JP7294500B1 - Vehicle allocation device, vehicle allocation system and vehicle allocation program - Google Patents

Abstract

A vehicle dispatching device, a vehicle dispatching system, and a vehicle dispatching program capable of reducing the time a moving body occupies a place where a user using an elevator car waits. A vehicle dispatching device receives an elevator boarding floor, a destination floor, and a desired boarding time received from a mobile object, when the mobile object moves autonomously using an elevator provided with a plurality of cars. Based on boarding requests, including boarding requests, the car dispatching unit allocates a car for boarding a mobile object from a plurality of cars, calculates the arrival time when the car allocated to the car dispatching unit arrives at the boarding hall of the boarding floor, and moves based on the arrival time A time calculation unit for calculating a time slot indicating a time slot for a body to arrive at a platform, and a communication unit for transmitting information on the time slot to the moving object, and the information on the time slot is from the start time of the time slot to the end of the time slot. Includes a command to arrive at the platform by the time. [Selection drawing] Fig. 2

Description

The present disclosure relates to a vehicle allocation device, a vehicle allocation system, and a vehicle allocation program.

Patent Literature 1 discloses an elevator dispatch system. A robot destination registration device included in the dispatch system is provided at an elevator hall. A robot, which is a mobile body, can use an elevator car by inputting a destination floor from a robot destination registration device.

WO2020/234938

However, in the dispatch system described in Patent Literature 1, the mobile body inputs the destination floor after arriving at the boarding point. The elevator is used by human users as well as by robots. Therefore, while the user waits at the hall, the robot may occupy part of the hall.

The present disclosure has been made to solve the above problems. An object of the present disclosure is to provide a vehicle allocation device, a vehicle allocation system, and a vehicle allocation program capable of reducing the time a moving object occupies a place where a user using an elevator car waits.

The vehicle dispatching device according to the present disclosure provides a boarding floor, a destination floor, and a request for boarding of the elevator received from the moving body when the moving body that moves autonomously uses an elevator provided with a plurality of cars. Based on a boarding request including a time, a car dispatching unit that allocates a car for boarding the moving object from the plurality of cars, and calculates an arrival time at which the car allocated to the car dispatching unit arrives at the boarding hall of the boarding floor, a time calculation unit that calculates a time slot indicating a time zone in which the mobile unit arrives at the platform based on the arrival time; and a communication unit that transmits information on the time slot to the mobile unit, wherein the time The slot information includes a command for the moving object to arrive at the boarding point between the start time and the end time of the time period.

A vehicle allocation system according to the present disclosure includes a plurality of controlled mobile bodies that autonomously move inside a building in which an elevator having a plurality of cars is installed, and the vehicle allocation device.

The vehicle dispatch program according to the present disclosure is configured such that, when a mobile body that moves autonomously uses an elevator provided with a plurality of cars, the computer stores the boarding floor, destination floor, and boarding of the elevator received from the mobile body. Based on a boarding request including a desired time, a vehicle dispatching step of allocating a car for boarding the moving object from the plurality of cars, and an arrival time at which the car allocated in the vehicle dispatching step arrives at the boarding hall of the boarding floor. and performing a time calculation step of calculating a time slot indicating a time zone in which the mobile unit arrives at the platform based on the arrival time, and a communication step of transmitting the time slot information to the mobile unit. and the time slot information includes a command to the moving object to arrive at the boarding point between the start time and the end time of the time slot.

According to the present disclosure, the mobile arrives at the landing after the start time indicated in the time slot. Therefore, it is possible to reduce the time that the mobile body occupies the place where the user using the car of the elevator waits.

1 is a configuration diagram of a building to which a vehicle allocation system according to Embodiment 1 is applied; FIG. 1 is a block diagram of a vehicle dispatch system according to Embodiment 1; FIG. 4 is a flow chart for explaining an overview of operations performed by a vehicle allocation device of the vehicle allocation system according to Embodiment 1. FIG. 2 is a hardware configuration diagram of a first example of equipment included in the vehicle dispatch system according to Embodiment 1. FIG. 4 is a hardware configuration diagram of a second example of equipment included in the vehicle dispatch system according to Embodiment 1. FIG.

