JP7491445B1 - Elevator system, interlocking device, and control method and program for interlocking device - Google Patents

Abstract

[Problem] In an elevator system, it is possible to reduce the burden on the manager even if an autonomous moving body fails to disembark. [Solution] An elevator system (1) includes an autonomous moving body (4), a control device (6), a first determination unit (17), an abort request unit (18), and a call request unit (14). When the first determination unit (17) determines that the autonomous moving body (4) has failed to disembark from the car (5) at the destination floor (Fd), the abort request unit (18) transmits a disembarkation abort request to the autonomous moving body (4). When the call request unit (14) receives a re-disembarkation request from the autonomous moving body (4) in response to the disembarkation abort request, it transmits a call registration request to disembark from the car (5) at the destination floor (Fd) to the control device (6). [Selected Figure] Figure 1

Description

This disclosure relates to an elevator system, an interlocking device, a control method for an interlocking device, and a program.

Patent document 1 describes an elevator system. In the system described in patent document 1, an autonomous mobile object moves in an elevator car. If the autonomous mobile object is unable to get off the car, an interlocking device requests the autonomous mobile object to stop. The interlocking device also requests the manager of the autonomous mobile object to rescue the autonomous mobile object.

International Publication No. 2020/250409

In the system described in Patent Document 1, if an autonomous mobile object is unable to get out of the car, a manager must rescue the autonomous mobile object. The manager must then move the autonomous mobile object to its original destination floor, which places a heavy burden on the manager.

The present disclosure has been made to solve the problems described above. The objective of the present disclosure is to provide an elevator system that can reduce the burden on the manager even if an autonomous moving object fails to disembark. Another objective of the present disclosure is to provide an interlocking device, an interlocking device control method, and a program for realizing such a function in an elevator system.

The elevator system according to the present disclosure includes an autonomous mobile body, a control device that manages the operation of the car, and an interlocking device capable of communicating with the autonomous mobile body and the control device. The interlocking device includes a first determination unit that determines whether the autonomous mobile body traveling in the car toward a first destination floor fails to get off the car at the first destination floor, an abort request unit that transmits a disembarkation abort request to the autonomous mobile body when the first determination unit determines that the autonomous mobile body fails to get off the car at the first destination floor, and a call request unit that transmits a call registration request to get off the car at the first destination floor to the control device when a re-alight request is received from the autonomous mobile body in response to the alighting abort request. When the autonomous mobile body receives the alighting abort request, it aborts the operation to get off the car and transmits the re-alight request.

The elevator system according to the present disclosure includes an autonomous mobile body, a control device that manages the operation of the car, and an interlocking device that can communicate with the autonomous mobile body and the control device. The interlocking device includes a first determination unit that determines whether or not the autonomous mobile body heading toward a first destination floor in the car has failed to get off the car at the first destination floor, a stop request unit that transmits a disembarking stop request to the autonomous mobile body when the first determination unit determines that the autonomous mobile body has failed to get off the car at the first destination floor, a second determination unit that determines whether or not the autonomous mobile body is in the car, and a call request unit that transmits a call registration request to get off the car at the first destination floor to the control device when the first determination unit determines that the autonomous mobile body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous mobile body is in the car. When the autonomous mobile body receives the disembarking stop request, the autonomous mobile body stops the operation to get off the car.

The interlocking device according to the present disclosure is an interlocking device capable of communicating with an autonomous moving body and a control device that manages the operation of an elevator car. The interlocking device includes a first determination unit that determines whether an autonomous moving body traveling in a car heading toward a first destination floor fails to get off the car at the first destination floor, an abort request unit that transmits a disembarkation abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor, and a call request unit that transmits a call registration request to get off the car at the first destination floor to the control device when a re-alight request is received from the autonomous moving body in response to the alighting abort request. The interlocking device causes the autonomous moving body that has received the alighting abort request to abort the operation to get off the car and transmit a re-alight request.

The interlocking device according to the present disclosure is an interlocking device capable of communicating with an autonomous moving body and a control device that manages the operation of an elevator car. The interlocking device includes a first determination unit that determines whether an autonomous moving body traveling in a car toward a first destination floor has failed to get off the car at the first destination floor, a cancellation request unit that transmits a disembarking cancellation request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor, a second determination unit that determines whether the autonomous moving body is in the car, and a call request unit that transmits a call registration request to get off the car at the first destination floor to the control device when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car. The interlocking device causes the autonomous moving body that has received the disembarking cancellation request to cancel the operation to get off the car.

The control method for an interlocking device according to the present disclosure is a control method for an interlocking device capable of communication with an autonomous moving body and a control device that manages the operation of an elevator car. The control method includes a first determination step of determining whether or not an autonomous moving body traveling in a car toward a first destination floor has failed to get off the car at the first destination floor, a cancellation request step of transmitting a disembarkation cancellation request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor, and a call request step of transmitting a call registration request for getting off the car at the first destination floor to the control device when a re-alighting request is received from the autonomous moving body in response to the alighting cancellation request. The autonomous moving body that has received the alighting cancellation request is caused to cancel the operation to get off the car and to transmit a re-alighting request.

The control method for an interlocking device according to the present disclosure is a control method for an autonomous moving body, a control device that manages the operation of an elevator car, and an interlocking device capable of communication. The control method includes a first determination step of determining whether or not an autonomous moving body heading toward a first destination floor in a car has failed to get off the car at the first destination floor, a stop request step of transmitting a disembarking stop request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor, a second determination step of determining whether or not the autonomous moving body is in the car, and a call request step of transmitting a call registration request to get off the car at the first destination floor to the control device when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined in the second determination step that the autonomous moving body is in the car. The autonomous moving body that has received the disembarking stop request is caused to stop the operation to get off the car.

The program according to the present disclosure is a program for causing an autonomous mobile body, a control device that manages the operation of an elevator car, and a computer capable of communication to execute a first determination process for determining whether an autonomous mobile body traveling in a car to a first destination floor has failed to get off the car at the first destination floor, a stop request process for sending a disembarkation stop request to the autonomous mobile body when the first determination process determines that the autonomous mobile body has failed to get off the car at the first destination floor, and a call request process for sending a call registration request to the control device to get off the car at the first destination floor when a re-alighting request is received from the autonomous mobile body in response to the alighting stop request, and for causing the autonomous mobile body that has received the alighting stop request to stop the operation to get off the car and send the re-alighting request.

