JP7322680B2 - Calling system and method - Google Patents

Description

The present invention relates to a calling system and method for calling a carrier such as an elevator.

At a construction site, a transport device equipped with a jack is sometimes used to transport materials and equipment (see Patent Document 1, for example). The truck described in this document has wheels and a jack. The control unit of the truck causes the truck to run or turn in a predetermined direction (front-rear direction, left-right direction, oblique direction) by controlling the rotational direction and speed of the motors to which the wheels are attached. The control unit drives and controls the pumps to raise and lower the rams of the jacks connected to the respective pumps, thereby raising and lowering the mounting table fixed to the tips of the rams.

Such transport devices may also utilize elevators. Therefore, in an existing elevator, a technique for sharing an elevator with a human being and an automatic guided vehicle is also being studied (see, for example, Patent Document 2). The technique described in this document includes a lifting means for moving between floors of a building, and a lifting means control section for controlling various operations of the lifting means. Also provided are a manual calling device arranged on each story and performing a call command to each story to the elevator means control unit by human operation, and an automatic call device driving unit for transmitting movement data between building stories by communication means. . Further, there is provided an automatic call device which is driven by the automatic call device drive section based on the movement data and issues a call command to each floor to the elevator means control section. This automatic caller is placed in parallel with the human call button located on the manual caller and has the same action as the human call button for the elevator control.

JP 2016-113283 A JP-A-2004-149251

In Patent Literature 2, in a wall-mounted calling device, selection of different push buttons communicates movement to an upper or lower floor. However, a temporary elevator installed at a construction site or the like has a simple structure, and usually does not have an upstairs button and a downstairs button. Specifically, an intercom placed at the entrance of the elevator is used to converse with an operator inside the elevator to request an operation from the operator. Therefore, an operator must be summoned in order for the carriage to enter such an elevator. However, in order to allow the cart to automatically call the operator, it was necessary to modify the elevator control device, add wireless or wired communication means around the elevator, and the like.

A car calling system that solves the above problems uses a local device including a first private telephone set provided at the doorway of the car and a second private telephone set used by the operator of the car, Call a carrier on which a self-propelled mobile body rides. The call system includes a sensor for detecting the moving object at a waiting place waiting to be boarded into the transport car, and in response to detection of the moving object by the sensor, the first calling system via the first private telephone set. a call signal sending unit for outputting a call signal to two private telephone sets; and a standby information output unit that outputs standby information.

According to the present invention, it is possible to efficiently call a carrier such as an elevator.

Explanatory drawing of the function of the paging system in embodiment. Explanatory drawing of elevator utilization in embodiment. The external appearance perspective view of the truck in embodiment. 1 is an explanatory diagram of a configuration example of an information processing apparatus according to an embodiment; FIG. FIG. 4 is an explanatory diagram of a processing procedure of transport management processing in the embodiment; Explanatory drawing of the processing procedure of elevator utilization in embodiment.

An embodiment embodying a call system and a call method will be described below with reference to FIGS. 1 to 6. FIG.
As shown in FIG. 1, a calling device 10, a truck 20, an operator terminal 30, and interphones P1 and P2 are used. The cart 20 transmits and receives data to and from the calling device 10 and the operator terminal 30 by wireless communication. Note that this wireless communication does not need to be a large-scale wireless LAN communication environment, and may be a very short-distance communication method. The calling device 10, the cart 20, and the operator terminal 30 function as an information processing device.

As shown in FIG. 2, at a construction site, a truck 20 as a moving body transports a container 40 on which an object to be transported is placed. Here, a temporary elevator is used when transporting to different floors from floor F1 to floor F2 of the construction site. In this case, the elevator car E1 of the temporary elevator is used as the carrier car for moving the carriage 20 . An operator OP1 is on board the elevator car E1. The operator OP1 raises/lowers the elevator car E1 to the destination floor using the operation device of the temporary elevator. This operator OP1 has an operator terminal 30 that communicates with the cart 20 . The intercoms P1 and P2 are existing premises equipment installed at the construction site.