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

Embodiment 1.
FIG. 1 is a configuration diagram of a building to which a vehicle allocation system according to Embodiment 1 is applied.

A building 1 shown in FIG. 1 is provided with an elevator system 2 . In the elevator system 2 , a hoistway 3 runs through each floor of the building 1 . The machine room 4 is provided above the hoistway 3 . A plurality of landings 5 are provided on each floor of the building 1 . Each of the plurality of landings 5 faces the hoistway 3 .

A plurality of cars 6 are provided in the elevator system 2 . A plurality of cars 6 are provided inside the hoistway 3 . The building 1 may be provided with a plurality of hoistways 3 corresponding in number to the plurality of cars 6 . A plurality of control devices 7 are provided in the machine room 4 . A plurality of control devices 7 correspond to a plurality of cages 6, respectively. The control device 7 controls operation of the corresponding car 6 . One of the plurality of cars 6 and one of the plurality of controllers 7 are shown in FIG.

A group management device 8 is provided in the machine room 4 . When the group control device 8 receives call information from a hall operating panel (not shown), it allocates one of the plurality of cars 6 to the call. The group control device 8 transmits call information to the control device 7 corresponding to the assigned car 6 . The control device 7 moves the corresponding car 6 based on the call information. The car 6 ascends and descends inside the hoistway 3 .

A vehicle allocation system 9 is applied to the elevator system 2 as a building system of the building 1 . The vehicle allocation system 9 includes a plurality of controlled mobile bodies 10 , a management server 20 and a vehicle allocation device 30 . The dispatch system 9 is a system that allows a plurality of controlled mobile bodies 10 to use the elevator system 2 . Note that the dispatch system 9 may include a plurality of control devices 7 and group management devices 8 .

A plurality of controlled mobile bodies 10 are robots that move autonomously. For example, the controlled mobile body 10 is a robot that acts according to its role, such as a robot that carries luggage, a robot that guards the inside of the building 1, or the like. Each of the plurality of control mobile bodies 10 moves inside the building 1 according to its own work.

The management server 20 is provided inside the building 1 . The management server 20 manages a plurality of controlled mobile bodies 10 . For example, the management server 20 instructs the controlled mobile body 10 to move to a destination.

For example, the vehicle allocation device 30 is provided in a building different from the building 1 . The vehicle allocation device 30 can communicate with a plurality of controlled mobile bodies 10 via the management server 20 . The dispatch device 30 can communicate with the group control device 8 .

When the controlled mobile body 10 gets into one of the plurality of cars 6 , it transmits information of a boarding request to the vehicle allocation device 30 . For example, the control mobile 10 transmits the boarding request information while existing in another space away from the boarding hall 5 . The vehicle allocation device 30 allocates a car 6 to which the controlled mobile body 10 is to be boarded from among the plurality of cars 6 . Group control device 8 and control device 7 control car 6 assigned by dispatch device 30 .

The vehicle allocation device 30 transmits information for boarding the assigned car 6 to the control mobile 10 . The controlled mobile body 10 autonomously moves inside the building 1 based on the information received from the vehicle allocation device 30 . After that, the control vehicle 10 gets into the assigned car 6 .

Next, the dispatch system 9 will be described with reference to FIG.
FIG. 2 is a block diagram of the vehicle allocation system according to the first embodiment.

As shown in FIG. 2, in this embodiment, a plurality of controlled mobile bodies 10 each have the same configuration. The controlled mobile body 10 moves while estimating its own position on the map using the sensor and the map. At this time, the controlled mobile body 10 moves while generating a map of its surroundings. The controlled mobile body 10 includes a storage unit 11 , a communication unit 12 , a detection unit 13 and a control unit 14 .

The storage unit 11 stores information required when the controlled mobile body 10 moves.

The communication unit 12 communicates with the management server 20 . Note that the communication unit 12 may communicate directly with the vehicle allocation device 30 . When receiving the movement command information including the destination from the management server 20, the communication unit 12 causes the storage unit 11 to store the movement command information.

