JP6989051B2 - Mobility support system - Google Patents

Description

The present invention relates to a mobility support system.

Patent Document 1 discloses an elevator system. The elevator system analyzes the information on the floor and destination floor of the destination floor registration device and the operation status of the elevator when the user operates the destination floor registration device to register the destination floor, and the optimum basket is used. To decide.

International Publication No. 2010-0952020

However, the elevator system described in Patent Document 1 does not assume coexistence between a human and a robot. Therefore, it is not possible to efficiently move the person and the robot 1.

The present invention has been made to solve the above-mentioned problems. An object of the present invention is to provide a movement support system capable of efficiently moving a person and a robot, respectively.

The movement support system according to the present invention is for a plurality of control devices for controlling a plurality of baskets of an elevator, a destination floor registration device for a person who accepts registration of a person's destination floor, and a robot which accepts registration of a robot's destination floor. When the destination floor is registered from both the destination floor registration device, the human destination floor registration device, and the robot destination floor registration device, the registration by the human destination floor registration device and the robot destination floor are registered. distinguishes between registration by the registration device, corresponding to the registration by the car and the destination floor registration device for the person assigned to the call corresponding to the destination floor registered by the human for destination floor registration device from the plurality of car basket It is determined that the basket is different from the one and is assigned to the call corresponding to the destination floor registered by the destination floor registration device for the robot , and is registered by the destination floor registration device for humans among the plurality of control devices. Instructs the control device that controls the basket assigned to the call corresponding to the destination floor to allocate the vehicle to be controlled, and corresponds to the destination floor registered by the destination floor registration device for the robot among the plurality of control devices. It was equipped with a group management device for instructing the dispatch of the controlled basket to the control device for controlling the basket assigned to the call.
Further, the movement support system according to the present invention includes a human destination floor registration device that accepts registration of a human destination floor, a robot destination floor registration device that accepts registration of a robot destination floor, and the human destination floor registration device. Distinguishing between registration by the robot and destination floor registration device for the robot, the basket assigned to the call corresponding to the destination floor registered by the destination floor registration device for humans and the destination for the robot from among the multiple baskets of the elevator. The group management device includes a group management device for determining a basket to be assigned to a call corresponding to a destination floor registered by the floor registration device, and the group management device is based on information on whether or not a robot can ride with a person. The basket to be assigned to the call corresponding to the destination floor registered by the human destination floor registration device and the basket to be assigned to the call corresponding to the destination floor registered by the robot destination floor registration device are determined.
Further, the movement support system according to the present invention includes a human destination floor registration device that accepts registration of a human destination floor, a robot destination floor registration device that accepts registration of a robot destination floor, and the human destination floor registration device. Distinguishing between registration by the robot and destination floor registration device for the robot, the basket assigned to the call corresponding to the destination floor registered by the destination floor registration device for humans and the destination for the robot from among the multiple baskets of the elevator. The group management device includes a group management device for determining a basket to be assigned to a call corresponding to a destination floor registered by the floor registration device, and the group management device moves to the landing of the plurality of robots based on the movement speeds of the plurality of robots. The estimated arrival time of the robots is calculated, and it is determined whether or not the plurality of robots can ride together based on the estimated arrival times of the plurality of robots at the landing.
Further, the movement support system according to the present invention includes a human destination floor registration device that accepts registration of a human destination floor, a robot destination floor registration device that accepts registration of a robot destination floor, and the human destination floor registration device. Distinguishing between registration by the robot and destination floor registration device for the robot, the basket assigned to the call corresponding to the destination floor registered by the destination floor registration device for humans and the destination for the robot from among the multiple baskets of the elevator. The group management device is provided with a group management device for determining a basket to be assigned to a call corresponding to a destination floor registered by the floor registration device, and the group management device is said to be based on information on the intention of a person whether or not he / she can ride. The basket to be assigned to the call corresponding to the destination floor registered by the human destination floor registration device and the basket to be assigned to the call corresponding to the destination floor registered by the robot destination floor registration device are determined.
Further, the movement support system according to the present invention includes a human destination floor registration device that accepts registration of a human destination floor, a robot destination floor registration device that accepts registration of a robot destination floor, and the human destination floor registration device. Distinguishing between registration by the robot and destination floor registration device for the robot, the basket assigned to the call corresponding to the destination floor registered by the destination floor registration device for humans and the destination for the robot from among multiple baskets of the elevator. The group management device includes a group management device for determining a basket to be assigned to a call corresponding to a destination floor registered by the floor registration device, and the group management device is a state in which the robot is waiting for a basket in front of a landing door. The projection information is displayed on the landing door or the floor surface of the landing by the projection device of.

