Mobile body control device, mobile body, mobile body control server, building system, mobile body control method, and storage medium

Abstract

Provided are a mobile body control device, a mobile body, a mobile body control server, a building system, a mobile body control method, and a program. In a case where it is not possible to confirm whether a passenger has a right to use a target floor of a mobile body, it is also possible to cause the mobile body to reach the target floor earlier while ensuring safety. The mobile body control device has: a boarding information acquisition unit that acquires boarding information indicating whether a passenger is boarding in a car of an elevator; a mobile body target floor information acquisition unit that acquires mobile body target floor information indicating a target floor of a mobile body; a safety level information acquisition unit that acquires safety level information indicating a safety level of the target floor of the mobile body; and a determination unit that determines whether to permit the mobile body to carry the passenger or to restrict the mobile body from carrying the passenger, based on the boarding information, the mobile body target floor information, and the safety level information, in a case where the passenger is boarding in the car.

Description

Technical Field

[0001] This invention relates to a mobile body control device, a mobile body, a mobile body control server, a building system, a mobile body control method, and a mobile body control program. Background Technology

[0002] In buildings with safety floors protected by safety features, self-propelled vehicles sometimes use elevators to move within the building. Furthermore, situations sometimes arise where the vehicle and passengers (hereinafter referred to as "passengers") share the elevator car. When the vehicle's destination floor is a safety floor, safety issues sometimes arise when the vehicle and passengers share the elevator car.

[0003] Here, an elevator control device exists that, when the target floor of the moving object is a safe floor and a situation occurs where the moving object and a passenger are riding the elevator together, obtains information through a user identification unit indicating whether the passenger has permission to use the safe floor. In this elevator control device, if the passenger has permission to use the safe floor, the elevator car is allowed to stop at the safe floor; if the passenger does not have permission to disembark at the safe floor or it is uncertain whether they have permission, the elevator prioritizes responding to the passenger's call to their target floor, and responds to calls to the safe floor after the passenger disembarks. (See, for example, Patent Document 1)

[0004] Patent Document 1: Japanese Patent Application Publication No. 2020-128271

[0005] In the aforementioned prior art, when it is impossible to confirm whether a passenger has the authority to use the target floor of the moving vehicle, the passenger's car call is prioritized. Therefore, there is a problem of the moving vehicle's waiting time becoming longer. Summary of the Invention

[0006] This invention was made to solve the above-mentioned problems, and can enable the mobile body to reach the target floor earlier while ensuring safety, even when it is impossible to confirm whether the passenger has the right to use the target floor.

[0007] The mobile body control device of the present invention includes: an elevator information acquisition unit that acquires elevator information indicating whether there are passengers in the elevator car; a mobile body target floor information acquisition unit that acquires mobile body target floor information indicating the target floor of the mobile body; a safety level information acquisition unit that acquires safety level information indicating the safety level of the target floor of the mobile body; and a determination unit that, based on the elevator information acquired by the elevator information acquisition unit, the mobile body target floor information acquired by the mobile body target floor information acquisition unit, and the safety level information acquired by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passengers or to restrict the mobile body from riding with the passengers when there are passengers in the elevator car.

[0008] Invention Effects

[0009] According to the present invention, even when it is impossible to confirm whether a passenger has the authority to use the target floor of the mobile body, it is possible to enable the mobile body to reach the target floor earlier while ensuring safety. Attached Figure Description

[0010] Figure 1 This is an overall diagram showing the structure of the building system in Embodiment 1.

[0011] Figure 2 This is a block diagram showing the structure of the elevator control device and the moving body control device of the building system in Embodiment 1.

[0012] Figure 3 This is a diagram showing the information stored in the security level information storage unit in Embodiment 1.

[0013] Figure 4 This is a diagram showing the information stored in the descendable floor information storage unit in Embodiment 1.

[0014] Figure 5 This is a flowchart illustrating the operation of the building system in Implementation 1.

[0015] Figure 6 This is a diagram showing the hardware structure of the mobile body control device in Embodiment 1.

[0016] Figure 7 This is an overall diagram showing the structure of the building system in Embodiment 2.

[0017] Figure 8 This is a block diagram showing the structure of the elevator control device and the moving body control device of the building system in Embodiment 2.

[0018] Figure 9 This is a flowchart illustrating the operation of the building system in Implementation 2.

[0019] Figure 10This is a block diagram showing the structure of the elevator control device and the moving body control device of the building system in Embodiment 3.

[0020] Figure 11 This is a flowchart illustrating the operation of the building system in Implementation 3.

[0021] Label Explanation

[0022] 1 Traction machine; 2 Rope; 3 Car; 4 Floor; 5 Floor control panel; 51 Floor buttons; 6 Tail cable; 7 Elevator control device; 8 Car control panel; 81 Destination button; 9 Moving body; 91 Camera device; 92 Card reader; 93 Broadcasting device; 99 Moving body control device; 10A, 10B, 10C Building Systems; 11 Elevator; 12 Door; 30 Security level information storage unit; 31 Elevator control device wireless communication unit; 32 Call registration unit; 33 Elevator operation control unit; 34 Door control unit; 50 Transport... 51. Storage unit for floor information that can be descended; 52. Unit for acquiring target floor information of moving body; 53. Unit for acquiring security level information; 54. Unit for acquiring elevator ride information; 55. Unit for registering elevator call; 56. Wireless communication unit for moving body control device; 57. Judgment unit; 58. Moving body control unit; 59. Notification signal output unit; 60. Door opening and closing control signal output unit; 61. Unit for acquiring passenger car elevator call registration information; 1000. Bus; 1001. Processor; 1002. Memory; 1003. Interface; 1004. Secondary storage device. Detailed Implementation

[0023] Implementation Method 1

[0024] The structure of the building system 10A in Implementation Method 1 will be described. Figure 1 This is an overall diagram showing the structure of the building system 10A in Embodiment 1. Furthermore, Figure 2 This is a block diagram showing the structure of the elevator control device 7 and the moving body control device 99 of the building system 10A in Embodiment 1.

[0025] exist Figure 1 and Figure 2 In this system, building system 10A includes an elevator 11 installed in a building with safe floors, and a mobile body 9 that moves to different floors within the building using the elevator 11. The elevator 11 is controlled by an elevator control device 7. The mobile body 9 is controlled by a mobile body control device 99. The elevator control device 7 and the mobile body control device 99 are capable of wireless communication with each other.

[0026] In this example, a security level of any of three levels—Level 1, Level 2, and Level 3—is set for each floor of the building. Level 1 has the lowest security level, and Level 3 has the highest. Floors with a security level of Level 1 are called "normal floors," while floors with security levels of Level 2 and Level 3 are called "secure floors." Furthermore, among the secure floors, Level 2 floors have a low security level, and Level 3 floors have a high security level. Here, normal floors do not restrict access and can be used by people without special privileges. Secure floors are protected by security functions and restrict access, meaning they can only be used by people with the appropriate access rights. The security level information representing the security level of each floor is, for example, information maintained by the elevator control device 7 and the movement control device 99.

[0027] Elevator 11 consists of a traction machine 1 installed at the top of the shaft, a car 3 suspended by ropes 2, a landing control panel 5 with landing buttons 51, and an elevator control device 7 installed at the top of the shaft. The ropes 2 are supported by the traction machine 1. The car 3 has a door 12 and a car control panel 8 with destination buttons 81. The car control panel 8 is located inside the car 3.

[0028] The elevator control device 7 is connected to the car 3 via the tail cable 6, to the traction machine 1 and the landing control panel 5 via signal lines, and is wirelessly connected to the moving body control device 99. Furthermore, the elevator control device 7 includes a safety level information storage unit 30, an elevator control device wireless communication unit 31, a call registration unit 32, and an elevator operation control unit 33.

