WO2018066057A1

WO2018066057A1 - Elevator control device and autonomous moving body control device

Info

Publication number: WO2018066057A1
Application number: PCT/JP2016/079449
Authority: WO
Inventors: 幸喜町田; 真吾小堀; 敬秀平井
Original assignee: 三菱電機株式会社
Priority date: 2016-10-04
Filing date: 2016-10-04
Publication date: 2018-04-12
Also published as: JP6350767B1; JPWO2018066057A1; CN109789997A; CN109789997B

Abstract

Provided are an elevator control device and an autonomous moving body control device that are capable of increasing user convenience. The elevator control device comprises an elevator control unit that, if a user call and an autonomous moving body call exist for an elevator, prioritizes the user call over the autonomous moving body call and controls the elevator. The autonomous moving body control device comprises an autonomous moving body control unit that, if a user call and an autonomous moving body call exist for an elevator, prioritizes the user call over the autonomous moving body call and controls the autonomous moving body.

Description

Elevator control device and autonomous mobile body control device

The present invention relates to an elevator control device and an autonomous mobile body control device.

For example, Patent Document 1 discloses an elevator system. In the said elevator system, an autonomous mobile body moves using an elevator.

Japanese Unexamined Patent Publication No. 2007-137650

In the elevator system described in Patent Document 1, it may be considered that the user and the autonomous mobile body move by sharing the car. In this case, if both are moved in the same way without distinguishing between the autonomous mobile body and the user, the transportation efficiency of the user may be reduced, and the convenience for the user may deteriorate.

This invention has been made to solve the above-mentioned problems. The objective of this invention is providing the elevator control apparatus and autonomous mobile body control apparatus which can improve a user's convenience.

The elevator control device according to the present invention is an elevator control that controls the elevator by giving priority to a user call over an autonomous mobile object call when a user call and an autonomous mobile object call exist in the elevator. Department.

The autonomous mobile body control device according to the present invention prioritizes a user call over an autonomous mobile body call when there is a user call and an autonomous mobile body call in an elevator. An autonomous mobile control unit for controlling.

According to these inventions, the call of the user is given priority over the call of the autonomous mobile body. For this reason, the convenience for the user can be improved.

It is a block diagram of the elevator system to which the elevator control apparatus in the actual form 1 of this invention is applied, and the autonomous mobile body system to which an autonomous mobile body control apparatus is applied. It is a block diagram of the elevator control apparatus and autonomous mobile body control apparatus in the form 1 of the actual condition of this invention. It is a figure which shows the driving | running route of the elevator car in which the elevator control apparatus in the form 1 of the actual condition of this invention is applied. It is a figure for demonstrating the outline | summary of operation | movement of the elevator control apparatus in the form 1 of the actual condition of this invention. It is a figure for demonstrating the outline | summary of operation | movement of the autonomous mobile body control apparatus in the form 1 of the actual condition of this invention. It is a hardware block diagram with the elevator control apparatus and autonomous mobile body control apparatus in Embodiment 1 of this invention.

DETAILED DESCRIPTION Embodiments for carrying out the present invention will be described with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or it corresponds in each figure. The overlapping description of the part is appropriately simplified or omitted.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of an elevator system to which the elevator control device according to the first embodiment of the present invention is applied and an autonomous mobile system to which the autonomous mobile control device is applied.

1 In the elevator system shown in FIG. 1, the hoistway 1 passes through each floor of the building. For example, each of the halls 2 is provided on each floor of a building. Each of the plurality of halls 2 faces the hoistway 1. At least one car 3 is provided inside the hoistway 1.

The car camera 4 is provided inside the car 3.

For example, the elevator control device 5 is provided inside a machine room (not shown). For example, the elevator control device 5 is provided inside the hoistway 1.

In the autonomous mobile body system of FIG. 1, the autonomous mobile body 6 is a mechanical device that can autonomously move without being operated by a person. For example, the autonomous mobile body 6 is a robot. For example, the autonomous mobile body 6 is personal mobility.

For example, the autonomous mobile body control device 7 is provided in the autonomous mobile body 6. For example, the autonomous mobile body control device 7 is provided at a location away from the autonomous mobile body 6.

The elevator control device 5 controls the operation of the elevator.

For example, the elevator control device 5 controls the operation of the car 3 based on the elevator call. For example, the elevator control device 5 controls the operation of the car 3 based on a hall call of the user or the autonomous mobile body 6. The landing call at this time is the machine in which the departure floor of the car 3 and the desired traveling direction in the vertical direction of the user or the autonomous mobile body 6, the destination floor of the car 3, the individual identifier of the autonomous mobile body 6, and the autonomous mobile body 6 are machines. This is information corresponding to a part or all of the machine identifier. For example, the elevator control device 5 controls the operation of the car 3 based on the car call of the user or the autonomous mobile body 6. The car call at this time is information corresponding to the destination floor. When there are a plurality of cars 3, the elevator controller 5 determines an assigned car that responds to the elevator call from the plurality of cars 3. For example, the elevator control device 5 performs releveling when a step having a height difference greater than or equal to a preset height difference occurs between the floor surface of the car 3 and the floor surface of the hall 2. Specifically, the elevator control device 5 automatically adjusts the stop position of the car 3 in order to eliminate the step.

The autonomous mobile body control device 7 controls the operation of the autonomous mobile body 6.

For example, the autonomous mobile body control device 7 controls the traveling of the autonomous mobile body 6. For example, the autonomous mobile body control device 7 transmits a hall call of the autonomous mobile body 6 to the elevator control device 5. For example, the autonomous mobile body control device 7 transmits a car call of the autonomous mobile body 6 to the elevator control device.

In the elevator system and the autonomous mobile system, information is appropriately transmitted and received between the devices. For example, information is transmitted and received between each device at an arbitrary timing. For example, information is periodically transmitted and received between the devices. For example, information is transmitted and received in response to a request from each device.

Next, the elevator control device 5 and the autonomous mobile body control device 7 will be described with reference to FIG.
FIG. 2 is a block diagram of the elevator control device and the autonomous mobile control device according to the first embodiment of the present invention.

As shown in FIG. 2, the elevator control device 5 and the autonomous mobile control device 7 exchange information.

For example, the elevator control device 5 receives a landing call of the autonomous mobile body 6 from the autonomous mobile body control device 7. For example, the elevator control device 5 receives information related to the weight of the autonomous mobile body 6 from the autonomous mobile body control device 7. For example, the elevator control device 5 receives information related to the exclusive area of the autonomous mobile body 6 from the autonomous mobile body control device 7. For example, the elevator control device 5 receives information related to the door opening extension command from the autonomous mobile body control device 7. For example, the elevator control device 5 receives information related to the relevel command from the autonomous mobile body control device 7. For example, the elevator control device 5 receives a car call of the autonomous mobile body 6 from the autonomous mobile body control device 7. For example, the elevator control device 5 receives information on the car 3 in which the autonomous mobile body 6 is on board from the autonomous mobile body control device 7.

For example, the autonomous mobile body control device 7 receives information on presence / absence of a landing call from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information related to relevel completion from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information related to whether or not relevel is possible from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information on the stoppable floor of the car 3 from the elevator control device 5. For example, the autonomous mobile control device 7 receives information related to the number of hall calls from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information on the number of users from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information related to the congestion time zone from the elevator control device 5. For example, the autonomous mobile control device 7 receives information related to traffic demand from the elevator control device 5.

For example, the autonomous mobile control device 7 receives information on the assigned car from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information related to the assigned number of laps from the elevator control device 5. For example, the autonomous mobile control device 7 receives information related to whether or not the car 3 can be boarded from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information related to whether or not to get off from the car 3 from the elevator control device 5. For example, the autonomous mobile control device 7 receives information related to the current floor of the car 3 from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information related to the traveling direction of the car 3 from the elevator control device 5. For example, the autonomous mobile control device 7 receives information related to the machine identifier from the elevator control device 5. For example, the autonomous mobile control device 7 receives information related to the open / close state of the door of the elevator from the elevator control device 5. For example, the autonomous mobile body control device 7 receives information on the presence / absence of a car call from the elevator control device 5.

The elevator control device 5 includes an elevator control unit 8. The elevator control unit 8 controls the elevator by giving priority to the user call over the autonomous mobile body 6 call when the user call and the autonomous mobile body 6 call exist.

The autonomous mobile control device 7 includes an autonomous mobile control unit 9. When there is a user call and an autonomous mobile body 6 call, the autonomous mobile body control unit 9 controls the autonomous mobile body 6 with priority over the user call over the autonomous mobile body 6 call.

For example, the elevator control unit 8 includes a setting database 8a, a prediction unit 8b, an allocation unit 8c, a pass count measurement unit 8d, a boarding availability transmission unit 8e, a boarding / alighting order control unit 8f, an allocation cancellation unit 8g, and a boarding space detection unit 8h. Prepare.

