Mobile body control system, mobile body control method, and storage medium

Abstract

The present disclosure provides a mobile body control system, a mobile body control method, and a storage medium. The mobile body control system includes an acquisition unit that acquires information related to an upper elevator and information related to a destination of a first mobile body and a second mobile body that are on an elevator car of an elevator; and a determination unit that determines whether or not the first mobile body and the second mobile body will perform interleaved movement based on the information related to the upper elevator and the information related to the destination of the mobile bodies. In a case where the determination unit determines that the first mobile body and the second mobile body will perform interleaved movement, at least one of the first mobile body and the second mobile body changes a movement plan.

Description

Technical Field

[0001] This disclosure relates to a mobile body control system, a mobile body control method, and a storage medium. Background Technology

[0002] Japanese Patent No. 6350767 discloses a control device for an elevator used by a user and an autonomous moving body. The elevator control device described in Japanese Patent No. 6350767 controls multiple autonomous moving bodies to prevent them from simultaneously entering the elevator. Summary of the Invention

[0003] The control device of the elevator described in Japanese Patent No. 6350767 controls the elevator so that it prevents the moving body from boarding the elevator even when there is no obstruction when the moving body is riding together in the elevator.

[0004] Therefore, in the elevator control device described in Japanese Patent No. 6350767, there is a problem that the operation plan of the moving body cannot be sufficiently smoothed.

[0005] This disclosure is an invention made to solve such problems, and its purpose is to provide a mobile body control system, a mobile body control method, and a storage medium that enable the smooth operation of an autonomous mobile body.

[0006] The mobile body control system according to the first aspect of the present invention includes: an acquisition unit that acquires information related to the elevator entrance and information related to the destination of a first mobile body and a second mobile body that are moving onto an elevator car.

[0007] The determination unit determines whether an alternating movement of the first and second mobile bodies will occur, based on information related to the elevator entrance and the destination of the mobile body. If the determination unit determines that an alternating movement of the first and second mobile bodies will occur, it causes at least one of the first and second mobile bodies to change its operating plan.

[0008] This structure allows for the suppression of staggered movements of autonomous mobile bodies. As a result, it enables the smooth operation of autonomous mobile bodies.

[0009] In the mobile body control system involved in the first method described above, it can also be configured such that, when the determination unit determines that the first mobile body and the second mobile body will move in an alternating manner, at least one of the mobile bodies that is determined to move in an alternating manner will wait to board the elevator car.

[0010] In the mobile body control system involved in the first method described above, it can also be configured such that, if the determination unit determines that the first mobile body and the second mobile body will move in an alternating manner, at least one of the mobile bodies that is determined to move in an alternating manner will abandon its attempt to board the elevator car.

[0011] In the mobile body control system involved in the first method described above, it can also be configured such that the information related to the elevator entrance includes information indicating the floor number of the elevator entrance, and the information related to the destination includes information indicating the floor number of the destination.

[0012] In the mobile body control system involved in the first method mentioned above, it can also be configured such that the elevator car has multiple doors, and the information related to the elevator entrance includes information indicating the floor number of the elevator entrance and identification information of the elevator door, and the information related to the destination includes information indicating the floor number of the destination and identification information of the elevator exit door.

[0013] In the mobile body control system involved in the first method described above, it can also be configured such that, when the judgment unit judges whether a first mobile body that enters the elevator from the first door and exits the elevator from the second door and a second mobile body that enters or exits the elevator from either the first door or the second door will move alternately, it judges whether a first coordinate graph on the xy coordinates represented by the following mathematical formula 1 and a second coordinate graph on the xy coordinates represented by the following mathematical formula 2 have an intersection point, and if the first coordinate graph and the second coordinate graph have an intersection point, it is judged that alternate movement of the first mobile body and the second mobile body will occur.

[0014] Number 1

[0015]

[0016] Number 2

[0017] y = k(xc)(xd) + m··· Mathematical expression 2

[0018] Where a is the floor number of the first mobile body at the elevator entrance, b is the floor number of the first mobile body's destination, c is the floor number of the second mobile body at the elevator entrance, d is the floor number of the second mobile body's destination, m1 and m2 are distinct real numbers. When the second mobile body enters or exits the elevator from the first door, m is m1; when the second mobile body enters or exits the elevator from the second door, m is m2. When m is the larger of m1 and m2, k is a positive real number; when m is the smaller of m1 and m2, k is a negative real number. k satisfies the following equation 3.