The program according to the present disclosure is a program that causes an autonomous mobile body, a control device that manages the operation of an elevator car, and a computer capable of communication to execute a first determination process that determines whether an autonomous mobile body traveling in a car heading to a first destination floor has failed to get off the car at the first destination floor, a stop request process that transmits a disembarkation stop request to the autonomous mobile body when the first determination process determines that the autonomous mobile body has failed to get off the car at the first destination floor, a second determination process that determines whether the autonomous mobile body is in the car, and a call request process that transmits a call registration request to the control device to get off the car at the first destination floor when the first determination process determines that the autonomous mobile body has failed to get off the car at the first destination floor and the second determination process determines that the autonomous mobile body is in the car, thereby causing the autonomous mobile body that has received the disembarkation stop request to stop the operation to get off the car.

According to the present disclosure, in an elevator system, even if an autonomous moving object fails to disembark, the burden on the manager can be reduced.

FIG. 1 is a diagram showing an example of an elevator system in a first embodiment. 10 is a flowchart showing an example of the operation of the interlocking device. 10 is a flowchart showing another example of the operation of the interlocking device. FIG. 2 is a sequence diagram showing an example of the overall operation of the elevator system. 11 is a flowchart showing an example of the operation of an autonomous moving body. 10 is a flowchart showing another example of the operation of the interlocking device. 10 is a flowchart showing another example of the operation of the interlocking device. 4 is a flowchart showing an example of the operation of the control device. 10 is a flowchart showing another example of the operation of the interlocking device. FIG. 2 illustrates an example of hardware resources of an interlocking device. FIG. 13 is a diagram illustrating another example of hardware resources of the interlocking device.

A detailed explanation will be given below with reference to the drawings. Duplicate explanations will be simplified or omitted as appropriate. In each drawing, 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 according to a first embodiment. The elevator system 1 includes an elevator device 2, an interlocking device 3, and an autonomous moving 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 moving bodies 4. The elevator device 2 may include a plurality of cars 5.

The elevator car 5 stops at multiple floors in the building. A user can get in the car 5 and travel to a desired floor. The car 5 has a door 7. The control device 6 manages the operation of the car 5. If the elevator device 2 has multiple cars 5, the control device 6 may manage the multiple cars 5 as a group.

The autonomous mobile body 4 can move autonomously within a building. As an example, the autonomous mobile body 4 is a cleaning robot. The autonomous mobile body 4 may also be a security robot. The autonomous mobile body 4 may also be a robot for transporting luggage. The autonomous mobile body 4 may also be a robot that performs other roles within a building. The autonomous mobile body 4 can ride in a cage 5 and move to a desired floor.

In the elevator system 1, the autonomous moving body 4 can move in the car 5 together with the user. For example, the autonomous moving body 4 may get into the car 5 in which the user is riding. The user may get into the car 5 in which the autonomous moving body 4 is riding. The elevator system 1 may include a car 5 dedicated to the autonomous moving body 4 and a car 5 dedicated to the user. As another example, the elevator device 2 may include only a car 5 dedicated to the autonomous moving body 4.

The interlocking device 3 is capable of two-way communication with the control device 6. The interlocking device 3 is capable of two-way communication with the autonomous moving body 4. If a device for managing the autonomous moving body 4 is provided separately from the autonomous moving body 4, the interlocking device 3 may communicate with the autonomous moving body 4 via that device. In the elevator system 1, the autonomous moving body 4 does not basically communicate directly with the control device 6. The interlocking device 3 acts as an intermediary between the autonomous moving body 4 and the control device 6.

The interlocking device 3 includes a memory unit 10, a communication unit 11, a communication unit 12, a recording unit 13, a call request unit 14, a boarding/alighting request unit 15, a door request unit 16, a first determination unit 17, a stop request unit 18, and a second determination unit 19.

The communication unit 11 is a function for communicating with the autonomous moving body 4. The communication unit 12 is a function for communicating with the control device 6. The call request unit 14 is a function for requesting the control device 6 to register a call. The boarding and alighting request unit 15 is a function for requesting boarding and alighting from the autonomous moving body 4. Specifically, the boarding and alighting request unit 15 has the function of a boarding request unit for requesting boarding the autonomous moving body 4 and the function of alighting request unit for requesting alighting from the autonomous moving body 4. In other words, the alighting request unit is a part of the function of the boarding and alighting request unit 15. The door request unit 16 is a function for requesting the control device 6 to open and close the door 7.

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 also be realized by a server in the building in which the elevator device 2 is installed.

The autonomous mobile unit 4 includes a communication unit 31, an information acquisition unit 32, and an operation control unit 33.

The communication unit 31 is a function for communicating with the interlocking device 3. The information acquisition unit 32 is a function for acquiring information related to the autonomous mobile body 4. Hereinafter, this information is also referred to as mobile body information. As an example, the mobile body information includes information indicating the position coordinates, the direction, the current floor, the remaining charge, the status, and the operation. The above statuses include, for example, moving, waiting, charging, waiting at the elevator hall, getting on the elevator, being in the elevator, and getting off the elevator. Examples of mobile body information are not limited to the above.

The operation control unit 33 is a function for controlling the operation. For example, the operation control unit 33 controls a drive mechanism (not shown) to cause the autonomous mobile unit 4 to move. The functions of the autonomous mobile unit 4 can be realized by a so-called computer.

The control device 6 includes a communication unit 41, an information acquisition unit 42, a decision unit 43, and an operation control unit 44.

The communication unit 41 is a function for communicating with the interlocking device 3. The information acquisition unit 42 is a function for acquiring information related to the elevator device 2. Hereinafter, this information is also referred to as elevator information. As an example, the elevator information includes information indicating the position of the car 5, the state of the car 5, and the state of the door 7. The state of the car 5 includes, for example, stopped, moving upward, and moving downward. The state of the door 7 includes, for example, fully closed, opening operation, fully open, and closing operation. Examples of elevator information are not limited to the above.

The operation control unit 44 controls the operation of the elevator device 2. For example, the operation control unit 44 controls the movement of the car 5. The operation control unit 44 controls the 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 to Figures 2 to 8. Figure 2 is a flowchart showing an example of the operation of the interlocking device 3.

The interlocking device 3 determines whether or not moving body information has been received from the autonomous moving body 4 (S101). In the autonomous moving body 4, the moving body information acquired by the information acquisition unit 32 is periodically transmitted from the communication unit 31 to the interlocking device 3. The autonomous moving body 4 may transmit moving body information every time the contents of the moving body information are changed. The moving body information from the autonomous moving body 4 is received by the communication unit 11 in the interlocking device 3. When the communication unit 11 receives the moving body information, the result of S101 is determined as Yes.