[0029] Figure 3 This is a diagram showing the information stored in the security level information storage unit 30 in Embodiment 1. The security level information storage unit 30 stores security level information representing the security level of each floor. Specifically, the security level information storage unit 30 stores, for example... Figure 3 The data shown is like this. In Figure 3 In the example shown, floors 1 and 2 are security level 1 floors, i.e., normal floors; floors 3 to 7 are security level 2 floors, i.e., low-security floors; and floors 8 and 9 are security level 3 floors, i.e., high-security floors.

[0030] The elevator control device wireless communication unit 31 communicates wirelessly with the mobile control device 99 via the mobile control device wireless communication unit 56. Furthermore, the elevator control device wireless communication unit 31 can transmit the safety level information for each floor stored in the safety level information storage unit 30 to the mobile control device 99.

[0031] The elevator call registration unit 32 is capable of performing a total of five types of elevator call registrations: passenger call registration at the landing and car, and call registration at the landing, car, and priority car of the moving body 9.

[0032] When a passenger at floor 4 operates floor button 52, the elevator call registration department 32 registers the elevator call made by the passenger at the corresponding floor.

[0033] When a passenger in car 3 operates the destination button 81, the elevator call registration department 32 registers the elevator call made by the passenger for the corresponding floor.

[0034] When the elevator call registration unit 32 receives a floor call registration request from the mobile body control device 99 via the elevator control device wireless communication unit 31, the elevator call registration unit 32 registers the floor call made by the mobile body 9 for the corresponding floor.

[0035] When the elevator call registration unit 32 receives a car call registration request from the mobile body control device 99 via the elevator control device wireless communication unit 31, the elevator call registration unit 32 registers the car call made by the mobile body 9 to the corresponding floor. Furthermore, when the elevator call registration unit 32 receives a priority car call registration request from the mobile body control device 99 via the elevator control device wireless communication unit 31, the elevator call registration unit 32 registers the priority car call made by the mobile body 9 to the corresponding floor. If a car call by the mobile body 9 is registered, and a passenger operates the landing button 51 at landing 4 on a floor intermediate to the floor to which the registered car call is made, the elevator call registration unit 32 registers the passenger's landing call. If a priority car call by the mobile body 9 is registered, even if a passenger operates the landing button 51 at landing 4 on a floor intermediate to the floor to which the registered priority car call is made, the elevator call registration unit 32 does not register the passenger's landing call.

[0036] The elevator operation control unit 33 responds to the elevator call registered in the elevator call registration unit 32 and controls the movement of the traction machine 1, thereby causing the car 3 to move to the corresponding floor and stop.

[0037] The mobile body 9 is, for example, a baggage handling robot or a cleaning robot, and is not limited to driving on the ground; it can also be a drone flying in the air. The mobile body 9 has a mobile body control device 99, a camera device 91, and a card reader 92.

[0038] The mobile body control device 99 includes an input unit 50, a floor information storage unit 51, a target floor information acquisition unit 52, a safety level information acquisition unit 53, an elevator ride information acquisition unit 54, an elevator call registration request unit 55, a mobile body control device wireless communication unit 56, a judgment unit 57, and a mobile body control unit 58.

[0039] The input unit 50 receives information from the card reader 92 mounted on the mobile body 9 and outputs it to the accessible floor information storage unit 51. When the IC card is placed on the card reader 92, the accessible floor information, security level information of the accessible floor, and target floor information of the mobile body 9 stored in the IC card are read and input into the input unit 50. Furthermore, the owner of the mobile body 9 or a person with the authority to command the mobile body 9 possesses the IC card.

[0040] Figure 4 This diagram illustrates the information stored in the accessible floor information storage unit 51 in Embodiment 1. The accessible floor information storage unit 51 stores the accessible floor information, security level information of the accessible floors, and target floor information of the mobile body 9 input to the input unit 50. The accessible floor information of the mobile body 9 indicates whether the mobile body 9 has the authority to descend the stairs on each floor. The target floor information of the mobile body 9 indicates the target floor of the mobile body 9, i.e., the floor to which the mobile body 9 is destined.

[0041] Specifically, the downstairs floor information storage unit 51 stores, for example... Figure 4 The data shown. Additionally... Figure 4 The example shown is similar to Figure 3 The example shown is of a building where the 1st and 2nd floors have a security level of 1, the 3rd to 7th floors have a security level of 2, and the 8th and 9th floors have a security level of 3. For example... Figure 4 As shown, in this example, floors 1 and 2 are accessible floors for the mobile unit 9, with a safety level of 1. Floors 6 and 7 are also accessible floors for the mobile unit 9, with a safety level of 2. Furthermore, floor 7 is the target floor for the mobile unit 9. Floor 9 is an accessible floor for the mobile unit 9, with a safety level of 3. Floors 3 through 5 and floor 8 are not accessible floors for the mobile unit 9. Additionally, in... Figure 4 In this case, for floors that are not accessible floors of the mobile body 9, the safety level information is not stored in the accessible floor information storage unit 51. However, for floors that are not accessible floors of the mobile body 9, the safety level information can be stored in the accessible floor information storage unit 51.

[0042] The target floor information acquisition unit 52 of the mobile body obtains information representing the target floor of the mobile body 9, namely the target floor information of the mobile body, from the floor information storage unit 51 of the floor that can be descended, and inputs the obtained target floor information of the mobile body into the judgment unit 57.

[0043] The safety level information acquisition unit 53 acquires the safety level information of the target floor of the mobile body 9 from the floor information storage unit 51, and inputs the acquired safety level information into the judgment unit 57.

[0044] The elevator information acquisition unit 54 acquires elevator information, which indicates whether there are passengers in the car 3, based on images or dynamic images captured by the camera device 91 mounted on the moving body 9.

[0045] The elevator call registration request unit 55 outputs an elevator call registration request signal based on the judgment result of the judgment unit 57. Specifically, it can output three types of request signals: floor call registration, car call registration, and priority car call registration for the moving body 9. Here, if the safety level of the target floor of the moving body 9 is level 1 or level 2, the elevator call registration request unit 55 requests the car call of the moving body 9; if the safety level of the target floor of the moving body 9 is level 3, the elevator call registration request unit 55 requests the priority car call of the moving body 9.

[0046] The mobile body control device wireless communication unit 56 communicates wirelessly with the elevator control device 7 via the elevator control device wireless communication unit 31. Furthermore, the mobile body control device wireless communication unit 56 can transmit information obtained from the input unit 50, the passenger information acquisition unit 54, the call registration request unit 55, and the mobile body control unit 58 to the elevator control device.

[0047] Based on the elevator information obtained by the elevator information acquisition unit 54, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit 52, and the safety level information obtained by the safety level information acquisition unit 53, the judgment unit 57 determines whether to permit or restrict the mobile body 9 from riding with the passenger when there is a passenger in the car 3. This determination result is output to the elevator call registration request unit 54 and the mobile body control unit 58. When the judgment unit 57 outputs a signal permitting the mobile body 9 to ride with the passenger to the elevator call registration request unit 54, it also outputs the safety level information of the target floor of the mobile body 9 to the elevator call registration request unit 54.

[0048] The moving body control unit 58 controls the movement of the moving body 9 based on the judgment result of the judgment unit 57.

[0049] Next, the operation of the building system 10A in Implementation Method 1 will be explained. Figure 5 This is a flowchart illustrating the operation of the building system 10A in Embodiment 1.

[0050] Initially, when the IC card is placed on the card reader 92 mounted on the mobile body 9, the information stored in the IC card regarding the accessible floor, the security level of the accessible floor, and the target floor of the mobile body 9 is read and input into the input unit 50. This information input into the input unit 50 is stored in the accessible floor information storage unit 51. Then, the mobile body 9 moves to the landing 4 to use the elevator 11 to move to the target floor.