For example, the detection unit 13 is a sensor that detects objects around the control movable body 10 . Specifically, the detection unit 13 is various sensors such as a camera, a LiDAR, a sound wave sensor, an infrared sensor, or a combination of these various sensors. The detection unit 13 detects the surrounding environment including the positions of objects around the control movable body 10 .

The control unit 14 controls the control movable body 10 as a whole. Specifically, the control unit 14 controls the movement of the control movable body 10 based on the information stored in the storage unit 11 and the results detected by the detection unit 13 . The control unit 14 estimates the self-position of the control moving body 10 based on the detection result of the detection unit 13 . The control unit 14 generates a map around the control moving body 10 based on the detection result of the detection unit 13 . When the map is generated, the control unit 14 stores the generated map information in the storage unit 11 .

When the elevator system 2 is used, the control unit 14 transmits boarding request information including the boarding floor for boarding the car 6, the destination floor of the car 6, and the desired boarding time via the management server 20 to the vehicle dispatching device 30. Send to The control unit 14 controls the controlled mobile body 10 to move to the point designated by the movement command received from the management server 20 or the vehicle allocation device 30 .

For example, the management server 20 is part of a personal computer. Note that the management server 20 may be provided on a cloud server. The management server 20 communicates with each of the plurality of control mobiles 10 via a network. Specifically, for example, the network is a LAN (Local Area Network) or a WAN (Wide Area Network). The management server 20 includes a storage section 21 and a communication section 22 .

The storage unit 21 stores information necessary for controlling the controlled mobile body 10 . The communication unit 22 communicates with each of the plurality of controlled mobile bodies 10 . The communication unit 22 communicates with the vehicle allocation device 30 . When information is received from the vehicle allocation device 30 , the communication unit 22 may cause the storage unit 21 to store the information.

For example, the vehicle allocation device 30 is part of a personal computer provided in a building different from the building 1 . Note that the vehicle allocation device 30 may be provided on a cloud server. The vehicle allocation device 30 can communicate with the group management device 8, the plurality of controlled mobile bodies 10, and the management server 20 via networks such as LAN and WAN. The vehicle allocation device 30 includes a communication unit 31 , a group calculation unit 32 , a vehicle allocation unit 33 , a time calculation unit 34 and a point determination unit 35 .

The communication unit 31 communicates with each of the plurality of controlled mobile bodies 10 or the management server 20 . For example, the communication unit 31 receives boarding request information from the controlled mobile unit 10 .

When boarding request information is received from two or more controlled mobile bodies 10, the group calculation unit 32 divides the two or more controlled mobile bodies 10 into one or more groups based on the information on the boarding requests. Divide. At this time, the group calculation unit 32 performs grouping of the two or more controlled moving bodies 10 using a clustering technique.

In the first example of clustering, the group computing unit 32 computes the difference between the desired times included in the information of two or more boarding requests. The group calculation unit 32 calculates the difference in the direction from the boarding floor to the destination floor for each piece of information on two or more boarding requests. The group calculation unit 32 calculates the distance from the boarding floor to the destination floor for each of the information of two or more boarding requests. The group calculation unit 32 calculates the difference between the distances from the boarding floor to the destination floor included in the information of two or more boarding requests. The group calculation unit 32 performs clustering using the difference between the desired times, the difference in the direction from the boarding floor to the destination floor, and the difference between the distances from the boarding floor to the destination floor as metrics. As a result, the group calculation unit 32 groups two or more boarding requests, each of which has a calculated difference smaller than the specified difference threshold value, into the same group. That is, the group calculation unit 32 groups two or more control movable bodies 10 corresponding to the two or more boarding requests respectively into the same group. In this case, for example, the group calculation unit 32 assigns two controlled mobile bodies 10 having the same desired time and the same destination floor to the same group.

Clustering may be done by comparing different elements. For example, in the second example of clustering, the group calculation unit 32 generates a request vector whose elements are the difference between the current time and the desired time and the difference between the boarding floor and the destination floor, based on the boarding request information. do. In this case, the positive/negative sign of the difference between the boarding floor and the destination floor may indicate the direction from the boarding floor to the destination floor. The request vector is associated with the boarding request information, that is, with the control vehicle 10 . The group computing unit 32 generates two or more request vectors corresponding to two or more control mobile bodies 10 respectively. The group calculation unit 32 calculates the distance between two request vectors out of two or more request vectors, and if the distance is smaller than a specified threshold, the two request vectors are grouped together.