For example, the autonomous mobile body control unit 9 includes a setting database 9a, a passage count measurement unit 9b, a control unit 9c, a notification control unit 9d, a step detection unit 9e, a hall call transmission unit 9f, a destination floor transmission unit 9g, and a direction inversion detection unit. 9h, a transportation efficiency evaluation unit 9i, a movement plan creation unit 9j, and an action plan creation unit 9k.

When the first linkage setting is made, the elevator control device 5 and the autonomous mobile body control device 7 cooperate based on the weight of the autonomous mobile body 6 and the like.

For example, in the elevator control device 5, the setting database 8a stores in advance the individual identifier and weight of the autonomous mobile body 6. The prediction unit 8b predicts the load weight of the car 3 when the autonomous mobile body 6 gets into the car 3 when the landing call of the autonomous mobile body 6 is received. Specifically, the prediction unit 8b determines the weight of the user who is in the car 3, the weight of the autonomous mobile body 6 who is in the car 3, and the weight of the user who is going to get in the car 3 on each floor. The loading weight of the car 3 is predicted based on the weight of the autonomous mobile body 6 scheduled to board the car 3 on each floor. For example, the weight of the autonomous mobile body 6 is set based on the weight information received from the autonomous mobile body control device 7. At this time, the weight of the autonomous mobile body 6 may include the weight of at least one of the luggage and the user on which the autonomous mobile body 6 is placed. For example, the weight of the autonomous mobile body 6 is set by extracting the weight information associated with the individual identifier received from the autonomous mobile body control device 7 from the setting database 8a. When the load weight of the car 3 predicted by the prediction unit 8b exceeds the preset maximum load weight, the assignment unit 8c does not cause the car 3 to respond to the hall call. At this time, the assigning unit 8 c transmits information indicating that the car 3 is not assigned to the autonomous mobile body 6 to the autonomous mobile body control device 7.

In the autonomous mobile control device 7, the hall call transmission unit 9 f receives information indicating that the car 3 is not assigned to the autonomous mobile body 6, and when the car 3 passes through the existing floor of the autonomous mobile body 6. A hall call is transmitted to the elevator control device 5 again.

In the autonomous mobile control device 7, the hall call transmission unit 9 f may transmit a hall call again immediately after receiving information indicating that the car 3 is not assigned to the autonomous mobile body 6.

In the elevator control device 5, the assigning unit 8 c transmits the number of laps to which the landing call is responded to the autonomous mobile body control device 7.

In the autonomous mobile body control device 7, the passing number measuring unit 9 b measures the number of times the car 3 passes in the direction of the landing call of the autonomous mobile body 6 and the forward direction based on the current position and the traveling direction of the car 3. . When the number of times of passage measured by the number-of-passages measurement unit 9b is less than the number of laps that cause the car 3 to respond to the hall call, the control unit 9c does not allow the car 3 to get on the autonomous mobile body 6.

In the elevator control device 5, the passing number measuring unit 8 d may measure the number of times the car 3 passes in the direction of the landing call and the forward direction of the autonomous mobile body 6 based on the current position and the traveling direction of the car 3. is there. When the number of times of passage measured by the number-of-passages measurement unit 8d is less than the number of laps that cause the car 3 to respond to the hall call, the boarding availability transmission unit 8e autonomously displays information indicating that the car 3 cannot be boarded. Transmit to the mobile control device 7. When the number of times of passage measured by the number-of-passages measurement unit 8d is the number of laps that causes the car 3 to respond to the hall call, the boarding availability transmission unit 8e autonomously displays information indicating that the car 3 can be boarded Transmit to the mobile control device 7. For example, when the number of laps that cause the car 3 to respond to the hall call is the first lap, the boarding permission / inhibition transmission unit 8e sends the car 3 to the car 3 when the number of times of passage measured by the passage number measurement unit 8d becomes one. Information indicating that the boarding is possible is transmitted to the autonomous mobile control device 7. For example, the boarding availability transmission unit 8e transmits information indicating that the car 3 can be boarded to the autonomous mobile control device 7 when the car starts to approach the floor in the direction. For example, the boarding permission / inhibition transmission unit 8e transmits information indicating that the car 3 can be boarded to the autonomous mobile control device 7 when the car starts to stop in that direction.

When the second cooperation setting is made, the elevator control device 5 and the autonomous mobile body control device 7 cooperate based on the exclusive area of the autonomous mobile body 6 and the like.

For example, in the elevator control device 5, when the prediction unit 8 b receives the hall call of the autonomous mobile body 6, the prediction unit 8 b autonomously moves with the user inside the car 3 when the autonomous mobile body 6 gets into the car 3. Predict the total area occupied by the body 6. Specifically, the prediction unit 8b determines the exclusive area of the user who is in the car 3, the exclusive area of the autonomous mobile body 6 who is in the car 3, and the user who is going to get in the car 3 on each floor. Based on the exclusive area and the exclusive area of the autonomous mobile body 6 scheduled to board the car 3 on each floor, the total occupied area of the user and the autonomous mobile body 6 inside the car 3 is predicted. For example, the exclusive area of the autonomous mobile body 6 is set based on the exclusive area information received from the autonomous mobile body control device 7. At this time, the exclusive area of the autonomous mobile body 6 may include an occupied area of at least one of the luggage and the user on which the autonomous mobile body 6 can be carried. For example, the weight of the autonomous mobile body 6 is set by extracting information on the occupied area associated with the individual identifier received from the autonomous mobile body control device 7 from the setting database 8a. When the total occupied area of the user and the autonomous mobile body 6 inside the car 3 predicted by the prediction unit 8b exceeds the floor area of the car 3, the allocation unit 8c does not cause the car 3 to respond to the hall call. .

Other operations are the same as when the first linkage setting is made.

When the third linkage setting is made, the elevator control device 5 and the autonomous mobile control device 7 cooperate based on the status of the elevator call.

For example, in the elevator control device 5, when the allocation unit 8c receives a landing call of the autonomous mobile body 6, the allocating unit 8c causes the empty car 3 to respond to the landing call. At this time, the assigning unit 8c determines whether or not the empty car 3 can be assigned based on the situation of the hall call and the car call that have already been assigned. For example, the allocating unit 8c sets the car 3 as the landing call when the boarding condition that the car 3 is stopped in a state where the user is not in the car 3 and the user is not in the car 3 is satisfied. To respond. For example, the assigning unit 8c does not cause the car 3 to respond to the hall call when the boarding conditions are not satisfied.

The operation after the car 3 that does not respond to the hall call is equivalent to the operation after the car 3 does not respond to the hall call when the first linkage setting is made.

When the fourth cooperation setting is made, the elevator control device 5 and the autonomous mobile body control device 7 cooperate based on the boarding section of the autonomous mobile body 6.

For example, in the elevator control device 5, when the allocation unit 8 c receives a landing call of the autonomous mobile body 6, the allocating unit 8 c sets the car 3 that is not supposed to respond to a landing call of another autonomous mobile body 6 to the autonomous mobile body 6. Assign to the hall call. For example, the assigning unit 8 c assigns the car 3 corresponding to the boarding section that does not overlap with the boarding section of another autonomous mobile body 6 to the landing call of the autonomous mobile body 6. The boarding section at this time is set in the section from the departure floor to the destination floor.

When the fifth linkage setting is made, the elevator control device 5 and the autonomous mobile body control device 7 cooperate based on getting on and off of the plurality of autonomous mobile bodies 6.

For example, in the elevator control device 5, the boarding / descending order control unit 8 f receives information indicating that the car 3 can be boarded or information from the car 3 on the floor where the boarding or getting off of the plurality of autonomous mobile bodies 6 is detected. Information indicating that it is possible to get off the vehicle is sequentially transmitted to the autonomous mobile body control device 7 corresponding to each of the plurality of autonomous mobile bodies 6. For example, the boarding / alighting order control unit 8f receives the information indicating that the car 3 can be boarded when the boarding autonomous vehicle 6 and the boarding autonomous mobile body 6 are detected. Before transmitting to the autonomous mobile body control device 7 corresponding to, information indicating that it is possible to get off from the car 3 is transmitted to the autonomous mobile body control device 7 corresponding to the autonomous mobile body 6 to get off.

When the sixth cooperation setting is made, the elevator control device 5 and the autonomous mobile body control device 7 cooperate based on the cancellation of the landing call of the autonomous mobile body 6.

For example, in the elevator control device 5, after the allocation canceling unit 8 g determines the car 3 that the allocation unit 8 c responds to the landing call of the autonomous mobile body 6, the load weight of the car 3 predicted by the prediction unit 8 b is determined in advance. When the set maximum load weight is exceeded, the determination of the car 3 to respond to the landing call of the autonomous mobile body 6 is invalidated. For example, after the allocation unit 8c determines the car 3 that the allocation unit 8c responds to the landing call of the autonomous mobile body 6, the allocation cancellation unit 8g determines whether the user and the autonomous mobile body 6 inside the car 3 predicted by the prediction unit 8b. When the total occupied area exceeds the floor area of the car 3, the determination of the car 3 to respond to the hall call of the autonomous mobile body 6 is invalidated. For example, the assignment canceling unit 8g causes the car 3 to respond to the landing call of the autonomous mobile body 6 in a setting where only the empty car 3 responds to the landing call of the autonomous mobile body 6 Invalidate the car 3 decision. At this time, the allocation cancellation unit 8g transmits information indicating that the determination of the car 3 to be responded to the hall call of the autonomous mobile body 6 is invalid to the autonomous mobile body control device 7.