When using the temporary elevator, the intercom P1 (first local telephone) installed at the entrance of the temporary elevator on each floor F1, F2 is used. This intercom P1 is connected to an intercom P2 (second private telephone set) in the elevator car E1. Then, by pressing the call button of the intercom P1, a ringing tone is emitted from the intercom P2. Then, the person who wants to use the temporary elevator uses the intercom P1 to tell the operator OP1 of the floor (standby floor) by voice via the intercom P2. In this case, the operator OP1 operates the operation device of the temporary elevator to move the elevator car E1 to the waiting floor. When a person who wishes to use the elevator car E1 gets on, the operator OP1 confirms the destination floor and operates the operation device of the temporary elevator to move the elevator car E1 to the destination floor.
When the truck 20 uses a temporary elevator, the calling device 10 connected to the intercom P1 is used. Details of the calling device 10 will be described later.

(Configuration of carriage 20)
As shown in FIG. 3, the carriage 20 is a conveying device provided with wheels 24 as driving wheels and jacks 25 as an elevating mechanism in a main body having a substantially rectangular horizontal cross section. This wheel 24 is controlled by a computer. In this embodiment, a mecanum wheel is used as the wheel 24 . By using the mecanum wheels, the carriage 20 can be moved forward and backward, laterally, turned, and diagonally at any speed.

The body portion is composed of a fixed housing portion 201 and a movable housing portion 202 . The fixed housing part 201 is movably supported by the wheels 24 of the truck 20 and casters (not shown). A plate-shaped mounting table is provided in the movable housing portion 202 . This mounting table can be raised and lowered with respect to the fixed housing section 201 by means of a jack 25 .

The jack 25 is fixed to the fixed housing portion 201 and arranged below the mounting table. The jacks 25 are arranged in the area surrounded by the wheels 24 by placing one between each wheel 24 . In this embodiment, the jack 25 is arranged with good balance with respect to the mounting surface. In this embodiment, a hydraulic jack is used as the jack 25 .

Furthermore, the carriage 20 includes a camera 26 and a range sensor 27 .
The camera 26 acquires a two-dimensional image by capturing a visible image of the front of the truck 20 .

The range sensor 27 is a scanning optical distance sensor that acquires location information by measuring the distance to a detected object while scanning laser light. In this embodiment, the range sensor 27 uses a two-dimensional scanning optical distance sensor to acquire two-dimensional arrangement information, but may acquire three-dimensional arrangement information by two-axis scanning. Then, using the range sensor 27, the environment map of the floor is created, the shape of the container is specified, and the surrounding conditions such as the recognition of obstacles are acquired.

(Configuration example of information processing device)
FIG. 4 is a hardware configuration example of the information processing device H10 functioning as the calling device 10, the cart 20, the operator terminal 30, and the like.

The information processing device H10 has a communication device H11, an input device H12, a display device H13, a storage unit H14, and a processor H15. Note that this hardware configuration is an example, and other hardware may be included.

The communication device H11 is an interface that establishes a communication path with another device and executes data transmission/reception, such as a network interface card or a wireless interface.

The input device H12 is a device that receives input from a user or the like, such as a mouse or a keyboard. The display device H13 is a display, a touch panel, or the like that displays various information.

The storage unit H14 is a storage device (for example, a memory 13, a map storage unit 22, and a setting information storage unit 23, which will be described later) that stores data and various programs for executing various functions of the calling device 10 to the operator terminal 30. . Examples of the storage unit H14 include ROM, RAM, hard disk, and the like.

The processor H15 uses the programs and data stored in the storage unit H14 to perform each process in the information processing device H10 that functions as the calling device 10 to the operator terminal 30 (for example, the output control unit 14 and the control unit 21, which will be described later). processing). Examples of the processor H15 include, for example, a CPU and an MPU. The processor H15 develops a program stored in a ROM or the like into a RAM and executes various processes corresponding to various processes. For example, when the application programs of the calling device 10 to the operator terminal 30 are activated, the processor H15 operates a process for executing each process described later.

The processor H15 is not limited to performing software processing for all the processing that it itself executes. For example, the processor H15 may include a dedicated hardware circuit (for example, an application specific integrated circuit: ASIC) that performs hardware processing for at least part of the processing performed by the processor H15. That is, the processor H15 includes [1] one or more processors that operate according to a computer program (software), [2] one or more dedicated hardware circuits that execute at least part of various processes, or [ and 3) any combination thereof. A processor includes a CPU and memory, such as RAM and ROM, which stores program code or instructions configured to cause the CPU to perform processes. Memory or computer-readable media includes any available media that can be accessed by a general purpose or special purpose computer.