For example, in the third example of clustering, the group calculator 32 generates two or more request vectors as in the second example. The group calculation unit 32 may perform grouping by applying an unsupervised learning clustering method to two or more request vectors. For example, the group calculation unit 32 may perform grouping using the k-means method as a clustering method for unsupervised learning.

The vehicle allocation unit 33 receives information on the operation status of the plurality of cars 6 from the group control device 8 via the communication unit 31 . The dispatch unit 33 allocates a car 6 to the controlled mobile body 10 in response to a boarding request from the controlled mobile body 10, that is, selects an assigned car 6 to be dispatched to the controlled mobile body 10 from among the plurality of cars 6. decide. When the group calculation unit 32 performs grouping in response to the boarding request, the vehicle allocation unit 33 determines the car 6 in which all of the two or more controlled mobile bodies 10 classified into the same group are boarded as the assigned car.

At this time, the vehicle allocation unit 33 allocates the cars 6 based on the operation status of the plurality of cars 6 so as not to reduce the operation efficiency. For example, the vehicle allocation unit 33 may allocate the car 6 to the controlled mobile body 10 so that the movement efficiency of the user who uses the elevator system 2 does not decrease. The dispatch unit 33 may transmit the information indicated by the boarding request to the group control apparatus 8 as call information so that the group control apparatus 8 determines the car 6 assigned to the boarding request as the assigned car.

The time calculation unit 34 calculates the time when the assigned car assigned by the vehicle allocation unit 33 arrives at the boarding floor. Based on the arrival time of the assigned car, the time calculation unit 34 calculates a time slot indicating the time zone in which the controlled mobile body 10 corresponding to the assigned car should arrive at the boarding hall 5 of the boarding floor.

A time slot is a period of time from start time t to end time t+T. T is the defined elapsed time. The start time t is the time before the assigned car arrives at the boarding floor. The end time t+T is the same time as or earlier than the time when the assigned car arrives at the boarding floor. For example, time slot information is expressed as a tuple (t, t+T). The time slot information includes information of a command to arrive at a specified point within a time period between start time t and end time t+T. That is, the time slot information includes command information to the effect that the vehicle will not arrive at the specified point at a time before the start time t.

The point determination unit 35 determines a waiting point, which is the position of the hall 5 where the control mobile 10 waits to board the assigned car assigned by the dispatch unit 33 . For example, the point determination unit 35 determines a position away from the entrance/exit of the car 6 as a standby point, as a position that does not interfere with the user using the car 6 in the hall 5 . At this time, the point determination unit 35 determines the standby point based on the map information of the building 1 stored in advance. For example, the map is a map expressed in a format such as BIM (Building Information Model), occupancy grid map, two-dimensional point group map, three-dimensional point group map, or the like. A waiting point is a specific position in the landing 5 of the boarding floor. The information on the waiting point is created as information in a format that can be shared with the map stored by the controlled mobile body 10 . Specifically, the information on the waiting point is created in the form of coordinates (x, y). The information of the waiting point includes the information of the instruction to move to the waiting point. When two or more controlled mobile bodies 10 belonging to the same group wait at the same boarding floor, the point determination unit 35 creates information on waiting points at different positions for the two or more controlled mobile bodies 10 respectively. .

When the communication unit 31 receives the boarding request information, the dispatch unit 33 determines the assigned car. The time calculator 34 creates time slot information. The point determination unit 35 creates information on the waiting point. The communication unit 31 transmits the time slot information and the waiting point information to the controlled mobile body 10 corresponding to the boarding request via the management server 20 .

At this time, the management server 20 receives information on the time slot and information on the standby point, and transmits this information to the corresponding control mobile unit 10 . The management server 20 may store the received time slot information and standby point information in the storage unit 21 .

