Escalator arrangement, escalator system and computer-readable storage medium

Abstract

The present application provides a matching device, a matching system and a computer readable storage medium, which can reduce the time of a user who occupies a car of an elevator to wait in a place. The matching device comprises: a matching unit, which, when a mobile body autonomously uses an elevator provided with multiple cars, allocates a car for the mobile body to take from the multiple cars based on a take request received from the mobile body, the take request containing a take floor, a destination floor and a desired take time of the elevator; a time calculation unit, which calculates a time of arrival of the car allocated by the matching unit at a landing of the take floor, and calculates a time period representing a time period of the mobile body to arrive at the landing based on the time of arrival; and a communication unit, which sends information of the time period to the mobile body, the information of the time period containing an instruction to arrive at the landing during a period from a start time of the time period to an end time.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a dispatching device, a dispatching system, and a computer-readable storage medium. BACKGROUND

[0002] Patent Literature 1 discloses a dispatching system of an elevator. A robot destination registration device included in the dispatching system is provided at a landing of an elevator. A robot as a mobile body is able to use a car of the elevator by inputting a destination floor from the robot destination registration device.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: International Publication No. 2020 / 234938 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in the dispatching system described in Patent Literature 1, the mobile body inputs the destination floor after reaching the landing. The elevator is used not only by the robot but also by a user as a person. Therefore, the robot can occupy a part of the landing during a period in which the user waits at the landing.

[0008] The present disclosure was completed in order to solve the above-described problems. An object of the present disclosure is to provide a dispatching device, a dispatching system, and a computer-readable storage medium, which are capable of reducing a time in which a mobile body occupies a place where a user who uses a car of an elevator waits.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] The dispatching device of the present disclosure includes: a dispatching section that, when a mobile body that moves autonomously uses an elevator provided with a plurality of cars, allocates a car for the mobile body to board from among the plurality of cars, on the basis of a boarding request including a boarding floor of the elevator, a destination floor, and a desired time of boarding received from the mobile body; a time calculation section that calculates a time of arrival at a landing of the boarding floor of the car allocated by the dispatching section, and calculates a period indicating a time period in which the mobile body arrives at the landing, on the basis of the time of arrival; and a communication section that transmits information of the period to the mobile body, the information of the period including an instruction to arrive at the landing during a period from a start time to an end time of the period.

[0011] The dispatching system of the present disclosure includes: a plurality of control mobile bodies that move autonomously inside a building provided with an elevator provided with a plurality of cars; and the dispatching device.

[0012] The computer-readable storage medium of the present disclosure stores a computer program, wherein, when the computer program is executed by a processor, the following steps are performed: a car allocation step, when an autonomously moving mobile body uses an elevator provided with a plurality of cars, allocating a car for the mobile body to board from the plurality of cars based on a boarding request including a boarding floor, a destination floor, and a desired boarding time of the mobile body received from the mobile body; a time calculation step, calculating a time period representing a time period for the mobile body to reach a landing of the boarding floor based on an arrival time of the car allocated in the car allocation step to reach the landing; and a communication step, transmitting information of the time period to the mobile body, the information of the time period including an instruction to reach the landing during a period from a start time to an end time of the time period.

[0013] Effects of the Invention

[0014] According to the present disclosure, the mobile body reaches the landing after the start time indicated by the time period. Therefore, it is possible to reduce the time for the mobile body to occupy a place where users who use the elevator cars are waiting. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural diagram of a building to which the car allocation system in Embodiment 1 is applied.

[0016] Figure 2 is a block diagram of the car allocation system in Embodiment 1.

[0017] Figure 3 is a flowchart for explaining an outline of actions performed by the car allocation device of the car allocation system in Embodiment 1.

[0018] Figure 4 is a hardware structure diagram of a first example of equipment included in the car allocation system in Embodiment 1.

[0019] Figure 5 is a hardware structure diagram of a second example of equipment included in the car allocation system in Embodiment 1.