(Function of calling device 10)
Next, the function of the calling device 10 as a calling system will be described with reference to FIG. The calling device 10 is a device that calls the elevator car E1 of the temporary elevator using the intercoms P1 and P2. The calling device 10 includes a microphone 11 , a recording section 12 , a memory 13 , an output control section 14 , a speaker 15 , an operating section 16 , a selector 17 and a sensor 18 .

The microphone 11 is a sound collecting device for voice.
The recording unit 12 records the sound collected by the microphone 11 in the memory 13 in association with the pattern number. A pattern number is an identifier for identifying each recorded voice.

The memory 13 records the audio data in association with the pattern number. Here, the [floor number] of the floor on which the calling device 10 is installed is recorded in association with the pattern number. Then, based on the [truck identifier] acquired from the truck 20, voice data for reproducing "the truck of [truck identifier] is waiting at [floor]" is recorded.

The output control unit 14 functions as a call signal sending unit that outputs a buzzer signal to the intercom P1. Furthermore, it functions as a standby information output section for reproducing the audio data recorded in the memory 13 .

The speaker 15 outputs reproduced audio data.
The operation unit 16 is a user interface for performing operations at the time of voice registration and playback.
The selector 17 selects the audio data of the pattern number designated by the operation unit in the memory 13 .
The sensor 18 receives an arrival signal emitted by the truck 20 .

(Function of cart 20)
Next, the function of the carriage 20 will be described with reference to FIG.
The cart 20 includes a control section 21 , a map storage section 22 and a setting information storage section 23 . As mentioned above, truck 20 further comprises wheels 24 , jack 25 , camera 26 and range sensor 27 .

Each wheel 24 is driven by a wheel drive unit 241, and its rotation speed and rotation direction are controlled. The wheel drive unit 241 has a motor and a wheel encoder. As a result, the carriage 20 can be moved forward and backward, laterally, turned, and obliquely at any speed.

Each jack 25 is vertically controlled by a jack drive unit 251 . Thereby, the mounting surface of the carriage 20 can be raised or lowered.
The control unit 21 holds moving body identification information related to the truck identifier, and executes information processing such as the traveling control stage and the loading control stage. Therefore, the control unit 21 stores a transfer execution program. By activating this transportation execution program, the control section 21 functions as a travel control section 211 and a loading control section 212 .

The traveling control unit 211 drives the wheels 24 to execute processing for moving to the destination (transportation origin, transportation destination). In this case, the travel control unit 211 determines a travel route to the bottom of the transport object (container) specified by the loading control unit 212, and drives the wheels 24 according to this travel route.

The loading control unit 212 executes processing for loading the container 40 on which the objects to be transported are placed. In the present embodiment, the object to be transported is specified by recognizing the image including the color scheme and shape of the container 40 and reading the markers attached to the container 40 . Furthermore, it crawls under the identified container 40 and raises and lowers the mounting surface of the carriage 20 .

A floor map of each floor is recorded in the map storage unit 22 . The layout of each floor is set in the floor map. The floor map records the layout of floor walls, obstacles, temporary elevators, and the like.

In the setting information storage unit 23, preset setting information regarding transportation is recorded. Area information, route information, container information, and the like are recorded in the setting information.
The area information records the layout of each area set with respect to the two-dimensional coordinates of the floor map. For example, the arrangement of the stock area, goal area, home position, etc. is set. The stock area is a transportation start area of a transportation source where the container 40 is loaded (jacked up) and transportation is started. The goal area is a transport end area of a transport destination where the container 40 is unloaded (jacked down) and transport ends. The home position is a place where the carriage 20 that has completed the transport work returns and waits for the next transport instruction. Each area is set with a stop position (approach) where the carriage 20 temporarily stops. In this embodiment, it is assumed that the stock area and the home position are located on the same floor.

The route information records the order of movement between areas set on the floor map. If the transport source and transport destination are on different floors, a route using a temporary elevator is set.
Information about the container 40 to be transported by the truck 20 is recorded in the container information. Specifically, the container information includes information about the container ID, size, stock area, goal area, and the like.

The operator terminal 30 is a computer terminal used by an operator OP1 who operates the elevating car E1 of the temporary elevator. By using the operator terminal 30, wireless communication is used to instruct the trolley 20 to get on and off the elevator car E1 of the temporary elevator.

