JP6657436B1 - Group management control device and method of assigning car number to autonomous mobile unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently allocate a car number to an autonomous moving body while preventing a service deterioration to an elevator user. SOLUTION: When an autonomous mobile body uses a car, a mobile body information receiving unit that acquires departure floor information and destination floor information of the autonomous mobile body, and travel time information until the autonomous mobile body arrives at an elevator hall. And the planned stop floor of each unit, the first candidate is the unit that stops on both the departure floor and the destination floor of the autonomous mobile unit, and if there is no unit that corresponds to the first candidate, the autonomous mobile unit No. of the selected candidate that extracts the number of the vehicle that stops at either the departure floor or the destination floor of No. 2 as the second candidate, and the second candidate of the number extracted by the number extraction unit is not scheduled to respond to the departure floor of the autonomous mobile body. In this case, the call response command output unit that generates and outputs the call response command for the departure floor, and the expected arrival time in the direction of the destination floor for each of the first candidate vehicle and the second candidate vehicle Compared with the moving time information of the moving body, the difference between the two is the most And a optimal Unit information transmitting unit for transmitting the optimal Unit selection unit for selecting again Unit as the optimum No. machine, selected the optimal Unit information to the autonomous moving body. [Selection diagram] Fig. 1

Description

  An embodiment of the present invention relates to a group management control device and a method of assigning a car number to an autonomous mobile body.

  A robot that moves autonomously (also referred to as an “autonomous mobile object” or an “autonomous mobile robot”) may use an elevator when moving between floors. When an autonomous mobile robot uses an elevator, it is desirable to use a car where no user is on board or a time zone where no user is present.

JP 2001-114479 A JP 2012-17184 A

  In the case of an autonomous mobile robot, an elevator can be called remotely using wireless communication. However, in the conventional sharing method, since the autonomous mobile robot calls the elevator after arriving at the elevator hall, it is not possible to predict in advance that the autonomous mobile robot will use the elevator. In addition, the elevator is stopped for the autonomous mobile robot, and there is a possibility that service to the user will be reduced.

  As described above, the conventional elevator system in which the robot and the user ride together has a problem that the elevator cannot be operated efficiently.

  An embodiment of the present invention provides a group management control device and a method for allocating a car to an autonomous mobile body that can efficiently perform car assignment to an autonomous mobile body while preventing service degradation for elevator users. With the goal.

  An embodiment of the present invention is a group management control device that manages each unit in one bank in an elevator in which an autonomous mobile body and a user are allowed to ride on each other, wherein the autonomous mobile body uses the car. At this time, departure floor information and destination floor information of the autonomous mobile body, and a mobile body information receiving unit that acquires travel time information until the autonomous mobile body arrives at the elevator landing, and a scheduled stop floor of each of the units The first candidate is a car that stops at both the departure floor and the destination floor of the autonomous mobile, and when there is no car corresponding to the first candidate, the departure floor or the destination floor of the autonomous mobile is A selected candidate car extractor that extracts a car that stops at any of the selected candidate car as a second candidate, and a case where the second candidate car extracted by the selected candidate car extractor is not scheduled to respond to the departure floor of the autonomous mobile unit. Is the response of the departure floor A call-response command output unit for generating and outputting a command, and for each of the first and second candidates, calculating a predicted arrival time in the direction of the destination floor; The information processing apparatus includes an optimum unit selection unit that selects a unit having the smallest difference between the two as information and an optimum unit, and an optimum unit information transmission unit that transmits the selected optimum unit information to the autonomous mobile unit.

1 is a configuration diagram of an elevator control system to which a group management control device according to an embodiment and a method of assigning a car to an autonomous mobile body are applied. 4 is a flowchart illustrating the operation of the embodiment. 4 is a flowchart illustrating the operation of the embodiment. Explanatory drawing which shows operation | movement of embodiment. Explanatory drawing which shows operation | movement of embodiment. Explanatory drawing which shows operation | movement of embodiment.