[0051] When the moving body 9 arrives at floor 4, the call registration request unit 55 sends the floor call registration request information of the moving body 9 to the elevator control unit 7 via the moving body control device wireless communication unit 56. The elevator control unit 7 receives the floor call registration request information of the moving body 9 via the elevator control device wireless communication unit 31 and outputs the received floor call registration request information of the moving body 9 to the call registration unit 32. The call registration unit 32 registers the floor call of the moving body 9. The elevator operation control unit 33 controls the operation of the traction machine 1 in response to the call registered in the call registration unit 32, thereby moving the car 3 to the floor where the moving body 9 is located.

[0052] Next, confirm whether the car 3 has stopped at the floor where the moving body 9 is located and whether the door has been opened (S1).

[0053] When the car 3 stops at the floor where the moving body 9 is located and the door opens (S1: Yes), the moving body 9 moves to the car 3 at the floor 4 to utilize the elevator 11. Then, the moving body target floor information acquisition unit 52 obtains the moving body target floor information from the descendable floor information storage unit 51 and outputs it to the judgment unit 57. In addition, the safety level information acquisition unit 53 obtains the safety level information of the target floor of the moving body 9 from the descendable floor information storage unit 51 and outputs it to the judgment unit 57.

[0054] Next, the determination unit 57 refers to the target floor information of the mobile body obtained by the target floor information acquisition unit 52 and the security level information of the target floor of the mobile body 9 obtained by the security level information acquisition unit 53, and confirms whether the target floor of the mobile body 9 is a safe floor, that is, whether the security level is level 2 or level 3 (S2).

[0055] If the target floor is not a safe floor (the safety level of the target floor is not level 2 or 3), that is, if the target floor is a normal floor (the safety level of the target floor is level 1) (S2: No), the determination unit 57 outputs a signal permitting the mobile body 9 to board the car 3 to the mobile body control unit 58 and the elevator call registration request unit 55. Here, if there are already passengers in the car 3, the mobile body 9 rides with the passengers. That is, the determination unit 57 permits the mobile body 9 to ride with the passengers. Then, the mobile body control unit 58 controls the mobile body 9 to move into the car 3. Furthermore, the elevator call registration request unit 55 sends the car call registration request information of the mobile body 9 to the elevator control device 7 via the mobile body control device wireless communication unit 56. The elevator control device 7 receives the car call registration request information of the mobile body 9 via the elevator control device wireless communication unit 31 and outputs the information to the elevator call registration unit 32. The elevator call registration unit 32 registers the car call of the mobile body 9 (S8). Then, the car 3 begins to move toward the floor where the car call for the moving body 9 is registered, i.e., the target floor of the moving body 9. If a passenger operates the floor button 51 at a floor 4 on the way to the floor where the car call for the moving body 9 is registered, the call registration department 32 registers the passenger's floor call, and the elevator 11 opens its doors at the floor where the passenger's floor call is registered (S9).

[0056] In S2, if the target floor is a safe floor, that is, the safety level of the target floor is level 2 or level 3 (S2: Yes), then it is confirmed whether the safety level of the target floor is low, that is, whether the safety level is level 2 (S3).

[0057] If the security level of the target floor is low, i.e., level 2 (S3: Yes), the determination unit 57 outputs a signal permitting the mobile body 9 to board the elevator car 3 to the mobile body control unit 58 and the elevator call registration request unit 55. Here, if there are already passengers in the elevator car 3, the mobile body 9 boards with the passengers. That is, the determination unit 57 permits the mobile body 9 to board with the passengers. The subsequent operation of the building system 10A is the same as when S2 is "No", so the explanation is omitted.

[0058] In S3, if the safety level of the target floor is high, i.e., level 3 (S3: No), the elevator information acquisition unit 54 acquires information indicating whether there are passengers in the car 3, i.e., elevator information, based on the image or video captured by the camera device 91, and outputs the elevator information to the judgment unit 57. The judgment unit 57 confirms whether there are passengers in the car 3 by referring to the elevator information (S4).

[0059] If there are passengers in the car 3 (S4: Yes), the determination unit 57 restricts the moving body 9 from riding with the passengers. That is, the moving body control unit 58 does not allow the moving body 9 to move into the car 3 (S7). In addition, the elevator call registration request unit 55 does not send the car elevator call registration request information to the elevator control device 7. Then, after the doors close, the elevator call registration request unit 55 sends the floor call registration request information of the moving body 9 to the elevator control device 7 again via the moving body control device wireless communication unit 56, and the process restarts from S1.

[0060] In step S4, if there are no passengers in car 3 (S4: No), the determination unit 57 outputs a signal permitting the mobile body 9 to ride with passengers to the mobile body control unit 58 and the elevator call registration request unit 55. The determination unit 57 also outputs the safety level information of the target floor of the mobile body 9 to the elevator call registration request unit 55. Then, the mobile body control unit 58 controls the mobile body 9 to move into car 3. Furthermore, since the safety level of the target floor is level 3, the elevator call registration request unit 55 sends the priority car call registration request information of the mobile body 9 to the elevator control unit 7 via the mobile body control device wireless communication unit 56. The elevator control unit 7 receives the priority car call registration request information of the mobile body 9 via the elevator control device wireless communication unit 31 and outputs the information to the elevator call registration unit 32. The elevator call registration unit 32 registers the priority car call of the mobile body 9 (S5). Then, car 3 begins to move towards the floor where the priority car call of the mobile body 9 has been registered, i.e., the target floor of the mobile body 9.

[0061] Even if a passenger operates the landing button 51 at a landing 4 on a floor intermediate to the floor where the priority car call for the moving body 9 is registered, the call registration department 32 will not register the passenger's landing call, and the car 3 will pass through the floor where the landing button 51 was operated (S6).

[0062] Here, the hardware structure of the moving body control device 99 will be explained. Figure 6 This is a diagram showing the hardware structure of the mobile body control device 99. Figure 6 The mobile body control device 99 shown is implemented, for example, by a computer such as a personal computer or a microcontroller.

[0063] The mobile body control device 99 has a processor 1001, a memory 1002, an interface 1003 and a secondary storage device 1004 interconnected via a bus 1000.

[0064] The processor 1001 is, for example, a CPU (Central Processing Unit). The processor 1001 reads the action program, i.e. the movement control program, stored in the secondary storage device 1004 into the memory 1002 and executes it, thereby realizing the various functions of the movement control device 99.

[0065] The memory 1002 is, for example, a main storage device composed of RAM (Random Access Memory). The memory 1002 stores the mobile body control program read by the processor 1001 from the secondary storage device 1004. In addition, the memory 1002 functions as working memory when the processor 1001 executes the mobile body control program.

[0066] Interface 1003 is, for example, a serial port, a USB (Universal Serial Bus) port, a network interface, or other I / O (Input / Output) interface. Interface 1003 enables the functions of the input unit 50 and the wireless communication unit 56 of the mobile control device.

[0067] The secondary storage device 1004 is, for example, flash memory, HDD (Hard Disk Drive), or SSD (Solid State Drive). The secondary storage device 1004 stores various information required for the operation of the mobile body control device 99 and the mobile body control program executed by the processor 1001. The secondary storage device 1004 enables the function of the descending floor information storage unit 51.

[0068] In addition, the elevator control device 7 can also be connected to... Figure 6 Computer implementation with the same hardware architecture.