(Transportation management processing)
Next, the transport management process will be described with reference to FIG.
First, the control unit 21 of the truck 20 executes standby processing at the home position (step S1-1). Specifically, the travel control unit 211 of the control unit 21 waits at the home position to receive a transport start instruction from a management terminal (not shown).

Next, the control unit 21 of the carriage 20 executes a transfer start instruction acquisition process (step S1-2). Specifically, the travel control unit 211 of the control unit 21 acquires a transportation start instruction from the management terminal. This transportation start instruction includes area information, route information, and container information. Then, the travel control unit 211 records the acquired area information, route information, and container information in the setting information storage unit 23 .

Next, the control unit 21 of the carriage 20 executes processing for moving to the transportation source (step S1-3). Specifically, the travel control unit 211 of the control unit 21 uses the setting information recorded in the setting information storage unit 23 to control the wheel driving unit 241 to move to the stock area of the transportation source. In this case, in order to improve the accuracy of travel, the control unit 21 operates the range sensor 27 and travels while creating an environment map. In creating this environment map, the shape data of the surroundings is acquired, a SLAM (Simultaneous Localization and Mapping) map corresponding to the floor map is created, and recorded in the map storage unit 22 . The environment map and odometry information are used to estimate the self-position of the cart 20 . This odometry information is calculated from the counter value of the wheel encoder of the wheel driving section 241 .

Next, the controller 21 of the truck 20 executes loading processing (step S1-4). Specifically, when arriving at the stock area, the loading control section 212 of the control section 21 recognizes the container 40, approaches the container 40, crawls into the container 40, and loads the loading surface. In recognizing the containers 40, the loading controller 212 uses the camera 26 to read the markers of each container 40 and decode the container ID. Then, the loading control unit 212 identifies the container ID to be transported recorded in the setting information storage unit 23 . Next, when approaching the container 40 , the loading control unit 212 uses the camera 26 and range sensor 27 to approach the container 40 having the container ID to be transported. When entering the container 40 , the load control unit 212 uses the range sensor 27 to control travel so as to enter the lower side of the container 40 . Then, in loading onto the loading surface, the loading control unit 212 of the control unit 21 drives the jack driving unit 251 to lift the container 40 on which the objects to be transported are placed by the jack 25 .

Next, the control unit 21 of the carriage 20 specifies the route to the transport destination (step S1-5). Specifically, the travel control unit 211 of the control unit 21 uses the setting information recorded in the setting information storage unit 23 to identify the goal area to which the container 40 is to be conveyed.

Next, the control unit 21 of the carriage 20 executes determination processing as to whether or not the elevator is used (step S1-6). Specifically, the travel control unit 211 of the control unit 21 uses the route information recorded in the setting information storage unit 23 to determine whether the elevator is to be used. If the destination floor is different from the source floor and the route information indicates a route using a temporary elevator, it is determined that the elevator is used.

If it is determined that the elevator is to be used ("YES" in step S1-6), the control unit 21 of the carriage 20 executes elevator movement processing (step S1-7). In this case, movement control is performed so that the person gets on the elevator car E1 of the temporary elevator and gets off at the destination floor where the goal area is set. Details will be described later.

Then, the control unit 21 of the carriage 20 executes processing for moving to the transport destination (step S1-8). Specifically, the travel control unit 211 of the control unit 21 uses the floor map of the map storage unit 22 to control the wheel drive unit 241 according to the route information of the setting information. When it is determined that the elevator is not used ("NO" in step S1-6), the control unit 21 of the carriage 20 skips the elevator movement process (step S1-7).

Next, the control unit 21 of the truck 20 executes unloading processing (step S1-9). Specifically, the loading control unit 212 of the control unit 21 drives the jack driving unit 251 to cause the jack 25 to land the container 40 on which the object to be transported is placed in the transport destination area.
Next, the control unit 21 of the carriage 20 executes processing for moving to the home position (step S1-10). Specifically, the travel control unit 211 of the control unit 21 controls the wheel drive unit 241 to move to the home position set in the route information recorded in the setting information storage unit 23 . When the floor on which the home position is set is different from the destination floor, the travel control unit 211 of the control unit 21 determines that the elevator is to be used as described above ("YES" in step S1-6). , the elevator moving process (step S1-7) is executed, and then the robot moves to the home position.

