JP7416318B1 - Elevator system, control device, relay device, control method for control device, control method for relay device, and program - Google Patents

Abstract

The present invention provides an elevator system in which door information regarding opening and closing of a car door can be appropriately transmitted to a device with which an autonomous mobile body communicates. An elevator system (1) includes an autonomous moving body (4), a control device (6), and an interlocking device (3). The control device 6 manages the operation of the car 5. The control device 6 includes an information providing section 42, a communication section 41, and an operation control section 45. The information providing unit 42 transmits car information regarding the operation of the car 5 to the interlocking device 3 at first intervals. When the car 5 that has responded to the call registration request arrives at the boarding floor Fr, the information providing unit 42 changes the transmission interval of the car information of the car 5 to a second interval shorter than the first interval. [Selection diagram] Figure 1

Description

The present disclosure relates to an elevator system, a control device, a relay device, a control method for a control device, a method for controlling a relay device, and a program.

Patent Document 1 describes an elevator system. The elevator system described in Patent Document 1 includes a relay device. Once the car in which the robot rides is determined, information about that car is transmitted from the relay device to the robot server.

Patent No. 7231096

In an elevator system, car information is transmitted to a device with which an autonomous mobile body communicates. Conventionally, the transmission interval of the information was long, and the control of the device could be delayed. If a delay occurs in the control in the device, the autonomous mobile object will fail to get into the car.

The present disclosure has been made to solve the problems described above. An object of the present disclosure is to provide an elevator system that can appropriately transmit car information to a device with which an autonomous mobile body communicates. Another object of the present disclosure is to provide a control device, a relay device, a control method for the control device, a method for controlling the relay device, and a program for realizing such functions in an elevator system.

An elevator system according to the present disclosure includes an autonomous mobile body, a control device that manages operation of a first car, and an interlocking device that communicates with the autonomous mobile body and the control device. The control device includes an information providing unit that transmits car information regarding the operation of the first car to the interlocking device at a first interval, and a call registration request for the autonomous mobile object to ride the first car and move from the boarding floor to the destination floor. The vehicle includes a communication unit that receives the call registration request from the interlocking device, and an operation control unit that causes the first car to respond to the call registration request received by the communication unit. The information providing unit changes the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor.

An elevator system according to the present disclosure includes an autonomous mobile body, a control device that manages the operation of a plurality of cars, and an interlocking device that communicates with the autonomous mobile body and the control device. The control device includes an information providing unit that transmits car information regarding the operation of each of the plurality of cars to the interlocking device at a first interval, and an information providing unit that transmits car information regarding the operation of each of the plurality of cars to the interlocking device, and an information providing unit that allows the autonomous mobile object to ride one of the plurality of cars and move from the boarding floor to the destination floor. a communication unit that receives a call registration request from an interlocking device to perform a call registration request, a determination unit that determines a first car from among a plurality of cars to respond to the call registration request received by the communication unit; and an operation control unit that causes one car to respond to a call registration request. The information providing unit changes the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor.

An elevator system according to the present disclosure includes an autonomous mobile body, a control device that manages the operation of a plurality of cars, an interlocking device that communicates with the autonomous mobile body, and a relay device that communicates with the interlocking device and the control device. The control device includes a first information providing unit that transmits car information related to the operation of each of the plurality of cars to the relay device, and a first information providing unit that transmits car information regarding the operation of each of the plurality of cars to the relay device, and a first information providing unit that allows the autonomous mobile object to ride one of the plurality of cars and move from the boarding floor to the destination floor. a communication unit that receives a call registration request from an interlocking device via a relay device; a determination unit that determines a first car to respond to the call registration request received by the communication unit from among a plurality of cars; The present invention includes an operation control unit that causes the determined first car to respond to the call registration request, and an allocation notification unit that transmits an allocation car notification indicating the first car determined by the determination unit to the relay device. Upon receiving the assigned car notification, the relay device transmits the car information of the first car to the interlocking device at a first interval, and when the first car that responded to the call registration request arrives at the boarding floor, the relay device transmits the car information of the first car to the interlocking device at a first interval. A second information providing unit is provided that changes the information transmission interval to a second interval shorter than the first interval.

A control device according to the present disclosure is a control device that can communicate with an interlocking device that communicates with an autonomous mobile body, and manages the operation of a first car of an elevator. The control device includes an information providing unit that transmits car information regarding the operation of the first car to the interlocking device at first intervals, and a call registration unit for the autonomous mobile object to ride the first car and move from the boarding floor to the destination floor. The communication unit includes a communication unit that receives a request from the interlocking device, and an operation control unit that causes the first car to respond to the call registration request received by the communication unit. The information providing unit changes the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor.

A relay device according to the present disclosure is a relay device that can communicate with an interlocking device that communicates with an autonomous mobile body and a control device that manages the operation of a plurality of elevator cars. The relay device includes a communication unit that receives car information related to operation from a control device for each of the plurality of cars, and a communication unit that receives car information regarding the operation from the control device for each of the plurality of cars, and a call unit that allows the autonomous mobile object to move from the boarding floor to the destination floor in one of the plurality of cars. and an information providing unit that transmits car information of the first car to the interlocking device at first intervals when an assigned car notification indicating the first car responding to the registration request is received from the control device. The information providing unit changes the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor.

A control method for a control device according to the present disclosure is a method for controlling a control device that can communicate with an interlocking device that communicates with an autonomous mobile body and manages the operation of a first car of an elevator. The control method includes a first information providing step of transmitting car information regarding the operation of the first car to the interlocking device at a first interval, and a step of transmitting car information regarding the operation of the first car to the interlocking device, and a step for the autonomous mobile object to move from the boarding floor to the destination floor by riding the first car. a communication step of receiving a call registration request from the interlocking device; an operation control step of causing the first car to respond to the call registration request received in the communication step; and when the first car that has responded to the call registration request arrives at the boarding floor. and a second information providing step of changing the transmission interval of the car information of the first car to a second interval shorter than the first interval.

A method for controlling a relay device according to the present disclosure is a method for controlling a relay device that can communicate with an interlocking device that communicates with an autonomous mobile body and a control device that manages the operation of a plurality of elevator cars. The control method includes a communication step of receiving car information regarding the operation of each of the plurality of cars from the control device, and a call for the autonomous mobile object to ride one of the plurality of cars and move from the boarding floor to the destination floor. When an assigned car notification indicating the first car responding to the registration request is received from the control device, a first information providing step of transmitting car information of the first car to the interlocking device at a first interval; The present invention includes a second information providing step of changing the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car arrives at the boarding floor.

The program according to the present disclosure is capable of communicating with an interlocking device that communicates with an autonomous mobile body, and transmits car information regarding the operation of the first car to the interlocking device at a first interval to a computer that manages the operation of the first car of the elevator. A first information provision process for transmitting, a communication process for receiving a call registration request from an interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car, and a call registration request received in the communication process. The operation control process causes the first car to respond, and when the first car that has responded to the call registration request arrives at the boarding floor, the car information transmission interval of the first car is set to a second interval shorter than the first interval. This is for executing the second information providing process to be changed.

A program according to the present disclosure transmits car information regarding the operation of each of a plurality of cars from the control device to a computer capable of communicating with an interlocking device that communicates with an autonomous mobile object and a control device that manages the operation of a plurality of elevator cars. Upon receiving from the control device an assigned car notification indicating the communication process to be received and the first car responding to the call registration request for the autonomous mobile object to move from the boarding floor to the destination floor in one of the plurality of cars, A first information provision process of transmitting the car information of the first car to the interlocking device at a first interval, and a transmission interval of the car information of the first car when the first car that has responded to the call registration request arrives at the boarding floor. This is for executing a second information providing process of changing the interval to a second interval shorter than the first interval.

According to the present disclosure, in an elevator system, car information can be appropriately transmitted to a device with which an autonomous mobile body communicates.