<Configuration of the embodiment>
As shown in FIG. 1, the elevator control system 1 considers the efficiency when the autonomous mobile robot 100 rides with a plurality of elevator users, and includes a group management control device 200, a unit A control device 300, , B control device 400 and C control device 500.

  The autonomous mobile robot 100 transmits the destination floor information that is its own destination, the function that transmits the estimated time required to move from its own position to the landing, and the optimum unit information that is transmitted from the group management control device 200. It is an autonomous mobile having a function of receiving.

  The group management control device 200 includes a robot information receiving unit 201, a selection candidate unit extraction unit 202, an optimum unit selection unit 203, a robot arrival determination unit 204, an optimum unit reselection command output unit 205, and an elevator response command output. A control unit 207, a robot landing non-arrival control unit 207, an optimal machine information transmitting unit 208, a robot riding confirmation unit 209, a robot riding control unit 210, an assignment control unit 211, an assignment command output unit 212, It has.

  The robot information receiving unit 201 receives information from the autonomous mobile robot 100. Specifically, when the autonomous mobile robot 100 uses the car No. 1, the departure floor information and the destination floor information of the autonomous mobile robot 100 and the travel time information until the autonomous mobile robot 100 arrives at the elevator landing are acquired. .

  The selection candidate unit extraction unit 202 checks the scheduled stop floor of each unit, sets the unit that stops on both the departure floor and the destination floor of the autonomous mobile robot 100 as the first candidate, and there is no unit corresponding to the first candidate. In this case, a car that stops at either the departure floor or the destination floor of the autonomous mobile robot 100 is extracted as a second candidate.

  The optimum unit selection unit 203 calculates a predicted arrival time of each of the first candidate and the second candidate in the direction of the destination floor, compares the calculated arrival time with the traveling time information of the autonomous mobile robot 100, and determines that the difference between the two is the smallest. The smaller unit is selected as the optimal unit.

  The robot arrival determination unit 204 determines that the autonomous mobile robot 100 will start moving to the departure floor before the optimal car traveling toward the departure floor starts decelerating to the departure floor based on the travel time information transmitted from the autonomous mobile robot 100. It is determined whether the vehicle has arrived at the landing.

  If the difference between the predicted arrival time in the direction of the destination floor and the travel time information of the autonomous mobile robot 100 exceeds the threshold time, the optimal unit reselection command output unit 205 outputs the selection candidate unit extraction unit. A command to reset the optimum number is output to 202.

  The elevator response command output unit 206 outputs a response command to the departure floor of the autonomous mobile robot 100 when the optimal car is not scheduled to respond to the departure floor of the autonomous mobile robot 100.

  When it is determined that the autonomous mobile robot 100 has not arrived and the travel time information is equal to or less than the threshold time, the robot landing non-arrival control unit 207 responds to the departure floor of the autonomous mobile robot 100 with the optimal number. Then, the mobile robot 100 is kept on standby until the autonomous mobile robot 100 arrives. Also, if it is determined that the vehicle has not arrived and the travel time information exceeds the threshold time, it is searched whether there is a call to respond to the departure floor. If there is a call, a process is executed to make the most suitable car respond to the call.

  The optimal unit information transmitting unit 208 transmits the selected optimal unit information to the autonomous mobile robot 100.

  The robot boarding confirmation unit 209 receives the boarding completion signal transmitted from the autonomous mobile robot 100 after the optimal car responds to the departure floor of the autonomous mobile robot 100, and checks the boarding completion state of the autonomous mobile robot 100 to the optimum car. I do.

  When the autonomous mobile robot 100 completes the boarding of the optimal car, the controller 210 releases the door-open restraint if the optimum car is restrained to open the door, and the car on the destination floor of the autonomous mobile robot 100 Automatically register calls.

  The assignment control unit 211 outputs an assignment command for the assigned car.

  The assignment command output unit 212 outputs the assignment command assigned by the assignment control unit 211 to the corresponding A-unit control device 300, B-unit control device 400, or C-unit control device 500.

  The A-unit control device 300 controls the A-unit alone under the control of the group management control device 200, and includes an elevator operation control unit 301, a hall call registration unit 302, a car call registration unit 303, and an elevator information output. And a section 304.