[0069] As described above, the building system 10A in Embodiment 1 includes an elevator 11 and a mobile body 9 riding in the elevator car 3. It includes: an elevator information acquisition unit 54, which acquires elevator information indicating whether there are passengers riding in the elevator car 3; a mobile body target floor information acquisition unit 52, which acquires mobile body target floor information indicating the target floor of the mobile body 9; a safety level information acquisition unit 53, which acquires safety level information indicating the safety level of the target floor of the mobile body 9; and a determination unit 57, which, based on the elevator information acquired by the elevator information acquisition unit 54, the mobile body target floor information acquired by the mobile body target floor information acquisition unit 52, and the safety level information acquired by the safety level information acquisition unit 53, determines whether to permit the mobile body 9 to ride with the passengers or to restrict the mobile body 9 from riding with the passengers if there are passengers riding in the car 3. Thus, even if it cannot be confirmed whether the passengers have the right to use the target floor of the mobile body 9, the mobile body 9 can reach the target floor earlier while ensuring safety.

[0070] Furthermore, the mobile body 9 and the mobile body control device 99 in Embodiment 1 include: a passenger information acquisition unit 54, which acquires passenger information indicating whether there are passengers in the elevator car 3 of the elevator 11; a mobile body target floor information acquisition unit 52, which acquires mobile body target floor information indicating the target floor of the mobile body 9; a safety level information acquisition unit 53, which acquires safety level information indicating the safety level of the target floor of the mobile body 9; and a determination unit 57, which, based on the passenger information acquired by the passenger information acquisition unit 54, the mobile body target floor information acquired by the mobile body target floor information acquisition unit 52, and the safety level information acquired by the safety level information acquisition unit 53, determines whether to permit the mobile body 9 to ride with the passengers or to restrict the mobile body 9 from riding with the passengers when there are passengers in the car 3. Thus, even when it is impossible to confirm whether the passengers have the right to use the target floor of the mobile body 9, the mobile body 9 can reach the target floor earlier while ensuring safety.

[0071] The mobile body control method in Implementation Method 1 includes the following steps: an elevator information acquisition step, which acquires elevator information indicating whether there are passengers in the car 3 of the elevator 11; a mobile body target floor information acquisition step, which acquires mobile body target floor information indicating the target floor of the mobile body 9; a safety level information acquisition step, which acquires safety level information indicating the safety level of the target floor of the mobile body 9; and a determination step, which, based on the elevator information acquired by the elevator information acquisition step, the mobile body target floor information acquired by the mobile body target floor information acquisition step, and the safety level information acquired by the safety level information acquisition step, determines whether to permit the mobile body 9 to ride with the passengers or to restrict the mobile body 9 from riding with the passengers when there are passengers in the car 3. Thus, even when it is impossible to confirm whether the passengers have the right to use the target floor of the mobile body 9, the mobile body 9 can reach the target floor earlier while ensuring safety.

[0072] The mobile body control program in Implementation Method 1 causes the computer to perform the following steps: a passenger information acquisition step, which acquires passenger information indicating whether there are passengers in the elevator car 3 of the elevator 11; a mobile body target floor information acquisition step, which acquires mobile body target floor information indicating the target floor of the mobile body 9; a safety level information acquisition step, which acquires safety level information indicating the safety level of the target floor of the mobile body 9; and a determination step, which, based on the passenger information acquired by the passenger information acquisition step, the mobile body target floor information acquired by the mobile body target floor information acquisition step, and the safety level information acquired by the safety level information acquisition step, determines whether to allow the mobile body 9 to ride with the passengers or to restrict the mobile body 9 from riding with the passengers when there are passengers in the car 3. Thus, even when it is impossible to confirm whether the passengers have the right to use the target floor of the mobile body 9, the mobile body 9 can reach the target floor earlier while ensuring safety.

[0073] In addition, the mobile body 9 can identify only people as "passengers", or it can be limited to people and also identify other mobile bodies as "passengers". If other mobile bodies besides the mobile body 9 are also identified as "passengers", it can prevent other mobile bodies that do not have the right to use the target floor of the mobile body 9 from riding in the car 3 with the mobile body 9 and getting off at the target floor of the mobile body 9.

[0074] When the security level of the target floor of the mobile vehicle 9 is Level 1 or Level 2, the determination unit 57 permits the mobile vehicle 9 to travel with the passenger; when the security level of the target floor of the mobile vehicle 9 is Level 3, the determination unit 57 restricts the mobile vehicle 9 from traveling with the passenger. Therefore, even when it is impossible to confirm whether the passenger has permission to use the target floor of the mobile vehicle 9, the mobile vehicle 9 can reach the target floor earlier while ensuring safety.

[0075] Furthermore, in Embodiment 1, when the security level of the target floor of the mobile vehicle 9 is Level 1 or Level 2, the determination unit 57 permits the mobile vehicle 9 and the passenger to ride together; when the security level of the target floor of the mobile vehicle 9 is Level 3, the determination unit 57 restricts the mobile vehicle 9 and the passenger from riding together. However, it is also possible to permit the mobile vehicle 9 to ride with the passenger when the security level of the target floor of the mobile vehicle 9 is Level 1, and restrict the mobile vehicle 9 from riding with the passenger when the security level of the target floor of the mobile vehicle 9 is Level 2 or higher. That is, it is also possible to permit the mobile vehicle 9 and the passenger to ride together when the target floor of the mobile vehicle 9 is a normal floor, and restrict the mobile vehicle 9 from riding with the passenger when the target floor of the mobile vehicle 9 is a safe floor. In addition, in Embodiment 1, the security level of each floor of the building is set in three stages: Level 1 to Level 3. However, it is also possible to set only two stages: Level 1 and Level 2, that is, only setting whether it is a normal floor or a safe floor. Conversely, it is also possible to set more finely in four or more stages.

[0076] In Embodiment 1, a mobile body control unit 58 is provided to control the movement of the mobile body 9. Before the mobile body 9 boards the car 3, if the determination unit 57 permits the mobile body 9 to ride with a passenger, the mobile body control unit 58 moves the mobile body 9 into the car 3. If the determination unit 57 restricts the mobile body 9 from riding with a passenger before the mobile body 9 boards the car 3, the mobile body control unit 58 does not move the mobile body 9 into the car 3. This prevents the mobile body 9 from entering the car 3 despite the restriction on riding with a passenger. As a result, the waiting time of the mobile body 9 can be shortened, and the mobile body 9 can reach the target floor earlier.

[0077] In addition, in Embodiment 1, the mobile body control device 99 is mounted on the mobile body 9; however, the mobile body control device 99 can also be located in a mobile body control server separate from the mobile body 9. When the mobile body 9 is controlled by the mobile body control server, multiple mobile bodies 9 can be controlled simultaneously. In this case, the multiple mobile bodies 9 controlled simultaneously by the mobile body control server will not recognize each other as "passengers" and can ride together regardless of the security level of the target floor. Thus, the mobile bodies 9 can reach the target floor earlier while ensuring safety. Furthermore, the mobile body control server can also be given the function of an elevator control device 7, allowing control of both the elevator 11 and the mobile body 9. In addition, the mobile body control server can be located inside or outside the building.

[0078] In addition, in Embodiment 1, the IC card stores the information on the floors to which the mobile body 9 can descend, the security level information of the floors to which the mobile body 9 can descend, and the target floor information of the mobile body 9. However, it is also possible to store only the target floor and the security level information of the target floor of the mobile body 9 in the IC card. Furthermore, it is also possible to store only the information on the floors to which the mobile body 9 can descend and the target floor information in the IC card, read the security level information of the floors to which the mobile body 9 can descend from the security level information storage unit 30 of the elevator control device 7, and transmit it to the mobile body control device 99 via wireless communication. Furthermore, it is also possible to store the personal identification information of the person who commands the mobile body 9 in the IC card. In this case, the information on the floors to which the mobile body 9 can descend and the security level information of the floors to which the mobile body 9 can descend are obtained in advance from a database (not shown) based on the personal identification information read from the IC card by the card reader 92.