If S101 is determined to be Yes, the recording unit 13 records the moving body information received by the communication unit 11 in the storage unit 10 (S102). As a result, the moving body information is accumulated in the storage unit 10. The interlocking device 3 can identify the latest state of the autonomous moving body 4 based on the moving body information stored in the storage unit 10. The interlocking device 3 can also identify the latest position of the autonomous moving body 4 based on the moving body information stored in the storage unit 10.

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

The interlocking device 3 determines whether elevator information has been received from the control device 6 (S201). In the control device 6, the elevator information acquired by the information acquisition unit 42 is periodically transmitted from the communication unit 41 to the interlocking device 3. Elevator information may be transmitted from the control device 6 every time the contents of the elevator information are changed. The elevator information from the control device 6 is received by the communication unit 12 in the interlocking device 3. When the communication unit 12 receives the elevator information, Yes is determined in S201.

If S201 returns Yes, the recording unit 13 records the elevator information received by the communication unit 12 in the memory unit 10 (S202). This causes the elevator information to accumulate in the memory unit 10. The interlocking device 3 can determine the latest position and status of the car 5 based on the elevator information stored in the memory unit 10. The interlocking device 3 can also determine the latest status of the door 7 based on the elevator information stored in the memory unit 10.

Next, the operation of the autonomous mobile body 4 when it moves in the car 5 will be described. FIG. 4 is a sequence diagram showing an example of the overall operation of the elevator system 1. FIG. 5 is a flowchart showing an example of the operation of the autonomous mobile body 4. When it is necessary for the autonomous mobile body 4 to move in the car 5, it transmits a call request from the communication unit 31 (S301).

Figures 6 and 7 are flowcharts showing other examples of the operation of the interlocking device 3. Figures 6 and 7 show a series of operations. The interlocking device 3 determines whether or not a call request has been received from the autonomous moving body 4 (S401). When the communication unit 11 receives a call request transmitted from the autonomous moving body 4 in S301, the result of S401 is determined as Yes.

When S401 is determined to be Yes, 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 S401 (S402). This call registration request includes information on the boarding floor Fr and the destination floor Fd. The boarding floor Fr is the floor where the autonomous mobile body 4 boards the car 5. The destination floor Fd is the floor where the autonomous mobile body 4 disembarks from the car 5.

Figure 8 is a flowchart showing an example of the operation of the control device 6. The control device 6 determines whether or not a call registration request has been received from the interlocking device 3 (S501). When the communication unit 41 receives a call registration request transmitted from the interlocking device 3 in S402, the result of S501 is determined to be Yes.

When S501 is judged as Yes, the determination unit 43 determines a car 5 that will respond to the call registration request received by the communication unit 41 in S501 (S502). If the elevator device 2 is equipped with multiple cars 5 as shown in FIG. 1, the determination unit 43 assigns the call registration request to one of the multiple cars 5 and causes it to respond. Hereinafter, the car 5 that responds to the call registration request is also referred to as the assigned car 5. When the determination unit 43 determines the assigned car 5 in S502, an assigned car notification is transmitted from the communication unit 41 to the interlocking device 3 (S503). The assigned car notification includes information on the assigned car 5 determined by the determination unit 43.

When the interlocking device 3 transmits a call registration request in S402, it determines whether or not an assigned car notification has been received from the control device 6 in response (S403). When the communication unit 12 receives the assigned car notification transmitted from the control device 6 in S503, it determines Yes in S403. When it determines Yes in S403, the assigned car notification is transmitted from the communication unit 11 to the autonomous mobile body 4 (S404).

In addition, in the autonomous mobile body 4, the communication unit 31 receives the assigned car notification transmitted from the interlocking device 3 in S404. If the elevator device 2 is equipped with multiple cars 5, the operation control unit 33 may prepare to board the assigned car 5. For example, the operation control unit 33 controls the drive machine to move the autonomous mobile body 4 to the front of the door for boarding the assigned car 5.

In the control device 6, when the determination unit 43 determines the assigned car 5 in S502, the operation control unit 44 causes the assigned car 5 to respond to the call registration request (S504). Specifically, the operation control unit 44 moves the assigned car 5 to the boarding floor Fr. When the operation control unit 44 stops the assigned car 5 at the boarding floor Fr, it opens the door 7 of the assigned car 5. When the door 7 of the assigned car 5 is opened at the boarding floor Fr, a door open notification is sent from the communication unit 41 to the interlocking device 3 (S505). The door open notification includes information indicating that the door 7 of the assigned car 5 is open at the boarding floor Fr.

When the interlocking device 3 transmits a call registration request in S402, it determines whether or not a door open notification for the boarding floor Fr has been received (S405). When the communication unit 12 receives the door open notification transmitted from the control device 6 in S505, it determines Yes in S405. When it determines Yes in S405, the boarding/alighting request unit 15 transmits a boarding request to the autonomous mobile body 4 (S406). The boarding request includes information indicating that boarding the assigned car 5 has been permitted.

When the autonomous mobile body 4 transmits a call request in S301, it determines whether or not a boarding request has been received from the interlocking device 3 in response (S302). When the communication unit 31 receives the boarding request transmitted from the interlocking device 3 in S406, it determines Yes in S302. If it determines Yes in S302, the autonomous mobile body 4 boards the assigned car 5 (S303). That is, the operation control unit 33 controls the drive machine, so that the autonomous mobile body 4 moves from the boarding platform at the boarding floor Fr to inside the assigned car 5. When the autonomous mobile body 4 boards the assigned car 5, a boarding completion notification is transmitted from the communication unit 31 to the interlocking device 3 (S304).

When the interlocking device 3 transmits a boarding request in S406, it determines whether or not a boarding completion notification has been received from the autonomous mobile unit 4 in response (S407). When the communication unit 11 receives the boarding completion notification transmitted from the autonomous mobile unit 4 in S304, it determines Yes in S407. When it determines Yes in S407, the door request unit 16 transmits a door close request to the control device 6 to close the door 7 of the assigned car 5 (S408).

When the control device 6 transmits a door open notification in S505, it determines whether or not a door close request has been received in response from the interlocking device 3 (S506). When the communication unit 41 receives the door close request transmitted from the interlocking device 3 in S408, it determines Yes in S506. When it determines Yes in S506, the operation control unit 44 moves the assigned car 5 to the destination floor Fd (S507).