  The elevator operation control unit 301 includes an elevator response command from the elevator response command output unit 206 of the group management control device 200, a non-arrival control command from the robot landing non-arrival control unit 207, and a ride from the robot riding control unit 210. The time control command, the assignment command from the assignment command output unit 212, and the car call information from the car call registration unit 303 are input to control the operation of the car A car 310. The hall call registration unit 302 inputs and registers the hall call information input from the hall call buttons 601 and 602, and supplies the hall call information to the elevator operation control unit 301 and the elevator information output unit 304. The car call registration unit 303 inputs and registers car call information input from the in-car operation panel 311, and supplies the car call information to the elevator operation control unit 301 and the elevator information output unit 304. The elevator information output unit 304 outputs the elevator information to the selection candidate car extraction unit 202, the optimum car selection unit 203, and the assignment control unit 211 of the group management control device 200.

  The B-unit control device 400 controls the B-unit independently under the control of the group management control device 200, and includes an elevator operation control unit 401, a hall call registration unit 402, a car call registration unit 403, and an elevator information output. Unit 404.

  The elevator operation control unit 401 includes an elevator response command from the elevator response command output unit 206 of the group management control device 200, a non-arrival control command from the robot landing non-arrival control unit 207, and a ride from the robot riding control unit 210. The time control command, the assignment command from the assignment command output unit 212, and the car call information from the car call registration unit 403 are input to control the operation of the car B car 410. The hall call registration unit 402 inputs and registers the hall call information input from the hall call buttons 601 and 602, and supplies the hall call information to the elevator operation control unit 401 and the elevator information output unit 404. The car call registration unit 403 inputs and registers the car call information input from the in-car operation panel 411, and supplies the car call information to the elevator operation control unit 401 and the elevator information output unit 404. The elevator information output unit 404 outputs the elevator information to the selection candidate car extraction unit 202, the optimum car selection unit 203, and the assignment control unit 211 of the group management control device 200.

  The C-unit control device 500 controls the C-unit alone under the control of the group management control device 200, and includes an elevator operation control unit 501, a hall call registration unit 502, a car call registration unit 503, and an elevator information output. 504.

  The elevator operation control unit 501 includes an elevator response command from the elevator response command output unit 206 of the group management control device 200, a non-arrival control command from the robot landing non-arrival control unit 207, and a ride from the robot riding control unit 210. The time control command, the assignment command from the assignment command output unit 212, and the car call information from the car call registration unit 503 are input to control the operation of the car C car 510. The hall call registration unit 502 inputs and registers the hall call information input from the hall call buttons 601 and 602, and supplies the hall call information to the elevator operation control unit 501 and the elevator information output unit 504. The car call registration unit 503 inputs and registers the car call information input from the in-car operation panel 511, and supplies the car call information to the elevator operation control unit 501 and the elevator information output unit 504. The elevator information output unit 504 outputs the elevator information to the selected candidate car extraction unit 202, the optimum car selection unit 203, and the assignment control unit 211 of the group management control device 200.

<< Operation of Embodiment >>
Next, the operation of the embodiment will be described based on the flowcharts of FIGS. 2 and 3 and the explanatory diagrams of FIGS.

  As shown in FIG. 2, when the autonomous mobile robot 100 starts operating (step S1), the robot information receiving unit 201 receives the departure floor information and the destination floor information wirelessly transmitted from the autonomous mobile robot 100 ( Step S2). The autonomous mobile robot 100 wirelessly transmits travel time information required to move from the current position to the landing on the departure floor. The robot arrival determination unit 202 receives the travel time information wirelessly transmitted from the autonomous mobile robot 100 (Step S3).