The operation after the determination of the car 3 to respond to the hall call of the autonomous mobile body 6 is invalid, is equivalent to the operation after the car 3 is not responded to the hall call when the first linkage setting is made. Is the action.

When the seventh linkage setting is made, the elevator control device 5 and the autonomous mobile control device 7 cooperate based on the current floor of the car 3, the traveling direction of the car 3, and the opening / closing state of the elevator door.

For example, in the autonomous mobile body control device 7, the control unit 9 c determines that the traveling direction of the car 3 is the desired traveling direction of the autonomous mobile body 6 when the current position of the car 3 is the floor on which the autonomous mobile body 6 exists. When the elevator door is open, the car 6 is put on the car 3.

When the 8th cooperation setting is made, the elevator control device 5 and the autonomous mobile body control device 7 cooperate based on the user who is going to get off from the car 3.

For example, the elevator control device 5 transmits information on the presence / absence of a car call to the autonomous mobile control device 7. For example, the elevator control device 5 transmits information regarding the presence or absence of a car call immediately after receiving a hall call of the autonomous mobile body 6. For example, the elevator control device 5 periodically transmits information regarding the presence / absence of a car call. The elevator control device 5 transmits information regarding the presence or absence of a car call in response to a request from the autonomous mobile body control device 7.

For example, in the autonomous mobile control device 7, the control unit 9 c receives information on the presence / absence of a car call from the elevator control device 5. The control unit 9c determines whether or not there is a user who is going to get off from the car 3 on the floor of the autonomous mobile body 6 based on the presence or absence of a car call on the floor of the autonomous mobile body 6. The control unit 9c does not wait for the arrival of the car 3 in front of the landing 2 on the floor where the autonomous mobile body 6 exists when there is a user who is scheduled to get off the car 3 on the floor where the autonomous mobile body 6 exists. The autonomous mobile body 6 is controlled. The notification control unit 9d displays information indicating that there is a user who is scheduled to get off from the car 3 when there is a user who is scheduled to get off from the car 3 on the floor where the autonomous mobile body 6 exists. The device provided in 6 is notified by voice or display.

When the 9th cooperation setting is made, the elevator control device 5 and the autonomous mobile control device 7 cooperate based on the user who plans to get on the car 3.

For example, the elevator control device 5 transmits information on the presence / absence of a hall call to the autonomous mobile control device 7. For example, the elevator control device 5 transmits information regarding the presence / absence of the user's landing call immediately after receiving the landing call of the autonomous mobile body 6. For example, the elevator control device 5 periodically transmits information on the presence / absence of the user's hall 2. In response to a request from the autonomous mobile body control device 7, the elevator control device 5 transmits information regarding the presence / absence of a user's landing call.

For example, in the autonomous mobile control device 7, the control unit 9 c receives information on the presence / absence of a user's landing call from the elevator control device 5. The control unit 9c determines whether or not there is a user who plans to get on the car 3 on the floor of the autonomous mobile body 6 based on the presence / absence of a user's landing call on the floor of the autonomous mobile body 6. . The control unit 9c does not wait for the arrival of the car 3 in front of the landing 2 on the floor of the autonomous mobile body 6 when there is a user who plans to board the car 3 on the floor of the autonomous mobile body 6 The autonomous mobile body 6 is controlled. When there is a user who plans to get on the car 3 on the floor where the autonomous mobile body 6 is present, the notification control unit 9d gives the autonomous mobile body 6 information that prompts the user to get on the vehicle first. The provided device is notified by voice or display.

For example, in the elevator control device 5, the boarding space detection unit 8 h detects an empty area in the car 3 by analyzing an image of the car camera 4 provided in the car 3. When the car 3 arrives at the floor corresponding to the landing call of the autonomous mobile body 6, the boarding permission / inhibition transmission unit 8 e analyzes the image of the car camera 4 and is vacant inside the car 3 or inside the car 3. It is determined whether or not the autonomous mobile body 6 can get on the car 3 based on the area. When the load weight of the car 3 does not exceed a preset weight, or when the vacant area inside the car exceeds a preset area, the boarding permission / inhibition transmission unit 8e can board the car 3. Is transmitted to the autonomous mobile control device 7. When the load weight of the car 3 exceeds the preset weight or when the vacant area inside the car 3 does not exceed the preset area, the boarding permission / inhibition transmitting unit 8e Information indicating the impossibility is transmitted to the autonomous mobile control device 7.

For example, in the autonomous mobile control device 7, the control unit 9 c controls the autonomous mobile body 6 to get on the car 3 when receiving information indicating that the car 3 can be boarded. The control unit 9c controls the autonomous mobile body 6 so as not to get on the car 3 when information indicating that the car 3 cannot be boarded is received.

When the 10th cooperation setting is made, the elevator control device 5 and the autonomous mobile body control device 7 cooperate based on the time when the door of the elevator is open.

For example, in the elevator control device 5, when the operation control unit 8i receives a door opening extension command from the autonomous mobile control device 7, the operation control unit 8i extends the time during which the elevator door is fully open.

When the 11th cooperation setting is made, the elevator control device 5 and the autonomous mobile body control device 7 cooperate based on the relevel.

For example, in the autonomous mobile control device 7, the level difference detection unit 9e detects a level difference between the floor surface of the car 3 and the floor surface of the landing 2 on the floor where the autonomous mobile body 6 is present. The level difference detection unit 9e transmits a command to eliminate the level difference to the elevator control device 5. When the level difference is detected by the level difference detection unit 9e, the control unit 9c temporarily stops the control of getting the autonomous mobile body 6 on the car 3.

For example, in the elevator control device 5, the operation control unit 8 i receives a command for eliminating the step from the autonomous mobile body control device 7. For example, the operation control unit 8i determines the presence of the floor surface of the car 3 and the autonomous mobile body 6 when the car 3 is stopped in a state where the user is not on the car 3 and the user is not on the car 3. The car 3 is made to travel so as to eliminate the level difference between the floor of the hall 2 on the floor. Thereafter, the operation control unit 8 i transmits information indicating that the level difference has been eliminated to the autonomous mobile control device 7.

For example, in the autonomous mobile body control device 7, the control unit 9 c resumes the control of getting the autonomous mobile body 6 on the car 3 when receiving information indicating that the level difference has been eliminated from the elevator control device 5.

For example, in the elevator control device 5, when the user is on the car 3, the operation control unit 8 i is between the floor surface of the car 3 and the floor surface of the landing 2 on the existing floor of the autonomous mobile body 6. The car 3 is not run so as to eliminate the step. At this time, the operation control unit 8 i transmits information indicating that the step cannot be resolved to the autonomous mobile control device 7.

For example, in the autonomous mobile body control device 7, when the control unit 9 c receives information indicating that the level difference cannot be eliminated from the elevator control device 5, the control unit 9 c invalidates the control for getting the autonomous mobile body 6 on the car 3.

The operation after the control to get the autonomous mobile body 6 on the car 3 becomes invalid is the same operation as the operation after the car 3 does not respond to the hall call when the first linkage setting is made. .

For example, in the autonomous mobile control device 7, when the hall call transmission unit 9 f receives information indicating that the level difference cannot be eliminated from the elevator control device 5, the hall call transmission unit 9 f sends the hall call of the autonomous mobile body 6 to the elevator control device 5. Send again. For example, when the destination floor transmission unit 9g receives information indicating that the level difference cannot be eliminated from the elevator control device 5, the destination floor transmission unit 9g transmits the information on the destination floor of the autonomous mobile body 6 to the elevator control device 5 again. For example, when the current floor of the car 3 is no longer the destination floor or when receiving information indicating that the level difference has been eliminated from the elevator control device 5, the destination floor transmission unit 9 g receives the destination floor of the autonomous mobile body 6. And the information of the car 3 are transmitted to the elevator control device 5 again.

For example, in the autonomous mobile control device 7, the direction inversion detection unit 9 h detects that the traveling direction of the car 3 is reversed based on the change in the current floor of the car 3. For example, the destination floor transmission unit 9g sends the information on the destination floor of the autonomous mobile body 6 and the information on the car 3 to the elevator control device 5 when the direction reversal detection unit 9h detects the reversal of the traveling direction of the car 3. Send again.

When the 12th cooperation setting is made, the elevator control device 5 and the autonomous mobile control device 7 cooperate based on the current floor of the car 3 and the opening / closing state of the door of the elevator.