According to the present invention, the group management device is registered by the human destination floor registration device from a plurality of baskets of the elevator by distinguishing between the registration by the human destination floor registration device and the registration by the robot destination floor registration device. The basket to be assigned to the call corresponding to the destination floor and the basket to be assigned to the call corresponding to the destination floor registered by the robot destination floor registration device are determined. Therefore, the human and the robot can be moved efficiently.

It is a block diagram of the movement support system in Embodiment 1. FIG. It is a figure which shows the example of the information of the registration table of the movement support system in Embodiment 1. FIG. FIG. 5 is a hardware configuration diagram of an elevator group management device to which the movement support system of the robot 1 according to the first embodiment is applied. It is a figure which shows the example of the registration table of the movement support system in Embodiment 2. It is a figure which shows the example of the registration information table of the movement support system in Embodiment 3. FIG. It is a figure which shows the example of the registration information table of the movement support system in Embodiment 4. It is a figure which shows the example of the registration information table of the movement support system in Embodiment 5. It is a block diagram of the movement support system in Embodiment 6. It is a figure which shows the example of the information projection by the movement support system in Embodiment 7.

A mode for carrying out the present invention will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. The duplicate description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a configuration diagram of a mobility support system according to the first embodiment.

In FIG. 1, the robot 1 is provided so as to be self-propelled.

Each of the cages 2 of the plurality of elevators is provided so that the building can move in the vertical direction. Each of the plurality of destination floor registration devices 3 for humans and each of the plurality of destination floor registration devices 4 for robots are provided at each of the landings of the plurality of elevators. Each of the plurality of control devices 5 is provided so as to be able to control the operation of each of the plurality of baskets 2. The group management device 6 is provided so as to be able to control a plurality of control devices 5.

The group management device 6 includes a registration table information storage unit 6a. The registration table information storage unit 6a stores information in which the information of the boarding floor 7a, the getting-off floor 7b, and the type 7c is associated with each other.

The information on the boarding floor 7a is the information on the floor where the destination floor is registered. The information on the getting-off floor 7b is the information on the registered destination floor. Type 7c is information on the type of destination floor registration device in which the destination floor is registered.

The person registers the destination floor with the human destination floor registration device 3. The robot 1 registers the destination floor with the destination floor registration device 4 for the robot. The registered destination floor information is stored in the registration table information storage unit 6a. The group management device 6 plans to allocate the basket 2 based on the information stored in the registration table information storage unit 6a. At this time, the group management device 6 determines the basket 2 to which the call is assigned by distinguishing the person or the robot 1 based on the information of the type 7c. The group management device 6 instructs the control device 5 to allocate the basket 2.

Next, an example of the information in the registration table will be described with reference to FIG.
FIG. 2 is a diagram showing an example of information in the registration table of the mobility support system according to the first embodiment.

In FIG. 2, the person (a), the person (b), the person (c), and the person (d) are on the second floor, the fifth floor, the second floor, and the fifth floor by the destination floor registration device 3 for people on the first floor, respectively. This is an example in which the robot 1 (x) is registered as the destination floor and the second floor is registered as the destination floor by the robot destination floor registration device 4 on the first floor. It is assumed that the number of passengers in the basket 2 is 3 or more.

The group management device 6 calculates the optimum elevator operation based on the information in the registration table. For example, the person (a) is assigned to the basket 2 of A that stops on the second floor. Person (b) is assigned to basket 2 of B, which stops on the 5th floor. Person (c) is assigned to basket 2 of A, which stops on the second floor. Person (d) is assigned to basket 2 of B, which stops on the 5th floor. After that, the group management device 6 causes the human destination floor registration device 3 to display the information in which the information of the destination floor and the type of the assigned basket 2 is associated with each other.