1 is a diagram showing an example of an elevator system in Embodiment 1. FIG. It is a flow chart which shows an example of operation of an interlocking device. FIG. 2 is a sequence diagram showing an example of the overall operation of the elevator system. It is a flow chart which shows an example of operation of a control device. It is a flowchart which shows another example of operation of an interlocking device. It is a flow chart which shows an example of operation of an autonomous mobile object. It is a flowchart which shows another example of operation of an interlocking device. 12 is a flowchart illustrating an example of processing performed in S208. It is a figure showing other examples of the elevator system in Embodiment 1. FIG. 2 is a sequence diagram showing an example of the overall operation of the elevator system. It is a flow chart which shows an example of operation of a control device. It is a flow chart which shows an example of operation of a relay device. It is a flowchart which shows another example of operation of a relay device. FIG. 3 is a diagram illustrating an example of hardware resources of a control device. FIG. 7 is a diagram showing another example of hardware resources of the control device.

A detailed explanation will be given below with reference to the drawings. Duplicate explanations will be simplified or omitted as appropriate. In each figure, the same reference numerals indicate the same or corresponding parts.

Embodiment 1.
FIG. 1 is a diagram showing an example of an elevator system 1 in the first embodiment. The elevator system 1 includes an elevator device 2, an interlocking device 3, and an autonomous mobile body 4. The elevator device 2 includes a car 5 and a control device 6. The elevator system 1 may include a plurality of autonomous mobile bodies 4. The elevator device 2 may include a plurality of cars 5. In the following, an example in which the elevator device 2 includes two cars 5 will be described.

Each elevator car 5 stops at multiple floors within the building. The user can ride the car 5 and move to a desired floor. Each car 5 includes a door 7. The control device 6 manages the operation of each car 5. When the elevator device 2 includes a plurality of cars 5, the control device 6 may manage the plurality of cars 5 as a group.

The autonomous mobile body 4 is capable of autonomously moving within the building. As an example, the autonomous mobile body 4 is a cleaning robot. The autonomous mobile body 4 may be a security robot. The autonomous mobile body 4 may be a robot for transporting luggage. The autonomous mobile body 4 may be a robot that plays other roles within the building. The autonomous mobile body 4 can ride the car 5 and move to a desired floor.

In the elevator system 1, an autonomous mobile body 4 can move together with a user in a car 5. For example, the autonomous mobile body 4 may board the car 5 in which the user is riding. A user may board the car 5 on which the autonomous mobile object 4 is riding. The elevator system 1 may include a car 5 dedicated to the autonomous mobile body 4 and a car 5 dedicated to users. As another example, the elevator device 2 may include only the car 5 dedicated to the autonomous mobile body 4.

The interlocking device 3 is capable of bidirectional communication with the control device 6. The interlocking device 3 is capable of bidirectional communication with the autonomous mobile body 4. If a device for managing the autonomous mobile body 4 is provided separately from the autonomous mobile body 4, the interlocking device 3 may communicate with the autonomous mobile body 4 via the device. In the elevator system 1, the autonomous mobile body 4 basically does not communicate directly with the control device 6. The interlocking device 3 mediates between the autonomous mobile body 4 and the control device 6.

The interlocking device 3 includes a storage section 10, a communication section 11, a communication section 12, a recording section 13, a call request section 14,
It includes a second door determination section 15, a door request section 16, and a boarding/alighting request section 17.

The communication unit 11 is a function for communicating with the autonomous mobile body 4. The communication unit 12 is a function for communicating with the control device 6. The call requesting unit 14 is a function for requesting the control device 6 to register a call. The door requesting unit 16 is a function for requesting the control device 6 to open or close the door 7, etc. The boarding/alighting request unit 17 is a function for requesting the autonomous mobile body 4 to board and alight. Specifically, the boarding request unit 17 has the functions of a boarding requesting unit for requesting the autonomous mobile body 4 to get on the vehicle and a function of a getting off requesting unit for requesting the autonomous mobile unit 4 to get off the vehicle. That is, the boarding request section is a part of the function of the boarding and alighting requesting section 17.

The functions of the interlocking device 3 can be realized by a so-called computer. As an example, the functions of the interlocking device 3 are realized by a cloud server. The functions of the interlocking device 3 may be realized by a server in a building in which the elevator device 2 is provided.

The autonomous mobile body 4 includes a communication section 31, an information provision section 32, and an operation control section 33.

The communication unit 31 is a function for communicating with the interlocking device 3. The information providing unit 32 is a function for acquiring information regarding the autonomous mobile body 4 and providing it to the outside. In the following, this information will also be referred to as mobile information. As an example, the mobile object information includes information indicating the position coordinates, orientation, current floor, remaining charge level, state, operation, etc. of the autonomous mobile object 4. The above-mentioned states include, for example, moving, waiting, charging, waiting at the elevator entrance, riding the elevator, being inside the elevator, getting off the elevator, and the like. Examples of mobile object information are not limited to the above.

The operation control unit 33 is a function for controlling the operation of the autonomous mobile body 4. For example, the autonomous mobile body 4 moves when the operation control unit 33 controls a driving machine (not shown). The functions possessed by the autonomous mobile body 4 can be realized by a so-called computer.

The control device 6 includes a communication section 41 , an information provision section 42 , a determination section 43 , an allocation notification section 44 , an operation control section 45 , and a first door determination section 46 .

The communication unit 41 is a function for communicating with the interlocking device 3. The information providing unit 42 is a function for acquiring information regarding the operation of the car 5 and providing it to the outside. In the following, this information is also referred to as car information. The information providing unit 42 acquires car information about each car 5 provided in the elevator device 2 and provides it to the outside. As an example, the car information includes information indicating the position of the car 5, the state of the car 5, and the like. The states of the car 5 include, for example, stopping, moving upward, moving downward, and the like. Furthermore, the car information includes information regarding opening and closing of the door 7. In the following, this information will also be referred to as door information. The door information includes, for example, fully closed, in an opening operation, fully open, and in a closing operation. Examples of car information are not limited to the above.

The operation control unit 45 controls the operation of the elevator device 2. For example, the operation control unit 45 controls movement of the car 5. The operation control unit 45 controls opening and closing of the door 7. The functions of the control device 6 can be realized by a so-called computer.

The operation of the elevator system 1 will be described in detail below with reference also to FIGS. 2 to 8. FIG. 2 is a flowchart showing an example of the operation of the interlocking device 3.

In the interlocking device 3, it is determined whether mobile body information has been received from the autonomous mobile body 4 (S101). In the autonomous mobile body 4, the mobile body information acquired by the information providing unit 32 is periodically transmitted from the communication unit 31 to the interlocking device 3. The autonomous mobile body 4 may transmit the mobile body information each time the content of the mobile body information is changed. The mobile body information from the autonomous mobile body 4 is received by the communication unit 11 in the interlocking device 3 . When the communication unit 11 receives the mobile object information, it is determined as Yes in S101.

If it is determined Yes in S101, the recording unit 13 records the mobile object information received by the communication unit 11 in the storage unit 10 (S102). As a result, mobile object information is accumulated in the storage unit 10. In the interlocking device 3, the latest state of the autonomous mobile body 4 can be specified based on the mobile body information stored in the storage unit 10. Furthermore, the interlocking device 3 can specify the latest position of the autonomous mobile body 4 based on the mobile body information stored in the storage unit 10.

Next, the operation when the autonomous mobile body 4 moves on the car 5 will be explained. FIG. 3 is a sequence diagram showing an example of the overall operation of the elevator system 1. FIG. 4 is a flowchart showing an example of the operation of the control device 6.

In the control device 6, the information providing unit 42 transmits the car information of each car 5 to the interlocking device 3 at a specific cycle (S201). The car information transmitted by the information providing unit 42 includes door information. Basically, the information providing unit 42 transmits car information about each of the plurality of cars 5 included in the elevator device 2 to the interlocking device 3 at first intervals. The first interval is preset. Note that the process in S201 is not limited to when the autonomous mobile body 4 moves on the car 5. For example, the process of S201 is always performed before the autonomous mobile body 4 gets on the car 5.

FIG. 5 is a flowchart showing another example of the operation of the interlocking device 3.

In the interlocking device 3, it is determined whether or not car information has been received from the control device 6 (S301). The communication unit 12 in the interlocking device 3 receives the car information from the control device 6 . When the communication unit 12 receives the car information, the determination in S301 is Yes.