[0020] Explanation of Reference Numerals

[0021] 1 building, 2 elevator system, 3 shaft, 4 machine room, 5 landing, 6 car, 7 control device, 8 group management device, 9 car allocation system, 10 control mobile body, 11 storage section, 12 communication section, 13 detection section, 14 control section, 20 management server, 21 storage section, 22 communication section, 30 car allocation device, 31 communication section, 32 group calculation section, 33 car allocation section, 34 time calculation section, 35 location determination section, 70 processing circuit, 71 processor, 72 memory, 73 hardware. DETAILED DESCRIPTION

[0022] A mode for carrying out the present disclosure will be described with reference to the drawings. Also, in each drawing, the same reference numerals are assigned to the same or equivalent portions. Repetitive description of the portions is appropriately simplified or omitted.

[0023] Embodiment 1.

[0024] Figure 1 is a structural view of a building to which the escalator system in Embodiment 1 is applied.

[0025] In Figure 1 An elevator system 2 is provided in a building 1. In the elevator system 2, a hoistway 3 penetrates each floor of the building 1. A machine room 4 is provided above the hoistway 3. A plurality of landings 5 are respectively provided on each floor of the building 1. The plurality of landings 5 respectively face the hoistway 3.

[0026] A plurality of cars 6 are provided in the elevator system 2. The plurality of cars 6 are provided inside the hoistway 3. Also, a plurality of hoistways 3 corresponding to the number of the plurality of cars 6 can be provided in the building 1. A plurality of control devices 7 are provided in the machine room 4. The plurality of control devices 7 respectively correspond to the plurality of cars 6. The control device 7 controls the operation of the corresponding car 6. In Figure 1 , one car 6 of the plurality of cars 6 and one control device 7 of the plurality of control devices 7 are shown.

[0027] A group management device 8 is provided in the machine room 4. The group management device 8 allocates an arbitrary car 6 of the plurality of cars 6 to a call in a case where information of the call is received from an unillustrated landing operation panel. The group management device 8 transmits the information of the call to the control device 7 corresponding to the allocated car 6. The control device 7 moves the corresponding car 6 based on the information of the call. The car 6 is raised and lowered inside the hoistway 3.

[0028] In the elevator system 2, an escalator system 9 is applied as a building system of the building 1. The escalator system 9 has a plurality of control mobile bodies 10, a management server 20, and an escalator device 30. The escalator system 9 is a system in which the plurality of control mobile bodies 10 utilize the elevator system 2. Also, the plurality of control devices 7 and the group management device 8 can be included in the escalator system 9.

[0029] The plurality of control mobile bodies 10 are robots that autonomously move. For example, the control mobile body 10 is a robot that carries goods, a robot that guards the inside of the building 1, or the like that acts according to a duty. The plurality of control mobile bodies 10 respectively move inside the building 1 according to their own business.

[0030] The management server 20 is provided inside the building 1. The management server 20 manages the plurality of control mobile bodies 10. For example, the management server 20 specifies a destination of movement for the control mobile body 10.

[0031] For example, the matching device 30 is provided in a building different from the building 1. The matching device 30 is capable of communicating with a plurality of control mobile bodies 10 via the management server 20. The matching device 30 is capable of communicating with the group management device 8.

[0032] The control mobile body 10 transmits information of a request for boarding to the matching device 30 in a case where the control mobile body 10 is to board any of the plurality of cars 6. For example, the control mobile body 10 transmits the information of the request for boarding in a state of existing in other space separate from the landing 5. The matching device 30 allocates a car 6 for the control mobile body 10 to board from among the plurality of cars 6. The group management device 8 and the control device 7 control the car 6 allocated by the matching device 30.

[0033] The matching device 30 transmits information for boarding the allocated car 6 to the control mobile body 10. The control mobile body 10 moves autonomously inside the building 1 based on the information received from the matching device 30. Thereafter, the control mobile body 10 boards the allocated car 6.

[0034] Next, the use of the matching system 9 will be described. Figure 2 The matching system 9 will be described.

[0035] Figure 2 is a block diagram of the matching system in Embodiment 1.

[0036] As shown in Figure 2 In the present embodiment, the plurality of control mobile bodies 10 each have the same structure. The control mobile body 10 moves while estimating its own position in a map using a sensor and the map. At this time, the control mobile body 10 generates a map of its own surroundings while moving. The control mobile body 10 has a storage section 11, a communication section 12, a detection section 13, and a control section 14. Figure 1

[0037] The storage section 11 stores information required when the control mobile body 10 moves.