Specifically, the operation control unit 44 closes the door 7 of the assigned car 5 at the boarding floor Fr. Next, the operation control unit 44 causes the assigned car 5 to respond to the call registration request and moves the assigned car 5 to the destination floor Fd. When the operation control unit 44 stops the assigned car 5 at the destination floor Fd, it opens the door 7 of the assigned car 5. When the door 7 of the assigned car 5 is opened at the destination floor Fd, a door open notification is sent from the communication unit 41 to the interlocking device 3 (S508). The door open notification includes information indicating that the door 7 of the assigned car 5 is open at the destination floor Fd.

When the interlocking device 3 transmits a door close request in S408, it determines whether or not a door open notification for the destination floor Fd has been received (S409). When the communication unit 12 receives the door open notification transmitted from the control device 6 in S508, it determines Yes in S409. If it determines Yes in S409, the boarding/alighting request unit 15 transmits a disembarking request to the autonomous mobile body 4 (S410). The disembarking request includes information indicating that disembarking from the assigned car 5 has been permitted.

When the autonomous mobile body 4 transmits a boarding completion notification in S304, it determines whether or not an alighting request has been received in response from the interlocking device 3 (S305). When the communication unit 31 receives the alighting request transmitted from the interlocking device 3 in S410, it determines Yes in S305. When it determines Yes in S305, the autonomous mobile body 4 starts the alighting operation to alight from the assigned car 5 (S306). That is, the operation control unit 33 controls the drive machine, and the autonomous mobile body 4 starts moving from the assigned car 5 to the hall of the destination floor Fd.

If S305 is determined as Yes, the autonomous mobile body 4 determines whether disembarking, i.e., moving from the assigned car 5 to the platform at the destination floor Fd, was successful (S307). If the autonomous mobile body 4 can move to the platform at the destination floor Fd, S307 is determined as Yes. If S307 is determined as Yes, a disembarking completion notification is sent from the communication unit 31 to the interlocking device 3 (S308). The disembarking completion notification includes information indicating that the autonomous mobile body 4 has disembarked from the assigned car 5 at the destination floor Fd.

On the other hand, if the autonomous mobile body 4 cannot move to the platform of the destination floor Fd, S307 is determined as No. As an example, consider a case where the autonomous mobile body 4 receives a disembarking request while riding in the assigned car 5 with a user. If this user stands between the autonomous mobile body 4 and the entrance/exit, the autonomous mobile body 4, having detected that the user is in its path, stops the disembarking operation. In such a case, even if the autonomous mobile body 4 receives a disembarking request, it cannot disembark from the assigned car 5, and S307 is determined as No. If S307 is determined as No, the autonomous mobile body 4 determines whether or not a disembarking cancellation request has been received from the interlocking device 3 (S309).

In the interlocking device 3, when a disembarking request is sent in S410, the first determination unit 17 determines whether the autonomous mobile body 4 has failed to disembark from the assigned car 5 at the destination floor Fd.

As an example, the first determination unit 17 determines whether or not a disembarking completion notification has been received from the autonomous moving body 4 (S411). When the communication unit 11 receives the disembarking completion notification transmitted from the autonomous moving body 4 in S308, Yes is determined in S411. In other words, the first determination unit 17 does not determine that the autonomous moving body 4 failed to disembark from the assigned car 5 at the destination floor Fd. When Yes is determined in S411, the door request unit 16 transmits a door close request to the control device 6 (S412).

On the other hand, if the communication unit 11 does not receive a disembarking completion notification from the autonomous moving body 4, it is determined as No in S411. If it is determined as No in S411, the first determination unit 17 determines whether or not a certain time has elapsed since the door open notification was received in S409 (S413). The certain time is set in advance. If the certain time has elapsed without receiving a disembarking completion notification from the autonomous moving body 4, the first determination unit 17 determines that the autonomous moving body 4 has failed to disembark from the assigned car 5 at the destination floor Fd. That is, it is determined as Yes in S413. If it is determined as Yes in S413, the cancellation request unit 18 transmits a disembarking cancellation request to the autonomous moving body 4 (S414). Note that the first determination unit 17 may determine the failure of disembarking by another method.

When the communication unit 31 of the autonomous mobile body 4 receives the disembarking cancellation request transmitted from the interlocking device 3 in S414, Yes is determined in S309. When Yes is determined in S309, the autonomous mobile body 4 cancels the disembarking operation to disembark from the assigned car 5 (S310). When the disembarking operation is canceled in S310, a disembarking cancellation completion notification is transmitted from the communication unit 31 to the interlocking device 3 (S311). The disembarking cancellation completion notification includes information indicating that the autonomous mobile body 4 has canceled movement to the hall at the destination floor Fd.

When the interlocking device 3 transmits a disembarkation cancellation request in S414, it determines whether or not a disembarkation cancellation completion notification has been received from the autonomous moving body 4 in response (S415). When the communication unit 11 receives the disembarkation cancellation completion notification transmitted from the autonomous moving body 4 in S311, it determines Yes in S415. When it determines Yes in S415, the door request unit 16 transmits a door close request to the control device 6 to close the door 7 of the assigned car 5 (S416).

When the control device 6 transmits a door open notification in S508, it determines whether or not a door close request has been received from the interlocking device 3 (S509). When the communication unit 41 receives the door close request transmitted from the interlocking device 3 in S412, it determines Yes in S509. Also, when the communication unit 41 receives the door close request transmitted from the interlocking device 3 in S416, it determines Yes in S509. When it determines Yes in S509, the operation control unit 44 closes the door 7 of the assigned car 5 (S510).

In the autonomous mobile body 4, when the disembarking operation is cancelled in S310 and a disembarking cancellation completion notification is sent in S311, a re-disembarking request is sent from the communication unit 31 to the interlocking device 3 (S312). The re-disembarking request may be sent after a door close request is sent in S416.

When the interlocking device 3 transmits a disembarkation cancellation request in S414, it determines whether or not a re-disembarkation request has been received from the autonomous mobile unit 4 in response (S417). When the communication unit 11 receives the re-disembarkation request transmitted from the autonomous mobile unit 4 in S312, it determines Yes in S417. When it determines Yes in S417, the second determination unit 19 determines whether or not the autonomous mobile unit 4 is in the assigned car 5 (S418). The determination in S418 is made based on, for example, the latest mobile unit information stored in the memory unit 10.