When receiving the time slot information and the waiting point information, the control mobile unit 10 stores these information in the storage unit 11 . The control unit 14 of the controlled mobile body 10 moves the controlled mobile body 10 so as to arrive at the standby point in the time zone indicated by the time slots stored in the storage unit 11 . At this time, the control unit 14 autonomously determines the route along which the controlled mobile body 10 moves to the standby point. For example, the control unit 14 determines the optimal route to depart from the current position at the optimal time to reach the standby point in the time period indicated by the time slot and move to the standby point.

Note that the management server 20 instead of the control mobile 10 may determine the route of the control mobile 10 to arrive at the standby point during the time period indicated by the time slot. In this case, the control mobile 10 moves according to instructions from the management server 20 .

When the vehicle arrives at the standby point during the time period indicated by the time slot, the control unit 14 transmits completion information indicating that the movement is completed to the vehicle allocation device 30 . When receiving the completion information, the vehicle allocation device 30 allocates the assigned car to the boarding floor as planned.

If the arrival time at the arrival point is later than the end time, i.e., if the arrival point cannot be reached within the time period indicated by the time slot, the control unit 14 outputs information indicating that the movement could not be completed and a new arrival point. Information of a new boarding request including the desired time is transmitted to the dispatch device 30 . When the vehicle allocation device 30 receives the information indicating that the movement could not be completed, the vehicle allocation device 30 excludes the controlled mobile body 10 from the assignment of the assigned car. After that, the dispatch device 30 again determines the assigned car based on the boarding request information including the new desired time, and creates time slot information and boarding position information.

Before starting to move to the standby position or while moving to the standby point, the control unit 14 detects the end time indicated in the time slot based on information such as the estimated self-position and the stored map. It may be determined whether or not the waiting point (x, y) can be reached by t+T. If it is determined that the waiting point cannot be reached by the end time, the control unit 14 creates information for canceling the boarding request, and transmits the information from the communication unit 12 to the dispatch device 30 . When the vehicle allocation device 30 receives the information canceling the boarding request, the vehicle allocation device 30 excludes the controlled mobile body 10 from the assignment of the assigned car. When no more controlled mobiles 10 are assigned to the assigned car, the vehicle allocation device 30 transmits to the group control device 8 information for canceling the allocation of the assigned car. Note that the control unit 14 may create a new boarding request and transmit it to the dispatch device 30 together with information for canceling the boarding request.

Next, a part of the operation performed by the vehicle dispatching device 30 will be described with reference to FIG.
FIG. 3 is a flow chart for explaining an outline of the operation performed by the vehicle allocation device of the vehicle allocation system according to the first embodiment.

The flowchart shown in FIG. 3 shows the operation performed by the vehicle allocation device 30 when the vehicle allocation device 30 receives boarding request information from one controlled mobile body 10 . In FIG. 3 , the dispatch device 30 has already received boarding requests from one or more controlled mobile bodies 10 . When the vehicle allocation device 30 receives boarding request information from each of the plurality of controlled mobile bodies 10 , the vehicle allocation device 30 performs the operations of the flowchart for each of the plurality of controlled mobile bodies 10 .

In step S<b>01 , the vehicle dispatching device 30 receives boarding request information including boarding floors, destination floors, and desired times from the controlled mobile body 10 .

After that, the vehicle allocation device 30 performs the operation of step S02. The dispatch device 30 performs grouping using a clustering method based on one or more boarding requests already received and the boarding request received in step S01. At this time, the dispatching device 30 may cancel the already completed grouping and perform new grouping by adding the boarding request received in step S01.

After that, the vehicle dispatching device 30 performs the operation of step S03. In step S03, the vehicle allocation device 30 determines the assigned car. The vehicle allocation device 30 calculates the arrival time of the assigned car. The vehicle dispatching device 30 creates time slot information. The vehicle dispatching device 30 creates information on waiting points.

After that, the vehicle allocation device 30 performs the operation of step S04. In step S<b>04 , the vehicle allocation device 30 transmits the time slot information and the waiting point information to the control mobile 10 .

After that, the vehicle dispatching device 30 ends the operation of the flowchart.