The group management device 6 grasps that the robot 1 (x) is the "robot 1" based on the information stored in the registration table information storage unit 6a. At this time, the robot 1 (x) is assigned to the basket 2 of C which is stopped on the second floor separately from the basket 2 to which the person is assigned. After that, the group management device 6 notifies the robot 1 (x) of the information in which the destination floor and the type of the assigned basket 2 are associated with each other.

For example, the group management device 6 outputs the information associated with the information of the destination floor and the type of the assigned basket 2 to the robot 1 (x). In this case, the robot 1 (x) recognizes the basket 2 to which the destination floor is assigned based on the information.

For example, the group management device 6 causes the robot destination floor registration device 4 to display information in which the destination floor and the type of the assigned basket 2 are associated with each other by an LED or the like. In this case, the robot 1 (x) recognizes the basket 2 to which the destination floor is assigned based on the display content of the LED or the like.

According to the first embodiment described above, the group management device 6 allocates the basket 2 so that the human and the robot 1 do not ride together. Therefore, the person and the robot 1 can be efficiently moved. At this time, if the basket 2 assigned to the robot 1 is operated in the robot-dedicated mode, the robot 1 can be moved more efficiently.

For example, in the registration table of FIG. 2, conventionally, the robot 1 (x) is assigned to the basket 2 of A that stops on the second floor. On the other hand, in the first embodiment, the robot 1 (x) is reliably assigned to a basket 2 different from the basket 2 to which a person is assigned.

The functions of the destination floor registration device 3 for humans and the destination floor registration device 4 for robots may be combined into one destination floor registration device. At this time, the destination floor registration device may be provided with a function for identifying the type 7c. For example, as a function for identifying the type 7c, a switch for switching between human and robot may be provided. For example, as a function for identifying the type 7c, a person may manually register the destination floor, and the robot 1 may be set to register the destination floor by communication. In these cases as well, the human and the robot 1 can be efficiently moved.

Further, a person and the robot 1 may be carried together without allocating the basket 2 exclusively for the robot 1. After that, the robot 1 may be forcibly disembarked on the destination floor of the person, and the basket 2 may be assigned again. In this case, the robot 1 can be moved without sacrificing the efficiency of human movement.

Further, the robot 1 may be carried with the person so as to absorb the variation in the average waiting time of the plurality of baskets 2 assigned to the person. In this case, the elevator can be operated efficiently.

Further, the average waiting time between the person and the robot 1 may be set to different values to determine the basket 2 to be assigned. In this case, the elevator can be operated more appropriately.

Next, an example of the group management device 6 will be described with reference to FIG.
FIG. 3 is a hardware configuration diagram of an elevator group management device to which the movement support system of the robot 1 according to the first embodiment is applied.

Each function of the group management device 6 can be realized by a processing circuit. For example, the processing circuit comprises at least one processor 100a and at least one memory 100b. For example, the processing circuit comprises at least one dedicated hardware 200.

When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the group management device 6 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the group management device 6 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

If the processing circuit comprises at least one dedicated hardware 200, the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. To. For example, each function of the group management device 6 is realized by a processing circuit. For example, each function of the group management device 6 is collectively realized by a processing circuit.

For each function of the group management device 6, a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware. For example, the function of determining the basket 2 to be assigned to the call is realized by a processing circuit as dedicated hardware 200, and at least one processor 100a has at least one memory for functions other than the function of determining the basket 2 to be assigned to the call. It may be realized by reading and executing the program stored in 100b.

In this way, the processing circuit realizes each function of the group management device 6 by hardware 200, software, firmware, or a combination thereof.

Although not shown, each function of the control device 5 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the group management device 6.

Embodiment 2.
FIG. 4 is a diagram showing an example of a registration table of the mobility support system according to the second embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.

As shown in FIG. 4, the registration table information storage unit 6a stores information in which information of the boarding floor 7a, the disembarking floor 7b, the type 7c, and the priority 7d is associated with each other.

The priority 7d is information on the priority of the allocation of the basket 2. For example, when the priority 7d is the highest, "1" is set. When the priority 7d is the lowest, "10" is set.