  The selection candidate unit extraction unit 202 checks the registered scheduled stop floor for each unit in the bank (step S4). If there is a car to be stopped at both the departure floor and the destination floor of the autonomous mobile robot 100 (step S5YES), a car that stops at both the departure floor and the destination floor of the autonomous mobile robot 100 is selected as a candidate car (No. (1 candidate) (step S6). Although there is no car scheduled to be stopped on both the departure floor and the destination floor of the autonomous mobile robot 100 (step S5NO), if there is a car scheduled to be stopped on either the departure floor or the destination floor of the autonomous mobile robot 100 (step S7YES) ), A car that stops at either the departure floor or the destination floor is set as a selected candidate car (second candidate) (step S8). If there is no car scheduled to be stopped on either the departure floor or the destination floor of the autonomous mobile robot 100 (step S7NO), all the car are set as the selection candidate car (third candidate) (step S9).

  As described above, when the first to third candidate selection candidate units are extracted by the selection candidate unit extraction unit 202, the optimal unit selection unit 203 outputs the departure floor of the autonomous mobile robot 100 ( A car whose predicted arrival time (in the direction of the destination floor) is closest to the travel time information of the autonomous mobile robot 100 is selected as an optimum car (step S10).

  When the optimal machine is selected, as shown in FIG. 3, the optimal machine information transmitting unit 208 wirelessly transmits the selected optimal machine information to the autonomous mobile robot 100 (step S11).

  Next, it is determined whether or not the selected optimum car is scheduled to respond to the robot departure floor (step S12). If there is no response schedule, a response command (robot call) to the robot departure floor is output to the optimal unit (steps S12 NO and S13).

  When there is a response schedule, if the autonomous mobile robot 100 has arrived at the landing just before the optimal car decelerates to the robot departure floor (step S12YES, S14NO), the optimal car responds (step S15).

  If the autonomous mobile robot 100 has not arrived at the landing just before the optimal machine decelerates to the robot departure floor (steps S12YES and S14YES), it is determined whether the moving time of the autonomous mobile robot 100 is equal to or less than the threshold. (Step S16). If the travel time is equal to or less than the threshold value, it is expected that the autonomous mobile robot 100 will arrive at the landing on the departure floor soon. Steps S16YES and S17).

  If the traveling time of the autonomous mobile robot 100 exceeds the threshold (step S16NO), that is, if the arrival of the autonomous mobile robot 100 to the landing on the departure floor is delayed, then the robot responds to the robot departure floor. It is determined whether there is a call to be made (step S18). If there is a call that responds to the robot departure floor (step S18 YES), the door opening is not restricted when responding to the departure floor (step S19). If there is no call to respond to the robot departure floor (NO at step S18), the optimal car is not made to respond to the robot departure floor (step S20).

  In addition, the robot arrival determination unit 204 determines that the autonomous mobile robot 100 has not arrived at the elevator landing on the departure floor, and that the travel time information of the autonomous mobile robot 100 has exceeded the threshold time. The state in the car may be checked. In this case, the inside of the car is checked by a load sensor or an in-car camera. The optimal unit reselection command output unit 205 does not output the reselection command when it is confirmed that there is no user at the optimal unit, and causes the optimal unit to respond to the departure floor as it is so as to restrict the door opening. Do.

  In the above-described step S17, when the moving time of the autonomous mobile robot 100 is equal to or less than the threshold value and the door is restrained to be open and waiting at the departure floor, the door-open restraint is released when the autonomous mobile robot 100 gets on (step S21 YES, S22). If there is no car call to the destination floor, a car call to the destination floor of the autonomous mobile robot 100 is automatically registered after the door is closed (steps S23 YES, S24). Then, the robot gets off in response to the optimal car responding to the destination floor (steps S25 and S26). Similarly, when there is a car call of the autonomous mobile robot 100 (NO in step S23), the robot gets off in response to the destination floor of the optimal car (steps S25 and S26).

  Next, the operation of the embodiment will be specifically described.

  As shown in FIGS. 4 to 6, for example, there are three cars A, B, and C that move between the first floor and the eighth floor, the fourth floor is a robot departure floor, and the seventh floor is a robot destination floor. Assume.

<Specific example 1>
In the specific example 1 shown in FIG. 4, the car A stops at the seventh floor and responds to the car call on the first floor. Unit B is traveling from the first floor to the second floor, and there are already registered car calls on the fourth, sixth, and seventh floors, and responds to each car call. Unit C travels from the second floor to the third floor, and there is a registered car call on the fifth floor and a registered hall call on the eighth floor. In this case, the No. B car scheduled to stop at both the fourth floor, which is the robot departure floor, and the eighth floor, which is the robot destination floor, is selected as the optimum car.