[0038] The communication section 12 communicates with the management server 20. In addition, the communication section 12 can also directly communicate with the matching device 30. In a case where information of a movement instruction including a destination is received from the management server 20, the communication section 12 causes the storage section 11 to store the information of the movement instruction.

[0039] For example, the detection section 13 is a sensor for the control mobile body 10 to detect objects in the surroundings. Specifically, the detection section 13 is a camera, a LiDAR, a sound wave sensor, an infrared ray sensor, or the like, or a combination of these various sensors. The detection section 13 detects the environment in the surroundings including the positions of objects in the surroundings of the control mobile body 10. ​

[0040] The control section 14 controls the entire control mobile body 10. Specifically, the control section 14 controls the movement of the control mobile body 10 based on the information stored in the storage section 11 and the result detected by the detection section 13. The control section 14 estimates the own position of the control mobile body 10 based on the detection result of the detection section 13. The control section 14 generates a map of the surroundings of the control mobile body 10 based on the detection result of the detection section 13. The control section 14 stores the information of the generated map in the storage section 11 when the map is generated.

[0041] The control section 14 transmits the information of the boarding request including the boarding floor of the car 6, the destination floor of the car 6, and the desired time of the desired boarding to the elevator arrangement device 30 via the management server 20 when the elevator system 2 is to be used. The control section 14 controls the control mobile body 10 so as to move to the place designated by the movement instruction received from the management server 20 or the elevator arrangement device 30.

[0042] The management server 20 is, for example, a part of a personal computer. In addition, the management server 20 can be provided on a cloud server. The management server 20 communicates with a plurality of control mobile bodies 10 respectively through a network. Specifically, the network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network). The management server 20 has a storage section 21 and a communication section 22.

[0043] The storage section 21 stores information necessary for the control of the control mobile body 10. The communication section 22 communicates with a plurality of control mobile bodies 10 respectively. The communication section 22 communicates with the elevator arrangement device 30. The communication section 22 can also store the information received from the elevator arrangement device 30 in the storage section 21.

[0044] The elevator arrangement device 30 is, for example, a part of a personal computer provided in a building different from the building 1. In addition, the elevator arrangement device 30 can be provided on a cloud server. The elevator arrangement device 30 can communicate with the group management device 8, a plurality of control mobile bodies 10, and the management server 20 via a network such as a LAN, a WAN, or the like. The elevator arrangement device 30 has a communication section 31, a group calculation section 32, an elevator arrangement section 33, a time calculation section 34, and a place determination section 35.

[0045] The communication section 31 communicates with each of a plurality of control mobile bodies 10 or the management server 20. For example, the communication section 31 receives the information of the boarding request from the control mobile body 10.

[0046] In a case where the information of the request to board is received from two or more of the control mobile bodies 10, the group operation section 32 divides the two or more of the control mobile bodies 10 into one or more groups on the basis of the information of the request to board. At this time, the group operation section 32 performs the grouping of the two or more of the control mobile bodies 10 using a method of clustering.

[0047] In the first example of the clustering, the group operation section 32 operates a difference, that is, a difference between the desired times included in the information of the request to board. The group operation section 32 operates a difference in the direction from the boarding floor to the destination floor with respect to the information of the request to board. The group operation section 32 operates a distance from the boarding floor to the destination floor with respect to the information of the request to board. The group operation section 32 operates a difference, that is, a difference between the distances from the boarding floor to the destination floor included in the information of the request to board. The group operation section 32 performs the clustering using the difference between the desired times, the difference in the direction from the boarding floor to the destination floor, and the difference between the distances from the boarding floor to the destination floor as metrics, respectively. Thus, the group operation section 32 sets two or more of the requests to board, for which the differences after the operation are all smaller than a prescribed difference threshold value, as the same group. That is, the group operation section 32 sets two or more of the control mobile bodies 10 corresponding to the two or more of the requests to board as the same group. In this case, for example, the group operation section 32 assigns two control mobile bodies 10 having the same desired time and having the same destination floor to the same group.