The group management device 6 determines the allocation of the basket 2 in consideration of the priority 7d. For example, the priority of the robot 1 is set lower than the priority of a person.

According to the second embodiment described above, the basket 2 is assigned with priority given to the person. Therefore, even when the robot 1 uses the elevator, it is possible to efficiently move a person.

Even when the basket 2 is assigned to the robot 1, the allocation of the robot 1 may be canceled depending on the registration status of the call by a person. In this case, the person can be moved more efficiently.

For example, in the same case as in the first embodiment, it is assumed that the maximum number of passengers in the elevator is three, and there are an elevator A, an elevator B, and an elevator C. In this case, as in the first embodiment, the person (a) is assigned to the basket 2 of A that stops on the second floor. Person (b) is assigned to basket 2 of B, which stops on the 5th floor. Person (a) is assigned to basket 2 of A, which stops on the second floor. Person (d) is assigned to basket 2 of B, which stops on the 5th floor. The robot 1 (x) is assigned to the basket 2 of C which stops on the second floor separately from the basket 2 to which a person is assigned.

In this state, if the person (e), the person (f), and the person (g) sequentially register the 5th floor as the destination floor, the person (e) is assigned to the basket 2 of B that stops on the 5th floor. Be done. As a result, the number of passengers in the basket 2 of B becomes three, which is the maximum number of passengers. Therefore, the person (f) and the person (g) are not assigned to the basket 2 of B that stops on the 5th floor.

Normally, the person (f) and the person (g) are kept waiting until the next assignment. On the other hand, if the priority of the robot 1 (x) is low, the allocation of the basket 2 of C is canceled. At this time, the robot 1 (x) is notified of the information indicating that the allocation has been cancelled. After that, the person (f) and the person (g) are assigned to the basket 2 of C which stops on the 5th floor.

Embodiment 3.
FIG. 5 is a diagram showing an example of a registration information table of the mobility support system according to the third embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.

As shown in FIG. 5, the registration table information storage unit 6a stores information in which information of the boarding floor 7a, the disembarking floor 7b, the type 7c, the priority 7d, and the usage 7e is associated with each other.

The information of the use 7e is the information of the use of the robot 1.

At this time, the priority 7d is automatically determined by the application 7e.

For example, the priority 7d for use 7e to "meal delivery" is "6". The priority 7d for use 7e to "drug delivery (on time)" is "7". In this case, "meal delivery" has priority over "medicine delivery (on time)". For example, the priority 7d for use 7e to "drug delivery (urgent)" is "3". In this case, drug delivery (emergency) takes precedence over meal delivery.

The group management device 6 determines the allocation of the basket 2 based on the information stored in the registration table information storage unit 6a.

According to the third embodiment described above, the robot 1 is controlled according to the priority 7d. Therefore, the robot 1 can be moved more efficiently.

The priority 7d may be changed based on an instruction from the outside.

Embodiment 4.
FIG. 6 is a diagram showing an example of a registration information table of the mobility support system according to the fourth embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.

As shown in FIG. 6, the registration table information storage unit 6a stores information in which the information of the boarding floor 7a, the getting-off floor 7b, the type 7c, the use 7e, the passenger permission 7f, and the passenger permission list 7g are associated with each other. ..

The information on whether or not passengers can ride on the vehicle is information on whether or not they can ride on a person. The passenger permission list 7g is information on the usage of the robot 1 capable of riding.

The fifth line of FIG. 6 shows that the robot 1 whose use 7e is "cleaning" is "possible" to ride with a person, and the use 7e can ride with the robot 1 which is "cleaning" or "document delivery". In the sixth line of FIG. 6, the robot 1 whose use 7e is "meal delivery" is "no" because it is hygienic to ride with a person, and the robot 1 whose use 7e is "meal delivery" is on board only. Show that you can.

The group management device 6 determines the allocation of the basket 2 based on the information stored in the registration table information storage unit 6a.

According to the fourth embodiment described above, it is determined that the robot 1 is on board according to the application 7e of the robot 1. Therefore, the robot 1 can be moved more appropriately.