[0019] Number 3

[0020]

[0021] f represents the total number of floors that the elevator car can move to.

[0022] The second aspect of the present invention relates to a mobile body control method comprising the following processing:

[0023] Obtain information related to the elevator entrance location and the destination for the first and second moving bodies that are ascending the elevator car;

[0024] Based on the information related to the elevator entrance and the destination of the moving body, a judgment is made as to whether the first moving body and the second moving body will move alternately.

[0025] If it is determined that an alternating movement of the first mobile body and the second mobile body will occur, the operation plan of at least one of the first mobile body and the second mobile body will be changed.

[0026] The storage medium involved in the third aspect of the present invention is a storage medium that stores commands that can be executed by one or more processors and are used to cause the one or more processors to perform the following functions.

[0027] The functions include:

[0028] Obtain information related to the elevator entrance location and the destination for the first and second moving bodies that are ascending the elevator car;

[0029] Based on the information related to the elevator entrance and the destination of the moving body, a judgment is made as to whether the first moving body and the second moving body will move alternately.

[0030] If it is determined that an alternating movement of the first mobile body and the second mobile body will occur, the operation plan of at least one of the first mobile body and the second mobile body will be changed.

[0031] This disclosure provides a mobile body control system, a mobile body control method, and a storage medium that can facilitate the smooth operation of autonomous mobile bodies. Attached Figure Description

[0032] The features, advantages, technical and industrial value of representative embodiments of the present invention will be depicted in the following drawings for reference, wherein the same symbols in the drawings denote the same elements, wherein:

[0033] Figure 1This is a block diagram illustrating the structure of the mobile body control system according to the first embodiment.

[0034] Figure 2 This is a schematic diagram illustrating the structure of the movable body according to the first embodiment.

[0035] Figure 3 This is a schematic diagram illustrating the structure of the movable body according to the first embodiment.

[0036] Figure 4 This is a graph representing the coordinates on the xy coordinates as expressed by mathematical formula 4.

[0037] Figure 5 This is a flowchart illustrating the operation of the mobile body control system according to the first embodiment.

[0038] Figure 6 This is a schematic diagram illustrating the structure of the movable body according to the second embodiment.

[0039] Figure 7 This is a graph representing the coordinates on the xy coordinates as expressed by mathematical formula 6.

[0040] Figure 8 A graph representing the coordinates on the xy coordinates as represented by mathematical expression 7.

[0041] Figure 9 This is a graph representing the coordinates on the xy coordinates as represented by mathematical expression 1.

[0042] Figure 10 A graph representing the coordinates on the xy coordinates as expressed by mathematical formula 1 and mathematical formula 2.

[0043] Figure 11 A graph representing the coordinates on the xy coordinates as expressed by mathematical formula 1 and mathematical formula 2. Detailed Implementation

[0044] First Implementation Method

[0045] Structure of the mobile body control system

[0046] Hereinafter, the first embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. First, the structure of the mobile body control system according to this embodiment will be described in detail. Figure 1 This is a block diagram used to explain the structure of the mobile body control system according to the first embodiment.

[0047] The mobile body control system 101 according to this embodiment includes a mobile body control device 1, a mobile body 2a, and a mobile body 2b.

[0048] In the moving body control system 101 according to this embodiment, the moving body control device 1 controls the moving body 2a and the moving body 2b. More specifically, in the elevator, the moving body control device 1 controls the operation plan of the moving body 2a and the moving body 2b in a manner that prevents the moving body 2a and the moving body 2b from moving in an alternating manner.

[0049] In addition, in the following text, mobile bodies 2a and 2b will be simply referred to as mobile body 2 unless otherwise specified.

[0050] Furthermore, although the mobile body control system according to this embodiment has two mobile bodies 2, the number of mobile bodies 2 that the mobile body control system 101 according to this disclosure can control is not limited to two. For example, the mobile body control system 101 according to this disclosure can also control three or more mobile bodies 2.

[0051] The following is in reference Figure 2 and Figure 3 At the same time, the description of the moving body 2 will be provided. Figure 2 as well as Figure 3 This is a schematic diagram used to illustrate the structure of the movable body according to the first embodiment. More specifically, Figure 2 This is a schematic side view of moving bodies 2a and 2b riding in an elevator. Furthermore, Figure 3 A schematic top view of moving bodies 2a and 2b riding in an elevator.

[0052] In addition, of course, Figure 2 The right-handed xyz rectangular coordinate system shown in the other accompanying figures is a convenient coordinate system for illustrating the positional relationships of structural elements. Typically, the positive z-axis points vertically upwards, and the xy plane is horizontal; this is consistent across the accompanying figures.