[0079] In addition, information about the accessible floor of the mobile body 9, the security level of the accessible floor, and the target floor of the mobile body 9 can also be input to the input unit 50 by means other than IC cards. Means other than IC cards include input from input devices such as keyboards, mice, and touch panels, and data transfer from information storage media other than IC cards, such as CDs, DVDs, and semiconductor memories.

[0080] In Embodiment 1, the camera device 91 is mounted on the mobile body 9; however, it can also be installed inside the elevator car 3 of the elevator 11. In this case, the images or moving images captured by the camera device 91 are transmitted wirelessly to the mobile body control device 99. By installing the camera device 91 inside the car 3, the mobile body control device 99 can determine whether there are passengers inside the car 3 even before the elevator car 3 stops at the floor where the mobile body 9 is located and the door 12 opens. Furthermore, if it is known that there are passengers inside the car 3, it can refrain from requesting a floor call from the mobile body 9 until the passenger disembarks from the car 3. That is, the elevator call registration request unit 55, which requests elevator call registration for the floor where the mobile body 9 is located, requests elevator call registration for the mobile body 9 if the determination unit 57 has permitted the mobile body 9 to ride with a passenger before the mobile body 9 boards the car 3, and does not request elevator call registration for the mobile body 9 if the determination unit 57 has restricted the mobile body 9 from riding with a passenger before the mobile body 9 boards the car 3. This avoids situations where a passenger is inside the car 3 but calls the car 3 to the floor where the mobile body 9 is located. As a result, the waiting time of the mobile body 9 can be shortened, allowing the mobile body 9 to reach the target floor earlier.

[0081] In addition, in Embodiment 1, the elevator information acquisition unit 54 acquires elevator information based on images or moving images captured by the camera device 91. However, it is also possible to use other detection devices such as photoelectric sensors or human sensors instead of the camera device 91. Alternatively, instead of using the camera device 91, it is also possible to detect whether there are passengers in the car 3 by detecting changes in the weight of the car 3.

[0082] In Embodiment 1, when the safety level of the target floor of the mobile body 9 is level 1 or 2, the elevator call registration request unit 55 requests the car call of the mobile body 9. When the safety level of the target floor of the mobile body 9 is level 3, the elevator call registration request unit 55 requests the priority car call of the mobile body 9. However, it is also possible to request the car call of the mobile body 9 when the safety level of the target floor of the mobile body 9 is level 1, and to request the priority car call of the mobile body 9 when the safety level of the target floor of the mobile body 9 is level 2 or higher. That is, it is also possible to request the car call of the mobile body 9 when the target floor of the mobile body 9 is a normal floor, and to request the priority car call of the mobile body 9 when the target floor of the mobile body 9 is a safe floor.

[0083] Furthermore, in Embodiment 1, after confirming the safety level of the target floor of the mobile body 9 (S2 and S3), it is confirmed whether there are passengers in the car 3 (S4). However, it is also possible to confirm the safety level of the target floor of the mobile body 9 (S2 and S3) after confirming whether there are passengers in the car 3 (S4). In this case, it is also possible to confirm the safety level of the target floor of the mobile body 9 when there are passengers in the car 3, and not to confirm the safety level of the target floor of the mobile body 9 when there are no passengers in the car 3.

[0084] Furthermore, the order of the steps in which the judgment unit 57 determines whether to permit or restrict the mobile body 9 from riding with the passenger, namely the elevator information, the target floor information of the mobile body, and the safety level information, can be appropriately changed.

[0085] Implementation Method 2

[0086] The structure of the building system 10B in Embodiment 2 will be described. Figure 7 This is an overall diagram showing the structure of the building system 10B in Embodiment 2. Figure 8 This is a block diagram showing the structure of the elevator control device 7 and the moving body control device 99 of the building system 10B in Embodiment 2. Furthermore, structures identical to those in Embodiment 1 are labeled with the same reference numerals, and their descriptions are omitted.

[0087] exist Figure 7 and Figure 8 In Embodiment 2, the building system 10B differs from Embodiment 1 in that the elevator control device 7 has a door control unit 34, the moving body 9 has a broadcasting device 93 as an alarm device, and the moving body control device 99 has an alarm signal output unit 59 and a door opening and closing control signal output unit 60.

[0088] The door control unit 34 controls the opening and closing of the door 12.

[0089] The broadcasting device 93 announces the passengers in the car 3 to get off the elevator based on the announcement signal output from the announcement signal output unit 59. The broadcasting device 93 is, for example, a loudspeaker that makes voice-based announcements.

[0090] The notification signal output unit 59 outputs a notification signal to the broadcasting device 93 based on the judgment result of the judgment unit 57.

[0091] The door opening and closing control signal output unit 60 outputs a signal for controlling the opening and closing of the door 12 based on the judgment result of the judgment unit 57.

[0092] Next, the operation of the building system 10B in Embodiment 2 will be explained. Figure 9This is a flowchart illustrating the operation of the building system 10B in Embodiment 2. Furthermore, in Embodiment 2, the operation of the building system 10B after the mobile body 9 boards the car 3 will be described in detail. The operation of the mobile body 9 before boarding the car 3 is the same as in Embodiment 1, and therefore will be omitted from the description.

[0093] After the moving body 9 enters the car 3, the passenger information acquisition unit 54 acquires passenger information, i.e., passenger information, based on the image or video captured by the camera device 91, and outputs the passenger information to the judgment unit 57. The judgment unit 57 confirms whether there is a passenger in the car 3 by referring to the passenger information, i.e., whether a passenger has boarded the car 3 after the moving body 9 boarded the car 3 (S20).

[0094] In S20, if the passenger does not board the car 3 after the mobile body 9 has boarded it (S20: No), the determination unit 57 outputs a signal to the mobile body control unit 58 to keep the mobile body 9 inside the car 3. Therefore, the mobile body 9 does not move out of the car 3 and remains inside the car 3 (S27). Then, if the mobile body 9 has not registered a car call or priority car call, the call registration request unit 55 requests the mobile body 9 to register a car call or priority car call. Furthermore, if the mobile body 9 has already registered a car call or priority car call, the car 3 begins to move towards the target floor of the mobile body 9 (S28).

[0095] In S20, if the passenger boards the car after the mobile body 9 has boarded the car 3 (S20: Yes), the determination unit 57 refers to the mobile body target floor information obtained by the mobile body target floor information acquisition unit 52 and the safety level information of the target floor of the mobile body 9 obtained by the safety level information acquisition unit 53, and confirms whether the target floor of the mobile body 9 is a safe floor, that is, whether the safety level is level 2 or level 3 (S21).

[0096] If, in S21, the target floor is not a safe floor (the target floor's security level is not level 2 or 3), i.e., the target floor is a normal floor (the target floor's security level is level 1) (S21: No), the determination unit 57 permits the movable body 9 to ride with the passenger. Therefore, the movable body 9 remains inside the car 3 (S27). The subsequent operation of the building system 10B is the same as in the case where S20 is "No," so explanation is omitted.

[0097] If the target floor is a safe floor in S21, that is, the safety level of the target floor is level 2 or level 3 (S21: Yes), then confirm whether the safety level of the target floor is low, that is, whether the safety level is level 2 (S22).

[0098] If the security level of the target floor is low, i.e., level 2, in S22 (S3: Yes), the determination unit 57 permits the movable body 9 to ride with the passenger. Therefore, the movable body 9 remains inside the car 3 (S27). The subsequent operation of the building system 10B is the same as in the case where S20 is "No," so explanation is omitted.

[0099] If the security level of the target floor is high (Level 3) in S22 (S22: No), the judgment unit 57 outputs a signal to the notification signal output unit 59 to restrict the movement of the mobile body 9 from traveling with the passenger. The notification signal output unit 59 outputs a notification signal to the broadcasting device 93 to notify the passenger in the elevator car 3 to disembark. Upon receiving the notification signal, the broadcasting device 93 issues a notification such as "Dedicated operation, please disembark if you are the last passenger to board." to notify the passenger to disembark (S23).