Embodiment 5.
FIG. 7 is a diagram showing an example of a registration information table of the mobility support system according to the fifth embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.

As shown in FIG. 7, the registration table information storage unit 6a stores information in which information of the boarding floor 7a, the disembarking floor 7b, the type 7c, and the speed 7h is associated with each other.

The group management device 6 determines the allocation of the basket 2 based on the information stored in the registration table information storage unit 6a.

According to the fifth embodiment described above, the group management device 6 may allocate the basket 2 in consideration of the speed 7h of the robot 1 and the estimated arrival time of the robot 1 to the door of the landing. .. For example, when a plurality of robots 1 are already waiting at the landing, the baskets 2 may be assigned so that the robots 1 having similar speeds ride together. In this case, the opening time of the door of the basket 2 can be shortened. As a result, the elevator can be operated more efficiently.

Further, the basket 2 may be assigned ahead of the slow robot 1 already waiting at the landing, taking into consideration the moving speed of the robot 1 that has not arrived at the landing. Further, when the robot 1 rides with a person, the basket 2 may be assigned in consideration of the average moving speed of the person.

In the first to fifth embodiments, allocation may be performed by a combination of information selected from the information associated with the registration information table.

Embodiment 6.
FIG. 8 is a block diagram of the mobility support system according to the sixth embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.

In FIG. 8, the authentication device 8 is provided in the human destination floor registration device 3.

The group management device 6 includes a user table information storage unit 6b and an authentication unit 6c. The user table information storage unit 6b stores the information of the ID 9a, the authentication symbol 9b, and the rideability 9c in association with each other by the input from the input system (not shown).

The user inputs the authentication symbol by the authentication device 8. The group management device 6 collates the authentication symbol from the authentication device 8 with the authentication symbol of the user table information storage unit 6b in the authentication unit 6c, and identifies the user ID 9a. The group management device 6 determines whether or not to ride with the robot 1 based on the rideability 9c associated with the ID 9a. The group management device 6 assigns the robot 1 and the basket 2 to the person based on the determination result.

According to the sixth embodiment described above, it is determined whether or not the robot 1 can ride with the robot 1 according to the user. Therefore, a person who feels uneasy about riding with the robot 1 can share the elevator with the robot 1 without worrying about riding with the robot 1 by registering the riding with "No". On the other hand, a person who does not feel uneasy about riding with the robot 1 can allocate the basket 2 more efficiently by registering the riding as "OK".

The authentication by the authentication device 8 may be authentication by inputting an ID and a word, authentication by an IC card, ecological authentication of a face or the like, or the like.

Further, instead of using the information stored in the user table information storage unit 6b, the user may input the destination information and the information of the intention of whether or not the robot 1 can ride on the human destination floor registration device 3. .. In this case, the elevator can be appropriately operated according to the user.

Further, in the basket 2 assigned to the robot 1, the group management device 6 may stop lighting the lantern for notifying the arrival of the basket 2 or stop ringing the bell through the corresponding control device 5. good. In this case, it is possible to prevent a person from mistakenly waiting in front of the basket 2 assigned to the robot 1.

Further, in the basket 2 assigned to the robot 1, the group management device 6 does not open the car door when the basket 2 arrives through the corresponding control device 5, and recognizes that the robot 1 has come in front of the landing door. You may open the basket door by doing so. In this case, it is possible to prevent a person from accidentally getting into the basket 2 assigned to the robot 1. Whether or not the robot 1 has come in front of the landing door may be determined by a normal mechanism using a camera, a sensor, communication between the robot 1 and the control device 5 connected to the control device 5.

Embodiment 7.
FIG. 9 is a diagram showing an example of information projection by the movement support system in the seventh embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.

As shown in FIG. 9, when the robot 1 arrives at the landing before the basket 2, the robot 1 stands by in front of the basket 2. The robot 1 displays information on the landing door 10 or the surrounding floor surface by the mounted projection device. The display may be characters, fixed images, moving images, or the like. At this time, voice and music may be played.

For example, the robot 1 displays projection information 11 indicating that the basket 2 is reserved exclusively for the robot 1 on the landing door 10 or the floor surface.