[0048] The clustering can also be performed by comparing other elements. For example, in the second example of the clustering, the group operation section 32 generates a request vector using a difference between the current time and the desired time and a difference in the distance between the boarding floor and the destination floor as elements on the basis of the information of the request to board. At this time, the positive and negative signs of the difference in the distance between the boarding floor and the destination floor can also indicate the direction from the boarding floor to the destination floor. The request vector corresponds to the information of the request to board, that is, to the control mobile body 10. The group operation section 32 generates two or more of the request vectors corresponding to two or more of the control mobile bodies 10, respectively. The group operation section 32 operates a distance between two of the request vectors in the two or more of the request vectors, and sets the two of the request vectors as the same group in a case where the distance is smaller than a prescribed threshold value.

[0049] For example, in the third example of the clustering, the group operation section 32 generates two or more of the request vectors similarly to the second example. The group operation section 32 can also perform the grouping by applying a clustering method of unsupervised learning to the two or more of the request vectors. For example, the group operation section 32 can also perform the grouping using a k-means algorithm as the clustering method of unsupervised learning.

[0050] The car allocation section 33 receives information on the operating conditions of the plurality of cars 6 from the group management device 8 via the communication section 31. The car allocation section 33 allocates a car 6 to the control mobile body 10, i.e., determines a car 6 to be allocated to the control mobile body 10 from among the plurality of cars 6, in response to a boarding request from the control mobile body 10. In a case where the grouping section 32 has performed grouping based on the boarding request, the car allocation section 33 determines a car 6 in which two or more control mobile bodies 10 grouped into the same group are to board as the allocated car.

[0051] At this time, the car allocation section 33 allocates a car 6 in a manner to avoid a decrease in operating efficiency based on the operating conditions of the plurality of cars 6. For example, the car allocation section 33 can also allocate a car 6 to the control mobile body 10 in a manner to avoid a decrease in moving efficiency of a user who is a person using the elevator system 2. In addition, the car allocation section 33 can also determine a car 6 allocated to the boarding request by the group management device 8 as the allocated car by transmitting information indicated by the boarding request to the group management device 8 as a call.

[0052] The time calculation section 34 calculates a time at which the allocated car allocated by the car allocation section 33 arrives at the boarding floor. The time calculation section 34 calculates a time slot based on the time at which the allocated car arrives, the time slot indicating a time period during which the control mobile body 10 corresponding to the allocated car is to arrive at the landing 5 of the boarding floor.

[0053] The time slot is a time period from a start time t to an end time t+T. T is a prescribed elapsed time. The start time t is a time prior to the time at which the allocated car arrives at the boarding floor. The end time t+T is a time identical to or prior to the time at which the allocated car arrives at the boarding floor. For example, information of the time slot is expressed as a tuple (t, t+T). The information of the time slot includes information of an instruction to arrive at a specified place during a time period between the start time t and the end time t+T. That is, the information of the time slot includes information of an instruction not to arrive at the specified place at a time prior to the start time t.

[0054] The location determining section 35 determines a waiting location, which is a position of the landing 5 where the mobile body 10 waits in order to board the allocated car of the car allocation section 33. For example, as a position in the landing 5 that does not hinder users who use the car 6, the location determining section 35 determines a position away from the entrance and exit of the car 6 as the waiting location. At this time, the location determining section 35 determines the waiting location based on information of a map of the building 1 stored in advance. For example, the map is a map expressed in the form of a BIM (Building Information Model), an occupancy grid map, a two-dimensional point cloud map, a three-dimensional point cloud map, or the like. The waiting location is a specific position in the landing 5 of the boarding floor. Information of the waiting location is generated as information in a form that can be shared with the map stored in the control mobile body 10. Specifically, the information of the waiting location is generated in the form of coordinates (x, y). The information of the waiting location includes information of an instruction to move to the waiting location. In a case where two or more control mobile bodies 10 belonging to the same group wait at the same boarding floor, the location determining section 35 generates information of waiting locations different in position for the two or more control mobile bodies 10, respectively.

[0055] In a case where the communication section 31 receives the information of the boarding request, the car allocation section 33 determines the allocated car. The time calculating section 34 generates information of the time period. The location determining section 35 generates information of the waiting location. The communication section 31 transmits the information of the time period and the information of the waiting location to the control mobile body 10 corresponding to the boarding request via the management server 20.