If the determination in S301 is Yes, the recording unit 13 records the car information received by the communication unit 12 in the storage unit 10 (S302). As a result, car information including door information is accumulated in the storage unit 10. In the interlocking device 3, the latest position and state of the car 5 can be specified based on the car information stored in the storage unit 10. In the interlocking device 3, the latest state of the door 7 can be specified based on the car information stored in the storage unit 10.

FIG. 6 is a flowchart showing an example of the operation of the autonomous mobile body 4. When the autonomous mobile body 4 needs to move on the car 5, it moves to the elevator hall. Then, the autonomous mobile body 4 transmits a call request from the communication unit 31 to the interlocking device 3 (S401).

FIG. 7 is a flowchart showing another example of the operation of the interlocking device 3. In the interlocking device 3, it is determined whether a call request has been received from the autonomous mobile body 4 (S501). When the communication unit 11 receives the call request transmitted from the autonomous mobile body 4 in S401, it is determined as Yes in S501.

If it is determined Yes in S501, the call request unit 14 transmits a call registration request to the control device 6 in response to the call request received by the communication unit 11 in S501 (S502). This call registration request includes information on the boarding floor Fr and destination floor Fd. The boarding floor Fr is the floor on which the autonomous mobile body 4 rides the car 5. The destination floor Fd is the floor where the autonomous mobile body 4 gets off the car 5. That is, this call registration request is a request to the control device 6 for the autonomous mobile body 4 to ride in any car 5 and move from the boarding floor Fr to the destination floor Fd. In addition, in this example, any of the above-mentioned cars 5 is one of the plurality of cars 5 provided in the elevator device 2, and if the elevator device 2 is provided with only one car 5, that car 5 It is. Further, the boarding floor Fr may be specified, for example, from information indicating the current floor included in the moving object information.

The control device 6 determines whether a call registration request has been received from the interlocking device 3 (S202). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 in S502, it is determined as Yes in S202.

If the determination is Yes in S202, the determination unit 43 determines the car 5 that responds to the call registration request that the communication unit 41 received in S202 (S203). If the elevator device 2 includes a plurality of cars 5 as in this example, the determining unit 43 allocates the call registration request to one of the plurality of cars 5 and causes it to respond. In the following, the car 5 that responds to the call registration request is also referred to as the assigned car 5. If the elevator device 2 has only one car 5, that car 5 is the assigned car 5 and responds to the call registration request.

When the determining unit 43 determines the allocated car 5 in S203, the allocation notification unit 44 transmits an allocated car notification from the communication unit 41 to the interlocking device 3 (S204). The assigned car notification includes information indicating the assigned car 5 determined by the determination unit 43.

When the interlocking device 3 transmits the call registration request in S502, it is determined whether or not an assigned car notification has been received from the control device 6 as a response (S503). When the communication unit 12 receives the assigned car notification transmitted from the control device 6 in S204, it is determined as Yes in S503. If the determination in S503 is Yes, the assigned car notification is transmitted from the communication unit 11 to the autonomous mobile body 4 (S504).

Note that in the autonomous mobile body 4, the communication unit 31 receives the assigned car notification transmitted from the interlocking device 3 in S504. When the elevator device 2 is equipped with a plurality of cars 5, the operation control unit 33 may prepare for riding in the assigned car 5. For example, when the operation control unit 33 controls the drive machine, the autonomous mobile body 4 moves in front of the door for boarding the assigned car 5.

In the control device 6, when the determining unit 43 determines the allocated car 5 in S203, the operation control unit 45 causes the allocated car 5 to respond to the call registration request. Specifically, in response to the call registration request, the operation control unit 45 moves the assigned car 5 to the boarding floor Fr (S205). The operation control unit 45 opens the door 7 of the assigned car 5 when the assigned car 5 is stopped at the boarding floor Fr.

The information providing unit 42 of the control device 6 has a function of shortening the interval at which car information of the assigned car 5 is transmitted to the interlocking device 3 when the assigned car 5 that has responded to the call registration request arrives at the boarding floor Fr. Specifically, the information providing unit 42 changes the transmission interval of the car information of the assigned car 5 to the interlocking device 3 from the first interval to the second interval. The second interval is a shorter interval than the first interval. Note that for cars 5 other than the assigned car 5, the car information transmission interval remains the first interval and is not changed.

In order to realize such a function, the control device 6 determines whether the first switching condition is satisfied (S206). The first switching condition is a condition for switching the car information transmission interval from the first interval to the second interval. The first switching condition is set in advance.

As an example, when the door 7 of the assigned car 5 begins to open at the boarding floor Fr, the first switching condition is satisfied. Therefore, in S206, the first door determination unit 46 determines whether the door 7 of the assigned car 5 that responded to the call registration request has started to open at the boarding floor Fr. When the first door determination unit 46 determines that the door 7 of the assigned car 5 that responded to the call registration request has begun to open at the boarding floor Fr, the first switching condition is satisfied. That is, the determination in S206 is Yes. If it is determined Yes in S206, the information providing unit 42 changes the transmission interval of the car information of the assigned car 5 to the interlocking device 3 from the first interval to the second interval (S207). That is, after the determination in S206 is Yes, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the second interval.

As another example, the first switching condition may be satisfied when the assigned car 5 stops at the boarding floor Fr.

Note that, as shown in FIG. 5, in the interlocking device 3, the car information received by the communication section 12 is stored in the storage section 10.

In addition, in the interlocking device 3, when receiving the assigned car notification in S503, the second door determination unit 15 determines whether the door 7 of the assigned car 5 that responded to the call registration request opens at the boarding floor Fr (S505 ). For example, the determination in S505 is made based on the car information stored in the storage unit 10. When the second door determination unit 15 determines that the door 7 of the assigned car 5 is opened at the boarding floor Fr, the determination is Yes in S505.

If the determination in S505 is Yes, the door requesting unit 16 transmits a request to continue opening the door to the control device 6 (S506). The door open continuation request is a request to extend the open time of the door 7 of the assigned car 5 for the autonomous mobile body 4.

Moreover, if it is determined Yes in S505, the boarding request unit 17 transmits a boarding request to the autonomous mobile body 4 (S507). The boarding request includes information indicating that riding in the assigned car 5 is permitted.

When the autonomous mobile body 4 transmits the call request in S401, it is determined whether or not a ride request is received from the interlocking device 3 as a response (S402). When the communication unit 31 receives the ride request transmitted from the interlocking device 3 in S507, it is determined as Yes in S402. If the determination is Yes in S402, the autonomous mobile body 4 starts an operation to get into the assigned car 5, and gets on the assigned car 5 (S403). That is, as the operation control unit 33 controls the drive machine, the autonomous mobile body 4 moves from the landing of the boarding floor Fr to the inside of the assigned car 5. When the autonomous mobile body 4 gets on the assigned car 5, a ride completion notification is transmitted from the communication unit 31 to the interlocking device 3 (S404).

When the interlocking device 3 transmits the ride request in S507, it is determined whether or not a ride completion notification has been received from the autonomous mobile body 4 as a response (S508). When the communication unit 11 receives the ride completion notification transmitted from the autonomous mobile body 4 in S404, it is determined as Yes in S508. If the determination is Yes in S508, the door request unit 16 transmits a door open continuation termination request to close the door 7 of the assigned car 5 to the control device 6 (S509).

In the control device 6, as described above, the operation control unit 45 opens the door 7 of the assigned car 5 when the assigned car 5 is stopped at the boarding floor Fr. Thereafter, the control device 6 determines whether the closing operation start condition is satisfied (S208). The closing operation start condition is a condition for starting the closing operation of the door 7 of the assigned car 5. The closing operation start conditions are set in advance.

FIG. 8 is a flowchart illustrating an example of the process performed in S208. When the door 7 of the assigned car 5 is fully opened, the control device 6 determines whether a time T1 has elapsed since the door 7 of the assigned car 5 was fully opened (S601). Time T1 is set in advance. Time T1 is an arbitrary time. As an example, time T1 is 4 seconds. If the time T1 has not elapsed since the door 7 of the assigned car 5 was fully opened, a negative determination is made in S601.