[0100] Furthermore, at this time, the judgment unit 57 also outputs a signal to the door opening and closing control signal output unit 60 to restrict the moving body 9 from riding with the passenger. The door opening and closing control signal output unit 60, receiving this signal from the judgment unit 57, sends a signal to the door control unit 34 via the moving body control device wireless communication unit 56 to maintain the opening of the door 12. Therefore, the door control unit 34 continues to open the door 12 (S24).

[0101] Then, the judgment unit 57 refers to the elevator information obtained by the elevator information acquisition unit 54 to confirm whether the passenger in the car 3 has disembarked and is no longer in the car 3 (S25).

[0102] If, in S25, the passenger has disembarked and is no longer in the car 3 (S25: Yes), the determination unit 57 outputs a signal to the door opening / closing control signal output unit 60, which causes the door opening / closing control signal output unit 60 to output a signal to release the opening of door 12. The door opening / closing control signal output unit 60 sends the signal to release the opening of door 12 to the door control unit 34 via the mobile body control device wireless communication unit 56. The door control unit 34 releases the opening of door 12 and quickly closes the door (S26). Then, if no car call registration or priority car call registration for mobile body 9 is registered, the call registration request unit 55 requests car call registration or priority car call registration for mobile body 9. Then, if car call registration or priority car call registration for mobile body 9 has been registered, the car 3 moves toward the target floor of mobile body 9 (S28).

[0103] If, in S25, the passenger remains in car 3 without disembarking (S25: No), the determination unit 57 continues to confirm whether the passenger in car 3 has disembarked and is no longer in car 3 (S25). Furthermore, in Figure 9Although there is no illustration, if the passenger does not disembark after a certain period of time, the judgment unit 57 can also output a signal to the moving body control unit 58, and the moving body control unit 58 can control the moving body 9 to move out of the car 3.

[0104] As described above, in the building system 10B of Embodiment 2, the determination unit 57 determines whether a passenger has boarded the car 3 after the mobile body 9 has boarded it, based on the elevator information obtained by the elevator information acquisition unit 54. If a passenger has boarded the car 3 after the mobile body 9 has boarded it, the determination unit 57 determines whether to permit the mobile body 9 to ride with the passenger or to restrict the mobile body 9 from riding with the passenger, based on the mobile body target floor information obtained by the mobile body target floor information acquisition unit 52 and the security level information obtained by the security level information acquisition unit 53. Therefore, even if it is impossible to confirm whether the passenger has the authority to use the target floor of the mobile body 9 after the mobile body 9 has boarded it, the mobile body 9 can reach the target floor earlier while ensuring safety.

[0105] Furthermore, the mobile body control device 99 in Embodiment 2 includes an alarm signal output unit 59, which outputs an alarm signal to a broadcasting device 93. The broadcasting device 93 then alerts passengers boarding the elevator car 3 to disembark. After the mobile body 9 has boarded the elevator car 3, if the determination unit 57 restricts the mobile body 9 from traveling with a passenger, the alarm signal output unit 59 outputs an alarm signal to the broadcasting device 93. Therefore, even if a passenger boards the elevator car 3 after the mobile body 9 has boarded it, the passenger can still be alerted to disembark. As a result, the waiting time of the mobile body 9 can be shortened, allowing the mobile body 9 to reach the target floor earlier.

[0106] Furthermore, the mobile body control device 99 in Embodiment 2 includes a door opening and closing control signal output unit 60. This unit outputs a signal to control the opening and closing of the door 12 of the elevator car 3. After the mobile body 9 boards the car 3, if the determination unit 57 restricts the mobile body 9 from riding with a passenger, the door opening and closing control signal output unit 60 outputs a signal to maintain the door open. Therefore, if a passenger boards the car 3 after the mobile body 9 has boarded it, the door 12 can be prevented from closing during the process of instructing the passenger to disembark. As a result, the waiting time of the mobile body 9 can be shortened, allowing the mobile body 9 to reach the target floor earlier.

[0107] Furthermore, in the mobile body control device 99 of Embodiment 2, after the door opening / closing control signal output unit 60 outputs a signal to maintain door open, if the judgment unit 57 determines, based on the elevator information obtained by the elevator information acquisition unit 54, that the passenger has disembarked, the door opening / closing control signal output unit 60 outputs a signal to release the door open maintenance. Therefore, when the mobile body 9 rides on the car 3 and a passenger rides on the car 3, the car 3 can quickly move towards the target floor after the passenger disembarks. As a result, the waiting time of the mobile body 9 can be shortened, and the mobile body 9 can reach the target floor earlier.

[0108] Furthermore, in the mobile body control device 99 of Embodiment 2, after the mobile body 9 has boarded the car 3, if the determination unit 57 restricts the mobile body 9 from riding with a passenger, the mobile body control unit 58 controls the mobile body 9 to move out of the car 3. Therefore, if a passenger boards the car 3 after the mobile body 9 has boarded it, and the passenger does not disembark even after being prompted to do so, the car 3 can be prevented from remaining at that floor. As a result, the waiting time of the mobile body 9 can be shortened, allowing the mobile body 9 to reach the target floor sooner.

[0109] In addition, in embodiment 2, if the passenger is prompted to get off the stairs by the broadcast device 93 and the passenger does not get off the stairs even if the door 12 is kept open, the moving body 9 will get off the stairs from the car 3. However, it is also possible to get the moving body 9 off the stairs from the car 3 without prompting the passenger to get off the stairs.

[0110] In addition, in embodiment 2, the broadcasting device 93 is a speaker that makes voice-based announcements; however, it could also be a liquid crystal monitor that makes announcements using character or graphic displays, or a light source that makes announcements using light. Furthermore, the broadcasting device 93 is mounted on the mobile body 9; however, it could also be installed inside the car 3 of the elevator 11.

[0111] Implementation Method 3

[0112] The structure of the building system 10C in Embodiment 3 will be described. The overall structure of the building system 10C in Embodiment 3 is similar to... Figure 1 same. Figure 10 This is a block diagram showing the structure of the elevator control device 7 and the moving body control device 99 of the building system 10C in Embodiment 3. Furthermore, structures identical to those in Embodiment 1 are labeled with the same reference numerals, and their descriptions are omitted.

[0113] exist Figure 10In the embodiment 3, the building system 10C differs from the embodiment 1 in that the elevator control device 7’s call registration unit 32 outputs car call registration information to the elevator control device wireless communication unit 31, and the moving body control device 99 has a passenger car call registration information acquisition unit 61.

[0114] The elevator call registration unit 32 outputs car call registration information to the elevator control device wireless communication unit 31. The car call registration information indicates the passenger's car call registration, i.e., the passenger's target floor. The elevator control device wireless communication unit 31 then transmits the car call registration information to the moving body control device 99.

[0115] The passenger car elevator call registration information acquisition unit 61 acquires the car elevator call registration information from the elevator call registration unit 32 via the elevator control device wireless communication unit 31 and the moving body control device wireless communication unit 56. The passenger car elevator call registration information acquisition unit 61 outputs the acquired car elevator call registration information to the judgment unit 57.

[0116] Next, the operation of the building system 10C in Embodiment 3 will be explained. Figure 11 This is a flowchart illustrating the operation of the building system 10C in embodiment 3. Figure 11 The difference from embodiment 1 is that S30 is present between S4 and S7.

[0117] The actions up to S4 and the subsequent actions when S4 is "No" are the same as in Implementation 1, so the description is omitted.

[0118] In S4, if there are passengers in the car 3 (S4: Yes), the determination unit 57 refers to the target floor information of the moving body obtained by the moving body target floor information acquisition unit 52 and the car elevator call registration information obtained by the passenger car elevator call registration information acquisition unit 61 to confirm whether the target floor of the moving body 9 and the target floor of the passenger are the same (S30).