When the second judgment unit 19 judges that the autonomous mobile body 4 is in the assigned car 5, Yes is judged in S418. When Yes is judged in S418, the call request unit 14 transmits a call registration request to the control device 6 for the autonomous mobile body 4 to get off the assigned car 5 at the destination floor Fd, i.e., the same destination floor as the destination floor included in the call registration request transmitted in S402 (S419). This call registration request corresponds to a call generated by operating the operation panel in the assigned car 5, a so-called car call. In other words, the car 5 that responds to this call registration request is the car 5 that responded to the call registration request transmitted in S402. When No is judged in S418, this call registration request is not transmitted.

The determination in S418 does not have to be performed by the interlocking device 3. For example, a determination equivalent to the determination in S418 may be performed by the autonomous moving body 4.

After S510, the control device 6 determines whether or not a call registration request corresponding to a car call has been received from the interlocking device 3 (S511). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 in S419, the result of S511 is determined as Yes. When the result of S511 is determined as Yes, the process returns to S507. That is, the operation control unit 44 moves the assigned car 5 to the destination floor Fd and opens the door 7.

As a result, in the interlocking device 3, the communication unit 12 receives the door open notification sent from the control device 6 in S508 (Yes in S420). If Yes is determined in S420, the boarding/alighting request unit 15 sends an alighting request to the autonomous moving body 4 (S410). Upon receiving this alighting request, the autonomous moving body 4 starts the alighting operation (S306), and if the autonomous moving body 4 is able to alight from the assigned car 5, a alighting completion notification is sent to the interlocking device 3 (S308).

In the above example, if S511 is determined to be Yes, the control device 6 may notify the interlocking device 3 of the cage call registration result before processing of S507 is performed, and the notification may be forwarded from the interlocking device 3 to the autonomous mobile body 4.

In the example shown in this embodiment, the first determination unit 17 determines whether the autonomous mobile body 4 heading to the destination floor Fd in the assigned car 5 has failed to get off the assigned car 5 at the destination floor Fd. When the first determination unit 17 determines that the autonomous mobile body 4 has failed to get off the assigned car 5 at the destination floor Fd, the abort request unit 18 transmits a disembarkation abort request to the autonomous mobile body 4. Then, when the call request unit 14 receives a re-disembarkation request from the autonomous mobile body 4 in response to the disembarkation abort request, it transmits a call registration request to the control device 6 for the autonomous mobile body 4 to get off the assigned car 5 at the destination floor Fd.

With this elevator system 1, even if the autonomous mobile body 4 fails to disembark once, a call registration request is made in response to a re-disembarkation request from the autonomous mobile body 4, and the autonomous mobile body 4 can disembark from the assigned car 5 at the destination floor Fd. Even if the autonomous mobile body 4 fails to disembark, there is no need for the manager to go and rescue the autonomous mobile body 4. This reduces the burden on the manager.

Below, other functions that can be adopted by the elevator system 1 are described. If possible, the elevator system 1 may adopt a combination of the functions shown below. In the example shown below, only the differences from the above-mentioned example are described in detail. Explanations of the same points as the above-mentioned example are omitted.

In the above example, when the call request unit 14 receives a re-alighting request from the autonomous mobile body 4 in response to the alighting cancellation request, it transmits a call registration request to the control device 6 for the autonomous mobile body 4 to alight from the assigned car 5 at the destination floor Fd. However, even if a re-alighting request is not received from the autonomous mobile body 4, the interlocking device 3 is capable of determining that the autonomous mobile body 4 was unable to alight from the assigned car 5 at the destination floor Fd and that the autonomous mobile body 4 is in the assigned car 5.

When the first judgment unit 17 judges that the autonomous mobile body 4 has failed to get off the assigned car 5 at the destination floor Fd, Yes is judged in S413. When the second judgment unit 19 judges that the autonomous mobile body 4 is in the assigned car 5, Yes is judged in S418. When Yes is judged in S413 and Yes is judged in S418, the call request unit 14 may transmit a call registration request for the autonomous mobile body 4 to get off the assigned car 5 at the destination floor Fd to the control device 6 in S419. In such a case, the interlocking device 3 does not need to perform the process shown in S417 in FIG. 7. The autonomous mobile body 4 does not need to perform the process shown in S312 in FIG. 5.

Figure 9 is a flowchart showing another example of the operation of the interlocking device 3. When the interlocking device 3 performs the operation flow shown in Figure 9, the interlocking device 3 further includes a third determination unit 20.

Depending on the function of the elevator device 2, the car 5 may not respond to a car call with the destination floor being the floor where the car 5 is stopped. Therefore, in the example shown in FIG. 9, if S418 is judged as Yes, the third judgment unit 20 judges whether the floor where the assigned car 5 is currently located matches the destination floor Fd (S421). If the third judgment unit 20 judges that the current floor of the assigned car 5 does not match the destination floor Fd, the process shown in S419 is performed.

On the other hand, when the third determination unit 20 determines that the current floor of the assigned car 5 matches the destination floor Fd, the door request unit 16 transmits a door open request to the control device 6 to open the door 7 of the assigned car 5 (S422). The process shown in S420 is then performed. That is, by determining Yes in S421, the boarding/alighting request unit 15 transmits an alighting request to the autonomous mobile body 4 (S410). In response to receiving the alighting request, the autonomous mobile body 4 starts the alighting operation to alight from the assigned car 5 (S306).

In the example shown in FIG. 9, the third judgment unit 20 judges in S421 whether the current floor of the assigned car 5 matches the destination floor Fd, on the condition that a re-alight request has been received from the autonomous mobile body 4. If the judgment in S421 is No, a call registration request for the autonomous mobile body 4 to alight from the assigned car 5 at the destination floor Fd is sent to the control device 6. On the other hand, if the judgment in S421 is Yes, the call registration request is not sent, and a door open request is sent to the control device 6. In this example, it is possible to prevent a call registration request with the current floor of the assigned car 5 as the destination floor from being sent in S419.

The example shown in FIG. 9 can also be applied to an example in which a re-disembarkation request is not transmitted from the autonomous moving body 4. In such a case, when S413 is judged as Yes and S418 is judged as Yes, the third judgment unit 20 may judge whether the current floor of the assigned car 5 matches the destination floor Fd (S421).