According to the first embodiment described above, the vehicle allocation system 9 includes a plurality of controlled mobile bodies 10 that are mobile bodies and the vehicle allocation device 30 . The vehicle allocation device 30 has each function based on the vehicle allocation program. The vehicle allocation device 30 includes a vehicle allocation unit 33 , a time calculation unit 34 and a communication unit 31 . The vehicle dispatching device 30 creates time slot information. The time slot information includes a command to arrive at the hall 5 between the start time and the end time. Therefore, the controlled mobile body 10 moves so as to arrive at the hall 5 after the start time. That is, the controlled mobile body 10 is prevented from arriving at the hall 5 before the start time. As a result, it is possible to reduce the time that the controlled mobile body 10 occupies the space of the hall 5 where the user waits.

Further, the vehicle dispatching device 30 determines an assigned car from among the plurality of cars 6 in response to a boarding request from the controlled mobile body 10 . The dispatch device 30 creates time slot information based on the dispatch status of the assigned car. Therefore, the vehicle dispatching device 30 can dispatch the car 6 in consideration of information other than the request from the controlled mobile body 10 . As a result, for example, the vehicle dispatching device 30 can prevent the user's usage efficiency of the elevator from deteriorating.

In addition, the vehicle allocation device 30 further includes a point determination unit 35 . The dispatch device 30 determines a waiting point in the hall 5 and creates information on the waiting point. Therefore, the controlled mobile body 10 can wait at a position that does not interfere with the user using the car 6 . In addition, the control movable body 10 can know in advance the position to be reached and the time zone to be reached at the time of issuing the boarding request. Therefore, the control vehicle 10 can plan an optimal movement schedule including movement routes, departure times, and the like.

In addition, the vehicle allocation device 30 further includes a group calculation unit 32 . The vehicle allocation device 30 divides the plurality of controlled mobile bodies 10 that have received boarding requests into groups. The vehicle dispatching device 30 determines, as an assigned car, a car in which all of the two or more controlled mobile bodies 10 classified into the same group ride. Therefore, it is possible to efficiently move the plurality of control movable bodies 10 .

In addition, the vehicle dispatching device 30 calculates the difference based on the information included in the boarding request, and performs clustering using the difference as a metric, thereby dividing the plurality of controlled mobile bodies 10 into groups. Therefore, the vehicle allocation device 30 can perform more optimal grouping.

Also, when the control mobile 10 arrives at the boarding hall 5 after the time slot indicated by the time slot, it transmits a new boarding request to the dispatch device 30 . Therefore, even if the controlled moving body 10 does not make it in time, it is possible to smoothly transmit a boarding request again and board the car 6 .

Further, when it is determined that the controlled mobile body 10 cannot arrive at the hall 5 by the end time of the time slot, it transmits information canceling the boarding request to the dispatch device 30 . The vehicle allocation device 30 cancels the boarding request for the controlled mobile body 10 . Therefore, the vehicle allocation device 30 can suppress wasteful vehicle allocation of the car 6 . As a result, the operation efficiency of the plurality of cars 6 can be improved.

Note that the controlled mobile body 10 may directly communicate with the vehicle allocation device 30 without going through the management server 20 .

Note that the controlled mobile body 10 may move based on a map generated by the management server 20 or a map stored in advance by the management server 20 . In this case, the management server 20 transmits map information of the inside of the building 1 to the control mobile 10 in advance. The control mobile 10 stores the map information received from the management server 20 in the storage unit 11 .

The time calculation unit 34 may create time slot information such that the arrival time of the assigned car is included in the time slot indicated by the time slot. That is, the time calculation unit 34 may calculate a time slot whose start time is before the arrival time and whose end time is after the arrival time.

Next, examples of hardware of devices included in the dispatch system 9 will be described with reference to FIGS. 4 and 5. FIG.
FIG. 4 is a hardware configuration diagram of a first example of equipment included in the dispatch system according to the first embodiment. FIG. 5 is a hardware configuration diagram of a second example of equipment included in the vehicle allocation system according to the first embodiment.

As shown in FIG. 4 , each function of the vehicle dispatching device 30 can be implemented by a processing circuit 70 . For example, processing circuitry 70 comprises at least one processor 71 and at least one memory 72 . In this case, each function of the dispatch device 30 is implemented by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. Software and/or firmware are stored in at least one memory 72 . At least one processor 71 reads and executes a vehicle allocation program stored in at least one memory 72, thereby realizing each function of the vehicle allocation device 30 as each step. The at least one processor 71 is also referred to as a central processing unit, CPU (Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, DSP. For example, the at least one memory 72 is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, minidisk, DVD, or the like.