[0056] At this time, the management server 20 receives the information of the time period and the information of the waiting location, and transmits these pieces of information to the corresponding control mobile body 10. In addition, the management server 20 can store the received information of the time period and the information of the waiting location in the storage section 21.

[0057] The control mobile body 10 stores the information of the time period and the information of the waiting location in the storage section 11 in a case where the control mobile body 10 receives these pieces of information. The control section 14 of the control mobile body 10 controls the movement of the control mobile body 10 so that the time period indicated by the information of the time period stored in the storage section 11 arrives at the waiting location. At this time, the path of the control mobile body 10 to the waiting location is autonomously determined by the control section 14. For example, the control section 14 determines an optimal path that departs from the current position at an optimal time and moves to the waiting location so as to arrive at the waiting location at the time period indicated by the information of the time period.

[0058] In addition, the path of the control mobile body 10 to the waiting location at the time period indicated by the information of the time period can not be determined by the control mobile body 10 but by the management server 20. In this case, the control mobile body 10 moves as instructed by the management server 20.

[0059] In a case where the time period indicated by the time period arrives at the waiting place, the control section 14 transmits completion information indicating completion of the movement to the elevator dispatching device 30. The elevator dispatching device 30, in a case where the completion information is received, allocates the car to the boarding floor as scheduled.

[0060] In a case where the time indicated by the time of arrival is later than the end time, that is, in a case where the time period indicated by the time period does not arrive at the arrival place, the control section 14 transmits information indicating that the movement has not been completed and information of a new boarding request including a new desired time to the elevator dispatching device 30. The elevator dispatching device 30, in a case where the information indicating that the movement has not been completed is received, excludes the control mobile body 10 from allocation of the assigned car. Thereafter, the elevator dispatching device 30, based on the boarding request information including the new desired time, decides the assigned car again, generates information of the time period and information of the boarding position.

[0061] In addition, it can also be that the control section 14, before starting the movement to the waiting position or in the middle of the movement to the waiting place, determines whether it is possible to arrive at the waiting place (x, y) before the end time t+T indicated by the time period based on the estimated own position, the stored map, and the like. In a case where it is determined that it is not possible to arrive at the waiting place before the end time, the control section 14 generates information of a cancellation of the boarding request and transmits it from the communication section 12 to the elevator dispatching device 30. The elevator dispatching device 30, in a case where the information of the cancellation of the boarding request is received, excludes the control mobile body 10 from allocation of the assigned car. In a case where no control mobile body 10 is allocated to the assigned car, the elevator dispatching device 30 transmits information of a cancellation of the dispatch of the assigned car to the group management device 8. In addition, the control section 14 can also generate a new boarding request and transmit it to the elevator dispatching device 30 together with the information of the cancellation of the boarding request.

[0062] Next, a part of the action performed by the elevator dispatching device 30 will be described using Figure 3

[0063] Figure 3 is a flowchart for explaining an outline of the action performed by the elevator dispatching device in the elevator dispatching system in Embodiment 1.

[0064] Figure 3 The flowchart illustrated in FIG. 8 represents the action performed by the elevator dispatching device 30 in a case where the elevator dispatching device 30 receives the boarding request information from one control mobile body 10. In Figure 3 In a case where the elevator dispatching device 30 receives the boarding request from a plurality of control mobile bodies 10, the elevator dispatching device 30 performs the action of the flowchart with respect to each of the plurality of control mobile bodies 10.

[0065] ​In step S01, the matching device 30 receives information of a ride request including a boarding floor, a destination floor, and a desired time from the control mobile body 10.

[0066] After that, the matching device 30 performs the operation of step S02. The matching device 30 groups using a clustering method based on the one or more ride requests that have been received and the ride request received in step S01. At this time, the matching device 30 can also cancel the grouping that has been completed and perform a new grouping that adds the ride request received in step S01.

[0067] After that, the matching device 30 performs the operation of step S03. In step S03, the matching device 30 decides an assigned car. The matching device 30 calculates a time of arrival of the assigned car. The matching device 30 generates information of a time period. The matching device 30 generates information of a waiting place.

[0068] After that, the matching device 30 performs the operation of step S04. In step S04, the matching device 30 transmits the information of the time period and the information of the waiting place to the control mobile body 10.