<Specific example 2>
In the specific example 2 shown in FIG. 5, the car A stops at the seventh floor and responds to the car call on the first floor. Unit B is traveling from the first floor to the second floor, and there are already registered car calls on the fourth and sixth floors. Unit C is stopped on the 2nd floor, there is a registered car call on the 5th floor, there is a registered hall call for the upper floor on the 4th floor, and there is a registered hall call on the 8th floor. I do. In this case, both the B-unit and the C-unit are scheduled to stop in the destination floor direction (upper floor direction) on the fourth floor, which is the robot departure floor. Therefore, the estimated arrival times at the fourth floor, which is the robot departure floor of the B-unit and the C-unit, are calculated. Here, it is assumed that the robot movement time is t seconds, the predicted arrival time of the car B is t + 5 seconds, and the predicted arrival time of the car C is t + 2 seconds. Since the difference between the predicted arrival time of the car C and the robot movement time t is smaller, the car C is selected as the optimum car. After the autonomous mobile robot 100 gets on the fourth floor, which is the robot departure floor, a car call to the seventh floor, which is the robot destination floor, is automatically registered, as indicated by a broken circle in the figure.

<Specific example 3>
In the specific example 3 shown in FIG. 6, the car A is stopped on the second floor. Unit B travels to the lower floor and stops at the seventh floor. Since the car call on the third floor is registered in the car No. B, after the car call on the third floor is answered, the car is reversed and travels to the fourth floor. Unit C is stopped on the 8th floor. Since there is no plan to stop the robots A to C at the robot departure floor (fourth floor) and the robot destination floor (seventh floor), all of the A to C units are selected candidate units. In this state, it is assumed that the predicted arrival time toward the robot departure floor is (t-3) seconds for the A-unit, (t + 30) seconds for the B-unit, and (t + 10) seconds for the C-unit. In this case, the difference between the predicted arrival time of the car A and the robot movement time is the smallest. That is, it is predicted that the A-car will arrive at the fourth floor, which is the robot departure floor, three seconds before the robot movement time t, so that the A-car is selected as the optimum car. When the A-unit is selected as the optimal unit, a response command to the robot departure floor (fourth floor) is output as shown by a broken line に in the figure, and as shown by a broken line に in the figure, A car call to the robot destination floor (7th floor) is automatically registered.

  As described above, according to the present embodiment, instead of stopping the elevator only for the autonomous mobile robot 100, the elevators originally scheduled to be stopped at the departure floor and the destination floor of the autonomous mobile robot 100 by a hall call or a car call. If there is, the car is preferentially selected as the optimum car on which the autonomous mobile robot 100 gets on. As a result, it is possible to prevent a decrease in the transportation efficiency of a normal elevator user and to reduce discomfort. In addition, by selecting a car with a small difference between the time until the autonomous mobile robot 100 arrives at the elevator landing and the predicted arrival time of the elevator as the optimum car, the serviceability of the autonomous mobile robot 100 can be improved. In addition, if the robot has not arrived at the elevator landing before the optimal car responds to the departure floor of the autonomous mobile robot 100 or before the deceleration of the car has started, the optimal car is made to respond and the door is opened. And wait for the robot. If the waiting time exceeds the threshold value, it is possible to prevent unnecessary response and reduction to the user by re-selecting the optimum car without restricting the response and door opening of the optimum car.

  Furthermore, in the above embodiment, after once selecting the optimal unit for the autonomous mobile robot 100, the estimated arrival time of the elevator changes significantly before the optimal unit arrives at the robot departure floor. When a machine that was not scheduled to stop at the departure floor or destination floor of the autonomous mobile robot 100 is scheduled to stop due to additional registration of a call, by changing the optimal machine to the autonomous mobile robot 100, the Service can be improved.