It should be noted that the basket 2 may be displayed to indicate that the user cannot ride because the basket 2 is reserved exclusively for the robot 1. Since the basket 2 is reserved exclusively for the robot 1, it may display a content prompting not to wait in front of the landing door 10. A display indicating a countdown until the basket 2 arrives may be displayed. When the basket 2 is shared by the robot 1 and the user, it may be displayed that the robot 1 is also on board. When the basket 2 is shared by the robot 1 and the user, a display indicating the disembarkation floor of the robot 1 may be displayed. Animations and games may be displayed so as not to bore the user's waiting time. For example, a display that allows rock-paper-scissors or the like may be displayed. The shop information of the building may be displayed so as not to bore the user's waiting time. Display may be provided to explain alternative transportation means such as locations of other elevators, escalators, and stairs. A display indicating the degree of congestion of the basket 2 may be displayed. Separately, if a wheelchair or the like is on the basket 2 from the group management device 6 and the wheelchair or the like has information that the wheelchair or the like is scheduled to get off on the floor, the wheelchair or the like will get off and the exit should be opened. You may display the character that prompts you and the area to be opened. Information such as emergency stairs may be displayed.

According to the seventh embodiment described above, it is possible to notify the surroundings that the basket 2 is reserved exclusively for the robot 1.

The control at this time may be based on an instruction from the group management device 6.

As described above, the movement support system according to the present invention can be used for a robot system.

1 robot, 2 baskets, 3 person destination floor registration device, 4 robot destination floor registration device, 5 control device, 6 group management device, 6a registration table information storage unit, 6b user table information storage unit, 6c authentication unit, 7a boarding floor, 7b getting off floor, 7c type, 7d priority, 7e use, 7f passenger permission list, 7g passenger permission list, 7h speed, 8 authentication device, 9a ID, 9b authentication code, 9c passenger permission, 10 boarding door, 11 Projection information, 100a processor, 100b memory, 200 hardware

Claims (15)