[0069] After that, the matching device 30 ends the operation of the flowchart.

[0070] According to the embodiment 1 described above, the matching system 9 has a plurality of control mobile bodies 10 as mobile bodies and a matching device 30. The matching device 30 has each function based on a matching program. The matching device 30 has a matching section 33, a time calculation section 34, and a communication section 31. The matching device 30 generates information of a time period. The information of the time period includes an instruction to arrive at the landing 5 during a period from a start time to an end time. Therefore, the control mobile body 10 moves in a manner to arrive at the landing 5 after the start time. That is, the control mobile body 10 does not arrive at the landing 5 before the start time. As a result, it is possible to reduce the time in which the control mobile body 10 occupies the space of the landing 5, which is a place where users wait.

[0071] Further, the matching device 30 decides an assigned car from a plurality of cars 6 according to a ride request from the control mobile body 10. The matching device 30 generates information of a time period based on a matching situation of the assigned car. Therefore, the matching device 30 can also allocate the car 6 on the basis of information other than the request of the control mobile body 10. As a result, for example, the matching device 30 can suppress a decrease in the utilization efficiency of the elevator by users.

[0072] Further, the elevator matching device 30 is provided with a location determining section 35. The elevator matching device 30 determines a waiting location in the lobby 5, and generates information of the waiting location. Thus, the mobile body 10 can wait at a position that does not obstruct users who use the car 6. Further, the mobile body 10 can know in advance a position to be arrived at and a time period to be arrived at at a time point when the boarding request is issued. Thus, the mobile body 10 can plan an optimal movement schedule of a movement path, a departure time, and the like.

[0073] Further, the elevator matching device 30 is provided with a group calculating section 32. The elevator matching device 30 groups a plurality of mobile bodies 10 that have received a boarding request. The elevator matching device 30 determines a car that makes all of the two or more mobile bodies 10 grouped in the same group board as an allocation car. Thus, the plurality of mobile bodies 10 can be moved efficiently.

[0074] Further, the elevator matching device 30 calculates a difference based on information included in the boarding request, and performs clustering that uses the difference as a measure, thereby grouping the plurality of mobile bodies 10. Thus, the elevator matching device 30 can perform more optimal grouping.

[0075] Further, the mobile body 10 transmits a new boarding request to the elevator matching device 30 in a case where the mobile body 10 arrives at the lobby 5 after the time period indicated by the time period. Thus, the mobile body 10 can smoothly transmit a boarding request again and board the car 6 even in a case where the mobile body 10 does not catch the time period.

[0076] Further, the mobile body 10 transmits information that cancels the boarding request to the elevator matching device 30 in a case where the mobile body 10 determines that the mobile body 10 cannot arrive at the lobby 5 before the end time of the time period. The elevator matching device 30 cancels the boarding request of the mobile body 10. Thus, the elevator matching device 30 can suppress useless allocation of the car 6. As a result, the operation efficiency of the plurality of cars 6 can be improved.

[0077] In addition, the mobile body 10 can directly communicate with the elevator matching device 30 without going through the management server 20.

[0078] In addition, the mobile body 10 can move based on a map generated by the management server 20 or a map stored in advance by the management server 20. In this case, the management server 20 transmits information of a map of the inside of the building 1 to the mobile body 10 in advance. The mobile body 10 stores the information of the map received from the management server 20 in the storage section 11.

[0079] In addition, the time calculating section 34 can generate information of a time period in which the arrival time of the allocation car is included in the time period indicated by the time period. That is, the time calculating section 34 can calculate a time period in which the start time is a time before the arrival time and the end time is a time after the arrival time.

[0080] Next, use Figure 4 and Figure 5 Examples of hardware for the equipment included in the elevator system 9 will be provided.

[0081] Figure 4 This is a hardware structure diagram of the first example of the equipment included in the elevator system in Implementation Method 1. Figure 5 This is a hardware structure diagram of the second example of the equipment included in the elevator system in Implementation Method 1.