If it is determined No in S601, it is determined whether a request to continue opening the door has been received from the interlocking device 3 (S602). When the communication unit 41 receives the door open continuation request transmitted from the interlocking device 3 in S506, it is determined as Yes in S602. On the other hand, if the time T1 elapses without receiving a door open continuation request from the interlocking device 3, the determination in S601 is Yes. If it is determined Yes in S601, the closing operation start condition is satisfied (S606). That is, the determination in S208 is Yes.

If a door open continuation request is received from the interlocking device 3 before the time T1 has elapsed, the determination in S602 is Yes. If the determination is Yes in S602, the opening time of the door 7 of the assigned car 5 is extended (S603). That is, upon receiving the door open continuation request, the operation control unit 45 continues to open the door 7 of the assigned car 5 even after the time T1 has elapsed.

Specifically, when it is determined Yes in S602, the control device 6 determines whether or not time T2 has elapsed since receiving the door open continuation request (S604). Time T2 is set in advance. Time T2 is an arbitrary time. As an example, time T2 is 3 minutes. If the time T2 has not elapsed since the door open continuation request was received, a negative determination is made in S604.

If it is determined No in S604, it is determined whether a request to terminate the door opening continuation is received from the interlocking device 3 (S605). If the communication unit 41 receives the door opening continuation termination request transmitted from the interlocking device 3 in S509 before the time T2 has elapsed, the determination is Yes in S605. If it is determined Yes in S605, the closing operation start condition is satisfied (S606).

On the other hand, if the time T2 elapses without receiving a door open continuation termination request from the interlocking device 3, the determination in S604 is Yes. If it is determined Yes in S604, the closing operation start condition is satisfied (S606).

In the control device 6, when the determination is Yes in S208, the operation control unit 45 starts closing the door 7 of the assigned car 5 (S209).

The information providing unit 42 of the control device 6 transmits the car information of the allocated car 5 to the interlocking device 3 at an interval when the allocated car 5 carrying the autonomous mobile object 4 departs from the boarding floor Fr to the destination floor Fd. It has a function to restore the original state. Specifically, the information providing unit 42 changes the transmission interval of the car information of the assigned car 5 to the interlocking device 3 from the second interval to the first interval.

In order to realize such a function, the control device 6 determines whether the second switching condition is satisfied (S210). The second switching condition is a condition for switching the car information transmission interval from the second interval to the first interval. The second switching condition is set in advance.

As an example, when the door 7 of the assigned car 5 is completely closed at the boarding floor Fr, the second switching condition is satisfied. Therefore, in S210, the first door determination unit 46 determines whether the door 7 of the assigned car 5 carrying the autonomous mobile object 4 is fully closed at the boarding floor Fr. When the first door determination unit 46 determines that the door 7 of the assigned car 5 carrying the autonomous mobile object 4 is fully closed at the boarding floor Fr, the second switching condition is satisfied. That is, the determination in S210 is Yes. If it is determined Yes in S210, the information providing unit 42 changes the transmission interval of the car information of the assigned car 5 to the interlocking device 3 from the second interval to the first interval (S211).

That is, after the determination is Yes in S206, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the second interval until the determination is Yes in S210. After determining Yes in S210, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the first interval.

As another example, the second switching condition may be satisfied when the assigned car 5 starts moving toward the destination floor Fd. As another example, the second switching condition may be satisfied when the communication unit 41 receives a request to terminate door opening continuation.

Note that after the door 7 of the assigned car 5 is fully closed, the operation control unit 45 moves the assigned car 5 to the destination floor Fd (S212). Similarly to the above, the information providing unit 42 transmits the car information of the allocated car 5 to the interlocking device 3 when the allocated car 5 carrying the autonomous mobile object 4 departs from the boarding floor Fr arrives at the destination floor Fd. The interval may be changed from the first interval to the second interval. For example, when the first door determination unit 46 determines that the door 7 of the assigned car 5 that departed from the boarding floor Fr with the autonomous mobile object 4 on board has started to open at the destination floor Fd, the car information transmission interval is It may be changed to 2 intervals. The information providing unit 42 sets the interval at which the car information of the allocated car 5 is transmitted to the interlocking device 3 at a second interval when the allocated car 5 that has unloaded the autonomous mobile object 4 departs from the destination floor Fd to another floor. The interval may be changed to the first interval.

In the example shown in this embodiment, the information providing unit 42 basically transmits the car information of the allocated car 5 to the interlocking device 3 at the first interval. Then, when the assigned car 5 that has responded to the call registration request arrives at the boarding floor Fr, the information providing unit 42 changes the transmission interval of the car information of the assigned car 5 from the first interval to the second interval. The second interval is a shorter interval than the first interval. Therefore, the car information of the assigned car 5 will be transmitted to the interlocking device 3 at a shorter cycle. With this elevator system 1, the door information of the assigned car 5 can be appropriately transmitted to the interlocking device 3 with which the autonomous mobile body 4 communicates.

That is, the interlocking device 3 can grasp the status of the assigned car 5, the status of the door 7, etc. in real time. Therefore, it is possible to prevent a situation in which control based on car information in the interlocking device 3 is delayed. For example, if the transmission of the door open continuation request is delayed, the closing operation of the door 7 will be started before the autonomous mobile body 4 gets into the assigned car 5. With this elevator system 1, it is also possible to prevent the autonomous mobile body 4 from being unable to operate efficiently due to a failure in boarding or the like.

Other functions that can be adopted by the elevator system 1 will be explained below. If possible, the elevator system 1 may employ a combination of the following functions. In the example shown below, only the points that are different from the example described above will be explained in detail. Descriptions of the same points as in the above example will be omitted.

FIG. 9 is a diagram showing another example of the elevator system 1 in the first embodiment. In the example shown in FIG. 9, the elevator system 1 further includes a relay device 8 in addition to the elevator device 2, the interlocking device 3, and the autonomous mobile body 4. Also in the example shown in FIG. 9, the elevator device 2 may include one or more cars 5.

In the example shown in FIG. 9, the control device 6 communicates with the interlocking device 3 via the relay device 8. That is, the relay device 8 is capable of bidirectional communication with the control device 6. The relay device 8 is capable of bidirectional communication with the interlocking device 3. The interlocking device 3 is capable of bidirectional communication with the autonomous mobile body 4. The control device 6 does not communicate directly with the interlocking device 3.

In this example, the communication unit 12 of the interlocking device 3 communicates with the relay device 8 . The call requesting unit 14 requests the control device 6 to register the call via the relay device 8 . The door requesting unit 16 requests the control device 6 to open or close the door 7 via the relay device 8 . Further, the communication unit 41 of the control device 6 communicates with the relay device 8 . That is, the communication unit 41 receives a call registration request from the call requesting unit 14 and various requests from the door requesting unit 16 from the interlocking device 3 via the relay device 8. The allocation notification unit 44 transmits an allocation car notification from the communication unit 41 to the interlocking device 3 via the relay device 8.

The relay device 8 includes a storage section 50, a communication section 51, a communication section 52, a recording section 53, an information providing section 54, and a third door determination section 55.

The communication unit 51 is a function for communicating with the control device 6. The communication unit 52 is a function for communicating with the interlocking device 3. The information providing unit 54 is a function for acquiring car information about a specific car 5 from the storage unit 50 and providing it to the outside.

The functions of the relay device 8 can be realized by a so-called computer. As an example, the functions of the relay device 8 are realized by a server in a building in which the elevator device 2 is provided. The functions that the interlocking device 3 has may be realized by a cloud server.

FIG. 10 is a sequence diagram showing an example of the overall operation of the elevator system 1. FIG. 11 is a flowchart showing an example of the operation of the control device 6.

In the control device 6, the information providing unit 42 transmits the car information of each car 5 to the relay device 8 at a specific cycle. For example, the information providing unit 42 transmits car information including door information to the interlocking device 3 at third intervals for each of the plurality of cars 5 included in the elevator device 2 (S701). The third interval is preset. As an example, the third interval is a shorter interval than the second interval. The third interval may be the same interval as the second interval. The process of transmitting the car information of each car 5 to the relay device 8 is basically always performed.

FIG. 12 is a flowchart showing an example of the operation of the relay device 8.

The relay device 8 determines whether car information has been received from the control device 6 (S801). The car information from the control device 6 is received by the communication unit 51 in the relay device 8 . When the communication unit 51 receives the car information, it is determined as Yes in S801.

If the determination in S801 is Yes, the recording unit 53 records the car information received by the communication unit 51 in the storage unit 50 (S802). As a result, car information for each car 5 provided in the elevator device 2 is accumulated in the storage unit 50. Note that the car information includes door information.

In the example shown in FIGS. 9 and 10, the interlocking device 3 performs the same operation as that shown in FIG. The autonomous mobile body 4 performs operations similar to those shown in FIG. For example, the interlocking device 3 determines whether a call request has been received from the autonomous mobile body 4 (S501). The call request unit 14 transmits a call registration request to the relay device 8 in response to the call request received by the communication unit 11 in S501 (S502).

FIG. 13 is a flowchart showing another example of the operation of the relay device 8. In the relay device 8, it is determined whether a call registration request has been received from the interlocking device 3 (S901). When the communication unit 52 receives the call registration request transmitted from the interlocking device 3 in S502, it is determined as Yes in S901.

If it is determined Yes in S901, the recording unit 53 records information on the boarding floor Fr and destination floor Fd included in the call registration request in the storage unit 50 (S902). Further, the call registration request received by the communication unit 52 in S901 is transmitted from the communication unit 51 to the control device 6 (S903).

The processing shown from S702 to S704 in FIG. 11 is basically the same as the processing shown from S202 to S204 in FIG. 4. In the control device 6, when the communication unit 41 receives the call registration request transmitted from the relay device 8 in S903, it is determined as Yes in S702.

The determining unit 43 determines the car 5 that responds to the call registration request received by the communication unit 41 in S702 (S703). When the determining unit 43 determines the allocated car 5 in S703, the allocation notification unit 44 transmits an allocated car notification from the communication unit 41 to the relay device 8 (S704).

When the relay device 8 transmits the call registration request in S903, it is determined whether or not an assigned car notification has been received from the control device 6 as a response (S904). When the communication unit 51 receives the assigned car notification transmitted from the control device 6 in S704, the determination is Yes in S904. If the determination is Yes in S904, the recording unit 53 records the information about the allocated car 5 included in the allocated car notification in the storage unit 50 (S905). For example, information on the boarding floor Fr and destination floor Fd of the autonomous mobile body 4 is stored in the storage unit 50 in association with information on the assigned car 5. Further, the assigned car notification received by the communication unit 51 in S904 is transmitted from the communication unit 52 to the interlocking device 3 (S906).

In the example shown in FIGS. 9 and 10, the relay device 8 has the function of providing car information to the interlocking device 3. As described above, the storage unit 50 stores car information for each car 5. When the communication unit 51 receives the assigned car notification from the control device 6 in S904, the information providing unit 54 transmits the car information of the assigned car 5 to the interlocking device 3 at the first interval (S907). Note that the information providing unit 54 does not provide the car information to the interlocking device 3 until it is determined Yes in S904. Even if it is determined Yes in S904, the information providing unit 54 does not provide the interlocking device 3 with the car information of the cars 5 other than the assigned car 5. The interlocking device 3 that has been provided with the car information performs the process shown in FIG. 5.

In the interlocking device 3, when the communication unit 12 receives the assigned car notification transmitted from the relay device 8 in S906, the assigned car notification is transmitted from the communication unit 11 to the autonomous mobile body 4 (S504).

In the control device 6, when the determining unit 43 determines the allocated car 5 in S703, the operation control unit 45 causes the allocated car 5 to respond to the call registration request. Specifically, in response to the call registration request, the operation control unit 45 moves the assigned car 5 to the boarding floor Fr (S705). The operation control unit 45 opens the door 7 of the assigned car 5 when the assigned car 5 is stopped at the boarding floor Fr.

The information providing unit 54 of the relay device 8 has a function of shortening the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 when the assigned car 5 that has responded to the call registration request arrives at the boarding floor Fr. Specifically, the information providing unit 54 changes the transmission interval of the car information of the assigned car 5 to the interlocking device 3 from the first interval to the second interval.

In order to realize such a function, in this example, the relay device 8 determines whether the first switching condition is satisfied (S908).

As an example, when the door 7 of the assigned car 5 begins to open at the boarding floor Fr, the first switching condition is satisfied. Therefore, in S908, the third door determination unit 55 determines whether the door 7 of the assigned car 5 that responded to the call registration request has started to open at the boarding floor Fr. When the third door determination unit 55 determines that the door 7 of the assigned car 5 that responded to the call registration request has begun to open at the boarding floor Fr, the first switching condition is satisfied. That is, the determination in S908 is Yes. If it is determined Yes in S908, the information providing unit 54 changes the transmission interval of the car information of the assigned car 5 to the interlocking device 3 from the first interval to the second interval (S909). That is, after determining Yes in S908, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the second interval.

The information providing unit 54 makes the determination in S908 based on the car information stored in the storage unit 50. For example, when the current floor of the assigned car 5 is the boarding floor Fr and the traveling direction of the assigned car 5 is from the boarding floor Fr to the destination floor Fd, if the state of the door 7 changes from fully closed to open. , the first switching condition is satisfied. The information providing unit 54 may stop transmitting the car information if the first switching condition is not satisfied even after a certain period of time has passed since the transmission of the car information was started in S907. The certain period of time is set in advance.

As another example, the first switching condition may be satisfied when the assigned car 5 stops at the boarding floor Fr.

In the interlocking device 3, the second door determination unit 15 determines whether the door 7 of the assigned car 5 that responded to the call registration request opens at the boarding floor Fr (S505). If the determination in S<b>505 is Yes, the door request unit 16 transmits a request to continue opening the door to the control device 6 via the relay device 8 . That is, in S506, the door request unit 16 transmits a door open continuation request to the relay device 8. In the relay device 8, when the communication unit 52 receives the door open continuation request transmitted from the interlocking device 3 in S506, the door open continuation request is transmitted from the communication unit 51 to the control device 6.

Moreover, if it is determined as Yes in S505, the boarding request unit 17 transmits a boarding request to the autonomous mobile body 4 (S507). When the communication unit 11 receives the boarding completion notification from the autonomous mobile object 4 as a response to the boarding request (Yes in S508), the door requesting unit 16 transmits a door open continuation termination request to the control device 6 via the relay device 8. . That is, the door requesting unit 16 transmits a door open continuation termination request to the relay device 8 (S509). In the relay device 8, when the communication unit 52 receives the door open continuation termination request transmitted from the interlocking device 3 in S509, the door open continuation termination request is transmitted from the communication unit 51 to the control device 6.

The processes shown in S706 and S707 in FIG. 11 are basically the same as the processes shown in S208 and S209 in FIG. The operation control unit 45 of the control device 6 opens the door 7 of the assigned car 5 when the assigned car 5 is stopped at the boarding floor Fr. After that, the control device 6 determines whether the closing operation start condition is satisfied (S706). As an example, in S706, an operation similar to that shown in FIG. 8 is performed. If the determination is Yes in S706, the operation control unit 45 starts closing the door 7 of the assigned car 5 (S707).

Further, the information providing unit 54 of the relay device 8 transmits the car information of the allocated car 5 to the interlocking device 3 when the allocated car 5 carrying the autonomous mobile object 4 departs from the boarding floor Fr to the destination floor Fd. It has a function to restore the original interval. Specifically, the information providing unit 54 changes the transmission interval of the car information of the assigned car 5 to the interlocking device 3 from the second interval to the first interval.

In order to realize such a function, the relay device 8 determines whether the second switching condition is satisfied (S910).

As an example, when the door 7 of the assigned car 5 is completely closed at the boarding floor Fr, the second switching condition is satisfied. Therefore, in S910, the third door determination unit 55 determines whether the door 7 of the assigned car 5 carrying the autonomous mobile object 4 is fully closed at the boarding floor Fr. When the third door determination unit 55 determines that the door 7 of the assigned car 5 carrying the autonomous mobile object 4 is fully closed at the boarding floor Fr, the second switching condition is satisfied. That is, the determination in S910 is Yes. If it is determined Yes in S910, the information providing unit 54 changes the transmission interval of the car information of the assigned car 5 to the interlocking device 3 from the second interval to the first interval (S911).

That is, after the determination is Yes in S908, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the second interval until the determination is Yes in S910. After determining Yes in S910, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the first interval.

As another example, the second switching condition may be satisfied when the assigned car 5 starts moving toward the destination floor Fd. As another example, the second switching condition may be satisfied when the communication unit 51 receives a request to terminate door opening continuation.

Note that after the door 7 of the assigned car 5 is fully closed, the operation control unit 45 moves the assigned car 5 to the destination floor Fd (S708).

Similar to the function when the assigned car 5 arrives at the boarding floor Fr, the information providing unit 54 performs an assigned function when the assigned car 5 carrying the autonomous mobile object 4 departs from the boarding floor Fr arrives at the destination floor Fd. The interval at which the car information of the car 5 is transmitted to the interlocking device 3 may be changed from the first interval to the second interval. For example, when the third door determination unit 55 determines that the door 7 of the assigned car 5 that departed from the boarding floor Fr with the autonomous mobile object 4 on board has started to open at the destination floor Fd, the car information transmission interval is It may be changed to 2 intervals.

When the third door determining unit 55 determines that the door 7 of the assigned car 5 that unloaded the autonomous mobile object 4 is fully closed at the destination floor Fd, the information providing unit 54 transmits the car information of the assigned car 5. You can stop. In the relay device 8, when the third door determination unit 55 determines that the door 7 of the assigned car 5 that unloaded the autonomous mobile object 4 is fully closed at the destination floor Fd, the boarding floor and destination floor recorded in S902 are determined. The information on the assigned car 5 and the information on the assigned car 5 recorded in S905 may be deleted from the storage unit 50. The information may be deleted at other timings.

In this example, the amount of communication between the relay device 8 and the interlocking device 3 can be reduced. It is suitable that the relay device 8 is installed in a building in which the elevator device 2 is provided.

In the above, an example has been described in which the opening time of the door 7 of the assigned car 5 is extended by the control device 6 receiving a request to continue opening the door from the door requesting unit 16 of the interlocking device 3. As another example, if the elevator system 1 does not include the relay device 8, additional processing may be performed in the control device 6 to extend the opening time of the door 7. For example, when the assigned car 5 stops at the boarding floor Fr in response to a call registration request from the autonomous mobile body 4, it is determined in S601 of FIG. 8 whether or not time (T1+T3) has elapsed. Time T3 is set in advance.

Similarly, if the elevator system 1 includes the relay device 8, additional processing for extending the opening time of the door 7 may be performed in the relay device 8. For example, if the determination in S908 is Yes, the first door open continuation request may be transmitted from the relay device 8 to the control device 6.

FIG. 14 is a diagram showing an example of hardware resources of the control device 6. As shown in FIG. The control device 6 includes a processing circuit 60 including a processor 61 and a memory 62 as hardware resources. The processing circuit 60 may include a plurality of processors 61. The processing circuit 60 may include multiple memories 62.

In this embodiment, each section indicated by reference numerals 41 to 46 indicates a function that the control device 6 has. The functions of each part shown by reference numerals 41 to 46 can be realized by software written as a program, firmware, or a combination of software and firmware. The program is stored in memory 62. The control device 6 realizes the functions of each section indicated by reference numerals 41 to 46 by having a processor 61 (computer) execute a program stored in a memory 62.

The processor 61 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. As the memory 62, a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD may be used. Semiconductor memories that can be employed include RAM, ROM, flash memory, EPROM, EEPROM, and the like.

FIG. 15 is a diagram showing another example of the hardware resources of the control device 6. In the example shown in FIG. 15, the control device 6 includes a processing circuit 60 including a processor 61, a memory 62, and dedicated hardware 63. FIG. 15 shows an example in which part of the functions of the control device 6 are realized by dedicated hardware 63. All of the functions of the control device 6 may be realized by dedicated hardware 63. The dedicated hardware 63 can be a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

The hardware resources of the interlocking device 3 are the same as the example shown in FIG. 14 or 15. The interlocking device 3 includes a processing circuit including a processor and a memory as hardware resources. The processing circuit may include multiple processors. The processing circuit may include multiple memories. The functions of the storage unit 10 are realized by the memory. The interlocking device 3 realizes the functions of each section indicated by reference numerals 11 to 17 by having a processor (computer) execute a program stored in a memory. The interlocking device 3 may include a processor, a memory, and a processing circuit including dedicated hardware as hardware resources. Regarding the interlocking device 3, some or all of the functions of the device may be realized by dedicated hardware.

The hardware resources of the autonomous mobile body 4 are the same as the example shown in FIG. 14 or 15. The autonomous mobile body 4 includes a processing circuit including a processor and a memory as hardware resources. The processing circuit may include multiple processors. The processing circuit may include multiple memories. The autonomous mobile body 4 realizes the functions of each part indicated by reference numerals 31 to 33 by having a processor (computer) execute a program stored in a memory. The autonomous mobile body 4 may include a processing circuit including a processor, memory, and dedicated hardware as hardware resources. Regarding the autonomous mobile body 4, some or all of the functions of the device may be realized by dedicated hardware.

The hardware resources of the relay device 8 are similar to the example shown in FIG. 14 or 15. The relay device 8 includes a processing circuit including a processor and a memory as hardware resources. The processing circuit may include multiple processors. The processing circuit may include multiple memories. The functions of the storage unit 50 are realized by the memory. The relay device 8 realizes the functions of each section indicated by reference numerals 51 to 55 by having a processor (computer) execute a program stored in a memory. The relay device 8 may include a processor, a memory, and a processing circuit including dedicated hardware as hardware resources. Regarding the relay device 8, some or all of the functions of the device may be realized by dedicated hardware.

Examples of aspects that may be included in the present disclosure are specified below as additional notes.

[Additional note 1]
autonomous mobile body,
a control device that manages the operation of the first car;
an interlocking device that communicates with the autonomous mobile body and the control device;
Equipped with
The control device includes:
an information providing unit that transmits car information regarding the operation of the first car to the interlocking device at first intervals;
a communication unit that receives a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car;
an operation control unit that causes the first car to respond to the call registration request received by the communication unit;
Equipped with
The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor. elevator system.
[Additional note 2]
autonomous mobile body,
a control device that manages the operation of multiple cars;
an interlocking device that communicates with the autonomous mobile body and the control device;
Equipped with
The control device includes:
an information providing unit that transmits car information regarding the operation of each of the plurality of cars to the interlocking device at a first interval;
a communication unit that receives a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in one of the plurality of cars;
a determining unit that determines a first car to respond to the call registration request received by the communication unit from among the plurality of cars;
an operation control unit that causes the first car determined by the determination unit to respond to the call registration request;
Equipped with
The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor. elevator system.
[Additional note 3]
The control device further includes a first door determination unit that determines whether the door of the first car that responded to the call registration request has started to open at the boarding floor,
When the first door determining unit determines that the door of the first car has started to open at the boarding floor, the information providing unit sets the transmission interval of the car information of the first car to the second interval. The elevator system described in Appendix 1 or 2 to be changed.
[Additional note 4]
The interlocking device is
a second door determination unit that determines whether the door of the first car in response to the call registration request is opened at the boarding floor;
a door requesting unit that transmits a door opening continuation request to the control device when the second door determining unit determines that the door of the first car is opened at the boarding floor;
a boarding request unit that transmits a boarding request to the autonomous mobile body when the second door determining unit determines that the door of the first car is opened at the boarding floor;
Equipped with
When the autonomous mobile body receives the boarding request, it starts an operation for boarding the first car, and upon boarding the first car, transmits a boarding completion notification to the interlocking device,
Upon receiving the boarding completion notification, the door requesting unit transmits a door opening continuation termination request to the control device,
The operation control unit includes:
When the door opening continuation request is received, the door of the first car is continued to be opened;
From Supplementary note 1, the door of the first car is closed when a first time period has elapsed since receiving the door opening continuation request and when the door opening continuation termination request is received before the first time period has elapsed. The elevator system described in any one of Appendix 3.
[Additional note 5]
The information providing unit changes the transmission interval of car information of the first car to the first interval when the first car carrying the autonomous mobile body departs from the boarding floor toward the destination floor. The elevator system according to any one of Supplementary Notes 1 to 4.
[Additional note 6]
The control device further includes a first door determination unit that determines whether the door of the first car carrying the autonomous mobile object is fully closed at the boarding floor,
When the first door determining unit determines that the door of the first car is fully closed at the boarding floor, the information providing unit sets the transmission interval of the car information of the first car to the first interval. The elevator system described in Appendix 5 to be changed.
[Additional note 7]
The information providing unit changes the transmission interval of the car information of the first car to the second interval when the first car departs from the boarding floor carrying the autonomous mobile object and arrives at the destination floor. The elevator system according to appendix 5 or 6.
[Additional note 8]
autonomous mobile body,
a control device that manages the operation of multiple cars;
an interlocking device that communicates with the autonomous mobile body;
a relay device that communicates with the interlocking device and the control device;
Equipped with
The control device includes:
a first information providing unit that transmits car information regarding the operation of each of the plurality of cars to the relay device;
a communication unit that receives a call registration request from the interlocking device via the relay device for the autonomous mobile body to move from the boarding floor to the destination floor in one of the plurality of cars;
a determining unit that determines a first car to respond to the call registration request received by the communication unit from among the plurality of cars;
an operation control unit that causes the first car determined by the determination unit to respond to the call registration request;
an allocation notification unit that transmits an allocation car notification indicating the first car determined by the determination unit to the relay device;
Equipped with
Upon receiving the assigned car notification, the relay device transmits car information of the first car to the interlocking device at a first interval, and when the first car that responded to the call registration request arrives at the boarding floor. The elevator system further comprises a second information providing unit that changes the transmission interval of the car information of the first car to a second interval shorter than the first interval.
[Additional note 9]
The relay device further includes a third door determination unit that determines whether the door of the first car that responded to the call registration request has started to open at the boarding floor,
When the third door determining unit determines that the door of the first car has started to open at the boarding floor, the second information providing unit adjusts the transmission interval of the car information of the first car to the second car. The elevator system according to appendix 8, which changes to the interval.
[Additional note 10]
The interlocking device is
a second door determination unit that determines whether the door of the first car in response to the call registration request is opened at the boarding floor;
a door requesting unit that transmits a door opening continuation request to the control device via the relay device when the second door determining unit determines that the door of the first car is opened at the boarding floor;
a boarding request unit that transmits a boarding request to the autonomous mobile body when the second door determining unit determines that the door of the first car is opened at the boarding floor;
Equipped with
When the autonomous mobile body receives the boarding request, it starts an operation for boarding the first car, and upon boarding the first car, transmits a boarding completion notification to the interlocking device,
Upon receiving the boarding completion notification, the door requesting unit transmits a door opening continuation termination request to the control device via the relay device,
The operation control unit includes:
When the door opening continuation request is received, the door of the first car is continued to be opened;
Supplementary note 8, in which the door of the first car is closed when a first time period has elapsed since receiving the door opening continuation request, and when the door opening continuation termination request is received before the first time elapses; or Elevator system described in Appendix 9.
[Additional note 11]
The second information providing unit sets the transmission interval of car information of the first car to the first interval when the first car carrying the autonomous mobile body departs from the boarding floor to the destination floor. The elevator system according to any one of Supplementary Notes 8 to 10, wherein the elevator system is changed to
[Additional note 12]
The relay device further includes a third door determination unit that determines whether the door of the first car carrying the autonomous mobile object is fully closed at the boarding floor,
When the third door determining unit determines that the door of the first car is fully closed at the boarding floor, the second information providing unit sets the transmission interval of the car information of the first car to the first car. The elevator system according to appendix 11, which changes the interval.
[Additional note 13]
The second information providing unit sets the transmission interval of the car information of the first car to the second interval when the first car departs from the boarding floor carrying the autonomous mobile object and arrives at the destination floor. The elevator system according to Supplementary Note 11 or 12, which is changed to
[Additional note 14]
A control device that is capable of communicating with an interlocking device that communicates with an autonomous mobile body and manages the operation of a first car of an elevator,
an information providing unit that transmits car information regarding the operation of the first car to the interlocking device at first intervals;
a communication unit that receives a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car;
an operation control unit that causes the first car to respond to the call registration request received by the communication unit;
Equipped with
The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor. Control device.
[Additional note 15]
A relay device capable of communicating with an interlocking device that communicates with an autonomous mobile object and a control device that manages the operation of a plurality of elevator cars,
a communication unit that receives car information regarding operation from the control device for each of the plurality of cars;
When the autonomous mobile body receives from the control device an assigned car notification indicating a first car that responds to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars, the first car an information providing unit that transmits car information of a car to the interlocking device at a first interval;
Equipped with
The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor. Relay device.
[Additional note 16]
A control method for a control device that is capable of communicating with an interlocking device that communicates with an autonomous mobile body and manages the operation of a first car of an elevator, the method comprising:
a first information providing step of transmitting car information regarding the operation of the first car to the interlocking device at first intervals;
a communication step of receiving a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car;
an operation control step of causing the first car to respond to the call registration request received in the communication step;
a second information providing step of changing the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor; ,
A control method for a control device equipped with.
[Additional note 17]
A method for controlling a relay device that can communicate with an interlocking device that communicates with an autonomous mobile object and a control device that manages the operation of a plurality of elevator cars, the method comprising:
a communication step of receiving car information regarding operation for each of the plurality of cars from the control device;
When the autonomous mobile body receives from the control device an assigned car notification indicating a first car that responds to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars, the first car a first information providing step of transmitting car information of the car to the interlocking device at a first interval;
a second information providing step of changing the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor; ,
A method for controlling a relay device equipped with.
[Additional note 18]
The computer that can communicate with the interlocking device that communicates with the autonomous mobile body and manages the operation of the first car of the elevator,
a first information providing process of transmitting car information regarding the operation of the first car to the interlocking device at a first interval;
communication processing for receiving a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car;
an operation control process that causes the first car to respond to the call registration request received in the communication process;
a second information providing process of changing a transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor; ,
A program to run.
[Additional note 19]
A computer capable of communicating with an interlocking device that communicates with an autonomous mobile object and a control device that manages the operation of multiple elevator cars.
communication processing for receiving car information regarding operation from the control device for each of the plurality of cars;
When the autonomous mobile body receives from the control device an assigned car notification indicating a first car that responds to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars, the first car a first information providing process of transmitting car information of a car to the interlocking device at a first interval;
a second information providing process of changing the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor; ,
A program to run.

The matters described in Appendix 3-7 or equivalent matters may be added to Appendixes 14, 16, and 18, respectively. The matters described in Appendixes 9-13 or equivalent matters may be added to Appendixes 15, 17, and 19, respectively.