[0053] In this embodiment, the mobile body 2 is carried in an elevator car E having a door D. For example... Figure 2 as well as Figure 3 As shown, when two mobile bodies 2 are riding in the elevator car E, the two mobile bodies 2 ride side by side in the depth direction of the elevator car E, that is, in the y-axis direction.

[0054] When two mobile bodies 2 are riding in elevator car E, the mobile body 2 that rides first is positioned on the deeper side when viewed from door D, while the mobile body 2 that rides second is positioned on the closer side when viewed from door D. Figure 2 as well as Figure 3 In the middle, when viewed from door D, the moving body 2a is on the deep side, and when viewed from door D, the moving body 2b is on the near-front side.

[0055] exist Figure 2 as well as Figure 3 In this case, if movable body 2a exits the elevator car E before movable body 2b, movable body 2a needs to avoid movable body 2b to reach door D. In this disclosure, the situation in which other movable bodies 2 exist on the path to door D when movable body 2 exits the elevator at door D is referred to as a situation of interleaved movement.

[0056] As described above, in the event of a cross-movement, moving body 2a needs to avoid moving body 2b. Therefore, if the elevator car E does not have sufficient width, moving body 2a will be unable to descend from the elevator. Furthermore, even if the elevator car E has sufficient width, the avoidance maneuver within the elevator will take time, thus hindering smooth operation.

[0057] Therefore, the mobile body control system 101 according to this embodiment controls the mobile body 2 in a way that avoids the occurrence of staggered movement.

[0058] The mobile body 2 sends information related to the elevator entrance and information related to the destination to the mobile body control device 1. Then, the mobile body 2 receives a judgment result from the mobile body control device 1 regarding whether staggered movement will occur.

[0059] However, the information related to the elevator entry point in this embodiment is the floor number on which the moving body 2 enters the elevator car E. Furthermore, the information related to the destination in this embodiment is the floor number on which the moving body 2 exits the elevator car E.

[0060] If mobile body 2 receives a determination that staggered movement will occur, at least one of the mobile bodies 2 determined to be capable of staggered movement will modify its operation plan. Conversely, if it receives a determination that staggered movement will not occur, mobile body 2 will ride the elevator car E without modifying its operation plan.

[0061] However, the operational plan mentioned here refers to the plan that specifies the movement path of the mobile body 2.

[0062] The operational plan involved in this embodiment includes plans related to whether to use elevator car E, on which floor to go up or down elevator car E, or whether to wait for the elevator to board elevator car E. In other words, the operational plan involved in this embodiment includes information related to the elevator boarding point and information related to the destination.

[0063] Return to Figure 1 Explanation.

[0064] The mobile body 2a according to this embodiment includes a communication unit 21a and a control unit 22a. Furthermore, the mobile body 2b according to this embodiment includes a communication unit 21b and a control unit 22b.

[0065] Furthermore, in the following text, communication unit 21a and communication unit 21b will be simply referred to as communication unit 21 unless otherwise specified. Similarly, in the following text, control unit 22a and control unit 22b will be simply referred to as control unit 22 unless otherwise specified.

[0066] The communication unit 21 communicates with the mobile control device 1. More specifically, the communication unit 21 obtains information related to the elevator entrance and information related to the destination from the control unit 22. Then, the communication unit 21 transmits the information obtained from the control unit 22 to the mobile control device 1.

[0067] Furthermore, the communication unit 21 receives a judgment result from the mobile unit control device 1 regarding whether mobile units 2a and 2b will engage in staggered movement. Then, the communication unit 21 outputs the received judgment result to the control unit 22.

[0068] The control unit 22 controls the movement of the mobile body 2. The control unit 22 stores an operation plan in advance and moves the mobile body 2 according to the operation plan.

[0069] The control unit 22 outputs information related to the elevator entrance and information related to the destination to the communication unit 21. In addition, the control unit 22 obtains the judgment result from the communication unit 21 regarding whether the moving body 2a and the moving body 2b will move in opposite directions.

[0070] If the control unit 22 obtains from the communication unit 21 the judgment that mobile body 2a and mobile body 2b will move in an alternating manner, the control unit 22 will modify the operation plan.

[0071] For example, the control unit 22 can also change the operation plan by waiting for passengers to board the elevator car E. Alternatively, the control unit 22 can also change the operation plan by abandoning the process of boarding the elevator car E.