Figure 10 is a diagram showing an example of hardware resources of the interlocking device 3. The interlocking device 3 includes, as hardware resources, a processing circuit 50 including a processor 51 and a memory 52. The processing circuit 50 may include multiple processors 51. The processing circuit 50 may include multiple memories 52.

In this embodiment, the units denoted by reference numbers 10 to 20 indicate functions possessed by the interlocking device 3. The function of the storage unit 10 is realized by the memory 52. The functions of the units denoted by reference numbers 11 to 20 can be realized by software written as a program, firmware, or a combination of software and firmware. The program is stored in the memory 52. The interlocking device 3 realizes the functions of the units denoted by reference numbers 11 to 20 by executing the program stored in the memory 52 by the processor 51 (computer).

The processor 51 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 52 may be a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD. Possible semiconductor memories include RAM, ROM, flash memory, EPROM, and EEPROM.

Figure 11 is a diagram showing another example of the hardware resources of the interlocking device 3. In the example shown in Figure 11, the interlocking device 3 has a processing circuit 50 including a processor 51, a memory 52, and dedicated hardware 53. Figure 11 shows an example in which some of the functions of the interlocking device 3 are realized by the dedicated hardware 53. All of the functions of the interlocking device 3 may be realized by the dedicated hardware 53. As the dedicated hardware 53, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these may be used.

The hardware resources of the autonomous mobile body 4 are similar to those in the example shown in FIG. 10 or FIG. 11. The autonomous mobile body 4 has a processing circuit including a processor and memory as hardware resources. The autonomous mobile body 4 realizes the functions of each part indicated by the reference numerals 31 to 33 by executing a program stored in the memory by the processor (computer). The autonomous mobile body 4 may have a processing circuit including a processor, memory, and dedicated hardware as hardware resources. As for 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 control device 6 are similar to those in the example shown in FIG. 10 or FIG. 11. The control device 6 has a processing circuit including a processor and memory as hardware resources. The control device 6 realizes the functions of each part indicated by the reference numerals 41 to 44 by executing a program stored in the memory with the processor (computer). The control device 6 may have a processing circuit including a processor, memory, and dedicated hardware as hardware resources. With respect to the control device 6, some or all of the functions of the device may be realized by dedicated hardware.

Below, examples of aspects that may be included in this disclosure are listed as appendices.

[Appendix 1]
An autonomous moving body;
A control device that manages the operation of the car;
a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor;
a call request unit that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the car at the first destination floor;
Equipped with
An elevator system in which, when the autonomous mobile body receives the request to cancel disembarkation, it stops the operation to disembark from the car and transmits the request to disembark again.
[Appendix 2]
Further comprising a second determination unit that determines whether the autonomous moving body is in the car,
2. The elevator system according to claim 1, wherein when the call request unit receives the re-alight request from the autonomous moving body and the second determination unit determines that the autonomous moving body is in the cage, the call request unit transmits the call registration request to the control device.
[Appendix 3]
a third determination unit that, upon receiving the re-alighting request, determines whether or not a current floor of the car coincides with the first destination floor;
A door request unit;
An alighting request unit;
Further comprising:
the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor;
the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor;
the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor;
3. The elevator system according to claim 1, wherein the autonomous moving body starts an operation to disembark from the car when the autonomous moving body receives the first disembarkation request.
[Appendix 4]
An autonomous moving body;
A control device that manages the operation of the car;
a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor;
a second determination unit that determines whether the autonomous moving body is inside the car;
a call request unit that transmits a call registration request for disembarking from the car at the first destination floor to the control device when the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car;
Equipped with
The elevator system wherein the autonomous moving body, upon receiving the request to cancel disembarkation, cancels the operation to disembark from the car.
[Appendix 5]
a third determination unit that, when it is determined by the first determination unit that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined by the second determination unit that the autonomous moving body is in the car, determines whether or not a current floor of the car coincides with the first destination floor;
A door request unit;
An alighting request unit;
Further comprising:
the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor;
the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor;
the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor;
The elevator system of claim 4, wherein the autonomous moving body starts an operation to disembark from the car when the autonomous moving body receives the first disembarkation request.
[Appendix 6]
6. The elevator system of claim 1, wherein the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor when a disembarkation completion notification indicating that the autonomous moving body has disembarked from the car at the first destination floor is not received from the autonomous moving body within a predetermined time period after receiving a first door open notification from the control device indicating that the car door has opened at the first destination floor.
[Appendix 7]
A door request unit is further provided,
When the autonomous moving body receives the alighting cancellation request and cancels the operation for alighting from the car, the autonomous moving body transmits a alighting cancellation completion notification;
7. The elevator system according to claim 1, wherein the door request unit transmits a door close request to the control device when the disembarkation cancellation completion notification is received.
[Appendix 8]
Further comprising an alighting request unit,
When the control device causes the car to respond to the call registration request and opens the car door at the first destination floor, the control device transmits a second door open notification indicating that the car door has been opened at the first destination floor;
the alighting request unit transmits a second alighting request to the autonomous moving body upon receiving the second door open notification;
8. The elevator system according to claim 1, wherein the autonomous moving body starts an operation to disembark from the car when the autonomous moving body receives the second disembarkation request.
[Appendix 9]
An autonomous moving body;
A control device that manages the operation of the elevator car;
A communication-capable interlocking device,
a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor;
a call request unit that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the car at the first destination floor;
Equipped with
An interlocking device that causes the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation to alight from the car and to transmit the alighting request again.
[Appendix 10]
An autonomous moving body;
A control device that manages the operation of the elevator car;
A communication-capable interlocking device,
a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor;
a second determination unit that determines whether the autonomous moving body is inside the car;
a call request unit that transmits a call registration request to the control device to get off the car at the first destination floor when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car; and
Equipped with
An interlocking device that causes the autonomous moving body that has received the disembarkation cancellation request to cancel the operation to disembark from the car.
[Appendix 11]
An autonomous moving body;
A control device that manages the operation of the elevator car;
A method for controlling a communication-enabled interlocking device, comprising:
a first determination step of determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request step of transmitting an abort request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor;
a call request step of transmitting a call registration request to the control device when a re-alighting request is received from the autonomous moving body in response to the alighting cancellation request;
Equipped with
A control method for an interlocking device that causes the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation for alighting from the car and to transmit the alighting request again.
[Appendix 12]
An autonomous moving body;
A control device that manages the operation of the elevator car;
A method for controlling a communication-enabled interlocking device, comprising:
a first determination step of determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request step of transmitting an abort request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor;
a second determination step of determining whether the autonomous moving body is in the car;
a call request step of transmitting a call registration request to the control device to get off the car at the first destination floor when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined in the second determination step that the autonomous moving body is in the car;
Equipped with
A control method for an interlocking device that causes the autonomous moving body that has received the disembarkation cancellation request to cancel the operation for disembarking from the car.
[Appendix 13]
An autonomous moving body;
A control device that manages the operation of the elevator car;
A computer that can communicate with
a first determination process for determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request process for sending an abort request to the autonomous moving body when it is determined in the first determination process that the autonomous moving body has failed to get off the car at the first destination floor;
a call request process that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device to alight from the cage at the first destination floor;
Run the command,
A program for causing the autonomous moving body, which has received the alighting cancellation request, to cancel the operation for alighting from the car and to transmit the alighting request again.
[Appendix 14]
An autonomous moving body;
A control device that manages the operation of the elevator car;
A computer that can communicate with
a first determination process for determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request process for sending an abort request to the autonomous moving body when it is determined in the first determination process that the autonomous moving body has failed to get off the car at the first destination floor;
A second determination process for determining whether the autonomous moving body is in the car;
a call request process for transmitting a call registration request for getting off the car at the first destination floor to the control device when the first determination process determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination process determines that the autonomous moving body is in the car;
Run the command,
A program for causing the autonomous moving body, which has received the alighting cancellation request, to cancel the operation for alighting from the car.