  Note that the autonomous mobile robot 100 has not arrived at the elevator landing before the optimal car responds to the departure floor of the autonomous mobile robot 100 (before the car starts decelerating), and the robot arrival time exceeds a preset threshold. In such a case, the optimal unit was not responded and the door was not restrained.

  However, when there is no user in the car of the optimal unit, the user is unlikely to feel discomfort even if the door is restrained in response. Is also good.

<Other embodiments>
After selecting the optimal unit for the first autonomous mobile robot 100 that has started operation from a certain floor, it is assumed that another autonomous mobile robot 100 has started operation from the same floor. In this case, it is possible to reduce the number of elevators responding for the autonomous mobile robot 100 by moving the same car as much as possible.

  Therefore, the robot movement time (predicted arrival time) of each autonomous mobile robot 100 to the elevator landing is calculated, and the difference from the first robot movement time is calculated. If the difference between the predicted arrival times is equal to or less than a preset time difference, that is, if the difference between the arrival times of the robots is short, another robot is moved to the optimal robot of the first robot. At this time, if the target of obtaining the difference between the arrival times of the respective robots is the immediately preceding robot, there is a possibility that the optimal number of vehicles cannot be closed for a long time. Therefore, the object for which the difference in the arrival time is to be obtained is the first robot. Even if there is a third robot, the object for which the difference in the arrival time is to be obtained is not the second robot but the first robot.

  With such a configuration, more efficient operation by the autonomous mobile robot 100 can be performed.

<Still another embodiment>
In the case of the autonomous mobile robot 100 which requires quickness or urgency to move, for example, for the purpose of transporting important articles or the purpose of disaster rescue, giving the autonomous mobile robot 100 priority information to other autonomous mobile robots It can be distinguished from the robot 100. In this case, when the autonomous mobile robot 100 having the priority information starts operating, the elevator can be switched to the direct operation (priority operation) and boarded, so that the robot can be preferentially moved. With this configuration, the autonomous mobile robot 100 can quickly move while ensuring safety even in transporting important articles and rescuing disasters.

  While some embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in other various forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and their equivalents.

DESCRIPTION OF SYMBOLS 1 ... Elevator control system, 100 ... Autonomous mobile robot (autonomous mobile body), 200 ... Group management control device, 201 ... Robot information receiving unit, 202 ... Selection candidate unit extraction unit, 203 ... Optimal unit selection unit, 204 ... Robot arrival Judgment unit, 205: optimal unit reselection command output unit, 206: elevator response command output unit, 207: robot landing non-arrival control unit, 208: optimal unit information transmission unit, 209: robot boarding confirmation unit, 210: robot boarding Time control unit (call registration unit), 211: Assignment control unit, 212: Assignment command output unit, 300: Unit A control unit, 400: Unit B control unit, 500: Unit C control unit, 301, 401, 501: Elevator Operation control units, 302, 402, 502 ... hall call registration units, 303, 403, 503 ... car call registration units, 304, 404, 04 ... elevator information output unit, 310 ... A Unit cab, 410 ... B Unit cab, 510 ... C Unit cab, 311,411,511 ... intra-car operating panel, 600, 601 ... landing call button.

Claims (9)