(Elevator movement processing)
Next, the elevator movement processing will be described with reference to FIG. This processing is performed when the route information recorded in the setting information storage unit 23 is set to use a temporary elevator. Here, the outward trip from the stock area to the goal area will be described, but the same processing is performed on the return trip.

First, the control unit 21 of the carriage 20 executes the process of moving to the waiting place (step S2-1). Specifically, the travel control unit 211 of the control unit 21 causes the wheel drive unit 241 to move to the approach (stop position) of the temporary elevator in the route information recorded in the setting information storage unit 23 on the floor F1. Control.

Next, the control unit 21 of the carriage 20 executes pre-elevator arrival detection processing (step S2-2). Specifically, the travel control unit 211 of the control unit 21 determines whether or not the vehicle has arrived at the approach of the temporary elevator in the floor map recorded in the map storage unit 22 .

Next, the control unit 21 of the carriage 20 executes an identification signal transmission process (step S2-3). Specifically, when it is determined that the vehicle has arrived at the approach of the temporary elevator, the travel control unit 211 of the control unit 21 transmits an arrival signal to the calling device 10 by radio communication via the communication device H11. This arrival signal includes the truck identifier of the truck 20 .

Next, the control unit 21 of the carriage 20 executes waiting processing for boarding instructions (step S2-4). Specifically, the travel control unit 211 of the control unit 21 stops at the approach position of the temporary elevator until the boarding instruction is acquired.

On the other hand, the calling device 10 that has received the identification signal by radio from the truck 20 executes the intercom calling process (step S3-1). Specifically, when the sensor 18 receives the arrival signal, the output control unit 14 transmits a call signal to the intercom P1. In this case, intercom P1 outputs a ringing tone to intercom P2.

Next, the calling device 10 executes waiting processing for an operator response (step S3-2). Specifically, the output control unit 14 waits while measuring the elapsed time after outputting the ringing tone.

Next, the calling device 10 executes determination processing as to whether or not a response has been detected (step S3-3). Specifically, the output control unit 14 uses the microphone 11 to determine whether or not the response voice of the operator OP1 has been acquired from the intercom P1.

If no response can be detected ("NO" in step S3-3), calling device 10 executes determination processing as to whether or not the allowable time has elapsed (step S3-4). Specifically, the output control unit 14 compares the elapsed time after outputting the ringing tone and the allowable time.

If the permissible time has not elapsed ("NO" in step S3-4), the waiting process for operator response is continued (step S3-2).
If the response from operator OP1 cannot be detected and the permissible time has elapsed ("YES" in step S3-4), calling device 10 executes the intercom calling process again (step S3-1).

On the other hand, when a response from the operator is detected ("YES" in step S3-3), the calling device 10 executes processing for transmitting a calling voice (step S3-5). Specifically, the output control unit 14 uses the selector 17 to call the audio data recorded in the memory 13 . Here, the acquired identification signal of the truck 20 and the voice data corresponding to the floor on which the intercom P1 is installed are called. Then, the output control unit 14 uses the speaker 15 to reproduce the audio data acquired from the memory 13 . The reproduced voice is collected by the intercom P1 and output from the intercom P2. In this case, the operator OP1 who has heard the voice output from the intercom P2 moves the elevator car E1 to the waiting floor of the truck 20, which is the floor number included in the voice.

After that, the control unit 21 of the carriage 20 executes a boarding instruction acquisition process (step S2-5). Specifically, when the elevator car E1 arrives at the waiting floor of the carriage 20, the operator OP1 wirelessly connects the carriage 20 and the operator terminal 30. FIG. In this case, the travel control unit 211 of the control unit 21 transmits to the operator terminal 30 floor information (departure floor) in which the goal area is set. After confirming the floor to get off, the operator OP1 uses the operator terminal 30 to transmit a boarding instruction to the trolley 20 .

Next, the controller 21 of the truck 20 executes boarding processing (step S2-6). Specifically, the travel control unit 211 of the control unit 21 controls the wheel drive unit 241 to move into the elevator car E1 of the temporary elevator. Then, the truck 20 stops traveling inside the elevator car E1.

Next, the control unit 21 of the carriage 20 executes standby processing for instructions to get off (step S2-7). Specifically, the travel control unit 211 of the control unit 21 waits until an instruction to get off the vehicle is obtained from the operator terminal 30 .
Then, the operator OP1 operates to move the elevator car E1 of the temporary elevator to the floor obtained from the truck 20 to get off.