[0072] Furthermore, in mobile bodies 2a and 2b, it is possible for only one party to change the operation plan, or for both mobile bodies 2a and 2b to change the operation plan.

[0073] If only one of mobile entities 2a and 2b changes its operational plan, for example, a priority ranking can be added between mobile entities 2a and 2b, and the operational plan of mobile entity 2, which has the lower priority ranking, can be changed.

[0074] Furthermore, the control unit 22 includes an arithmetic unit such as a Central Processing Unit (CPU, not shown), and storage units such as Random Access Memory (RAM) and Read Only Memory (ROM) storing programs and data for controlling the mobile body 2. That is, the control unit 22 functions as a computer and controls the mobile body 2 based on the aforementioned programs. Additionally, the CPU in this disclosure is an example of a processor.

[0075] The mobile body control device 1 obtains information related to the elevator entrance and information related to the destination from the mobile body 2. Then, based on the obtained information, it determines whether the mobile bodies 2a and 2b will move in an alternating manner.

[0076] Furthermore, the moving body control device 1 according to this embodiment performs a judgment on whether the interleaved movement of the moving body 2 will occur each time the elevator car E turns back. In other words, the moving body control device 1 according to this embodiment judges whether the interleaved movement of the moving body 2 will occur each time it ascends or descends.

[0077] The mobile body control device 1 can also be configured as a server device capable of communicating with the mobile body 2. Furthermore, the mobile body control device 1 can also be an elevator control device that controls the operation of the elevator car E.

[0078] The acquisition unit 11 acquires information related to the elevator entrance and destination for the first and second moving bodies that are boarding the elevator car E. The acquisition unit 11 may also be configured as a communicator for communicating with the moving body 2.

[0079] The acquisition unit 11 outputs the acquired information to the judgment unit 12.

[0080] The determination unit 12 obtains information related to the elevator entrance of the mobile body 2 and information related to the destination from the acquisition unit 11. Then, the determination unit 12 determines whether the first mobile body and the second mobile body will intersect based on the information obtained from the acquisition unit 11.

[0081] The determination unit 12 sends the determined result to the mobile body 2. When the acquisition unit 11 is configured as a communicator, the determination unit 12 may also send the determined result to the mobile body 2 via the acquisition unit 11.

[0082] The mobile unit control device 1 includes, for example, an arithmetic unit such as a CPU (not shown), and a storage unit such as RAM and ROM storing programs and data for controlling the mobile unit control device 1. In other words, the mobile unit control device 1 functions as a computer and performs the aforementioned tasks based on the program described above.

[0083] Additionally, when the program is read into a computer, it includes a set of commands (or software code) for causing the computer to perform one or more functions described in the implementation. The program may also be stored on a non-transitory computer-readable medium or a physical storage medium. As examples, computer-readable media or physical storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disc storage, magnetic cartridges, magnetic tape, disk storage, or other magnetic storage devices. The program may also be transmitted on a non-transitory computer-readable medium or a communication medium. As a non-limiting example, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagation signals.

[0084] Judgment method

[0085] Next, with reference to the accompanying drawings, the method for determining whether the first moving body and the second moving body will move alternately will be described in detail.

[0086] The determination unit 12 in this embodiment, for example, determines whether the first coordinate graph on the xy coordinates represented by the following mathematical formula 4 and the second coordinate graph on the xy coordinates represented by the following mathematical formula 5 intersect within the range of y > 0. Furthermore, if the first coordinate graph and the second coordinate graph intersect within the range of y > 0, it can be determined that an alternating movement of the first moving body and the second moving body will occur.

[0087] (Number 4)

[0088] y=k(xa)(xb)···Mathematical expression 4

[0089] (number 5)

[0090] y=k(xc)(xd)···Mathematical expression 5

[0091] Where a is the floor number of the elevator entrance of mobile body 2a, b is the floor number of the destination of mobile body 2a, c is the floor number of the elevator entrance of mobile body 2b, d is the floor number of the destination of mobile body 2b, and k is a negative real number.

[0092] Furthermore, as described above, in this embodiment, a determination is made as to whether staggered movement of the moving body 2 will occur during each ascent or descent of the elevator car E. Therefore, when the elevator car E is descending, a > b and c > d holds true. On the other hand, when the elevator car E is ascending, a < b and c < d holds true.