For example, in the autonomous mobile control device 7, the control unit 9 c determines that the current floor of the car 3 matches the destination floor of the autonomous mobile body 6 existing inside the car 3 and the elevator door is open. Then, the autonomous mobile body 6 is dismounted from the car 3.

When the 13th cooperation setting is made, the elevator control device 5 and the autonomous mobile control device 7 cooperate based on the stoppable floor of the plurality of cars 3 or the congestion status of the elevator.

For example, in the autonomous mobile control device 7, the transport efficiency evaluation unit 9 i determines the travel time of the autonomous mobile 6 and the average waiting time of the user based on the current congestion status or the predicted congestion status of the plurality of cars 3. And at least one of the expected value of the number of users traveling with the autonomous mobile body 6 is evaluated. For example, the transport efficiency evaluation unit 9i determines the travel time to the destination floor of the autonomous mobile body 6 or the average of the users based on the number of hall calls, the number of destination floors, or the number of users existing in the car 3. The expected value of the waiting time or the number of users traveling with the autonomous mobile body 6 is evaluated. For example, the movement plan creation unit 9j determines the car 3 to be used for the autonomous mobile body 6 to move to the destination based on the information on the stoppable floors of the plurality of cars 3. For example, the movement plan creation unit 9j determines the car 3 to be used for the autonomous mobile body 6 to move to the destination so that the evaluation result by the transportation efficiency evaluation unit 9i is the best.

For example, in the autonomous mobile control device 7, the action plan creation unit 9k creates an action plan that does not use the elevator during an elevator congestion time zone.

For example, in the autonomous mobile control device 7, the transport efficiency evaluation unit 9 i receives information on the traffic demand of the elevator from the elevator control device 5. The traffic demand information at this time includes information in which information on the departure floor, the destination floor, the number of users, and travel time is associated. The transport efficiency evaluation unit 9i determines the travel time of the autonomous mobile body 6, the average waiting time of the user, and the expected value of the number of users riding on the autonomous mobile body 6 based on the traffic demand of the elevator during a certain period. Evaluate at least one of For example, the action plan creation unit 9k creates an action plan for the autonomous mobile body 6 for a certain period so that the evaluation result by the transport efficiency evaluation unit 9i is the best. The fixed period at this time is set as appropriate. For example, the certain period is set to one day.

Next, the number of turns of the car 3 will be described with reference to FIG.
FIG. 3 is a diagram showing a travel route of an elevator car to which the elevator control apparatus according to the first embodiment of the present invention is applied. The horizontal axis in FIG. 3 is time. The vertical axis in FIG. 3 is the position of the car 3.

In FIG. 3, the “departure floor” is the floor corresponding to the hall call. The “destination floor” is a floor corresponding to a car call. The “boarding section” corresponds to a travel route from when the car 3 moves from “departure floor” to “destination floor” in response to the hall call.

“Week 1” corresponds to the traveling route before the car 3 is reversed and further reversed after moving from the “departure floor” to the “destination floor” in response to the hall call. The “second lap” corresponds to a traveling route that is reversed after the car 3 has moved after the “first lap” and further reversed. “Third lap” corresponds to a traveling route that is reversed after the car 3 moves after “second lap” and is further reversed.

Next, the outline | summary of operation | movement of the elevator control apparatus 5 is demonstrated using FIG.
FIG. 4 is a diagram for explaining the outline of the operation of the elevator control apparatus according to the first embodiment of the present invention.

In step S1, the elevator control device 5 determines whether or not a user call exists.

If there is no user call in step S1, the elevator control device 5 performs the operation of step S2. In step S 2, the elevator control device 5 determines whether there is a call of the autonomous mobile body 6.

If there is no call of the autonomous mobile body 6 in step S2, the elevator controller 5 performs the operation of step S1.

If there is a call of the autonomous mobile body 6 in step S2, the elevator control device 5 performs the operation of step S3. In step S 3, the elevator control device 5 controls the elevator according to the call of the autonomous mobile body 6. Thereafter, the elevator control device 5 performs the operation of step S1.

If there is a user call in step S1, the elevator control device 5 performs the operation in step S4. In step S4, the elevator control device 5 determines whether there is a call of the autonomous mobile body 6.

If there is no call of the autonomous mobile body 6 in step S4, the elevator control device 5 performs the operation of step S5. In step S5, the elevator control device 5 controls the elevator according to a call from the user. Thereafter, the elevator control device 5 performs the operation of step S1.

If there is a call of the autonomous mobile body 6 in step S4, the elevator control device 5 performs the operation of step S6. In step S6, the elevator control device 5 controls the elevator by giving priority to the user's call over the autonomous mobile body 6's call. Thereafter, the elevator control device 5 performs the operation of step S1.

Next, the outline | summary of operation | movement of the autonomous mobile body control apparatus 7 is demonstrated using FIG.
FIG. 5 is a diagram for explaining the outline of the operation of the autonomous mobile control device according to the first embodiment of the present invention.

In step S11, the autonomous mobile control device 7 determines whether or not a user call exists.

If there is no user call in step S11, the autonomous mobile control device 7 performs the operation of step S12. In step S 12, the autonomous mobile body control device 7 determines whether there is a call of the autonomous mobile body 6.

If there is no call of the autonomous mobile body 6 in step S12, the autonomous mobile body control device 7 performs the operation of step S11.

If there is a call of the autonomous mobile body 6 in step S12, the autonomous mobile body control device 7 performs the operation of step S13. In step S 13, the autonomous mobile body control device 7 controls the autonomous mobile body 6 according to the call of the autonomous mobile body 6. Thereafter, the autonomous mobile control device 7 performs the operation of step S11.

If there is a user call in step S11, the autonomous mobile control device 7 performs the operation in step S14. In step S 14, the autonomous mobile body control device 7 determines whether or not there is a call for the autonomous mobile body 6.

When there is no call of the autonomous mobile body 6 in step S14, the autonomous mobile body control device 7 performs the operation of step S15. In step S15, the autonomous mobile body control device 7 controls the autonomous mobile body 6 in response to a user call. Thereafter, the autonomous mobile control device 7 performs the operation of step S11.

If there is a call of the autonomous mobile body 6 in step S14, the autonomous mobile body control device 7 performs the operation of step S16. In step S 16, the autonomous mobile body control device 7 controls the autonomous mobile body 6 with priority given to the call of the user over the call of the autonomous mobile body 6. Thereafter, the autonomous mobile control device 7 performs the operation of step S11.

According to the first embodiment described above, the elevator control device 5 gives priority to the user call over the autonomous mobile body 6 call when the user call and the autonomous mobile body 6 call exist. To control the elevator. For this reason, the convenience for the user can be improved.

For example, the elevator control device 5 does not cause the car 3 to respond to the hall call when the load weight of the car 3 exceeds the preset maximum load weight. For this reason, when the autonomous mobile body 6 cannot get on the car 3 because the load weight of the car 3 exceeds the maximum load capacity, it is possible to prevent the car 3 from stopping on the floor on which the autonomous mobile body 6 exists. As a result, the transportation efficiency of the elevator can be improved. In addition, the waiting time of the user can be improved by improving the transportation efficiency of the elevator.

For example, the elevator control device 5 causes the car 3 to respond to the hall call after the second lap of the car 3 when the load weight of the car 3 exceeds the maximum load weight. For this reason, when the autonomous mobile body 6 cannot board the car 3 because the load weight of the car 3 exceeds the maximum load weight, the car 3 can be prevented from stopping on the floor where the autonomous mobile body 6 exists. As a result, the transportation efficiency of the elevator can be improved. In addition, the waiting time of the user can be improved by improving the transportation efficiency of the elevator.

For example, the elevator control device 5 does not cause the car 3 to respond to the hall call when the total occupied area of the user and the autonomous mobile body 6 inside the car 3 exceeds the floor area of the car 3. For this reason, when the autonomous mobile body 6 cannot get on the car 3 because the total occupied area of the user and the autonomous mobile body 6 within the car 3 exceeds the floor area of the car 3, the car 3 is in the autonomous mobile body 6. You can avoid stopping on the floor. As a result, the transportation efficiency of the elevator can be improved. In addition, the waiting time of the user can be improved by improving the transportation efficiency of the elevator.

For example, the elevator control device 5 causes the car 3 to respond to the hall call after the second lap of the car 3 when the load weight of the car 3 exceeds the maximum load weight. For this reason, when the autonomous mobile body 6 cannot get on the car 3 because the total occupied area of the user and the autonomous mobile body 6 within the car 3 exceeds the floor area of the car 3, the car 3 is in the autonomous mobile body 6. You can avoid stopping on the floor. As a result, the transportation efficiency of the elevator can be improved. In addition, the waiting time of the user can be improved by improving the transportation efficiency of the elevator.

