomous traveling body performs a process of starting a connection with the relay device and performs a process of starting a connection again when the process is not accepted. The autonomous traveling body moving system according to any one of claims 1 to 3,
The autonomous vehicle and the relay device include a PHS modem,
The autonomous traveling body moving system, wherein the autonomous traveling body and the relay device perform wireless signal transmission / reception using a PHS line.

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