[0082] like Figure 4 As shown, the functions of the elevator control device 30 can be implemented by the processing circuit 70. For example, the processing circuit 70 includes at least one processor 71 and at least one memory 72. In this case, the functions of the elevator control device 30 are implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is described in the form of a program. At least one of the software and firmware is stored in at least one memory 72. The at least one processor 71 implements the functions of the elevator control device 30 as steps by reading and executing the elevator control program stored in the at least one memory 72. The at least one processor 71 can be a central processing unit, CPU (Central Processing Unit), processing device, arithmetic device, microprocessor, microcomputer, or DSP. For example, the at least one memory 72 is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, floppy disk, optical disk, high-density disk, mini disk, DVD, etc.

[0083] like Figure 5 As shown, the processing circuit 70 may also include at least one dedicated hardware 73. In this case, the processing circuit 70 may be implemented, for example, by a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the elevator control device 30 may be implemented by the processing circuit 70. Alternatively, each function of the elevator control device 30 may be implemented uniformly by the processing circuit 70.

[0084] Regarding the various functions of the elevator control device 30, some can be implemented by dedicated hardware 73, while others can be implemented by software or firmware. For example, the function of grouping multiple control moving bodies 10 can be implemented by a processing circuit that serves as dedicated hardware 73, and functions other than grouping can be implemented by at least one processor 71 reading and executing a program stored in at least one memory 72.

[0085] Thus, the processing circuit 70 implements the various functions of the elevator distribution device 30 through hardware, software, firmware, or a combination thereof.

[0086] Further, although not illustrated, each function of the control mobile body 10 and each function of the management server 20 are also implemented by a processing circuit identical to the processing circuit 70 that implements each function of the elevator assignment device 30.

[0087] Summarizing the above description, the structure that the technology of the present disclosure can take includes each structure and the like shown as the following as a supplementary note.

[0088] (Supplementary Note 1)

[0089] An elevator assignment device in which,

[0090] The elevator assignment device includes:

[0091] an assignment section that, when a mobile body that moves autonomously uses an elevator provided with a plurality of cars, assigns a car for the mobile body to board from among the plurality of cars based on a boarding request including a boarding floor, a destination floor, and a desired time of boarding at the mobile body received from the mobile body;

[0092] a time calculation section that calculates a time period representing a time period for the mobile body to arrive at a landing of the boarding floor based on an arrival time of the car assigned by the assignment section to arrive at the landing, and

[0093] a communication section that transmits information of the time period to the mobile body,

[0094] the information of the time period includes an instruction to arrive at the landing during a period from a start time to an end time of the time period.

[0095] (Supplementary Note 2)

[0096] The elevator assignment device according to Supplementary Note 1, in which,

[0097] the elevator assignment device further includes a location determination section that generates information of a waiting location at which the autonomous mobile body waits inside the landing in order to board the car assigned by the assignment section,

[0098] the communication section transmits the information of the waiting location to the mobile body together with the information of the time period.

[0099] (Supplementary Note 3)

[0100] The elevator assignment device according to Supplementary Note 1 or 2, in which,

[0101] the elevator assignment device further includes a group calculation section that, based on the boarding requests respectively received from a plurality of control mobile bodies including the mobile body, performs calculation to divide the plurality of control mobile bodies into one or more groups using a method of clustering,

[0102] The elevator dispatching section dispatches the car in which all of the two or more control mobiles belonging to the same group calculated by the group calculation section are boarded.

[0103] (Note 4)

[0104] The elevator dispatching device according to Note 3, wherein

[0105] The group calculation section performs clustering of differences in desired times included in the boarding requests received from the plurality of control mobiles, differences in directions from the boarding floors included in the boarding requests to the destination floors, and differences in distances from the boarding floors included in the boarding requests to the destination floors, as measures, thereby grouping the plurality of control mobiles into one or more groups.

[0106] (Note 5)

[0107] An elevator dispatching system, wherein

[0108] The elevator dispatching system comprises:

[0109] a plurality of control mobiles that autonomously move inside a building in which an elevator is provided, the elevator being provided with a plurality of cars; and

[0110] The elevator dispatching device according to Note 3 or 4.

[0111] (Note 6)

[0112] The elevator dispatching system according to Note 5, wherein

[0113] Each of the plurality of control mobiles transmits a new boarding request to the elevator dispatching device in a case where the control mobile arrives at the lobby after the time period indicated by the time period.