For example, the elevator control device 5 informs the autonomous mobile control device 7 that the car 3 cannot be boarded when the number of passes of the car 3 is less than the number of laps that cause the car 3 to respond to the hall call. Send. The elevator control device 5 transmits information indicating that the car 3 can be boarded to the autonomous mobile control device 7 when the number of times the car 3 has passed is the number of laps in which the car 3 responds to the hall call. . For this reason, when the autonomous mobile body 6 cannot board the car 3 because the maximum load capacity is exceeded, the car 3 can be prevented from stopping on the floor where the autonomous mobile body 6 exists. As a result, the transportation efficiency of the elevator can be improved. In addition, the waiting time of the user can be improved by improving the transportation efficiency of the elevator. At this time, the autonomous mobile control device 7 may get on the car 3 in accordance with information indicating that the car 3 can be boarded without recognizing the number of times the car 3 has passed. For this reason, the calculation resource of the autonomous mobile control device 7 and the load on the communication line between the elevator control device 5 and the autonomous mobile control device 7 can be reduced.

For example, the elevator control device 5 puts the car 3 into the landing only when the boarding condition that the car 3 is stopped in a state where the user is not in the car 3 and the user is not in the car 3 is satisfied. Let the call answer. For this reason, even when the autonomous mobile body 6 uses an elevator, the influence of the waiting time of the user can be minimized.

For example, the elevator control device 5 assigns the car 3 corresponding to a boarding section that does not overlap with a boarding section of another autonomous mobile body 6 to a landing call of the autonomous mobile body 6. For this reason, it is possible to avoid a plurality of autonomous mobile bodies 6 getting on the car 3. In this case, when one of the autonomous mobile bodies 6 gets off, there is no need to instruct the other autonomous mobile body 6 not to interfere with the getting-off course. It is also possible to avoid a plurality of autonomous mobile bodies 6 getting on and off the car 3 on the same floor. In this case, the boarding / alighting time of the autonomous mobile body 6 does not become long. For this reason, deterioration of the transport efficiency of an elevator can be suppressed. Moreover, the influence on a user's waiting time can be minimized by suppressing the deterioration of the transport efficiency of an elevator. As a result, user comfort can be improved.

For example, the elevator control device 5 indicates that information indicating that it is possible to get on the car 3 on the floor where the plurality of autonomous mobile bodies 6 are detected or get off, or that it is possible to get off the car 3. Information is sequentially transmitted to the autonomous mobile control device 7 corresponding to each of the plurality of autonomous mobile bodies 6. Therefore, even if each of the plurality of autonomous mobile bodies 6 does not recognize that the plurality of autonomous mobile bodies 6 get on and off the same car 3 on the same floor, each of the plurality of autonomous mobile bodies 6 Can get on and off smoothly. As a result, user safety can be improved. Furthermore, the deterioration of the transport efficiency of the elevator can be minimized.

For example, the elevator control device 5 corresponds to the autonomous mobile body 6 that receives information indicating that the car 3 can be boarded when the autonomous mobile body 6 that gets on and the autonomous mobile body 6 that gets off the vehicle is detected. Before transmitting to the autonomous mobile body control device 7, information indicating that it is possible to get off from the car 3 is transmitted to the autonomous mobile body control device 7 corresponding to the autonomous mobile body 6 to get off. For this reason, it is possible to get on and off each of the plurality of autonomous mobile bodies 6 more smoothly.

For example, after the allocating unit 8c determines the car 3 to be responded to the landing call of the autonomous mobile body 6, the elevator control device 5 sets the maximum load weight set in advance as the load weight of the car 3 predicted by the prediction unit 8b. When it exceeds, the determination of the car 3 to respond to the hall call of the autonomous mobile body 6 is invalidated. For this reason, even when the autonomous mobile body 6 uses an elevator, it is possible to suppress a user from being left behind.

For example, after the elevator control device 5 determines the car 3 that the allocating unit 8 c responds to the landing call of the autonomous mobile body 6, the elevator controller 5 determines the relationship between the user and the autonomous mobile body 6 inside the car 3 predicted by the prediction unit 8 b. When the total occupied area exceeds the floor area of the car 3, the determination of the car 3 to respond to the hall call of the autonomous mobile body 6 is invalidated. For this reason, even when the autonomous mobile body 6 uses an elevator, it is possible to suppress a user from being left behind.

For example, when the determination of the car 3 that responds to the landing call of the autonomous mobile body 6 is invalidated, the elevator control device 5 re-determines the car 3 that responds to the landing call of the autonomous mobile body 6. For this reason, it can suppress that the said autonomous mobile body 6 cannot use an elevator.

For example, the elevator control device 5 gets into the car 3 when the load weight of the car 3 does not exceed a preset weight or when the vacant area inside the car 3 exceeds a preset area. Is transmitted to the autonomous mobile control device 7. The elevator control device 5 prevents the car 3 from being boarded when the load weight of the car 3 exceeds the preset weight or when the vacant area inside the car 3 does not exceed the preset area. Information indicating that it is possible is transmitted to the autonomous mobile control device 7. For this reason, even when the number of users boarding from the same floor is unknown, the users can be put on the car 3 earlier than the autonomous mobile body 6. As a result, it is possible to minimize the possibility of unloading of users.

For example, the elevator control device 5 detects the vacant area inside the car 3 by analyzing the image of the car camera 4 provided inside the car 3. For this reason, it is possible to easily detect the vacant area inside the car 3.

In addition, when the information indicating that the boarding / non-busy transmission unit 8e can board the car 3 is not transmitted within a preset time or when the information indicating that the car 3 cannot be boarded is transmitted. In this case, the assigning unit 8c may re-determine the car 3 to be responded to the hall call of the autonomous mobile body 6. In this case, it can suppress that the said autonomous mobile body 6 becomes unable to use an elevator.

For example, when the elevator control device 5 receives a door opening extension command from the autonomous mobile body 6, it extends the time during which the elevator door is open. For this reason, even when the autonomous mobile body 6 gets on and off after the user gets on and off, the elevator door can be prevented from closing. For example, when the time for which the autonomous mobile body 6 gets on the car 3 becomes longer due to the driving performance of the autonomous mobile body 6, if the time when the elevator door is open is set to the standard time, the autonomous mobile body 6 May not be able to board the car 3. Even in this case, the autonomous mobile body 6 can be put on the car 3 more reliably and safely by extending the time during which the doors of the elevator are open.

For example, when the elevator control device 5 receives a command for eliminating the step from the autonomous mobile body control device 7, the step between the floor surface of the car 3 and the floor surface of the landing 2 on the floor where the autonomous mobile body 6 exists. Run the car 3 so as to eliminate the problem. For this reason, the height of the step between the floor surface of the car 3 and the floor surface of the landing 2 on the floor where the autonomous mobile body 6 is present is higher than the height at which the autonomous mobile body 6 can get over the autonomous mobile body 6. Can be prevented from falling. Moreover, it can suppress that the door of an elevator is not closed by the fall of the autonomous mobile body 6. FIG. As a result, the safety of the autonomous mobile body 6 and the elevator can be improved.

It should be noted that the speed of the car 3 when the level difference is eliminated is slower than the normal speed of the car 3. Further, the step may be eliminated when the door of the elevator is completely closed. For this reason, the user who exists in the cage | basket | car 3 may become anxious. On the other hand, the elevator control device 5 has the floor surface of the car 3 and the autonomous mobile body 6 when the car 3 is stopped in a state where the user is not on the car 3 and the user is not in the car 3. The car 3 is made to travel so as to eliminate the level difference between the floor of the hall 2 on the existing floor. For this reason, useless anxiety of the user can be suppressed.

In addition, when there is a user call and an autonomous mobile body 6 call, the autonomous mobile body control device 7 controls the autonomous mobile body 6 by giving priority to the user call over the autonomous mobile body 6 call. . For this reason, the convenience for the user can be improved.

For example, when the number of times the car 3 has passed is less than the number of laps in which the car 3 responds to the hall call, the control unit 9c does not allow the car 9 to get on the car 3. For this reason, when the autonomous mobile body 6 cannot board the car 3 because the maximum load capacity is exceeded, the car 3 can be prevented from stopping on the floor where the autonomous mobile body 6 exists. As a result, the transportation efficiency of the elevator can be improved. In addition, the waiting time of the user can be improved by improving the transportation efficiency of the elevator.

If there are a plurality of cars 3, another car 3 can respond to the hall call. For this reason, if the autonomous mobile control device 7 receives information indicating that the car 3 is not assigned to the autonomous mobile body 6 and immediately transmits a hall call again, the autonomous mobile body 6 is unnecessarily on the floor. You can avoid waiting.

For example, when the current position of the car 3 is the floor on which the autonomous mobile body 6 is present, the autonomous mobile body control device 7 is configured such that the traveling direction of the car 3 is the desired traveling direction of the autonomous mobile body 6 and the elevator door When the vehicle is open, the autonomous mobile body 6 is put on the car 3. At this time, if the autonomous mobile body control device 7 receives information on the opening / closing state of the elevator door from the elevator control device 5, the autonomous mobile body 6 does not need to measure the opening / closing state of the elevator door. Can recognize the open / closed state of the door of the elevator.