Multiple control devices that control multiple elevator baskets, and
A destination floor registration device for people that accepts registration of people's destination floors,
A destination floor registration device for robots that accepts registration of robot destination floors,
When the destination floor is registered from both the human destination floor registration device and the robot destination floor registration device, the registration by the human destination floor registration device and the registration by the robot destination floor registration device are performed. distinction to, in a different car than the car corresponding to the registration by the car and the destination floor registration device for the human to be assigned to the call corresponding to the destination floor registered by the human for destination floor registration device from the plurality of car there was determined the cage to be assigned to the call corresponding to the destination floor registered by the destination floor robot registration device, corresponding to the destination floor registered by the human for destination floor registration device of the plurality of control devices The control device that controls the basket assigned to the call is instructed to allocate the car to be controlled, and the basket assigned to the call corresponding to the destination floor registered by the destination floor registration device for the robot among the plurality of control devices. A group management device that instructs the control device that controls the vehicle to dispatch the basket to be controlled, and
A mobility support system equipped with. Before SL group management apparatus, basket assign the call corresponding to the destination floor registered by the destination floor robot registration apparatus, the to operate in the robot only mode is a mode that does not put a person is reserved robotic applications The movement support system according to claim 1, wherein an instruction is output to a control device that controls a basket. The group management device includes a basket assigned to a call corresponding to the destination floor registered by the human destination floor registration device and the robot destination floor registration device based on information on whether or not the robot can ride with a person. The mobility support system according to claim 1 or 2, wherein the basket to be assigned to the call corresponding to the registered destination floor is determined. A destination floor registration device for people that accepts registration of people's destination floors,
A destination floor registration device for robots that accepts registration of robot destination floors,
Distinguishing between registration by the person's destination floor registration device and registration by the robot's destination floor registration device, the call corresponding to the destination floor registered by the person's destination floor registration device from among a plurality of elevator baskets. A group management device that determines the basket to be assigned and the basket to be assigned to the call corresponding to the destination floor registered by the destination floor registration device for the robot.
Equipped with
The group management device includes a basket assigned to a call corresponding to the destination floor registered by the human destination floor registration device and the robot destination floor registration device based on information on whether or not the robot can ride with a person. dynamic support system transfers that determine the car to be assigned to the call corresponding to the destination floor registered. Before SL group management apparatus, basket assign the call corresponding to the destination floor registered by the destination floor robot registration apparatus, the to operate in the robot only mode is a mode that does not put a person is reserved robotic applications The movement support system according to claim 4 , wherein an instruction is output to a control device that controls a basket. The group management device calculates the estimated arrival time of the plurality of robots to the landing based on the moving speeds of the plurality of robots, and rides the plurality of robots together based on the predicted arrival time of the plurality of robots to the landing. The mobility support system according to any one of claims 1 to 5, which determines whether or not it is possible. A destination floor registration device for people that accepts registration of people's destination floors,
A destination floor registration device for robots that accepts registration of robot destination floors,
Distinguishing between registration by the person's destination floor registration device and registration by the robot's destination floor registration device, the call corresponding to the destination floor registered by the person's destination floor registration device from among a plurality of elevator baskets. A group management device that determines the basket to be assigned and the basket to be assigned to the call corresponding to the destination floor registered by the destination floor registration device for the robot.
Equipped with
The group management device calculates the estimated arrival time of the plurality of robots to the landing based on the moving speeds of the plurality of robots, and rides the plurality of robots together based on the predicted arrival time of the plurality of robots to the landing. determine whether or not moving support system. The group management device is based on the information of the person's intention as to whether or not he / she can be on board, and the basket assigned to the call corresponding to the destination floor registered by the person's destination floor registration device and the robot's destination floor registration device. The movement support system according to any one of claims 1 to 7 , which determines a basket to be assigned to a call corresponding to a registered destination floor. A destination floor registration device for people that accepts registration of people's destination floors,
A destination floor registration device for robots that accepts registration of robot destination floors,
Distinguishing between registration by the person's destination floor registration device and registration by the robot's destination floor registration device, the call corresponding to the destination floor registered by the person's destination floor registration device from among a plurality of elevator baskets. A group management device that determines the basket to be assigned and the basket to be assigned to the call corresponding to the destination floor registered by the destination floor registration device for the robot.
Equipped with
The group management device is based on the information of the person's intention as to whether or not he / she can be on board, and the basket assigned to the call corresponding to the destination floor registered by the person's destination floor registration device and the robot's destination floor registration device. dynamic support system transfers that determine the car to be assigned to the call corresponding to the destination floor registered. In the group management device, the priority of the robot is lower than the priority of the person, and the basket assigned to the call corresponding to the destination floor registered by the destination floor registration device for humans and the destination floor registration device for robots are used. The movement support system according to any one of claims 1 to 9, which determines a basket to be assigned to a call corresponding to a registered destination floor. When the destination floor is registered by the human destination floor registration device after the group management device determines the basket to be assigned to the call corresponding to the destination floor registered by the robot destination floor registration device, the robot is assigned to the destination floor. The movement support system according to any one of claims 1 to 10 , wherein the allocation of the basket is canceled and the canceled basket is assigned to the destination floor by the personal destination floor registration device. The movement support system according to any one of claims 1 to 11 , wherein the group management device does not light a lantern that notifies the arrival of a basket assigned to the robot. The movement support system according to any one of claims 1 to 12 , wherein the group management device does not allow the robot to open the cage door until it reaches the front of the landing door. Claims 1 to 13 indicate that the group management device displays projection information on the landing door or the floor of the landing by the projection device of the robot while the robot is waiting for a basket in front of the landing door. The mobility support system described in any one of the above. A destination floor registration device for people that accepts registration of people's destination floors,
A destination floor registration device for robots that accepts registration of robot destination floors,
Distinguishing between registration by the person's destination floor registration device and registration by the robot's destination floor registration device, the call corresponding to the destination floor registered by the person's destination floor registration device from among a plurality of elevator baskets. A group management device that determines the basket to be assigned and the basket to be assigned to the call corresponding to the destination floor registered by the destination floor registration device for the robot.
Equipped with
The landing to the floor surface of the door or landing, moving support system Ru display the projection information by the group management device, robot projection apparatus of the robot in a state waiting for basket in front of the landing door.

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