[0093] Figure 4 This is a graph representing the first coordinate system on the xy coordinates as expressed by mathematical expression 4. The coordinate graph represented by mathematical expression 4 is as follows: Figure 4 As shown, the coordinate graph is presented as a quadratic function that bulges upward through the points (a, 0) and (b, 0) on the x-axis.

[0094] In addition, although Figure 4 The diagram shows the elevator car E rising, where a < b, but when the elevator car E descends, a > b.

[0095] Furthermore, the coordinate graph represented by mathematical formula 5 is also shown as a coordinate graph of an upwardly convex quadratic function passing through the points (c, 0) and (d, 0) on the x-axis.

[0096] Here, the conditions for the staggered movement of moving bodies 2a and 2b are a < c < b < d when the elevator car E is rising, and a > c > b > d when the elevator car E is falling. Under these conditions, the first and second coordinate graphs intersect within the range y > 0 in both cases.

[0097] Furthermore, outside of these size relationships, the first coordinate graph and the second coordinate graph do not intersect in the range y > 0.

[0098] Therefore, when determining whether these coordinate graphs intersect within the range of y > 0, the determination unit 12 can determine whether the moving body 2a and the moving body 2b will intersect.

[0099] Operation of the mobile body control system

[0100] Next, the operation of the mobile body control system 101, namely the mobile body control method according to the first embodiment, will be described in detail. Figure 5 This is a flowchart used to explain the operation of the mobile body control system according to the first embodiment.

[0101] First, the acquisition unit 11 acquires information related to the elevator entrance and the destination for the first and second mobile bodies (step ST101).

[0102] More specifically, the acquisition unit 11 acquires information related to the elevator entrance and information related to the destination from the moving body 2. Then, the acquisition unit 11 outputs the information related to the elevator entrance and the destination to the determination unit 12.

[0103] Next, the determination unit 12 determines whether the first moving body and the second moving body will move alternately (step ST102).

[0104] More specifically, the determination unit 12 determines whether the first coordinate graph on the xy coordinates represented by mathematical formula 4 and the second coordinate graph on the xy coordinates represented by mathematical formula 5 intersect within the range of y > 0. Then, if the first coordinate graph and the second coordinate graph intersect within the range of y > 0, it determines that an alternating movement of the first moving body and the second moving body will occur.

[0105] If it is determined that an alternating movement of the first and second mobile bodies will occur (step ST102 is "yes"), at least one of the first and second mobile bodies shall change its operation plan (step ST103), and the mobile body control system 101 shall terminate a series of operations.

[0106] Furthermore, if it is determined that there will be no staggered movement of the first and second moving bodies (step ST102 is "No"), the moving body control system 101 terminates a series of operations. That is, neither the first nor the second moving body changes its operating plan, and the moving body control system 101 terminates a series of operations.

[0107] The mobile body control system 101 according to this embodiment executes the following during each ascent or descent: Figure 5 The flowchart illustrates a series of tasks.

[0108] As explained above, the mobile body control system 101 of this embodiment determines whether cross-movement of the mobile bodies will occur in the elevator car based on information related to the elevator entrance and destination of the first mobile body and the second mobile body that are going up to the elevator car.

[0109] Then, if it is determined that there will be cross movement of moving bodies inside the elevator car, at least one of the first moving body and the second moving body shall change the operation plan.

[0110] Based on this structure, the moving body control system 101 can suppress the occurrence of staggered movements of moving bodies within the elevator car. As a result, the operation of autonomous moving bodies can be made smoother.

[0111] Second Implementation Method

[0112] Structure of the mobile body control system

[0113] Hereinafter, the first embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. First, the structure of the mobile body control system according to this embodiment will be described in detail.

[0114] The mobile body control system according to the second embodiment is an application example of the mobile body control system according to the first embodiment. Therefore, the mobile body control system according to this embodiment has the same... Figure 1 The moving body control system 101 shown has the same structure.

[0115] The mobile body control system according to the second embodiment differs from that of the first embodiment in that the mobile body 2 rides on an elevator car with multiple doors.

[0116] Figure 6 This is a schematic diagram illustrating the structure of the movable body according to the second embodiment. More specifically, Figure 6 This is a schematic top view of moving bodies 2a and 2b riding in elevator car E.

[0117] like Figure 6 As shown, the elevator car E according to this embodiment has doors D1 and D2. Moving bodies 2a and 2b can go up and down the elevator regardless of whether they use door D1 or door D2. However, if there are other moving bodies 2 on the path of a moving body 2 to door D1 or door D2, staggered movement will occur, similar to the first embodiment.