For example, when there is a user who is scheduled to get off from the car 3 on the floor where the autonomous mobile body 6 is present, the autonomous mobile body control device 7 is in front of the hall 2 on the floor where the autonomous mobile body 6 is present. The autonomous mobile body 6 is controlled so as not to wait for the arrival of the vehicle. For this reason, the area | region at the time of a user getting off from the cage | basket | car 3 can be ensured. As a result, it is possible to improve the convenience and safety of the user getting off the car 3. Furthermore, the user's boarding / alighting time for the car 3 can be shortened. For this reason, the transport efficiency of an elevator can be improved. As a result, the waiting time of the user can be improved.

For example, the autonomous mobile body control device 7 displays information indicating that there is a user who is scheduled to get off from the car 3 when there is a user who is going to get off from the car 3 on the floor where the autonomous mobile body 6 exists. The device provided in the autonomous mobile body 6 is notified by voice or display. For this reason, surrounding users can be urged to secure an area when the user gets off the car 3.

For example, when there is a user who plans to board the car 3 on the floor where the autonomous mobile body 6 is present, the autonomous mobile body control device 7 can control the car 3 in front of the hall 2 on the floor where the autonomous mobile body 6 exists. The autonomous mobile body 6 is controlled so as not to wait for arrival. For this reason, the area | region at the time of a user boarding the cage | basket | car 3 can be ensured. As a result, it is possible to improve the convenience and safety of the user who gets on the car 3. Furthermore, the user's boarding / alighting time for the car 3 can be shortened. For this reason, the transport efficiency of an elevator can be improved. As a result, the waiting time of the user can be improved.

For example, when there is a user who plans to get on the car 3 on the floor where the autonomous mobile body 6 is present, the autonomous mobile body control device 7 provides information prompting the user to get on the board first. The device provided in the autonomous mobile body 6 is notified by voice or display. For this reason, the surrounding users can be urged to secure an area when the user gets on the car 3.

For example, when the autonomous mobile body control device 7 receives information indicating that the level difference has been eliminated from the elevator control device 5, the autonomous mobile body control device 7 resumes the control to get the autonomous mobile body 6 on the car 3. For this reason, it can suppress that the said autonomous mobile body 6 cannot use an elevator.

For example, when the autonomous mobile body control device 7 receives information indicating that the level difference cannot be eliminated from the elevator control device 5, the autonomous mobile body control device 7 transmits the hall call of the autonomous mobile body 6 to the elevator control device 5 again. For this reason, it can suppress that the said autonomous mobile body 6 cannot use an elevator.

For example, when the autonomous mobile body control device 7 receives information indicating that the step cannot be eliminated from the elevator control device 5, the autonomous mobile body control device 7 sends the destination floor information of the autonomous mobile body 6 and the car 3 information to the elevator control device 5. To send again. For this reason, it can suppress that the said autonomous mobile body 6 cannot use an elevator.

For example, when the current floor of the car 3 is no longer the destination floor, the autonomous mobile body control device 7 transmits the destination floor information of the autonomous mobile body 6 and the information of the car 3 to the elevator control device 5 again. For this reason, a level | step difference can be eliminated at the timing when the user has not boarded the car 3. As a result, useless user anxiety can be suppressed.

For example, when the autonomous mobile body control device 7 receives information indicating that the level difference has been eliminated from the elevator control device 5, the autonomous mobile body control device 7 sends the destination floor information of the autonomous mobile body 6 and the information of the car 3 to the elevator control device. Send to 5 again. For this reason, the said autonomous mobile body 6 can be boarded on the cage | basket | car 3 smoothly.

For example, when the traveling direction of the car 3 is reversed, the autonomous mobile body control device 7 transmits the destination floor information of the autonomous mobile body 6 and the information of the car 3 to the elevator control device 5 again. For this reason, a level | step difference can be eliminated at the timing when the cage | basket | car 3 is often empty. As a result, useless user anxiety can be suppressed.

Note that the elevator control device 5 and the autonomous mobile body control device 7 perform wireless communication in consideration of the movement of the autonomous mobile body 6. When there are a plurality of cars 3, each of the plurality of elevator control devices 5 is provided corresponding to each of the plurality of cars 3. At this time, the autonomous mobile body 6 may perform wireless communication with an elevator control device 5 different from the elevator control device 5 corresponding to the car 3. On the other hand, the autonomous mobile control device 7 also transmits information on the car 3. For this reason, it can suppress that a car call is recognized unnecessarily by another elevator control device 5. As a result, the car 3 corresponding to another elevator control device 5 can be prevented from being unnecessarily stopped.

In addition, the information on the individual identifier of the hall call may be transmitted instead of the information on the car 3. In this case, if the elevator control device 5 holds the hall call and the individual identifier of the hall call, the car call can be prevented from being recognized unnecessarily by another elevator control device 5. As a result, the car 3 corresponding to another elevator control device 5 can be prevented from being unnecessarily stopped.

For example, the autonomous mobile body control device 7 determines that the autonomous mobile body when the current floor of the car 3 matches the destination floor of the autonomous mobile body 6 existing inside the car 3 and the elevator door is open. Get 6 out of car 3. At this time, the autonomous mobile body control device 7 receives information on the current floor of the car 3 from the elevator control device 5. For this reason, the user and the autonomous mobile body 6 are on the car 3 at the same time, and when the car 3 stops, the autonomous mobile body indicates that the current floor of the car 3 is the destination floor of the autonomous mobile body 6. It can be made to recognize the control device 7. In addition, the autonomous mobile control device 7 receives information indicating that the elevator door is open from the elevator control device 5. For this reason, even if the autonomous mobile body 6 does not detect that the elevator door is open by the autonomous mobile body 6, the autonomous mobile body control device 7 can recognize that the elevator door is open.

For example, the autonomous mobile body control device 7 determines the car 3 to be used for the autonomous mobile body 6 to move to the destination based on the information of the stoppable floors of the plurality of cars 3. For this reason, the operational burden of the autonomous mobile body 6 can be reduced.

For example, in high-rise buildings, except for the emergency car 3, it is rare that one car 3 can be boarded on all floors. For this reason, it may be necessary to transfer the car 3. At this time, if the autonomous mobile body 6 does not recognize the stoppable floor of the car 3, the autonomous mobile body control device 7 plans to go to the destination floor that is not the stoppable floor of the car 3 and corresponds to the car 3. A hall call can be transmitted to the elevator controller 5. In this case, the hall call may not be assigned. Moreover, the said autonomous mobile body 6 may be unable to get off because the said cage | basket | car 3 does not arrive at a destination floor. On the other hand, if the car 3 to be used is determined based on the information on the stoppable floors of the plurality of cars 3, the autonomous mobile body 6 can be moved to a desired destination floor.

It should be noted that the information on the floor where the plurality of cars 3 can be stopped can be stored in the setting database 9a of the autonomous mobile control device 7. On the other hand, if the autonomous mobile control device 7 receives information on each stoppable floor of each of the plurality of cars 3 from each of the plurality of elevator control devices 5, the description work in the setting database 9a can be omitted. Even when the stoppable floor of the car 3 is changed while the autonomous mobile body 6 is moving, the operation of the autonomous mobile body 6 can be automatically changed based on the stoppable floor after the change. Furthermore, even when the stoppable floor of the car 3 is changed according to the time zone, the operation of the autonomous mobile body 6 can be automatically changed based on the changed stoppable floor.

For example, the autonomous mobile body control device 7 evaluates at least one of the travel time of the autonomous mobile body 6, the average waiting time of the users, and the expected value of the number of users who ride with the autonomous mobile body 6. The car 3 to be used for the autonomous mobile body 6 to move to the destination is determined so as to be the best. For example, the car 3 to be used is determined so that the movement time of the autonomous mobile body 6 is the shortest. For example, the car 3 to be used is determined so that the average waiting time of the user is the shortest. For example, the car 3 to be used is determined so that the expected value of the number of users traveling with the autonomous mobile body 6 is minimized. For this reason, both a user and the autonomous mobile body 6 can use an elevator comfortably.

For example, the autonomous mobile control device 7 determines the travel time of the autonomous mobile body 6 to the destination floor or the user's floor based on the number of hall calls, the number of destination floors, or the number of users existing in the car 3. The expected value of the average waiting time or the number of users traveling with the autonomous mobile body 6 is evaluated. For this reason, without adding a new device, it is possible to accurately calculate the travel time of the autonomous mobile body 6 to the destination floor, the average waiting time of the users, or the expected value of the number of users riding on the autonomous mobile body 6 Can be evaluated. As a result, both the user and the autonomous mobile body 6 can comfortably use the elevator.