[0119] If, in S30, the target floor of the mobile body 9 is the same as the target floor of the passenger (S30: Yes), the determination unit 57 outputs a signal permitting the mobile body 9 to ride with the passenger to the mobile body control unit 58 and the elevator call registration request unit 55. The determination unit 57 also outputs the safety level information of the target floor of the mobile body 9 to the elevator call registration request unit 55. The subsequent operations are the same as S5 and S6 of Embodiment 1, so the description is omitted.

[0120] In S30, if the target floor of the mobile body 9 and the target floor of the passenger are not the same (S31: No), the determination unit 57 restricts the mobile body 9 from riding with the passenger. That is, the mobile body control unit 58 does not allow the mobile body 9 to move into the car 3 (S7). The subsequent operations are the same as in Embodiment 1, so the description is omitted.

[0121] As described above, in the building system 10C of Embodiment 3, the determination unit 57 determines whether the target floor of the mobile body 9 and the passenger's target floor are the same based on the target floor information of the mobile body 9 obtained by the mobile body target floor information acquisition unit 52 and the car elevator call registration information obtained by the passenger car elevator call registration information acquisition unit 61. Then, if the target floor of the mobile body 9 and the passenger's target floor are the same, the determination unit 57 permits the mobile body 9 to ride with the passenger. Thus, even when there are passengers in the car 3, the mobile body 9 can reach the target floor earlier while ensuring safety.

[0122] Furthermore, the mobile body control device 99 in Embodiment 3 includes a passenger car elevator call registration information acquisition unit 61. This unit acquires elevator call registration information indicating the passenger's target floor. The determination unit 57, based on the mobile body target floor information acquired by the mobile body target floor information acquisition unit 52 and the passenger car elevator call registration information acquired by the passenger car elevator call registration information acquisition unit 61, allows the mobile body 9 to travel with the passenger when the target floor of the mobile body 9 and the passenger's target floor are the same. Therefore, even when there are passengers in the car 3, the mobile body 9 can reach the target floor earlier while ensuring safety.

[0123] In addition, in embodiment 3, S30 is performed between S4 and S7. However, S30 can also be performed immediately after the mobile body 9 arrives at floor 4, or immediately after the mobile body 9 registers a floor call. In this case, if S30 is performed before S1, and S30 is "yes", the determination unit 57 may not confirm the safety level of the target floor of the mobile body 9 (and not perform S2 and S3), and may allow the mobile body 9 to ride with the passenger.

[0124] The various methods of the present invention will be uniformly recorded as appendices below.

[0125] (Postscript 1)

[0126] A mobile body control device, comprising:

[0127] The elevator information acquisition department acquires information indicating whether there are passengers in the elevator car.

[0128] The mobile target floor information acquisition unit acquires mobile target floor information representing the target floor of the mobile body;

[0129] The security level information acquisition unit acquires security level information indicating the security level of the target floor of the moving body; and

[0130] The determination unit, based on the elevator information obtained by the elevator information acquisition unit, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit, and the safety level information obtained by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car.

[0131] (Postscript 2)

[0132] According to the moving body control device described in Appendix 1, wherein...

[0133] When the security level of the target floor of the mobile vehicle is Level 1, the determination unit permits the mobile vehicle to travel with the passenger.

[0134] When the security level of the target floor of the mobile vehicle is a second level, which is higher than the first level, the determination unit restricts the mobile vehicle from traveling with the passenger.

[0135] (Note 3)

[0136] According to the moving body control device described in Appendix 1, wherein...

[0137] The moving body control device includes a passenger car elevator call registration information acquisition unit, which acquires elevator call registration information indicating the passenger's target floor.

[0138] The determination unit, based on the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit and the elevator call registration information of the passenger car elevator call registration unit, permits the mobile body to ride with the passenger when the target floor of the mobile body and the target floor of the passenger are the same.

[0139] (Note 4)

[0140] The moving body control device according to any one of Appendices 1 to 3, wherein...

[0141] The moving body control device includes a moving body control unit for controlling the movement of the moving body.

[0142] Before the mobile body boards the car, if the determination unit permits the mobile body to ride with the passenger, the mobile body control unit moves the mobile body into the car.

[0143] Before the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the mobile body control unit will not move the mobile body into the car.

[0144] (Note 5)

[0145] The moving body control device according to any one of Appendices 1 to 3, wherein...

[0146] The moving body control device has an elevator call registration request unit that requests elevator call registration at a floor.

[0147] Before the mobile body boards the elevator car, if the determination unit has permitted the mobile body to ride with the passenger, the elevator call registration request unit requests elevator call registration at the floor.

[0148] Before the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the elevator call registration request unit does not request elevator call registration at the floor.

[0149] (Note 6)

[0150] According to the moving body control device described in Appendix 4, wherein...

[0151] After the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the mobile body control unit moves the mobile body out of the car.

[0152] (Note 7)

[0153] The moving body control device according to any one of Appendices 1 to 6, wherein...

[0154] The moving body control device has a notification signal output unit, which outputs a notification signal to a notification device, which then notifies the passenger in the elevator car to disembark.

[0155] After the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the notification signal output unit outputs the notification signal to the notification device.

[0156] (Postscript 8)

[0157] The moving body control device according to any one of Appendices 1 to 7, wherein...

[0158] The moving body control device has a door opening and closing control signal output unit, which outputs a signal to control the opening and closing of the elevator car door.

[0159] After the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the door opening and closing control signal output unit outputs a signal to maintain the door open.

[0160] (Note 9)

[0161] According to the moving body control device described in Appendix 8, wherein...

[0162] After the door opening and closing control signal output unit outputs a signal to maintain the door open, if the judgment unit determines, based on the elevator information obtained by the elevator information acquisition unit, that the passenger has disembarked, the door opening and closing control signal output unit outputs a signal to release the door opening.

[0163] (Postscript 10)

[0164] A mobile body having:

[0165] The elevator information acquisition department acquires information indicating whether there are passengers in the elevator car.

[0166] The mobile target floor information acquisition unit acquires mobile target floor information representing the target floor of the mobile body;

[0167] The security level information acquisition unit acquires security level information indicating the security level of the target floor of the moving body; and

[0168] The determination unit, based on the elevator information obtained by the elevator information acquisition unit, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit, and the safety level information obtained by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car.

[0169] (Postscript 11)

[0170] A mobile control server, which has:

[0171] The elevator information acquisition department acquires information indicating whether there are passengers in the elevator car.

[0172] The mobile target floor information acquisition unit acquires mobile target floor information representing the target floor of the mobile body;

[0173] The security level information acquisition unit acquires security level information indicating the security level of the target floor of the moving body; and

[0174] The determination unit, based on the elevator information obtained by the elevator information acquisition unit, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit, and the safety level information obtained by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car.

[0175] (Postscript 12)

[0176] A building system comprising an elevator and a moving body carrying a car of the elevator, wherein,

[0177] The building system has the following features:

[0178] The elevator information acquisition unit acquires elevator information indicating whether there are passengers in the elevator car;

[0179] The mobile body target floor information acquisition unit acquires mobile body target floor information representing the target floor of the mobile body;

[0180] The security level information acquisition unit acquires security level information indicating the security level of the target floor of the moving body; and

[0181] The determination unit, based on the elevator information obtained by the elevator information acquisition unit, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit, and the safety level information obtained by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car.

[0182] (Postscript 13)

[0183] A method for controlling a moving body, comprising the following steps:

[0184] The elevator information acquisition step involves obtaining elevator information indicating whether there are passengers in the elevator car.