[0118] In this embodiment, in order to determine the occurrence of staggered movement, it is necessary to consider which door the moving body 2 enters or exits the elevator from.

[0119] Therefore, in this embodiment, the information related to the elevator entrance includes information indicating the floor number at the elevator entrance and identification information of the elevator door. Furthermore, the information related to the destination includes information indicating the floor number at the destination and identification information of the elevator door.

[0120] Judgment method

[0121] Next, with reference to the accompanying drawings, the method for determining whether the first moving body and the second moving body will move alternately in this embodiment will be described in detail.

[0122] In this embodiment, similar to the first embodiment, a coordinate graph is created on the xy coordinates based on information related to the elevator entrance and information related to the destination, and it is determined whether the coordinate graph has any intersection points. Furthermore, if the coordinate graph has intersection points, it is determined that an interlaced movement of the moving body 2 will occur.

[0123] In this embodiment, when the moving body 2 enters the elevator through door D1 and exits the elevator through door D1, a coordinate graph on the xy coordinates represented by the following mathematical formula 6 is created.

[0124] (number 6)

[0125] y = k1(xa)(xb) + m1··· Mathematical expression 6

[0126] Where a is the floor number of the elevator entrance of the mobile body 2, b is the floor number of the destination of the mobile body 2, k1 is a negative real number, and m1 is a real number.

[0127] Figure 7 This is a graph representing the x and y coordinates as expressed by mathematical expression 6. The graph of the coordinates represented by mathematical expression 6 is as follows: Figure 7 As shown, the coordinate graph is presented as a quadratic function that bulges upward through the points (a, m1) and (b, m1) on the x-axis.

[0128] Furthermore, in this embodiment, when the moving body 2 enters the elevator through door D2 and exits the elevator through door D2, a coordinate graph on the xy coordinates represented by the following mathematical formula 7 is created.

[0129] (number 7)

[0130] y = k2(xa)(xb) + m2··· Mathematical expression 7

[0131] Where a is the floor number of the elevator entrance of the mobile body 2, b is the floor number of the destination of the mobile body 2, k2 is a positive real number, and m2 is a real number greater than m1.

[0132] Figure 8 This is a graph representing the x and y coordinates as expressed in mathematical expression 7. The graph of the coordinates represented by mathematical expression 7 is as follows: Figure 8 As shown, the coordinate graph is presented as a quadratic function with a downward convexity passing through the points (a, m2) and (b, m2) on the x-axis.

[0133] Furthermore, although m1 < m2 in this embodiment, m1 > m2 is also possible. However, in the case where m1 > m2, k1 is a positive real number and k2 is a negative real number. That is to say, mathematical expressions 6 and 7 can be summarized as mathematical expression 2 below.

[0134] (number 8)

[0135] y = k(xc)(xd) + m··· Mathematical expression 2

[0136] Where c is the floor number of the elevator entrance of the mobile body 2, d is the floor number of the destination of the mobile body 2, m is m1 when the mobile body 2 enters or exits the elevator through door D1, m is m2 when the mobile body 2 enters or exits the elevator through door D2, k is a positive real number when m is the larger of m1 and m2, and k is a negative real number when m is the smaller of m1 and m2.

[0137] Furthermore, in cases where the door D used when the moving body 2 enters the elevator car E is different from the door D used when the moving body 2 exits the elevator car E, in this embodiment, a coordinate graph on the xy coordinates represented by the following mathematical formula 1 is created.

[0138] (number 9)

[0139]

[0140] Figure 9 This is a graph representing the x and y coordinates as expressed in mathematical formula 1. The graph of the coordinates represented by mathematical formula 1 is as follows: Figure 9 As shown, the coordinate graph is presented as a linear line passing through points (a, m1) and (b, m2) on the x-axis.

[0141] Furthermore, the following mathematical formula 1 assumes the scenario where the moving body 2 enters the elevator car E from door D1 and exits the elevator car E from door D2. If m2 and m1 are substituted for m2 in the scenario where the moving body 2 enters the elevator car E from door D2 and exits the elevator car E from door D1, the corresponding mathematical formula can be obtained.

[0142] The determination unit 12 in this embodiment obtains information related to the elevator entrance and the destination for each of the moving bodies 2a and 2b, and creates a coordinate graph for each moving body 2. Then, it determines whether there are any intersections between the coordinate graphs.

[0143] Figure 10 A graph representing the coordinates on the xy coordinates as expressed by mathematical formulas 1 and 2.