For example, the autonomous mobile control device 7 creates an action plan that does not use the elevator during the busy hour of the elevator. For this reason, it can suppress that the autonomous mobile body 6 uses an elevator in crowded time zones, such as a morning attendance time zone in the office building etc., a lunch lunch time zone, and an evening work time zone.

For example, the autonomous mobile body control device 7 considers the traffic demand of the elevator in a certain period, the travel time of the autonomous mobile body 6, the average waiting time of the user, and the number of users who ride on the autonomous mobile body 6 The action plan of the autonomous mobile body 6 is created based on at least one evaluation result of the expected value. For example, the car 3 to be used is determined so that the movement time of the autonomous mobile body 6 is the shortest. For example, the car 3 to be used is determined so that the average waiting time of the user is the shortest. For example, the car 3 to be used is determined so that the expected value of the number of users traveling with the autonomous mobile body 6 is minimized. For this reason, both a user and the autonomous mobile body 6 can use an elevator comfortably.

In addition, when there are a plurality of cars 3, the group management device determines the allocation of elevator calls. For this reason, you may implement | achieve each function of the elevator control apparatus 5 of Embodiment 1 with a group management apparatus.

Further, at least a part of the elevator control device 5 according to the first embodiment may be provided separately from the “elevator control device” that controls the elevator. For example, at least a part of the elevator control device 5 according to the first embodiment may be electrically connected between the “elevator control device” and an external system or the like. At this time, at least a part of the elevator control device 5 of the first embodiment is provided so that information can be exchanged with the “elevator control device”. At least a part of the elevator control device 5 according to the first embodiment is provided so that information can be exchanged with an external system or the like.

Further, at least a part of the autonomous mobile body 6 of the first embodiment may be provided separately from the “autonomous mobile body control device” that controls the autonomous mobile body 6. For example, at least a part of the autonomous mobile control device 7 of the first embodiment may be electrically connected between the “autonomous mobile control device” and an external system or the like. At this time, at least a part of the autonomous mobile control device 7 of the first embodiment is provided so that information can be exchanged with the “autonomous mobile control device”. At least a part of the autonomous mobile control device 7 according to the first embodiment is provided so that information can be exchanged with an external system or the like.

Next, the example of the elevator control apparatus 5 and the autonomous mobile body control apparatus 7 is demonstrated using FIG.
FIG. 6 is a hardware configuration diagram of the elevator control device and the autonomous mobile control device according to Embodiment 1 of the present invention.

Each function of the elevator control device 5 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 10a and at least one memory 10b. For example, the processing circuit includes at least one dedicated hardware 11.

When the processing circuit includes at least one processor 10a and at least one memory 10b, each function of the elevator control device 5 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in at least one memory 10b. The at least one processor 10a implements the function of the elevator control device 5 by reading and executing a program stored in the at least one memory 10b. The at least one processor 10a is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, the at least one memory 10b is a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, and an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD.

If the processing circuit comprises at least one dedicated hardware 11, the processing circuit is implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. The For example, each function of the elevator control device 5 is realized by a processing circuit. For example, each function of the elevator control device 5 is collectively realized by a processing circuit.

Some of the functions of the elevator control device 5 may be realized by the dedicated hardware 11, and the other part may be realized by software or firmware. For example, the function of the allocation unit 8c is realized by a processing circuit as the dedicated hardware 11, and for functions other than the function of the allocation unit 8c, at least one processor 10a reads a program stored in at least one memory 10b. It may be realized by executing.

Thus, the processing circuit realizes each function of the elevator control device 5 by the hardware 11, software, firmware, or a combination thereof.

Each function of the autonomous mobile control device 7 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 12a and at least one memory 12b. For example, the processing circuit comprises at least one dedicated hardware 13.

When the processing circuit includes at least one processor 12a and at least one memory 12b, each function of the autonomous mobile control device 7 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in at least one memory 12b. The at least one processor 12a implements the function of the autonomous mobile control device 7 by reading and executing a program stored in the at least one memory 12b. The at least one processor 12a is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, the at least one memory 12b is a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD.

If the processing circuit comprises at least one dedicated hardware 13, the processing circuit is implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. The For example, each function of the autonomous mobile control device 7 is realized by a processing circuit. For example, each function of the autonomous mobile control device 7 is collectively realized by a processing circuit.

A part of each function of the autonomous mobile control device 7 may be realized by the dedicated hardware 13, and the other part may be realized by software or firmware. For example, the function of the control unit 9c is realized by a processing circuit as the dedicated hardware 13, and for functions other than the function of the control unit 9c, at least one processor 12a reads a program stored in at least one memory 12b. It may be realized by executing.

Thus, the processing circuit realizes each function of the autonomous mobile control device 7 by the hardware 13, software, firmware, or a combination thereof.

As described above, the elevator control device and the autonomous mobile control device can be used in a system that improves user convenience.

1 hoistway, 2 landing, 3 car, 4 car camera, 5 elevator control device, 6 autonomous mobile body, 7 autonomous mobile body control device, 8 elevator control unit, 8a setting database, 8b prediction unit, 8c allocation unit, 8d pass Number measurement section, 8e boarding availability transmission section, 8f boarding / descending order control section, 8g allocation cancellation section, 8h boarding space detection section, 8i operation control section, 9 autonomous mobile body control section, 9a setting database, 9b passage count counting section, 9c Control unit, 9d notification control unit, 9e step detection unit, 9f landing call transmission unit, 9g destination floor transmission unit, 9h direction reversal detection unit, 9i transportation efficiency evaluation unit, 9j movement plan creation unit, 9k action plan creation unit, 10a Processor, 10b memo , 11 hardware, 12a processor, 12b memory, 13 hardware