The matters described in Appendices 2-3 and 6-8 may be added to Appendices 9, 11, and 13, respectively. The matters described in Appendices 5-8 may be added to Appendices 10, 12, and 14, respectively.

1 elevator system, 2 elevator device, 3 interlocking device, 4 autonomous mobile body, 5 car, 6 control device, 7 door, 10 memory unit, 11 communication unit, 12 communication unit, 13 recording unit, 14 call request unit, 15 boarding/alighting request unit, 16 door request unit, 17 first determination unit, 18 stop request unit, 19 second determination unit, 20 third determination unit, 31 communication unit, 32 information acquisition unit, 33 operation control unit, 41 communication unit, 42 information acquisition unit, 43 decision unit, 44 operation control unit, 50 processing circuit, 51 processor, 52 memory, 53 dedicated hardware

Claims (23)

An autonomous moving body;
A control device that manages the operation of the car;
An interlocking device capable of communicating with the autonomous moving body and the control device;
Equipped with
The interlocking device is
a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor;
a call request unit that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the car at the first destination floor;
Equipped with
An elevator system in which, when the autonomous mobile body receives the request to cancel disembarkation, it stops the operation to disembark from the car and transmits the request to disembark again. The interlocking device further includes a second determination unit that determines whether the autonomous moving body is in the car,
2. The elevator system according to claim 1, wherein when the call request unit receives the re-alight request from the autonomous moving body, and when the second determination unit determines that the autonomous moving body is in the car, the call request unit transmits the call registration request to the control device. The interlocking device is
a third determination unit that, upon receiving the re-alighting request, determines whether or not a current floor of the car coincides with the first destination floor;
A door request unit;
An alighting request unit;
Further comprising:
the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor;
the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor;
the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor;
The elevator system according to claim 1 , wherein the autonomous moving body starts an operation for disembarking from the car when the autonomous moving body receives the first disembarking request. An autonomous moving body;
A control device that manages the operation of the car;
An interlocking device capable of communicating with the autonomous moving body and the control device;
Equipped with
The interlocking device is
a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor;
a second determination unit that determines whether the autonomous moving body is inside the car;
a call request unit that transmits a call registration request to the control device to get off the car at the first destination floor when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car;
Equipped with
The elevator system wherein the autonomous moving body, upon receiving the request to cancel disembarkation, cancels the operation to disembark from the car. The interlocking device is
a third determination unit that, when it is determined by the first determination unit that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined by the second determination unit that the autonomous moving body is in the car, determines whether or not a current floor of the car coincides with the first destination floor;
A door request unit;
An alighting request unit;
Further comprising:
the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor;
the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor;
the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor;
The elevator system according to claim 4 , wherein the autonomous moving body starts an operation for disembarking from the car when the autonomous moving body receives the first disembarking request. The elevator system according to any one of claims 1 to 5, wherein the first determination unit determines that the autonomous mobile body has failed to disembark from the car at the first destination floor when a disembarkation completion notification indicating that the autonomous mobile body has disembarked from the car at the first destination floor is not received from the autonomous mobile body within a preset time period after receiving a first door open notification from the control device indicating that the car door has opened at the first destination floor. The interlocking device further includes a door request unit,
When the autonomous moving body receives the alighting cancellation request and cancels the operation for alighting from the car, the autonomous moving body transmits a alighting cancellation completion notification;
6. The elevator system according to claim 1, wherein the door request unit transmits a door close request to the control device when the disembarkation cancellation completion notification is received. The interlocking device further includes a disembarking request unit,
When the control device causes the car to respond to the call registration request and opens the car door at the first destination floor, the control device transmits a second door open notification indicating that the car door has been opened at the first destination floor;
the alighting request unit transmits a second alighting request to the autonomous moving body upon receiving the second door open notification;
The elevator system according to claim 1 , wherein the autonomous moving body starts an operation for disembarking from the car when the autonomous moving body receives the second disembarking request. An autonomous moving body;
A control device that manages the operation of the elevator car;
A communication-capable interlocking device,
a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor;
a call request unit that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the car at the first destination floor;
Equipped with
An interlocking device that causes the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation to alight from the car and to transmit the alighting request again. a third determination unit that, upon receiving the re-alighting request, determines whether or not a current floor of the car coincides with the first destination floor;
A door request unit;
An alighting request unit;
Further comprising:
the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor;
the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor;
the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor;
The interlocking device according to claim 9 , wherein the autonomous moving body that has received the first disembarking request initiates an operation for disembarking from the car. An autonomous moving body;
A control device that manages the operation of the elevator car;
A communication-capable interlocking device,
a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor;
a second determination unit that determines whether the autonomous moving body is inside the car;
a call request unit that transmits a call registration request for disembarking from the car at the first destination floor to the control device when the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car;
Equipped with
An interlocking device that causes the autonomous moving body, which has received the disembarkation cancellation request, to cancel the operation to disembark from the car. a third determination unit that, when it is determined by the first determination unit that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined by the second determination unit that the autonomous moving body is in the car, determines whether or not a current floor of the car coincides with the first destination floor;
A door request unit;
An alighting request unit;
Further comprising:
the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor;
the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor;
the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor;
The interlocking device according to claim 11 , wherein the autonomous moving body that has received the first disembarking request initiates an operation for disembarking from the car. The interlocking device according to any one of claims 9 to 12, wherein the first determination unit determines that the autonomous mobile body has failed to disembark from the cage at the first destination floor when a disembarkation completion notification indicating that the autonomous mobile body has disembarked from the cage at the first destination floor is not received from the autonomous mobile body within a predetermined time period after receiving a first door open notification from the control device indicating that the cage door has opened at the first destination floor. An autonomous moving body;
A control device that manages the operation of the elevator car;
A method for controlling a communication-enabled interlocking device, comprising:
a first determination step of determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request step of transmitting an abort request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor;