[0144] In more detail, Figure 10This diagram is obtained by overlaying the coordinate graph of the moving body 2a entering the elevator from door D1 on floor a and exiting the elevator from door D2 on floor b with the coordinate graph of the moving body 2b entering the elevator from door D2 on floor c and exiting the elevator from door D2 on floor d. However, for the sake of simplicity, it is recorded as m1 = 0.

[0145] Here, consider the case where moving body 2a enters the elevator from door D1 on floor a and exits from door D2 on floor b, and moving body 2b enters the elevator from door D2 on floor c and exits from door D2 on floor d. The condition for staggered movement between moving bodies 2a and 2b is c < b < d when the elevator car E is ascending, and c > b > d when the elevator car E is descending.

[0146] like Figure 10 As shown, when c < b < d or c > b > d, the two coordinate graphs intersect at point P1. Therefore, when the two coordinate graphs intersect, the decision unit 12 determines that the moving body 2a and the moving body 2b will move alternately.

[0147] However, even when the two coordinate graphs intersect, such as Figure 11 As shown, there are also cases where c < b < d or c > b > d are not true. In such cases, this can be eliminated by restricting the range of the real number k. K can be set in a way that satisfies Equation 3 below.

[0148] (number 10)

[0149]

[0150] Where f is the total number of floors that the elevator car E can move to.

[0151] Furthermore, the left side of Equation 3 represents the slope at the point x = c or x = d on the coordinate graph corresponding to the path of the moving body 2b. Additionally, the right side of Equation 3 represents the slope of the coordinate graph with the largest slope among those corresponding to the path of the moving body 2a.

[0152] If the slope at the point x = c or x = d on the coordinate graph corresponding to the path of moving body 2b is less than the slope of the coordinate graph with the largest slope corresponding to the path of moving body 2a, then there is no... Figure 11 The intersection points shown.

[0153] Therefore, if k satisfies mathematical expression 3 and the two coordinate graphs intersect, staggered movement will occur between moving body 2a and moving body 2b.

[0154] As explained above, the mobile body control system of this embodiment determines whether multiple mobile bodies riding in an elevator car with multiple doors will move in an interleaved manner.

[0155] Furthermore, in the mobile body control system according to this embodiment, the information related to the elevator entrance includes information indicating the floor number at the elevator entrance and identification information of the elevator door. Additionally, the information related to the destination includes information indicating the floor number at the destination and identification information of the elevator door.

[0156] In addition, the following method is adopted: based on this information, a coordinate map corresponding to the respective paths of the moving objects is created, and if the coordinate maps have intersections, it is determined that the moving objects will move in an interlaced manner.

[0157] Based on this structure, even when the elevator car uses multiple doors, it is possible to properly determine whether the moving parts will move in an overlapping manner.

[0158] While the present invention has been described above based on the above embodiments, the present invention is not limited to the structure of the above embodiments, but also includes various modifications, alterations and combinations that can be implemented by those skilled in the art within the scope of the technical solution of this application.

Claims

1. A mobile body control system, comprising: The acquisition unit acquires information related to the elevator entrance and information related to the destination for the first and second moving bodies that are being driven onto the elevator car. The judgment unit determines whether the first and second moving bodies will intersect based on information related to the elevator entrance and information related to the destination. in, If the determination unit determines that an alternating movement of the first moving body and the second moving body will occur, it causes at least one of the first moving body and the second moving body to change its operation plan. Information related to the elevator entrance includes information indicating the floor number at the elevator entrance. Information related to the destination includes information indicating the floor number of the destination. The elevator car has multiple doors. The information related to the elevator entrance includes information indicating the floor number at the elevator entrance and identification information for the elevator door. Information related to the destination includes information indicating the floor number of the destination and identification information for the elevator door. When determining whether a first moving body that enters the elevator through the first door and exits through the second door, and a second moving body that enters or exits the elevator only through either the first door or the second door, will move alternately, the determination unit further determines whether a first coordinate graph (represented by the following mathematical formula 1) and a second coordinate graph (represented by the following mathematical formula 2) intersect. If the first and second coordinate graphs intersect, the determination unit determines that alternately moving the first and second moving bodies will occur. (Mathematical Formula 1) (Mathematical Formula 2) Where 'a' represents the floor number at the elevator entrance of the first moving body. b is the floor number of the destination of the first moving body. c is the floor number where the second moving body enters the elevator. d is the floor number of the destination of the second moving body. m1 and m2 are distinct real numbers. When the second moving body uses the elevator to go up or down through the first door, m is m1. When the second moving body ascends or descends the elevator through the second door, m is m2. When m is the larger of m1 and m2, k is a positive real number. When m is the smaller of m1 and m2, k is a negative real number. k satisfies the following mathematical expression 3. (Mathematical Formula 3) f represents the total number of floors that the elevator car can move to.