As shown in FIG. 5, processing circuitry 70 may also include at least one piece of dedicated hardware 73 . In this case, processing circuitry 70 may be implemented, for example, in a single circuit, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. For example, each function of the dispatch device 30 is implemented by the processing circuit 70 . For example, each function of the vehicle allocation device 30 may be collectively realized by the processing circuit 70 .

A part of each function of the vehicle allocation device 30 may be realized by dedicated hardware 73 and the other part may be realized by software or firmware. For example, the function of grouping a plurality of control mobile bodies 10 is realized by a processing circuit as dedicated hardware 73, and the functions other than the grouping function are implemented by at least one processor 71 and at least one memory 72. may be realized by reading out and executing a program stored in .

Thus, the processing circuit 70 implements each function of the vehicle dispatching device 30 with hardware, software, firmware, or a combination thereof.

Also, although not shown, each function of the controlled mobile body 10 and each function of the management server 20 are realized by a processing circuit equivalent to the processing circuit 70 that realizes each function of the vehicle allocation device 30 .

To summarize the above description, possible configurations of the technology according to the present disclosure include each configuration shown as an appendix below.
(Appendix 1)
When a mobile body that moves autonomously uses an elevator provided with a plurality of cars, based on a boarding request that includes a boarding floor, a destination floor, and a desired boarding time received from the moving body , a vehicle allocation unit that allocates a car for boarding the moving object from the plurality of cars;
A time computation unit that computes the arrival time at which the car assigned to the dispatch unit arrives at the boarding hall of the boarding floor, and computes a time slot indicating the time zone in which the mobile body arrives at the boarding hall based on the arrival time. and,
a communication unit that transmits the time slot information to the mobile object;
with
The information on the time slot includes a command to the effect that the vehicle is to arrive at the boarding point between the start time and the end time of the time slot.
(Appendix 2)
A point determination unit that creates information on a waiting point where the autonomous mobile body waits inside the hall in order to board the car assigned by the dispatch unit;
further comprising
1. The vehicle allocation apparatus according to Supplementary Note 1, wherein the communication unit transmits the information of the waiting point together with the information of the time slot to the moving object.
(Appendix 3)
A group calculation unit that performs calculations for dividing the plurality of controlled mobile bodies into one or more groups using a clustering method based on the boarding requests received from each of the plurality of controlled mobile bodies including the mobile body;
further comprising
The vehicle allocation device according to Supplementary note 1 or 2, wherein the vehicle allocation unit allocates cars into which all of the two or more controlled moving bodies grouped into the same group by the group computing unit out of the plurality of controlled moving bodies are loaded.
(Appendix 4)
The group computing unit calculates a difference between desired times included in the boarding requests respectively received from the plurality of controlled mobile bodies, a difference in a direction from a boarding floor to a destination floor included in the boarding requests, and a boarding request. 3. The vehicle dispatching device according to appendix 3, wherein the plurality of control vehicles are divided into one or more groups by performing clustering using a difference in distance from the boarding floor to the destination floor as a metric.
(Appendix 5)
a plurality of control mobile bodies that autonomously move inside a building in which an elevator with a plurality of cars is installed;
the vehicle allocation device according to Supplementary Note 3 or Supplementary Note 4;
dispatch system with
(Appendix 6)
6. The vehicle allocation system according to Supplementary Note 5, wherein each of the plurality of controlled mobile bodies transmits the new boarding request to the vehicle allocation device when each of the plurality of controlled mobile bodies arrives at the hall after the time period indicated in the time slot.
(Appendix 7)
Each of the plurality of controlled mobile bodies according to Supplementary Note 5 transmits information for canceling the boarding request to the dispatch device when it is determined that each of the plurality of controlled mobile bodies cannot arrive at the hall by the end time of the time slot. dispatch system.
(Appendix 8)
to the computer,
When a mobile body that moves autonomously uses an elevator provided with a plurality of cars, based on a boarding request that includes a boarding floor, a destination floor, and a desired boarding time received from the moving body , a vehicle allocation step of allocating a car into which the moving object is to be boarded from the plurality of cars;
A time calculation step of calculating an arrival time at which the car assigned in the dispatching step arrives at the boarding hall of the boarding floor, and calculating a time slot indicating a time zone in which the mobile body arrives at the boarding hall based on the arrival time. and,
a communication step of transmitting the time slot information to the mobile;
and
The time slot information includes a vehicle dispatching program including a command to arrive at the boarding point between the start time and the end time of the time slot.