Next, the control unit 21 of the truck 20 executes a get-off instruction acquisition process (step S2-8). Specifically, when arriving at the floor to get off, the operator OP1 uses the operator terminal 30 to transmit an instruction to get off to the truck 20 . In this case, the travel control unit 211 of the control unit 21 acquires the exit instruction from the operator terminal 30 .

Next, the control unit 21 of the carriage 20 executes a deboarding process (step S2-9). Specifically, the travel control unit 211 controls the wheel drive unit 241 so as to move from the elevator car E1 of the temporary elevator to the floor F2 of the floor to get off. Then, the traveling control unit 211 controls the wheel driving unit 241 so that the vehicle moves to the goal area (destination) on the floor where the passenger gets off.

According to this embodiment, the following effects can be obtained.
(1) In this embodiment, the cart 20 includes a control unit 21 , a map storage unit 22 , a setting information storage unit 23 , a camera 26 and a range sensor 27 . As a result, the object to be conveyed identified by the camera 26 can be self-propelled using the range sensor 27 along the route recorded in the setting information storage unit 23, and can be efficiently conveyed from the stock area to the goal area. .

(2) In the present embodiment, when it is determined that the elevator is to be used (“YES” in step S1-6), the controller 21 of the carriage 20 executes elevator movement processing (step S1-7). As a result, the carriage 20 can be moved to a location on a different floor.

(3) In the present embodiment, the control unit 21 of the carriage 20 executes the process of moving to the waiting place (step S2-1) and the process of detecting arrival in front of the elevator (step S2-2). As a result, the truck 20 can wait in front of the entrance of the elevator for the elevator car E1 to arrive.

(4) In the present embodiment, the controller 21 of the carriage 20 executes processing for transmitting an identification signal (step S2-3). As a result, the identification signal of the waiting truck 20 can be transmitted to the calling device 10 .
(5) In the present embodiment, the calling device 10 executes intercom calling processing (step S3-1). As a result, when the carriage 20 is waiting in front of the entrance of the elevator, the operator OP1 of the elevator can be called. Therefore, it is possible to efficiently call the operator OP1 of the elevator on which the truck rides.

(6) In the present embodiment, when a response from the operator OP1 is detected ("YES" in step S3-3), the calling device 10 executes processing for transmitting a calling voice (step S3-5). As a result, the existing intercom can be used to notify the status of the truck 20 waiting for boarding.
(7) In the present embodiment, when the response from the operator OP1 cannot be detected and the permissible time has elapsed ("YES" in step S3-4), the calling device 10 executes the intercom calling process again. (Step S3-1). Thereby, the attention of the operator OP1 of the temporary elevator can be aroused.

(8) In the present embodiment, the control unit 21 of the truck 20 performs boarding instruction acquisition processing (step S2-5), boarding processing (step S2-6), exit instruction acquisition processing (step S2-8), Processing (step S2-9) is executed. As a result, the truck 20 can get on and off in accordance with instructions from the operator OP1 of the temporary elevator.

(9) In the present embodiment, the carriage 20 performs wireless communication with the calling device 10 in the process of transmitting the arrival signal (step S2-3). In addition, the cart 20 performs wireless communication with the operator terminal 30 in the get-on instruction acquisition process (step S2-5) and the get-off instruction acquisition process (step S2-8). These wireless communications are performed only when the carriage 20 is in the vicinity of the calling device 10 or the operator terminal 30, so they can be realized with a simple communication device H11. In other words, there is no need for an environment or facility for covering the entire ascending/descending range of the elevator and performing wireless communication with remote locations.

This embodiment can be implemented with the following modifications. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
- In the above-described embodiment, the operator terminal 30 is used to transmit a boarding instruction and an alighting instruction to the truck 20 . The method of providing each instruction is not limited to using the operator terminal 30 . For example, an operation unit may be provided on the truck 20, and the operator OP1 may input a boarding instruction or an alighting instruction via this operation unit.

The camera 26 of the truck 20 may also be used to provide instructions. In this case, the gesture pattern is recorded in the travel control unit 211 . Then, the operator OP1 performs predetermined gesture motions when getting in and out of the vehicle. Then, when the gesture pattern is detected by the image recognition of the image captured by the camera 26, the traveling control unit 211 performs getting in and out of the vehicle.
Also, a microphone may be provided on the carriage 20, and boarding and alighting may be performed based on the recognition of the voice uttered by the operator OP1.