2. The mobile body control system as described in claim 1, wherein, If the determination unit determines that the first moving body and the second moving body will move in an alternating manner, at least one of the moving bodies that is determined to move in an alternating manner shall wait to board the elevator car.

3. The mobile body control system as described in claim 1, wherein, If the determination unit determines that the first moving body and the second moving body will move in an alternating manner, at least one of the moving bodies determined to be moving in an alternating manner will abandon its attempt to board the elevator car.

4. A method for controlling a moving body, comprising the following processing: Obtain information about the first and second moving bodies that are boarding the elevator car, as well as information about the destination; Based on information related to the elevator entrance and the destination of the moving body, a determination is made as to whether the first and second moving bodies will intersect; and If it is determined that an alternating movement of the first moving body and the second moving body will occur, the operation plan of at least one of the first moving body and the second moving body will be changed. Information related to the elevator entrance includes information indicating the floor number at the elevator entrance. Information related to the destination includes information indicating the floor number of the destination. The elevator car has multiple doors. The information related to the elevator entrance includes information indicating the floor number at the elevator entrance and identification information for the elevator door. Information related to the destination includes information indicating the floor number of the destination and identification information for the elevator door. In determining whether a first moving body that enters the elevator through the first door and exits through the second door, and a second moving body that enters or exits the elevator only through either the first or the second door, will move alternately, the determination is made as to whether the first coordinate graph represented by the following mathematical formula 1 and the second coordinate graph represented by the following mathematical formula 2 intersect. If the first coordinate graph and the second coordinate graph intersect, it is determined that alternate movement of the first and second moving bodies will occur. (Mathematical Formula 1) (Mathematical Formula 2) in, 'a' represents the floor number at which the first moving body enters the elevator. b is the floor number of the destination of the first moving body. c is the floor number where the second moving body enters the elevator. d is the floor number of the destination of the second moving body. m1 and m2 are distinct real numbers. When the second moving body uses the elevator to go up or down through the first door, m is m1. When the second moving body ascends or descends the elevator through the second door, m is m2. When m is the larger of m1 and m2, k is a positive real number. When m is the smaller of m1 and m2, k is a negative real number. k satisfies the following mathematical expression 3. (Mathematical Formula 3) f represents the total number of floors that the elevator car can move to.

5. A storage medium storing commands executable by one or more processors and used to cause the one or more processors to perform the following functions, wherein... The functions include: Obtain information related to the elevator entrance location and the destination for the first and second moving bodies that are ascending the elevator car; Based on information related to the elevator entrance and the destination of the moving body, a determination is made as to whether the first and second moving bodies will intersect; and If it is determined that an alternating movement of the first moving body and the second moving body will occur, the operation plan of at least one of the first moving body and the second moving body will be changed. Information related to the elevator entrance includes information indicating the floor number at the elevator entrance. Information related to the destination includes information indicating the floor number of the destination. The elevator car has multiple doors. The information related to the elevator entrance includes information indicating the floor number at the elevator entrance and identification information for the elevator door. Information related to the destination includes information indicating the floor number of the destination and identification information for the elevator door. In determining whether a first moving body that enters the elevator through the first door and exits through the second door, and a second moving body that enters or exits the elevator only through either the first or the second door, will move alternately, the determination is made as to whether the first coordinate graph represented by the following mathematical formula 1 and the second coordinate graph represented by the following mathematical formula 2 intersect. If the first coordinate graph and the second coordinate graph intersect, it is determined that alternate movement of the first and second moving bodies will occur. (Mathematical Formula 1) (Mathematical Formula 2) Where 'a' represents the floor number at the elevator entrance of the first moving body. b is the floor number of the destination of the first moving body. c is the floor number where the second moving body enters the elevator. d is the floor number of the destination of the second moving body. m1 and m2 are distinct real numbers. When the second moving body uses the elevator to go up or down through the first door, m is m1. When the second moving body ascends or descends the elevator through the second door, m is m2. When m is the larger of m1 and m2, k is a positive real number. When m is the smaller of m1 and m2, k is a negative real number. k satisfies the following mathematical expression 3. (Mathematical Formula 3) f represents the total number of floors that the elevator car can move to.

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