a call request step of transmitting a call registration request to the control device when a re-alighting request is received from the autonomous moving body in response to the alighting cancellation request;
Equipped with
A control method for an interlocking device that causes the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation for alighting from the car and to transmit the alighting request again. a third determination step of determining whether or not a current floor of the car coincides with the first destination floor when the re-alighting request is received;
A door request step;
an alighting request step;
Further comprising:
When it is determined in the third determination step that the current floor of the car does not match the first destination floor in the call request step, the call registration request is sent to the control device;
In the door request step, when it is determined in the third determination step that the current floor of the car coincides with the first destination floor, a door open request for opening the door of the car is transmitted to the control device;
In the alighting request step, when it is determined in the third determination step that the current floor of the car coincides with the first destination floor, a first alighting request is transmitted to the autonomous moving body;
The method for controlling an interlocking device according to claim 14, further comprising the step of: causing the autonomous moving body that has received the first alighting request to start an operation for alighting from the car. An autonomous moving body;
A control device that manages the operation of the elevator car;
A method for controlling a communication-enabled interlocking device, comprising:
a first determination step of determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request step of transmitting an abort request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor;
a second determination step of determining whether the autonomous moving body is in the car;
a call request step of transmitting a call registration request to the control device to get off the car at the first destination floor when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined in the second determination step that the autonomous moving body is in the car;
Equipped with
A control method for an interlocking device that causes the autonomous moving body that has received the disembarkation cancellation request to cancel the operation for disembarking from the car. a third determination step of determining whether or not a current floor of the car coincides with the first destination floor when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined in the second determination step that the autonomous moving body is in the car;
A door request step;
an alighting request step;
Further comprising:
When it is determined in the third determination step that the current floor of the car does not match the first destination floor in the call request step, the call registration request is sent to the control device;
In the door request step, when it is determined in the third determination step that the current floor of the car coincides with the first destination floor, a door open request for opening the door of the car is transmitted to the control device;
In the alighting request step, when it is determined in the third determination step that the current floor of the car coincides with the first destination floor, a first alighting request is transmitted to the autonomous moving body;
The method for controlling an interlocking device according to claim 16, further comprising the step of: causing the autonomous moving body that has received the first alighting request to start an operation for alighting from the car. A method for controlling an interlocking device as described in any one of claims 14 to 17, wherein in the first determination step, if a disembarkation completion notification indicating that the autonomous mobile body has disembarked from the car at the first destination floor is not received from the autonomous mobile body within a predetermined time period after a first door open notification indicating that the car door has opened at the first destination floor is received from the control device, it is determined that the autonomous mobile body has failed to disembark from the car at the first destination floor. An autonomous moving body;
A control device that manages the operation of the elevator car;
A computer that can communicate with
a first determination process for determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request process for sending an abort request to the autonomous moving body when it is determined in the first determination process that the autonomous moving body has failed to get off the car at the first destination floor;
a call request process that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device to alight from the cage at the first destination floor;
Run the command,
A program for causing the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation for alighting from the car and to transmit the alighting request again. The computer includes:
a third determination process for determining whether or not a current floor of the car coincides with the first destination floor when the re-alighting request is received;
Door request processing;
Processing a disembarkation request;
Then,
In the call request process, when it is determined in the third determination process that the current floor of the car does not match the first destination floor, the call registration request is sent to the control device;
In the door request process, when it is determined in the third determination process that the current floor of the car coincides with the first destination floor, a door open request for opening the door of the car is transmitted to the control device;
In the alighting request process, when it is determined in the third determination process that the current floor of the car coincides with the first destination floor, a first alighting request is transmitted to the autonomous moving body;
The program according to claim 19 , further comprising causing the autonomous moving body, which has received the first alighting request, to initiate an operation for alighting from the car. An autonomous moving body;
A control device that manages the operation of the elevator car;
A computer that can communicate with
a first determination process for determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor;
an abort request process for sending an abort request to the autonomous moving body when it is determined in the first determination process that the autonomous moving body has failed to get off the car at the first destination floor;
A second determination process for determining whether the autonomous moving body is in the car;
a call request process for transmitting a call registration request for getting off the car at the first destination floor to the control device when the first determination process determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination process determines that the autonomous moving body is in the car;
Run the command,
A program for causing the autonomous moving body, which has received the alighting cancellation request, to cancel the operation for alighting from the car. The computer includes:
a third determination process for determining whether or not a current floor of the cage coincides with the first destination floor when the first determination process determines that the autonomous moving body has failed to get off the cage at the first destination floor and the second determination process determines that the autonomous moving body is in the cage;
Door request processing;
Processing a disembarkation request;
Then,
In the call request process, when it is determined in the third determination process that the current floor of the car does not match the first destination floor, the call registration request is sent to the control device;
In the door request process, when it is determined in the third determination process that the current floor of the car coincides with the first destination floor, a door open request for opening the door of the car is transmitted to the control device;
In the alighting request process, when it is determined in the third determination process that the current floor of the car coincides with the first destination floor, a first alighting request is transmitted to the autonomous moving body;
The program according to claim 21 , further comprising causing the autonomous moving body, which has received the first alighting request, to initiate an operation for alighting from the car. The program of any one of claims 19 to 22, wherein in the first determination process, if a disembarkation completion notification indicating that the autonomous mobile body has disembarked from the car at the first destination floor is not received from the autonomous mobile body within a predetermined time period after a first door open notification indicating that the car door has opened at the first destination floor is received from the control device, the program determines that the autonomous mobile body has failed to disembark from the car at the first destination floor.

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