[0185] The steps for obtaining target floor information of a mobile object are as follows: Obtain the target floor information of the mobile object that represents the target floor of the mobile object;

[0186] The security level information acquisition step involves acquiring security level information representing the security level of the target floor of the moving body; and

[0187] The determination step involves, based on the elevator information obtained through the elevator information acquisition step, the target floor information of the mobile body obtained through the mobile body target floor information acquisition step, and the safety level information obtained through the safety level information acquisition step, determining whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car.

[0188] (Postscript 14)

[0189] A motion control program that causes a computer to perform the following steps:

[0190] The elevator information acquisition step involves obtaining elevator information indicating whether there are passengers in the elevator car.

[0191] The steps for obtaining target floor information of a mobile object are as follows: Obtain the target floor information of the mobile object that represents the target floor of the mobile object;

[0192] The security level information acquisition step involves acquiring security level information representing the security level of the target floor of the moving body; and

[0193] The determination step involves, based on the elevator information obtained through the elevator information acquisition step, the target floor information of the mobile body obtained through the mobile body target floor information acquisition step, and the safety level information obtained through the safety level information acquisition step, determining whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car.

Claims

1. A mobile body control device, comprising: The elevator information acquisition department acquires information indicating whether there are passengers in the elevator car. The mobile target floor information acquisition unit acquires mobile target floor information representing the target floor of the mobile body; The security level information acquisition unit acquires security level information indicating the security level of the target floor of the moving body; and The determination unit, based on the elevator information obtained by the elevator information acquisition unit, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit, and the safety level information obtained by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car. When the security level of the target floor of the mobile vehicle is Level 1, the determination unit permits the mobile vehicle to travel with the passenger. When the security level of the target floor of the mobile vehicle is a second level, which is higher than the first level, the determination unit restricts the mobile vehicle from traveling with the passenger.

2. The moving body control device according to claim 1, wherein, The moving body control device includes a passenger car elevator call registration information acquisition unit, which acquires elevator call registration information indicating the passenger's target floor. The determination unit, based on the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit and the elevator call registration information of the passenger car elevator call registration unit, permits the mobile body to ride with the passenger when the target floor of the mobile body and the target floor of the passenger are the same.

3. The moving body control device according to claim 1 or 2, wherein, The moving body control device includes a moving body control unit for controlling the movement of the moving body. Before the mobile body boards the car, if the determination unit permits the mobile body to ride with the passenger, the mobile body control unit moves the mobile body into the car. Before the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the mobile body control unit will not move the mobile body into the car.

4. The moving body control device according to claim 1 or 2, wherein, The moving body control device has an elevator call registration request unit that requests elevator call registration at a floor. Before the mobile body boards the elevator car, if the determination unit has permitted the mobile body to ride with the passenger, the elevator call registration request unit requests elevator call registration at the floor. Before the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the elevator call registration request unit does not request elevator call registration at the floor.

5. The moving body control device according to claim 3, wherein, After the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the mobile body control unit moves the mobile body out of the car.

6. The moving body control device according to any one of claims 1 to 5, wherein, The moving body control device has a notification signal output unit, which outputs a notification signal to a notification device, which then notifies the passenger in the elevator car to disembark. After the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the notification signal output unit outputs the notification signal to the notification device.

7. The moving body control device according to any one of claims 1 to 6, wherein, The moving body control device has a door opening and closing control signal output unit, which outputs a signal to control the opening and closing of the elevator car door. After the mobile body boards the car, if the determination unit restricts the mobile body from riding with the passenger, the door opening and closing control signal output unit outputs a signal to maintain the door open.

8. The moving body control device according to claim 7, wherein, After the door opening and closing control signal output unit outputs a signal to maintain the door open, if the judgment unit determines, based on the elevator information obtained by the elevator information acquisition unit, that the passenger has disembarked, the door opening and closing control signal output unit outputs a signal to release the door opening.

9. A mobile body having: The elevator information acquisition department acquires information indicating whether there are passengers in the elevator car. The mobile target floor information acquisition unit acquires mobile target floor information representing the target floor of the mobile body; The security level information acquisition unit acquires security level information indicating the security level of the target floor of the moving body; and The determination unit, based on the elevator information obtained by the elevator information acquisition unit, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit, and the safety level information obtained by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car. When the security level of the target floor of the mobile vehicle is Level 1, the determination unit permits the mobile vehicle to travel with the passenger. When the security level of the target floor of the mobile vehicle is a second level, which is higher than the first level, the determination unit restricts the mobile vehicle from traveling with the passenger.

10. A mobile body control server, comprising: The elevator information acquisition department acquires information indicating whether there are passengers in the elevator car. The mobile target floor information acquisition unit acquires mobile target floor information representing the target floor of the mobile body; The security level information acquisition unit acquires security level information indicating the security level of the target floor of the moving body; and The determination unit, based on the elevator information obtained by the elevator information acquisition unit, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit, and the safety level information obtained by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car. When the security level of the target floor of the mobile vehicle is Level 1, the determination unit permits the mobile vehicle to travel with the passenger. When the security level of the target floor of the mobile vehicle is a second level, which is higher than the first level, the determination unit restricts the mobile vehicle from traveling with the passenger.

11. A building system comprising an elevator and a moving body carrying a car of the elevator, wherein, The building system has the following features: The elevator information acquisition unit acquires elevator information indicating whether there are passengers in the elevator car; The mobile body target floor information acquisition unit acquires mobile body target floor information representing the target floor of the mobile body; The security level information acquisition unit acquires security level information indicating the security level of the target floor of the moving body; as well as The determination unit, based on the elevator information obtained by the elevator information acquisition unit, the target floor information of the mobile body obtained by the mobile body target floor information acquisition unit, and the safety level information obtained by the safety level information acquisition unit, determines whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger when the passenger is in the car. When the security level of the target floor of the mobile vehicle is Level 1, the determination unit permits the mobile vehicle to travel with the passenger. When the security level of the target floor of the mobile vehicle is a second level, which is higher than the first level, the determination unit restricts the mobile vehicle from traveling with the passenger.

12. A method for controlling a moving body, comprising the following steps: The elevator information acquisition step involves obtaining elevator information indicating whether there are passengers in the elevator car. The steps for obtaining target floor information of a mobile object are as follows: Obtain the target floor information of the mobile object that represents the target floor of the mobile object; The security level information acquisition step involves acquiring security level information representing the security level of the target floor of the moving body; and The judgment step involves determining, based on the elevator information obtained through the elevator information acquisition step, the target floor information of the mobile body obtained through the mobile body target floor information acquisition step, and the safety level information obtained through the safety level information acquisition step, whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger if the passenger is already in the elevator car. In the judgment step, When the security level of the target floor of the mobile vehicle is Level 1, the mobile vehicle is permitted to travel with the passenger. When the security level of the target floor of the mobile vehicle is Level 2, which is higher than Level 1, the mobile vehicle is restricted from traveling with the passenger.

13. A storage medium storing a mobile body control program that causes a computer to perform the following steps: The elevator information acquisition step involves obtaining elevator information indicating whether there are passengers in the elevator car. The steps for obtaining target floor information of a mobile object are as follows: Obtain the target floor information of the mobile object that represents the target floor of the mobile object; The security level information acquisition step involves acquiring security level information representing the security level of the target floor of the moving body; and The judgment step involves determining, based on the elevator information obtained through the elevator information acquisition step, the target floor information of the mobile body obtained through the mobile body target floor information acquisition step, and the safety level information obtained through the safety level information acquisition step, whether to permit the mobile body to ride with the passenger or to restrict the mobile body from riding with the passenger if the passenger is already in the elevator car. In the judgment step, When the security level of the target floor of the mobile vehicle is Level 1, the mobile vehicle is permitted to travel with the passenger. When the security level of the target floor of the mobile vehicle is Level 2, which is higher than Level 1, the mobile vehicle is restricted from traveling with the passenger.

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