A group management control device for group-managing each unit in one bank in an elevator in which a ride between an autonomous mobile body and a user is allowed,
When the autonomous mobile uses a car, a departure floor information and a destination floor information of the autonomous mobile, and a mobile information receiving unit that obtains travel time information until the autonomous mobile arrives at an elevator landing. ,
The scheduled stop floor of each of the units is confirmed, and a unit that stops at both the departure floor and the destination floor of the autonomous mobile unit is a first candidate. If there is no unit corresponding to the first candidate, the autonomous mobile unit A selection candidate unit extraction unit that extracts a unit that stops at either the departure floor or the destination floor of the body as a second candidate;
A call response command output unit that generates and outputs a call response command for the departure floor when the second candidate car extracted by the selected candidate car extraction unit is not scheduled to respond to the departure floor of the autonomous mobile body. When,
For each of the first candidate and the second candidate, a predicted arrival time in the direction of the destination floor is calculated and compared with the travel time information of the autonomous mobile unit. The optimal unit selection section to be selected as the unit,
An optimal unit information transmitting unit that transmits the selected optimal unit information to the autonomous mobile,
A group management control device comprising: Before the optimal car traveling toward the departure floor starts decelerating to the departure floor, it is determined whether or not the autonomous mobile has arrived at the departure floor landing based on the travel time information. An autonomous mobile arrival determination unit,
When the autonomous moving body arrival determining unit determines that the autonomous moving body has not arrived, and when the travel time information is equal to or less than a preset threshold time, the autonomous mobile body is moved to the optimal number. Respond to the departure floor and wait in the door open state until the autonomous mobile arrives,
If the autonomous mobile body arrival determination unit determines that the vehicle has not arrived and the travel time information exceeds the threshold time, it searches for whether there is a call responding to the departure floor, and searches for a call. If there is no, discard the response command of the optimal number, if there is a call, the autonomous mobile non-arrival control unit to respond to the call to the optimal number,
The group management control device according to claim 1, further comprising:   If the autonomous moving body non-arrival control unit determines that the optimal number exceeds the threshold time, the optimal number resetting unit outputs a reset instruction of the optimal number to the selected candidate number extracting unit. The group management control device according to claim 2, further comprising a selection command output unit.   The call registration unit for automatically registering a car call to a destination floor of the autonomous mobile body when the answering machine of the departure floor is determined, is provided with any one of claims 1 to 3 characterized by the above-mentioned. Group management control device. The optimal unit reselection command output unit, after the optimal unit is selected by the optimal unit selection unit, if the predicted arrival time of the optimal unit at the time of determining the optimal unit changes over a predetermined time, the optimal If the car is reset and the elevator call is scheduled to be stopped at the departure floor or the destination floor of the autonomous mobile in the elevator, and is scheduled to stop, reset and change the optimal car,
The group management control device according to claim 3, wherein: The autonomous mobile body arrival determination unit, when it is determined that the autonomous mobile body has not arrived at the elevator landing of the departure floor, and when the travel time information of the autonomous mobile body exceeds the threshold time, Check the condition in the basket,
The optimum unit reselection command output unit does not output a reselection command when it is confirmed that there is no user at the optimum unit, and causes the optimum unit to respond to the departure floor as it is and restrict door opening. ,
The group management control device according to claim 3, wherein: When another autonomous mobile body gets in from the same departure floor after the optimal car for the first autonomous mobile body is selected, the travel time of the first autonomous mobile body and the travel time of the other autonomous mobile body When the difference is less than a predetermined threshold, the optimal autonomous vehicle of the first autonomous mobile is selected as the optimal autonomous mobile of the other autonomous mobile, and rides on.
The group management control device according to any one of claims 1 to 6, wherein:   The priority information is given to the autonomous mobile body, and when the priority information is received, the autonomous mobile body is assigned priority to another autonomous mobile body or a user, and a dedicated device is assigned to the autonomous mobile body. The group management control device according to any one of claims 1 to 7, wherein the group management control device is executed. A method in which a control device assigns a car to the autonomous moving body for each car in one bank in an elevator in which the ride between the autonomous moving body and the user is allowed,
When the autonomous mobile uses a car, obtaining departure floor information and destination floor information of the autonomous mobile, and travel time information until the autonomous mobile arrives at the elevator landing,
The scheduled stop floor of each of the units is confirmed, and a unit that stops at both the departure floor and the destination floor of the autonomous mobile unit is a first candidate. If there is no unit corresponding to the first candidate, the autonomous mobile unit Extracting a car that stops at either the departure floor or the destination floor of the body as a second candidate;
Generating and outputting a call response command for the departure floor when the extracted second candidate car is not scheduled to respond to the departure floor of the autonomous mobile body;
For each of the first candidate and the second candidate, a predicted arrival time in the direction of the destination floor is calculated and compared with the travel time information of the autonomous mobile unit. Selecting the unit as
Transmitting the selected optimal machine information to the autonomous mobile,
A method of allocating a car to an autonomous mobile object, comprising:

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