[0114] (Note 7)

[0115] The elevator dispatching system according to Note 5, wherein

[0116] Each of the plurality of control mobiles transmits information for canceling the boarding request to the elevator dispatching device in a case where it is determined that the control mobile cannot arrive at the lobby before the end time of the time period.

[0117] (Note 8)

[0118] A computer-readable storage medium storing a computer program, wherein

[0119] When the computer program is executed by a processor, the following steps are performed:

[0120] In a step of allocating an elevator, when a self-moving mobile body uses an elevator provided with a plurality of cars, a car in which the mobile body is to board is allocated from among the plurality of cars based on a boarding request received from the mobile body, the boarding request including a boarding floor, a destination floor, and a desired time at which boarding is desired of the elevator;

[0121] In a step of calculating a time, a time period in which the mobile body arrives at a landing of the boarding floor is calculated based on an arrival time of the car allocated in the step of allocating an elevator, and a time period representing a time period in which the mobile body arrives at the landing is calculated based on the arrival time.

[0122] In a step of communicating, information of the time period is transmitted to the mobile body,

[0123] The information of the time period includes an instruction to arrive at the landing during a period from a start time to an end time of the time period.

Claims

1. A dispatching device, wherein the dispatching device comprises: a dispatching section that, when a mobile body that moves autonomously uses an elevator provided with a plurality of cars, allocates a car for the mobile body to board from among the plurality of cars based on a boarding request including a boarding floor, a destination floor, and a desired time of boarding received from the mobile body; a time calculation section that calculates a time of arrival at a landing of the car allocated by the dispatching section at the boarding floor, and calculates a period indicating a period of time for the mobile body to arrive at the landing based on the time of arrival; and a communication section that transmits information of the period to the mobile body, the information of the period includes an instruction to the mobile body to arrive at the landing within a period from a start time to an end time of the period.

2. The dispatching device according to claim 1, wherein the dispatching device further comprises a location determination section that generates information of a waiting location at which the mobile body waits at the landing for boarding the car allocated by the dispatching section, the communication section transmits the information of the waiting location to the mobile body together with the information of the period.

3. The dispatching device according to claim 1 or 2, wherein the dispatching device further comprises a group calculation section that, based on the boarding requests respectively received from a plurality of control mobile bodies including the mobile body, performs calculation of grouping the plurality of control mobile bodies into one or more groups using a clustering method, the dispatching section allocates a car for all of two or more control mobile bodies of the plurality of control mobile bodies that are grouped into the same group by the group calculation section to board.

4. The dispatching device according to claim 3, wherein the group calculation section performs clustering using, as metrics, respectively, a difference between the desired times included in the boarding requests respectively received from the plurality of control mobile bodies, a difference in direction from the boarding floors to the destination floors included in the boarding requests, and a difference in distance from the boarding floors to the destination floors included in the boarding requests, thereby grouping the plurality of control mobile bodies into one or more groups.

5. A dispatching system, wherein the dispatching system comprises: a plurality of control mobile bodies that move autonomously inside a building provided with an elevator provided with a plurality of cars; and the dispatching device according to claim 3.

6. The dispatching system according to claim 5, wherein each of the plurality of control mobile bodies transmits a new boarding request to the dispatching device in a case where the control mobile body arrives at the landing after the period indicated by the period.

7. The dispatching system according to claim 5, wherein each of the plurality of control mobile bodies transmits information of canceling the boarding request to the dispatching device in a case where it is determined that the control mobile body cannot arrive at the landing before the end time of the period.

8. A storage medium readable by a computer, which stores a computer program, wherein when the computer program is executed by a processor, the following steps are performed: In a step of allocating an elevator, when a self-propelled mobile body uses an elevator provided with a plurality of cars, a car in which the mobile body is to board is allocated from among the plurality of cars based on a boarding request received from the mobile body, the boarding request including a boarding floor, a destination floor, and a desired time at which boarding is desired of the elevator; In a step of calculating a time, a time at which the car allocated in the step of allocating an elevator reaches a landing on the boarding floor is calculated, and a period indicating a period of time in which the mobile body reaches the landing is calculated based on the time at which the car reaches the landing; and In a step of communicating, information of the period is transmitted to the mobile body, the information of the period including an instruction to the mobile body to reach the landing during a period from a start time of the period to an end time of the period.

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