1 elevator system, 2 elevator device, 3 interlocking device, 4 autonomous mobile object, 5 car, 6 control device, 7 door, 8 relay device, 10 storage section, 11 communication section, 12 communication section, 13 recording section, 14 call request 15 second door determination unit, 16 door request unit, 17 getting on/off request unit, 31 communication unit, 32 information provision unit, 33 operation control unit, 41 communication unit, 42 information provision unit, 43 determination unit, 44 allocation notification unit , 45 operation control unit, 46 first door determination unit, 50 storage unit, 51 communication unit, 52 communication unit, 53 recording unit, 54 information provision unit, 55 third door determination unit, 60 processing circuit, 61 processor, 62 memory , 63 Dedicated hardware

Claims (19)

autonomous mobile body,
a control device that manages the operation of the first car;
an interlocking device that communicates with the autonomous mobile body and the control device;
Equipped with
The control device includes:
an information providing unit that transmits car information regarding the operation of the first car to the interlocking device at first intervals;
a communication unit that receives a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car;
an operation control unit that causes the first car to respond to the call registration request received by the communication unit;
Equipped with
The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor. elevator system. autonomous mobile body,
a control device that manages the operation of multiple cars;
an interlocking device that communicates with the autonomous mobile body and the control device;
Equipped with
The control device includes:
an information providing unit that transmits car information regarding the operation of each of the plurality of cars to the interlocking device at a first interval;
a communication unit that receives a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in one of the plurality of cars;
a determining unit that determines a first car to respond to the call registration request received by the communication unit from among the plurality of cars;
an operation control unit that causes the first car determined by the determination unit to respond to the call registration request;
Equipped with
The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor. elevator system. The control device further includes a first door determination unit that determines whether the door of the first car that responded to the call registration request has started to open at the boarding floor,
When the first door determining unit determines that the door of the first car has started to open at the boarding floor, the information providing unit sets the transmission interval of the car information of the first car to the second interval. The elevator system according to claim 1 or claim 2, wherein the elevator system is modified. The interlocking device is
a second door determination unit that determines whether the door of the first car in response to the call registration request is opened at the boarding floor;
a door requesting unit that transmits a door opening continuation request to the control device when the second door determining unit determines that the door of the first car is opened at the boarding floor;
a boarding request unit that transmits a boarding request to the autonomous mobile body when the second door determining unit determines that the door of the first car is opened at the boarding floor;
Equipped with
When the autonomous mobile body receives the boarding request, it starts an operation for boarding the first car, and upon boarding the first car, transmits a boarding completion notification to the interlocking device,
Upon receiving the boarding completion notification, the door requesting unit transmits a door opening continuation termination request to the control device,
The operation control unit includes:
When the door opening continuation request is received, the door of the first car is continued to be opened;
Claim 1: The door of the first car is closed when a first time period has elapsed since receiving the door opening continuation request and when the door opening continuation termination request is received before the first time period has elapsed. Or the elevator system according to claim 2. The information providing unit changes the transmission interval of car information of the first car to the first interval when the first car carrying the autonomous mobile body departs from the boarding floor toward the destination floor. The elevator system according to claim 1 or claim 2. The control device further includes a first door determination unit that determines whether the door of the first car carrying the autonomous mobile object is fully closed at the boarding floor,
When the first door determining unit determines that the door of the first car is fully closed at the boarding floor, the information providing unit sets the transmission interval of the car information of the first car to the first interval. The elevator system according to claim 5, wherein the elevator system is modified. The information providing unit changes the transmission interval of the car information of the first car to the second interval when the first car departs from the boarding floor carrying the autonomous mobile object and arrives at the destination floor. The elevator system according to claim 5. autonomous mobile body,
a control device that manages the operation of multiple cars;
an interlocking device that communicates with the autonomous mobile body;
a relay device that communicates with the interlocking device and the control device;
Equipped with
The control device includes:
a first information providing unit that transmits car information regarding the operation of each of the plurality of cars to the relay device;
a communication unit that receives a call registration request from the interlocking device via the relay device for the autonomous mobile body to move from the boarding floor to the destination floor in one of the plurality of cars;
a determining unit that determines a first car to respond to the call registration request received by the communication unit from among the plurality of cars;
an operation control unit that causes the first car determined by the determination unit to respond to the call registration request;
an allocation notification unit that transmits an allocation car notification indicating the first car determined by the determination unit to the relay device;
Equipped with
Upon receiving the assigned car notification, the relay device transmits car information of the first car to the interlocking device at a first interval, and when the first car that responded to the call registration request arrives at the boarding floor. The elevator system further comprises a second information providing unit that changes the transmission interval of the car information of the first car to a second interval shorter than the first interval. The relay device further includes a third door determination unit that determines whether the door of the first car that responded to the call registration request has started to open at the boarding floor,
When the third door determining unit determines that the door of the first car has started to open at the boarding floor, the second information providing unit adjusts the transmission interval of the car information of the first car to the second car. 9. The elevator system according to claim 8, wherein the elevator system changes to an interval. The interlocking device is
a second door determination unit that determines whether the door of the first car in response to the call registration request is opened at the boarding floor;
a door requesting unit that transmits a door opening continuation request to the control device via the relay device when the second door determining unit determines that the door of the first car is opened at the boarding floor;
a boarding request unit that transmits a boarding request to the autonomous mobile body when the second door determining unit determines that the door of the first car is opened at the boarding floor;
Equipped with
When the autonomous mobile body receives the boarding request, it starts an operation for boarding the first car, and upon boarding the first car, transmits a boarding completion notification to the interlocking device,
Upon receiving the boarding completion notification, the door requesting unit transmits a door opening continuation termination request to the control device via the relay device,
The operation control unit includes:
When the door opening continuation request is received, the door of the first car is continued to be opened;
9. The door of the first car is closed when a first time period has elapsed since receiving the door opening continuation request and when the door opening continuation termination request is received before the first time period has elapsed. Or the elevator system according to claim 9. The second information providing unit sets the transmission interval of car information of the first car to the first interval when the first car carrying the autonomous mobile body departs from the boarding floor toward the destination floor. The elevator system according to claim 8, wherein the elevator system is changed to The relay device further includes a third door determination unit that determines whether the door of the first car carrying the autonomous mobile object is fully closed at the boarding floor,
When the third door determining unit determines that the door of the first car is fully closed at the boarding floor, the second information providing unit sets the transmission interval of the car information of the first car to the first car. The elevator system according to claim 11, wherein the elevator system changes at intervals. The second information providing unit sets the transmission interval of the car information of the first car to the second interval when the first car departs from the boarding floor carrying the autonomous mobile object and arrives at the destination floor. The elevator system according to claim 11 or claim 12, wherein the elevator system is changed to. A control device that is capable of communicating with an interlocking device that communicates with an autonomous mobile body and manages the operation of a first car of an elevator,
an information providing unit that transmits car information regarding the operation of the first car to the interlocking device at first intervals;
a communication unit that receives a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car;
an operation control unit that causes the first car to respond to the call registration request received by the communication unit;
Equipped with
The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor. Control device. A relay device capable of communicating with an interlocking device that communicates with an autonomous mobile object and a control device that manages the operation of a plurality of elevator cars,
a communication unit that receives car information regarding operation from the control device for each of the plurality of cars;
When the autonomous mobile body receives from the control device an assigned car notification indicating a first car that responds to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars, the first car an information providing unit that transmits car information of a car to the interlocking device at a first interval;
Equipped with
The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor. Relay device. A control method for a control device that is capable of communicating with an interlocking device that communicates with an autonomous mobile body and manages the operation of a first car of an elevator, the method comprising:
a first information providing step of transmitting car information regarding the operation of the first car to the interlocking device at first intervals;
a communication step of receiving a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car;
an operation control step of causing the first car to respond to the call registration request received in the communication step;
a second information providing step of changing the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor; ,
A control method for a control device equipped with. A method for controlling a relay device that can communicate with an interlocking device that communicates with an autonomous mobile object and a control device that manages the operation of a plurality of elevator cars, the method comprising:
a communication step of receiving car information regarding operation for each of the plurality of cars from the control device;
When the autonomous mobile body receives from the control device an assigned car notification indicating a first car that responds to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars, the first car a first information providing step of transmitting car information of the car to the interlocking device at a first interval;
a second information providing step of changing the transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor; ,
A method for controlling a relay device equipped with The computer that can communicate with the interlocking device that communicates with the autonomous mobile body and manages the operation of the first car of the elevator,
a first information providing process of transmitting car information regarding the operation of the first car to the interlocking device at a first interval;
communication processing for receiving a call registration request from the interlocking device for the autonomous mobile body to move from the boarding floor to the destination floor in the first car;
an operation control process that causes the first car to respond to the call registration request received in the communication process;
a second information providing process of changing a transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor; ,
A program to run. A computer capable of communicating with an interlocking device that communicates with an autonomous mobile object and a control device that manages the operation of multiple elevator cars.
communication processing for receiving car information regarding operation from the control device for each of the plurality of cars;
When the autonomous mobile body receives from the control device an assigned car notification indicating a first car that responds to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars, the first car a first information providing process of transmitting car information of a car to the interlocking device at a first interval;
a second information providing process of changing a transmission interval of car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor; ,
A program to run.

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