- In the above embodiment, the trolley 20 transmits an arrival signal including the trolley identifier. The information included in the arrival signal is not limited to the truck identifier. For example, the destination floor and the size of the container 40 may be included. In this case, the information obtained from the truck 20 is included in the sound output by the output control unit 14 . This allows the operator OP1 to grasp the situation of the carriage 20 on standby.

- In the above-described embodiment, the calling device 10 is provided with the output control section 14 that functions as a standby information output section that reproduces the voice data recorded in the memory 13 . Then, using the speaker 15 of the calling device 10, the voice is output to the intercom P1. Instead of this, the carriage 20 may be provided with a standby information output section. In this case, the truck 20 may be provided with a microphone 11, a recording unit 12, and a memory 13 so that the truck 20 outputs voice. Specifically, when a response from the operator is detected ("NO" in step S3-3), the carriage 20 executes processing for transmitting a calling voice (step S3-5). In this case, the route information recorded in the setting information storage unit 23 is used to output voice including information about the floor (waiting floor) of the current position.

- In the above embodiment, the control unit 21 of the truck 20 executes the process of transmitting the arrival signal (step S2-3). Here, when arriving at the approach of the temporary elevator, the travel control unit 211 of the control unit 21 transmits an arrival signal by wireless communication via the communication device H11. The method of transmitting the arrival signal is not limited to wireless communication. It is also possible to use infrared communication or communication by physical connection. For example, a mechanism for pressing a call button may be externally attached to the output control unit 14 . Alternatively, a weight sensor may be provided on the approach, and an arrival signal may be output when the weight sensor detects boarding of the truck 20 .

- In the above embodiment, the elevator car E1 of the temporary elevator is used as the transport car. The transport car is not limited to the elevator car E1 of the temporary elevator, as long as it transports the moving object. For example, it can also be applied to a conveying device or the like in which the carriage 20 is placed and horizontally moved.

- In the above embodiment, the cart 20 is used as a moving body. The carriage 20 is a conveying device having wheels 24 and jacks 25 in its main body. The arrangement and configuration of the wheels 24 and jacks 25 are not limited to the above embodiment. Further, the moving body is not limited to the cart 20 as long as it is a self-propelled device. For example, it can be applied to a cleaning robot or the like.

F1, F2... Floor, OP1... Operator, P1... Intercom, P2... Intercom, 10... Calling device, 11... Microphone, 12... Recording unit, 13... Memory, 14... Output control unit, 15... Speaker, 16... Operation unit , 17... Selector, 18... Sensor, 20... Truck, 30... Operator terminal, 40... Container.

Claims (5)

a first private telephone set provided at the doorway of the carrier;
A calling system that calls a carrier car on which a self-propelled mobile body rides by using a local device including a second private telephone used by an operator of the carrier car,
the calling system comprising:
a sensor that detects the moving body at a waiting place where the carrier waits for boarding;
a call signal sending unit for outputting a call signal to the second private telephone set via the first private telephone set in response to detection of the moving object by the sensor;
a standby information output unit for outputting the standby information of the moving body to the second local telephone set via the first local telephone telephone based on a response from the second local telephone telephone. call system. The standby information output unit holds position information of the location where the first private telephone set is installed,
2. The paging system according to claim 1, wherein said position information is included in said standby information. 3. The call system according to claim 1, wherein said standby information output unit outputs said standby information in a voice that can be heard by said first private telephone set. The standby information output unit acquires moving body identification information from the moving body detected at the waiting place,
4. The paging system according to any one of claims 1 to 3, wherein said standby information includes said mobile unit identification information. a first private telephone set provided at the doorway of the carrier;
A calling method using a calling system that calls a carrier car in which a self-propelled mobile body rides using a local equipment including a second private telephone set used by the operator of the carrier car,
the calling system comprising:
Detecting the moving object at a waiting place waiting for boarding of the transport car,
outputting a call signal to the second local telephone set via the first local telephone telephone in response to the detection of the moving object;
A calling method, comprising: outputting standby information of said mobile unit to said second private telephone set via said first private telephone set based on a response from said second telephone set.

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