1 building, 2 elevator system, 3 hoistway, 4 machine room, 5 landing, 6 car, 7 control device, 8 group control device, 9 vehicle allocation system, 10 control moving body, 11 storage unit, 12 communication unit, 13 detection Unit 14 Control Unit 20 Management Server 21 Storage Unit 22 Communication Unit 30 Vehicle Allocation Device 31 Communication Unit 32 Group Calculation Unit 33 Vehicle Allocation Unit 34 Time Calculation Unit 35 Point Determination Unit 70 Processing Circuit 71 processor, 72 memory, 73 hardware

Claims (8)

When a mobile body that moves autonomously uses an elevator provided with a plurality of cars, based on a boarding request that includes a boarding floor, a destination floor, and a desired boarding time received from the moving body , a vehicle allocation unit that allocates a car for boarding the moving object from the plurality of cars;
A time computation unit that computes the arrival time at which the car assigned to the dispatch unit arrives at the boarding hall of the boarding floor, and computes a time slot indicating the time zone in which the mobile body arrives at the boarding hall based on the arrival time. and,
a communication unit that transmits the time slot information to the mobile object;
with
The time slot information includes a command for the moving body to arrive at the boarding point between the start time and the end time of the time slot. A point determination unit that creates information on a waiting point where the mobile unit waits at the landing in order to board the car assigned by the dispatch unit;
further comprising
2. The vehicle dispatching apparatus according to claim 1, wherein the communication unit transmits the information on the waiting point together with the information on the time slot to the moving object. A group calculation unit that performs calculations for dividing the plurality of controlled mobile bodies into one or more groups using a clustering method based on the boarding requests received from each of the plurality of controlled mobile bodies including the mobile body;
further comprising
3. The vehicle allocation device according to claim 1, wherein the vehicle allocation unit allocates a car into which all of the two or more controlled mobile bodies grouped into the same group by the group calculation unit out of the plurality of controlled mobile bodies ride. . The group computing unit calculates a difference between desired times included in the boarding requests respectively received from the plurality of controlled mobile bodies, a difference in a direction from a boarding floor to a destination floor included in the boarding requests, and a boarding request. 4. The vehicle dispatching device according to claim 3, wherein the plurality of control vehicles are divided into one or more groups by performing clustering using a difference in distance from the boarding floor to the destination floor as a metric. a plurality of control mobile bodies that autonomously move inside a building in which an elevator with a plurality of cars is installed;
A vehicle allocation device according to claim 3;
dispatch system with 6. The vehicle allocation system according to claim 5, wherein each of said plurality of controlled mobile bodies transmits said new boarding request to said vehicle allocation device when it arrives at said hall after said time period shown in said time slot. 6. The vehicle according to claim 5, wherein each of said plurality of controlled mobile bodies transmits information for canceling said boarding request to said dispatching device when it is determined that said vehicle cannot arrive at said hall by said end time of said time slot. dispatch system. to the computer,
When a mobile body that moves autonomously uses an elevator provided with a plurality of cars, based on a boarding request that includes a boarding floor, a destination floor, and a desired boarding time received from the moving body , a vehicle allocation step of allocating a car into which the moving object is to be boarded from the plurality of cars;
A time calculation step of calculating an arrival time at which the car assigned in the dispatching step arrives at the boarding hall of the boarding floor, and calculating a time slot indicating a time zone in which the mobile body arrives at the boarding hall based on the arrival time. and,
a communication step of transmitting the time slot information to the mobile;
and
The time slot information includes a command for the moving object to arrive at the boarding point between the start time and the end time of the time slot.

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