Claims

When there is a user call and an autonomous mobile object call in the elevator, an elevator control unit that controls the elevator in preference to the user call over the autonomous mobile object call,
Elevator control device with.
The elevator control unit
When a landing call for an autonomous mobile body is received, the weight of the user in the elevator car, the weight of the autonomous mobile body in the car, the weight of the user scheduled to ride in the car, and the car Based on the weight of the autonomous mobile body scheduled to board the vehicle, a prediction unit that predicts the load weight of the car when the autonomous mobile body gets into the car;
When the load weight of the car predicted by the prediction section exceeds a preset maximum load weight, an assignment section that does not cause the car to respond to the hall call;
The elevator control device according to claim 1 provided with.
The said allocation part makes the said car respond to the said hall call after the 2nd round of the said car, when the loading weight of the said car estimated by the said prediction part exceeds the said maximum loading weight. Elevator control device.
The elevator control unit
When a landing call for an autonomous mobile body is received, the area occupied by the user in the elevator car, the area occupied by the autonomous mobile body in the car, and the area occupied by the user scheduled to board the car Predicting the total occupied area of the user and the autonomous mobile body inside the car when the autonomous mobile body gets into the car based on the exclusive area of the autonomous mobile body scheduled to board the car And
When the total area occupied by the user and the autonomous mobile body inside the car predicted by the prediction unit exceeds the floor area of the car, an allocating unit that does not respond to the hall call;
The elevator control device according to claim 1 provided with.
When the total area occupied by the user and the autonomous mobile body in the car exceeds the floor area of the car, the allocator causes the car to respond to the hall call after the second lap of the car The elevator control device according to claim 4.
The elevator control unit
Based on the current position of the car and the direction of travel, a pass number measuring unit that measures the number of times that the car passes in the direction of the hall call and the forward direction of the autonomous mobile body,
Corresponding to the autonomous mobile body information indicating that the car cannot be boarded when the number of times of passage measured by the passage number measuring unit is less than the number of laps that cause the car to respond to the hall call It is transmitted to the autonomous mobile control device, and indicates that the car can be boarded when the number of times measured by the number-of-passages measurement unit is the number of laps that makes the car respond to the hall call. A boarding propriety transmitting unit that transmits information to an autonomous mobile body control device corresponding to the autonomous mobile body;
The elevator control device according to any one of claims 2 to 5, further comprising:
The elevator control unit
When a boarding call for an autonomous mobile body is received, and there is no boarding call for the user, and when the boarding condition that the car is stopped in a state where the user is not in the elevator car is satisfied An allocating unit for causing the car to respond to the hall call and not causing the car to respond to the hall call when the boarding conditions are not satisfied;
The elevator control device according to claim 1 provided with.
The elevator control unit
An allocation unit that responds to the hall call with a car corresponding to a boarding section that does not overlap with a boarding section of another autonomous mobile body when receiving a boarding call of the autonomous mobile body;
The elevator control device according to claim 1 provided with.
The elevator control unit
Information indicating that the elevator car can be boarded or information indicating that it is possible to get off the car on multiple floors where a plurality of autonomous mobile objects are detected A boarding / alighting sequence control unit that sequentially transmits to the autonomous mobile body control device corresponding to each of the bodies,
The elevator control device according to claim 1 provided with.
The boarding / alighting sequence control unit is configured to perform autonomous movement corresponding to the autonomous mobile body that receives information indicating that the car can be boarded when the autonomous mobile body to get on and the autonomous mobile body to get off are detected. The elevator control device according to claim 9, wherein information indicating that it is possible to get off from the car is transmitted to an autonomous mobile body control device corresponding to the autonomous mobile body to get off before transmitting to the body control device.
The elevator control unit
After the allocation unit determines a car to respond to the landing call of the autonomous mobile body, if the load weight of the car predicted by the prediction unit exceeds a preset maximum load weight, the autonomous mobile body Allocation cancellation part that invalidates the determination of the car to respond to the hall call,
The elevator control apparatus of Claim 2 or Claim 3 provided with these.
The elevator control unit
After the allocation unit determines a car to respond to the landing call of the autonomous mobile body, the total occupied area of the user and the autonomous mobile body inside the car predicted by the prediction unit exceeds the floor area of the car If this happens, the assignment canceling unit that invalidates the determination of the car to respond to the landing call of the autonomous mobile body,
The elevator control device according to claim 4 or 5 provided with these.
The allocation unit according to claim 11 or 12, wherein when the determination of a car to respond to a landing call of the autonomous mobile body is invalidated, the allocating unit re-determines a car to respond to the landing call of the autonomous mobile body. Elevator control device.
The elevator control unit
When the elevator car arrives at the floor corresponding to the call of the autonomous mobile body, if the loaded weight of the car does not exceed a preset weight, or the vacant area inside the car is preset. Information indicating that the car can be boarded when the car exceeds the predetermined area, the information is transmitted to the autonomous mobile body, and the load weight of the car exceeds a preset weight or the car A boarding propriety transmitting unit that transmits information indicating that it is impossible to board the car when the area that is vacant in the interior does not exceed a preset area,
The elevator control device according to claim 1 provided with.
The elevator control unit
A boarding space detector for detecting an area vacant in the car by analyzing an image of a car camera provided in the car;
With
The elevator control according to claim 14, wherein the boarding permission / inhibition transmission unit determines whether or not an vacant area inside the car exceeds a preset area based on a detection result by the boarding space detection unit. apparatus.
The elevator control unit
When the information indicating that the car can be boarded is not transmitted within a preset time or when the information indicating that the car cannot be boarded is transmitted. An allocating unit for re-determining a car to respond to the hall call of the autonomous mobile body,
The elevator control device according to claim 14 or 15 provided with.
The elevator control unit
When receiving a door opening extension command from the autonomous mobile body, an operation control unit that extends the time during which the door of the elevator is open,
The elevator control device according to any one of claims 1 to 16, further comprising:
The elevator control unit
The floor of the car when the car is stopped when the user does not get on the elevator car when there is no call for the landing of the user when a command to cancel the step is received from the autonomous mobile body An operation control unit that causes the car to travel so as to eliminate a step between the surface and the floor of the landing floor of the floor on which the autonomous mobile body exists,
The elevator control device according to claim 1 provided with.
When there is a user call and an autonomous mobile object call in the elevator, an autonomous mobile body control unit that controls the autonomous mobile body in preference to the user call over the autonomous mobile body call,
An autonomous mobile control device comprising:
The autonomous mobile control unit
Based on the current position and the traveling direction of the elevator car, the passing number measuring unit that measures the number of times the car passes in the direction of the hall call and the forward direction of the autonomous mobile body,
A control unit that does not allow the autonomous mobile body to get on the car when the number of times measured by the passing number measurement unit is less than the number of laps causing the car to respond to the hall call;
The autonomous mobile control apparatus according to claim 19, comprising:
The autonomous mobile control unit
When the current position of the elevator car is the floor on which the autonomous mobile body is located, the traveling direction of the car is the desired travel direction of the autonomous mobile body, and the autonomous mobile body is open A control unit for riding in the car,
The autonomous mobile control apparatus according to claim 19, comprising:
The autonomous mobile control unit
When there is a user who is scheduled to get off the elevator car on the floor of the autonomous mobile body, the autonomous mobile body does not wait for the arrival of the car in front of the landing on the floor of the autonomous mobile body Control unit to control,
The autonomous mobile control apparatus according to claim 19, comprising:
The autonomous mobile control unit
When there is a user who is scheduled to get off from the car on the floor where the autonomous mobile body is present, information indicating that there is a user who is scheduled to get off from the car is provided to the device provided in the autonomous mobile body A notification control unit for reporting by voice or display;
The autonomous mobile control apparatus according to claim 22, comprising:
The autonomous mobile control unit
When there is a user who is scheduled to board the elevator car on the floor of the autonomous mobile body, the autonomous mobile body does not wait for the arrival of the car in front of the landing on the floor of the autonomous mobile body Control unit to control,
The autonomous mobile control apparatus according to claim 19, comprising:
The autonomous mobile control unit
When there is a user who plans to board the car on the floor where the autonomous mobile body is present, information that prompts the user to board the car first is sent to a device provided in the autonomous mobile body or A notification control unit for informing by display,
An autonomous mobile control device according to claim 24, comprising:
The autonomous mobile control unit
A step detection unit that detects a step between the floor of the elevator car and the floor of the landing floor of the autonomous mobile body, and transmits a command to cancel the step to the elevator control device;
When the step detection unit detects a step, temporarily stops the control to get on the car, and receives information indicating that the step has been eliminated from the elevator control device. A control unit that resumes the control of getting the autonomous mobile body on the car;
The autonomous mobile control apparatus according to claim 19, comprising:
The autonomous mobile control unit
When the control unit receives information indicating that the level difference cannot be eliminated from the elevator control device when the control for causing the autonomous mobile body to get on the car is temporarily stopped, the autonomous mobile body A hall call transmitter for transmitting a hall call to the elevator control device,
With
When the control unit receives information indicating that the level difference cannot be eliminated from the elevator control device when the control to get the autonomous mobile body on the car is temporarily stopped, the autonomous mobile body 27. The autonomous mobile control device according to claim 26, wherein the control to get on the car is invalidated.
The autonomous mobile control unit
When the control unit receives information indicating that the level difference cannot be eliminated from the elevator control device when the control for causing the autonomous mobile body to get on the car is temporarily stopped, the autonomous mobile body Destination floor transmission unit for transmitting destination floor information to the elevator control device,
With
When the control unit receives information indicating that the step cannot be eliminated from the elevator control device when the control unit temporarily stops the control to get the autonomous mobile body on the car, 27. The autonomous mobile body control device according to claim 26, wherein the control unit invalidates the control to get the autonomous mobile body on the car.
When the current floor of the car is no longer the destination floor or when the information indicating that the level difference has been eliminated from the elevator control device, the destination floor transmission unit displays information on the destination floor of the autonomous mobile body. The autonomous mobile control device according to claim 28, wherein the autonomous mobile control device transmits to the elevator control device.
A direction reversal detection unit for detecting that the traveling direction of the car is reversed based on a change in the current floor of the car;
With
The autonomous vehicle according to claim 28, wherein the destination floor transmission unit transmits information on a destination floor of the autonomous mobile body to the elevator control device when the direction reversal detection unit detects reversal of the traveling direction of the car. Mobile control device.
The autonomous mobile control unit
When the current floor of the elevator car coincides with the destination floor of the autonomous mobile object existing inside the car, and the elevator door is open, the control unit causes the autonomous mobile body to get off the car ,
The autonomous mobile control apparatus according to claim 19, comprising:
The autonomous mobile control unit
A movement plan creation unit that determines a car to be used for the autonomous mobile body to move to the destination based on information on the stoppable floors of a plurality of cars,
The autonomous mobile control device according to any one of claims 19 to 31, further comprising:
The autonomous mobile control unit
A transport efficiency evaluation unit that evaluates at least one of a travel time of the autonomous mobile body, an average waiting time of the user, and an expected value of the number of users traveling with the autonomous mobile body;
With
The autonomous mobile body control device according to claim 32, wherein the movement plan creation section determines a car to be used for the autonomous mobile body to move to a destination so that an evaluation result by the transportation efficiency evaluation section is the best. .
The transportation efficiency evaluation unit determines the travel time to the destination floor of the autonomous mobile body or the average waiting time of the user based on the number of hall calls, the number of destination floors, or the number of users existing in the car. The autonomous mobile body control device according to claim 33, wherein an expected value of the number of users who ride together with the autonomous mobile body is evaluated.
The autonomous mobile control unit
An action plan creation unit that creates an action plan that does not use the elevator during the time of congestion of the elevator,
An autonomous mobile control device according to any one of claims 19 to 34, comprising:
The autonomous mobile control unit
Evaluating at least one of the travel time of the autonomous mobile body, the average waiting time of the user, and the expected value of the number of users traveling with the autonomous mobile body based on the traffic demand of the elevator during a certain period Transportation efficiency evaluation department,
An action plan creation unit that creates an action plan of the autonomous mobile body in the certain period so that the evaluation result by the transport efficiency evaluation unit is the best;
An autonomous mobile control device according to any one of claims 19 to 32, comprising: