Elevator system, relay device, control method of relay device, and memory

Abstract

An elevator system, a relay device, a control method of the relay device, and a storage. In the elevator system, the cost for implementing a function of determining whether an autonomous mobile body can use an elevator is reduced. An elevator system (1) includes a group management device (10) and a relay device (40). The relay device (40) is a device different from the group management device (10). The relay device (40) receives a call registration request for a robot (20) to board any of a plurality of cars (2). The relay device (40) includes a determination section (45). The determination section (45) determines, for each of the plurality of cars (2), whether the robot (20) can use, based on elevator information and robot information. In the case where a retrofit work or a maintenance work of adding the function to an existing elevator system is performed, equipment cost can be reduced.

Description

Technical Field

[0001] This invention relates to elevator systems, relay devices, control methods for relay devices, and memory. Background Technology

[0002] Patent Document 1 describes a remote control system for an elevator. The system described in Patent Document 1 includes a monitoring center comprising a server. When the server receives movement authorization information from a robot, it sends movement confirmation information to the elevator's control device to perform control corresponding to the movement authorization information.

[0003] Existing technical documents

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-70578 Summary of the Invention

[0005] In the system described in Patent Document 1, the elevator control device determines whether the robot can move using the elevator when it receives movement confirmation information from the server. Therefore, this determination function is required in each elevator connected to the server, which increases the cost of implementing this function.

[0006] This invention was made to solve the aforementioned problems. An object of this invention is to provide an elevator system with the function of determining whether an autonomous moving body can use an elevator, which reduces the cost of implementing this function. Another object of this invention is to provide a relay device and a control method for such an elevator system. Yet another object of this invention is to provide a program for implementing such a function in a relay device.

[0007] The elevator system of the present invention includes: a group management device that manages multiple cars; and a relay device, which is different from the group management device, receiving a call registration request for an autonomous mobile body to ride in any of the multiple cars. The group management device sends first information indicating the operating status of each of the multiple cars. The autonomous mobile body sends second information indicating its operating status. The relay device includes a determination unit that, based on the first information and the second information, determines whether the autonomous mobile body can utilize each of the multiple cars.

[0008] The relay device of the present invention includes: a receiving unit that receives a call registration request for an autonomous mobile body to ride in any of a plurality of cars; and a determination unit. A group management device sends first information indicating the operating status of each of the plurality of cars. The autonomous mobile body sends second information indicating its operational status. Based on the first and second information, the determination unit determines whether the autonomous mobile body can utilize each of the plurality of cars.

[0009] The control method of the relay device of the present invention includes: a first receiving step of receiving a call registration request for an autonomous mobile body to ride in any car among a plurality of cars; a second receiving step of receiving first information indicating the operating status of each of the plurality of cars from a group management device; a third receiving step of receiving second information indicating the action status of the autonomous mobile body; and a determination step of determining, based on the first information and the second information, whether the autonomous mobile body can utilize each of the plurality of cars.

[0010] The memory of this invention stores programs for enabling a computer to execute a first receiving process, a second receiving process, a third receiving process, and a determination process. The computer is capable of communicating with a group management device that manages multiple elevator cars and an autonomous mobile body, and is located in a device different from the group management device. In the first receiving process, a call registration request for the autonomous mobile body to ride in any of the multiple elevator cars is received. In the second receiving process, first information indicating the operating status of each of the multiple elevator cars is received from the group management device. In the third receiving process, second information indicating the operational status of the autonomous mobile body is received. In the determination process, based on the first and second information, it is determined whether the autonomous mobile body can utilize each of the multiple elevator cars.

[0011] Invention Effects

[0012] According to the present invention, in an elevator system, the cost of implementing the function of determining whether an autonomous moving body can use the elevator can be reduced. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating an example of an elevator system according to Embodiment 1.

[0014] Figure 2 This is a diagram used to illustrate the functions of an elevator system.

[0015] Figure 3 This is a flowchart illustrating an example of a robot's actions.

[0016] Figure 4 This is a flowchart illustrating an example of a robot's actions.

[0017] Figure 5 This is a flowchart illustrating an example of server actions.

[0018] Figure 6 This is a flowchart illustrating an example of the operation of a relay device.

[0019] Figure 7 This is a flowchart illustrating an example of the operation of a relay device.

[0020] Figure 8 This is a flowchart illustrating an example of the operation of a relay device.

[0021] Figure 9 This is a flowchart illustrating an example of the operation of a group management device.

[0022] Figure 10 This is a flowchart illustrating an example of the operation of the control device.

[0023] Figure 11 This is a diagram used to illustrate the function of the decision unit.

[0024] Figure 12 This is a diagram illustrating an example of the hardware resources of a relay device.

[0025] Figure 13 This is another example of the hardware resources of a relay device.

[0026] Label Explanation

[0027] 1: Elevator system; 2: Car; 3: Shaft; 4: Counterweight; 5: Rope; 6: Traction machine; 7: Deflector sheave; 8: Control device; 9: Transmission cable; 10: Group management device; 11: Transmission cable; 12: Machine room; 13: Floor; 14: Transmission cable; 15: Transmission cable; 16: Management room; 20: Robot; 21: Receiving unit; 22: Sending unit; 23: Motion control unit; 30: Server; 31: Receiving unit; 32: Sending unit; 40: Relay device; 41: Storage unit; 42: Receiving unit; 43: Sending unit; 44: Selection unit; 45: Judgment unit; 46: Conversion unit; 51: Storage unit; 52: Receiving unit; 53: Sending unit; 54: Distribution unit; 60: Processing circuit; 61: Processor; 62: Memory; 63: Dedicated hardware. Detailed Implementation

[0028] The following is a detailed description with reference to the accompanying drawings. Repetitive descriptions have been simplified or omitted where appropriate. In the drawings, the same reference numerals denote the same or equivalent parts.

[0029] Implementation method 1.

[0030] Figure 1 This is a diagram illustrating an example of an elevator system 1 according to Embodiment 1. The elevator system 1 has multiple cars 2. In the following description, an example of an elevator system 1 having three cars 2 will be given. The elevator system 1 may also have only two cars 2. The elevator system 1 may also have four or more cars 2.

[0031] exist Figure 1In the example shown, elevator system 1 has car 2 of unit A, car 2 of unit B, and car 2 of unit C. In the following text, when it is necessary to distinguish elements of unit A from those of other units, "A" will be appended to the number. Similarly, for unit B, "B" will be appended to the number, and for unit C, "C" will be appended to the number. For example, the car of unit A will be designated car 2A. Similarly, the car of unit B will be designated car 2B, and the car of unit C will be designated car 2C.

[0032] The car 2 moves up and down in the hoistway 3. The car 2 and the counterweight 4 are suspended in the hoistway 3 by means of ropes 5, such as cables. The ropes 5 are wound around the traction machine 6 and the deflector sheave 7. The traction machine 6 drives the car 2, thereby causing the counterweight 4 to move in the hoistway 3 in the opposite direction to the direction in which the car 2 is moving.

[0033] The control device 8 is connected to the car 2 via transmission cable 9. The control device 8 controls the traction machine 6. That is, the movement of the car 2 is controlled by the control device 8. The control device 8 also controls the equipment provided in the car 2. The group management device 10 is connected to the control device 8 via transmission cable 11. Figure 1 In the example shown, the group management device 10 is connected to the control device 8A via transmission cable 11A, to the control device 8B via transmission cable 11B, and to the control device 8C via transmission cable 11C.

[0034] Group management device 10 manages multiple car 2. The multiple car 2 managed by group management device 10 as a group can be all the car 2 in the building, or it can be a subset of the car 2. Figure 1 In the example shown, the group management device 10 manages cars 2A, 2B, and 2C as a group.

[0035] Figure 1 An example is shown where the traction machine 6, deflector 7, control device 8, group management device 10, and transmission cable 11 are installed in the machine room 12. The traction machine 6 and control device 8 can also be installed in the shaft 3.

[0036] The elevator system 1 also includes a robot 20, a server 30, and a relay device 40.

[0037] Robot 20 is an example of a mobile body capable of moving autonomously within a building. Robot 20 can also be a cleaning robot. Robot 20 can also be a security robot. Robot 20 can also be a robot used to perform other functions within a building. Robot 20 is capable of moving to different floors within the building using a car 2. Figure 1An example is shown where the robot 20 is located at floor 13 where cars 2A, 2B, and 2C can stop. The elevator system 1 may also have multiple robots 20.

[0038] Robot 20 communicates wirelessly with server 30. For example, robot 20 communicates wirelessly with server 30 at floor 13. Robot 20 communicates wirelessly with server 30 inside car 2. Alternatively, robot 20 can communicate wirelessly with server 30 from all locations within the building.

[0039] Server 30 communicates with relay device 40. Server 30 is connected to relay device 40 via transmission cable 14. Server 30 can also communicate wirelessly with relay device 40. Figure 1 This illustration shows a preferred example of robot 20 communicating with relay device 40 via server 30. Alternatively, robot 20 may also communicate directly with relay device 40.

[0040] The relay device 40 communicates with the group management device 10. The relay device 40 is connected to the group management device 10 via a transmission cable 15. The relay device 40 is a different device from the group management device 10. For example, the group management device 10 and the relay device 40 are located in different places. Figure 1 An example is shown where server 30, transmission cable 14 and relay device 40 are located in the management room 16 of a building.

[0041] Figure 2 This diagram illustrates the functions of elevator system 1. Robot 20 includes a receiving unit 21, a transmitting unit 22, and a motion control unit 23.

[0042] Server 30 includes a receiving unit 31 and a sending unit 32. The functions of server 30 can be implemented using a computer. The receiving unit 31 is for receiving information from the outside. The sending unit 32 is for sending information to the outside.

[0043] The relay device 40 includes a storage unit 41, a receiving unit 42, a transmitting unit 43, a selection unit 44, a determination unit 45, and a conversion unit 46. The functions of the relay device 40 can be implemented using a computer. The storage unit 41 stores an allocation method table and a first conversion table. The receiving unit 42 is responsible for receiving information from the outside. The transmitting unit 43 is responsible for transmitting information to the outside.

[0044] The group management device 10 includes a storage unit 51, a receiving unit 52, a transmitting unit 53, and a distribution unit 54. The functions of the group management device 10 can be implemented using a computer. A second conversion table is pre-stored in the storage unit 51. The receiving unit 52 is responsible for receiving information from the outside. The transmitting unit 53 is responsible for transmitting information to the outside.

[0045] Next, also refer to Figures 3 to 10 The operation of elevator system 1 will be explained. The following section will provide a detailed explanation of an example where robot 20, located at floor 13 on the 1st floor, travels in car 2 to the 5th floor.

[0046] Figure 3 and Figure 4 This is a flowchart illustrating an example of the actions of robot 20. Figure 3 and Figure 4 A series of action flows are shown. In robot 20, the sending unit 22 sends an elevator call registration request to server 30 (S101). The elevator call registration request is a request to the group management device 10 for robot 20 to ride in any of the multiple cars 2 managed by the group management device 10. The elevator call registration request includes car number information, information indicating the floor the robot 20 rode to (route floor information), and information indicating the floor the robot 20 alighted from (alighting floor information). The car number information is used to determine one of the multiple cars 2 managed by the group management device 10. As an example, the elevator call registration request includes car number information indicating car A, information indicating the floor 1 rode to, and information indicating the floor 5 alighted from.

[0047] Figure 5 This is a flowchart illustrating an example of the operation of server 30. In server 30, it is determined whether an elevator call registration request has been received (S201). In S101, the elevator call registration request sent from robot 20 is received by receiving unit 31. When receiving unit 31 receives the elevator call registration request, it determines "yes" in S201. When it determines "yes" in S201, sending unit 32 sends the received elevator call registration request to relay device 40 (S202).

[0048] Figure 3 This example illustrates that robot 20 has the function of generating elevator call registration requests. As another example, server 30 may also have the function of generating elevator call registration requests. Alternatively, both robot 20 and server 30 may have the function of generating elevator call registration requests.

[0049] Figures 6 to 8 This is a flowchart illustrating an example of the operation of the relay device 40. Figures 6 to 8 The following is a series of operational procedures. In the relay device 40, it is determined whether an elevator call registration request has been received (S301). In S202, the elevator call registration request sent from the server 30 is received by the receiving unit 42. When the receiving unit 42 receives the elevator call registration request, it is determined to be "yes" in S301.

[0050] Selection unit 44 is a function that selects the allocation method for assigning car 2 to an elevator call registration request. When "yes" is determined in S301, selection unit 44 selects either a designated method or a non-designated method as the allocation method (S302). The designated method is a method in which the car 2 responding to the elevator call registration request is designated as the car 2 determined based on the number information included in the elevator call registration request. The non-designated method is a method in which the car 2 responding to the elevator call registration request is not designated as the car 2 determined based on the number information included in the elevator call registration request. That is, the non-designated method is a method in which the group management device 10 determines the car 2 responding to the elevator call registration request from among the multiple cars 2 managed by the group management device 10. In the following, the car 2 determined based on the number information included in the elevator call registration request is also referred to as the car 2 with the designated number. In addition, in the non-designated method, the car 2 with the designated number may also be selected as the car 2 responding to the elevator call registration request.

[0051] As an example, the storage unit 41 stores an allocation method table that associates a specified method or a non-specified method with each building. In S302, the selection unit 44 selects the building corresponding to the allocation method table. When the relay device 40 does not have a selection unit 44 and the determination is "yes" in S301, it is preferable to perform the operation flow where the specified method was selected in S302.

[0052] The determination unit 45 determines whether the robot 20 can be used for each of the multiple cars 2 managed by the group management device 10. In the example shown in this embodiment, the determination unit 45 determines the applicable state related to robot operation for each of the multiple cars 2 managed by the group management device 10, thereby realizing this function. Robot operation can also be a dedicated operation for the robot 20.

[0053] For example, the determination unit 45 determines, for cars 2A, 2B, and 2C, whether the applicable state related to robot operation is that the robot can operate, the robot is operating, or the robot cannot operate. If the robot can operate, it is determined that robot 20 can be used. If the robot cannot operate, it is determined that robot 20 cannot be used. When the robot is operating, other robots 20 cannot be used, therefore robot 20 is determined to be unusable. When the robot is operating, if it later becomes capable of operating, then other robots 20 can be used.

[0054] The determination unit 45 determines whether the robot 20 can be used based on the elevator information (first information) and the robot information (second information).

[0055] Elevator information refers to information indicating the operating status of car 2. For example, whenever the operating status changes, each control device 8 sends elevator information related to its own car to the group management device 10. In the group management device 10, the receiving unit 52 receives the elevator information from the control devices 8. The sending unit 53 sends the elevator information received by the receiving unit 52 to the relay device 40. That is, whenever the operating status changes, the sending unit 53 sends elevator information to the relay device 40 for each of the multiple cars 2 managed by the group management device 10. In the relay device 40, the receiving unit 42 receives the elevator information from the group management device 10. The elevator information received by the receiving unit 42 is stored in the storage unit 41.

[0056] Robot information refers to information indicating the operational status of robot 20. Whenever the operational status changes, the transmitting unit 22 of robot 20 sends robot information related to itself to the relay device 40 via server 30. In the relay device 40, the receiving unit 42 receives the robot information from robot 20. The robot information received by the receiving unit 42 is stored in the storage unit 41.

[0057] Alternatively, whenever the elevator information or robot information stored in the storage unit 41 is updated, the determination unit 45 determines the applicable state related to robot operation for each of the multiple cars 2 managed by the group management device 10.

[0058] When a specified method is selected in S302, the determination unit 45 determines whether the robot 20 can utilize the car 2 of the specified machine (S303). If the robot 20 cannot utilize the car 2 of the specified machine, it is determined as "No" in S303. When the determination is "No" in S303, the sending unit 43 sends a non-allocation information to the server 30 (S304). The non-allocation information is received by the robot 20 through the server 30.

[0059] If robot 20 can utilize car 2 of the designated machine, it is determined to be "yes" in S303. When it is determined to be "yes" in S303, the determination unit 45 sets car 2 of the designated machine to be in robot operation (S305).

[0060] The conversion unit 46 is responsible for converting the number information included in the elevator call registration request into landing button information. For example, when the determination is "yes" in S303, the conversion unit 46 converts the number information included in the elevator call registration request into robot-specific landing button information (S306). In S306, it is preferable to perform the conversion to landing button information so that the group management device 10 can identify whether the elevator call registration request is from both the robot 20 and the car 2 with the designated number.

[0061] As an example, a first conversion table is stored in storage unit 41, which is used to convert call number information into landing button information. A first conversion table for each building may also be stored in storage unit 41. Conversion unit 46 refers to the first conversion table stored in storage unit 41 and converts the call number information contained in the elevator registration request into landing button information that can be recognized in the group management device 10. Table 1 shows an example of the first conversion table.

[0062] [Table 1]

[0063] Unit A β button Unit B γ button

[0064] The sending unit 43 sends the elevator call registration request, which includes the floor button information converted by the conversion unit 46 in S306, to the group management device 10 (S307).

[0065] As an example, if the elevator call registration request received in S301 contains caller ID information indicating elevator A, the conversion unit 46 converts the caller ID information into landing button information indicating button β according to the first conversion table shown in Table 1. The sending unit 43 sends the elevator call registration request containing landing button information indicating button β, floor information indicating the first floor, and floor information indicating the fifth floor to the group management device 10.

[0066] On the other hand, when the non-designated mode is selected in S302, the determination unit 45 determines whether there are any cars 2 that the robot 20 can utilize among the multiple cars 2 managed by the group management device 10 (S308). If the robot 20 cannot utilize all of the multiple cars 2, it is determined as "no" in S308. When it is determined as "no" in S308, the sending unit 43 sends a non-allocation information to the server 30 (S309). This non-allocation information is received by the robot 20 through the server 30.

[0067] When the determination is "yes" in S308, the sending unit 43 will send the elevator call registration request received in S301 to the group management device 10 (S310).

[0068] Figure 9 This is a flowchart illustrating an example of the operation of the group management device 10. In the group management device 10, it is determined whether an elevator call registration request has been received (S401). In S307 or S310, the elevator call registration request sent from the relay device 40 is received by the receiving unit 52. When the receiving unit 52 receives the elevator call registration request, it determines "yes" in S401.

[0069] The allocation unit 54 is responsible for determining which car 2 to allocate in response to an elevator call registration request. In the following text, the car 2 already allocated in response to an elevator call registration request will also be referred to as the allocated car 2. That is, the allocated car 2 is the car 2 that responds to the elevator call registration request. When the determination in S401 is "yes", the allocation unit 54 determines the allocated car 2 from the multiple cars 2 managed by the group management device 10 (S402).

[0070] When the receiving unit 52 receives the elevator call registration request sent from the relay device 40 in S307, the allocation unit 54 determines the car 2 identified based on the floor button information included in the elevator call registration request as the assigned car 2. That is, the allocation unit 54 determines the car 2 of the designated machine number as the assigned car 2.

[0071] As an example, a second conversion table is stored in storage unit 51, which is used to convert landing button information into information indicating the car 2 of the designated number. A second conversion table for each building may also be stored in storage unit 51. Allocation unit 54 refers to the second conversion table stored in storage unit 51 to determine the allocation of car 2. Table 2 shows an example of the second conversion table.

[0072] [Table 2]

[0073] α button Machines A, B, and C Physically existing user-facing floor buttons β button Unit A Virtual, non-existent robot-specific floor buttons γ button Unit B Virtual, non-existent robot-specific floor buttons

[0074] The table used to convert information from landing buttons to the numbering machine is a structure used in the elevator regardless of whether a robot is operating. This table allows for the association of physically existing landing buttons with the numbering machine. This structure is also used in this elevator system 1. Specifically, the second conversion table sets information for virtual, non-existent landing buttons and the numbering machine used by the robot in a specified manner.

[0075] As an example, if the elevator call registration request received in S401 includes floor button information representing button β, the allocation unit 54 determines car 2A as the allocated car 2 according to the second conversion table shown in Table 2. The sending unit 53 sends allocation information in response to the elevator call registration request to the control device 8, i.e., control device 8A, which controls the allocated car 2 (S403).

[0076] On the other hand, when the receiving unit 52 receives the elevator call registration request sent from the relay device 40 in S310, the allocation unit 54 determines which car 2 to allocate from the multiple cars 2 managed by the group management device 10, taking into account the operating load of each car 2 at that moment (S402). The sending unit 53 sends allocation information to the control device 8 that controls the allocation of the car 2, enabling a response to the elevator call registration request (S403). The allocation information includes the elevator floor information and the elevator floor information of the robot 20.

[0077] Furthermore, when the car 2 is assigned in S402, the transmitting unit 53 transmits information indicating the car 2 assignment, i.e., car assignment information, to the relay device 40 (S404).

[0078] In relay device 40, when an elevator call registration request is sent in S307, it is determined whether car allocation information has been received from group management device 10 as a response to the elevator call registration request (S311). When receiving unit 42 receives car allocation information sent from group management device 10 in S404, it determines "yes" in S311. When it determines "yes" in S311, sending unit 43 sends the received car allocation information to server 30 (S312).

[0079] Furthermore, in the relay device 40, when an elevator call registration request is sent in S310, it also determines whether car allocation information has been received from the group management device 10 as a response to the elevator call registration request (S313). When the receiving unit 42 receives the car allocation information sent from the group management device 10 in S404, it determines "yes" in S313. When it determines "yes" in S313, the determination unit 45 sets the allocated car 2 to robot operation (S314). Furthermore, when it determines "yes" in S313, the sending unit 43 sends the received car allocation information to the server 30 (S315).

[0080] In server 30, when an elevator call registration request is sent in S202, it determines whether car allocation information has been received from relay device 40 as a response to the elevator call registration request (S203). When receiving unit 31 receives car allocation information sent from relay device 40 in S312 or S315, it determines "yes" in S203. When it determines "yes" in S203, sending unit 32 sends the received car allocation information to robot 20 (S204).

[0081] In robot 20, when an elevator call registration request is sent in S101, it determines whether car allocation information has been received from server 30 as a response to the elevator call registration request (S102). When receiving unit 21 receives the car allocation information sent from server 30 in S204, it determines "yes" in S102. When it determines "yes" in S102, motion control unit 23 prepares for boarding the allocated car 2 (S103). For example, motion control unit 23 controls the drive motor (not shown) to move robot 20 to the door for boarding the allocated car 2.

[0082] Figure 10 This is a flowchart illustrating an example of the operation of the control device 8. Figure 10The illustrated operation flow is performed in each control device 8. In each control device 8, it is determined whether allocation information has been received (S501). When the control device 8 of the allocation machine receives the allocation information sent from the group management device 10 in S403, it determines "yes" in S501. When it determines "yes" in S501, the control device 8 begins to process the car 2 in response to the received allocation information, i.e., the call registration request received by the relay device 40 in S301.

[0083] In the response processing, the control device 8 moves the car 2 to the floor where the robot 20 is boarding (S502). When the car 2 reaches the floor, the control device 8 sends floor arrival information to the group management device 10 (S503). Floor arrival information indicates that the car 2 has reached the floor where the robot 20 is boarding. Floor arrival information is an example of elevator information.

[0084] In the group management device 10, when allocation information is sent in S403, it is determined whether elevator floor arrival information is received from the control device 8 of the allocation number machine as a response to the allocation information (S405). When the receiving unit 52 receives the elevator floor arrival information sent from the control device 8 in S503, it determines "yes" in S405. When it determines "yes" in S405, the sending unit 53 sends the received elevator floor arrival information to the relay device 40 (S406).

[0085] In relay device 40, when an elevator call registration request is sent in S307, it is determined whether elevator arrival information is received from group management device 10 as a response to the elevator call registration request (S316). When receiving unit 42 receives elevator arrival information sent from group management device 10 in S406, it determines "yes" in S316. When it determines "yes" in S316, sending unit 43 sends the received elevator arrival information to server 30 (S317).

[0086] Furthermore, in the relay device 40, when an elevator call registration request is sent in S310, it also determines whether elevator arrival information has been received from the group management device 10 as a response to the elevator call registration request (S318). When the receiving unit 42 receives the elevator arrival information sent from the group management device 10 in S406, it determines "yes" in S318. When it determines "yes" in S318, the sending unit 43 sends the received elevator arrival information to the server 30 (S319).

[0087] In server 30, when an elevator call registration request is sent in S202, it is determined whether elevator arrival information is received from relay device 40 as a response to the elevator call registration request. When receiving unit 31 receives elevator arrival information sent from relay device 40 in S317 or S319, sending unit 32 forwards the received elevator arrival information to robot 20 (S205).

[0088] In robot 20, when an elevator call registration request is sent in S101, it determines whether elevator arrival information has been received from server 30 as a response to the elevator call registration request (S104). When receiving unit 21 receives elevator arrival information sent from server 30 in S205, it determines "yes" in S104. When it determines "yes" in S104, motion control unit 23 performs the action of riding the assigned car 2 (S105). For example, motion control unit 23 controls the drive motor to move robot 20 into the assigned car 2.

[0089] In robot 20, when the condition is "yes" in S104, it is determined whether the elevator ride to the assigned car 2 was successful (S106). The method used to detect whether the elevator ride to the assigned car 2 was successful can be any method. If robot 20 successfully rides the assigned car 2, it is determined to be "yes" in S106. When the condition is determined to be "yes" in S106, the sending unit 22 sends elevator ride success information to the server 30 (S107). Elevator ride success information indicates that robot 20 has successfully ridden the assigned car 2. Elevator ride success information is an example of robot information.

[0090] On the other hand, if robot 20 fails to board the assigned car 2, it is determined as "No" in S106. When it is determined as "No" in S106, the sending unit 22 sends elevator failure information to the server 30 (S108). Elevator failure information indicates that robot 20 failed to board the assigned car 2. Elevator failure information is an example of robot information.

[0091] In server 30, when elevator arrival information is sent in S205, it determines whether elevator success information or elevator failure information is received from robot 20 as a response to the elevator arrival information. When receiving unit 31 receives elevator success information sent from robot 20 in S107, sending unit 32 forwards the received elevator success information to relay device 40 (S206). When receiving unit 31 receives elevator failure information sent from robot 20 in S108, sending unit 32 forwards the received elevator failure information to relay device 40 (S207).

[0092] In the relay device 40, when elevator arrival information is sent in S317, it is determined whether the robot 20 has successfully boarded the elevator car 2 (S320). When the receiving unit 42 receives elevator success information sent from the server 30 in S206 as a response to the elevator arrival information sent in S317, it is determined to be "yes" in S320.

[0093] On the other hand, when the receiving unit 42 receives an elevator failure message sent from the server 30 in S207 as a response to the elevator floor arrival information sent in S317, it determines "No" in S320. When it determines "No" in S320, the determination unit 45 sets the designated car 2, i.e., the assigned car 2, to be unable to operate (S321). That is, the determination unit 45 determines that the robot 20 cannot utilize the designated car 2. Thus, the robot operation ends.

[0094] Furthermore, when the determination is "No" in S320, the determination unit 45 determines whether a predetermined time has elapsed since the elevator failure information was received from the receiving unit 42 (S322). This predetermined time is preset. When the predetermined time has elapsed since the elevator failure information was received in S320, the determination is "Yes" in S322. When the determination is "Yes" in S322, the determination unit 45 sets the car 2 of the designated elevator, which was set to be unable to operate the robot in S321, to be able to operate the robot (S323). That is, the determination unit 45 determines that the robot 20 can utilize the car 2 of the designated elevator.

[0095] In the relay device 40, when elevator arrival information is sent in S319, it is determined whether the robot 20 has successfully boarded the elevator car 2 (S324). When the receiving unit 42 receives elevator success information sent from the server 30 in S206 as a response to the elevator arrival information sent in S319, it determines "yes" in S324.

[0096] On the other hand, when the receiving unit 42 receives an elevator failure message sent from the server 30 in S207 as a response to the elevator floor arrival information sent in S319, it determines "No" in S324. When it determines "No" in S324, the determination unit 45 sets all the multiple cars 2 managed by the group management device 10 to be unable to operate as a robot (S325). That is, the determination unit 45 determines that the robot 20 cannot utilize any of the multiple cars 2. Thus, the robot operation ends.

[0097] Furthermore, when the determination is "no" in S324, the determination unit 45 determines whether a predetermined time has elapsed since the receiving unit 42 received the elevator failure information (S326). This predetermined time is preset. When the predetermined time has elapsed since the elevator failure information was received in S324, the determination is "yes" in S326. When the determination is "yes" in S326, the determination unit 45 sets each car 2 that was set as unable to operate the robot in S325 to be able to operate the robot (S327). That is, the determination unit 45 determines that the robot 20 can utilize each of the multiple cars 2 managed by the group management device 10.

[0098] If robot 20 successfully assigns a passenger to car 2, the robot continues operating. In this case, as... Figure 10 As shown, the control device 8 moves the car 2 to the next floor of the robot 20 (S504). When the car 2 reaches the next floor, the control device 8 sends a next floor arrival information to the group management device 10 (S505). The next floor arrival information indicates that the car 2 has reached the next floor of the robot 20. The next floor arrival information is an example of elevator information.

[0099] In the group management device 10, when elevator arrival information is sent in S406, it is determined whether downstairs arrival information has been received from the control device 8 (S407). When the receiving unit 52 receives downstairs arrival information sent from the control device 8 in S505, it determines "yes" in S407. When it determines "yes" in S407, the sending unit 53 sends the received downstairs arrival information to the relay device 40 (S408).

[0100] In relay device 40, when the determination is "yes" in S320, it is determined whether the downstairs arrival information has been received from group management device 10 (S328). When receiving unit 42 receives the downstairs arrival information sent from group management device 10 in S408, it is determined to be "yes" in S328. When the determination is "yes" in S328, sending unit 43 sends the received downstairs arrival information to server 30 (S329).

[0101] Furthermore, in the relay device 40, if the determination in S324 is "yes", it also determines whether it has received the downstairs arrival information from the group management device 10 (S330). When the receiving unit 42 receives the downstairs arrival information sent from the group management device 10 in S408, it determines "yes" in S330. When the determination in S330 is "yes", the sending unit 43 sends the received downstairs arrival information to the server 30 (S331).

[0102] In server 30, when a successful elevator ride message is sent in S206, it is determined whether the arrival information for the next floor has been received from relay device 40. When receiving unit 31 receives the arrival information for the next floor sent from relay device 40 in S329 or S331, sending unit 32 forwards the received arrival information for the next floor to robot 20 (S208).

[0103] In robot 20, when a successful elevator ride message is sent in S107, it determines whether the arrival information for the next floor has been received from server 30 (S109). When receiving unit 21 receives the arrival information for the next floor sent from server 30 in S208, it determines "yes" in S109. When it determines "yes" in S109, motion control unit 23 performs the action of descending from the allocation car 2 (S110). For example, motion control unit 23 controls the drive motor to move robot 20 from allocation car 2 to the landing 13 of the next floor.

[0104] In robot 20, when the determination in S109 is "yes", it is determined whether it has successfully descended from the assigned car 2 (S111). The method used to detect whether the descent from the assigned car 2 was successful can be any method. If robot 20 successfully descends from the assigned car 2 at the descending floor, it is determined to be "yes" in S111. When the determination in S111 is "yes", the sending unit 22 sends a successful descent message to the server 30 (S112). The successful descent message indicates that robot 20 has successfully descended from the assigned car 2 at the descending floor. The successful descent message is an example of robot information.

[0105] On the other hand, if robot 20 fails to descend from the assigned car 2 at the next floor, it is determined as "No" in S111. When determined as "No" in S111, the sending unit 22 sends a descent failure message to the server 30 (S113). The descent failure message indicates that robot 20 failed to descend from the assigned car 2 at the next floor. The descent failure message is an example of robot information.

[0106] In server 30, when a floor arrival information is sent in S208, it determines whether a successful or failed descent message is received from robot 20 as a response to the floor arrival information. When receiving unit 31 receives a successful descent message sent from robot 20 in S112, sending unit 32 forwards the received successful descent message to relay device 40 (S209). When receiving unit 31 receives a failed descent message sent from robot 20 in S113, sending unit 32 forwards the received failed descent message to relay device 40 (S210).

[0107] In relay device 40, when the arrival information for the next floor is sent in S329, it is determined whether robot 20 has successfully descended from the assigned car 2 (S332). When receiving unit 42 receives a successful descent message sent from server 30 in S209 as a response to the arrival information for the next floor sent in S329, it is determined to be "yes" in S332. When it is determined to be "yes" in S332, determination unit 45 sets the car 2 of the designated machine, i.e., the assigned car 2, to be capable of robot operation (S333). Thus, robot operation ends.

[0108] On the other hand, when the receiving unit 42 receives a descending floor arrival information sent from the server 30 in S210 as a response to the descending floor arrival information sent in S329, it determines "No" in S332. When it determines "No" in S332, the determination unit 45 sets the designated car 2, i.e., the assigned car 2, to be unable to operate (S334). That is, the determination unit 45 determines that the robot 20 cannot utilize the designated car 2. Thus, the robot operation ends.

[0109] Furthermore, when the determination is "no" in S332, the determination unit 45 determines whether backoff information has been received (S335).

[0110] like Figure 4 As shown, in robot 20, when a failure to descend the stairs message is sent in S113, it is determined whether the robot has retreated to a designated retreat floor (S114). The retreat floor is predetermined. If robot 20 can retreat to the retreat floor, it is determined to be "yes" in S114. When it is determined to be "yes" in S114, the sending unit 22 sends retreat information to server 30 (S115). The retreat information indicates that robot 20 has retreated to the retreat floor. The retreat information is an example of robot information.

[0111] In server 30, when a failure to descend the ladder is sent in S210, it is determined whether a retreat information has been received from robot 20. When receiving unit 31 receives the retreat information sent from robot 20 in S115, sending unit 32 forwards the received retreat information to relay device 40 (S211).

[0112] In the relay device 40, when the receiving unit 42 receives the avoidance information sent from the server 30 in S211, it determines "yes" in S335. When it determines "yes" in S335, the determination unit 45 sets the car 2 of the designated machine to be able to operate as a robot (S333). That is, when the determination unit 45 receives the avoidance information in S335 after receiving the escalator descent failure information in S332, it determines that the robot 20 can use the car 2 of the designated machine (S333).

[0113] Furthermore, in the relay device 40, when the information indicating arrival at the next floor is sent in S331, it determines whether the robot 20 has successfully descended from the assigned car 2 (S336). When the receiving unit 42 receives a successful descent message sent from the server 30 in S209 as a response to the information indicating arrival at the next floor sent in S331, it determines "yes" in S336. When "yes" is determined in S336, the determination unit 45 sets the assigned car 2 to be capable of robot operation (S337). Thus, the robot operation ends.

[0114] On the other hand, when the receiving unit 42 receives a descending floor arrival information sent from the server 30 in S210 as a response to the descending floor arrival information sent in S331, it determines "No" in S336. When the determination is "No" in S336, the determination unit 45 sets all the multiple cars 2 managed by the group management device 10 to be unable to operate as a robot (S338). That is, the determination unit 45 determines that the robot 20 cannot utilize any of the multiple cars 2. Thus, the robot operation ends.

[0115] Furthermore, when the determination is "no" in S336, the determination unit 45 determines whether a retreat information has been received (S339). When the receiving unit 42 receives the retreat information sent from the server 30 in S211, it determines "yes" in S339. When the determination is "yes" in S339, the determination unit 45 sets each car 2 that was set as unable to operate the robot in S338 to be able to operate the robot (S327). That is, the determination unit 45 determines that the robot 20 can utilize each of the multiple cars 2 managed by the group management device 10.

[0116] Figure 11 This diagram illustrates the function of the determination unit 45. As described above, in the example shown in this embodiment, the state of the car 2 related to robot operation includes three states: robot operation is possible, robot operation is in progress, and robot operation is not possible. There are five transition conditions T101 to T105 as conditions for transitioning from one state to another.

[0117] "Robot in operation" indicates that car 2 is currently in the process of robot operation. The period from S305 to S321, S333, or S334 is the period of robot operation related to car 2 of the designated machine. The period from S314 to S325, S337, or S338 is the period of robot operation related to the allocation of car 2.

[0118] "Capable of robot operation" means that although the car 2 has not actually implemented robot operation, it can start robot operation immediately. That is, the situation where the operation of the car 2 itself can be carried out but robot operation has not been implemented corresponds to the situation where robot operation can be carried out.

[0119] "Cannot operate the robot" indicates that the car 2 cannot operate the robot. The inability of the car 2 to operate itself corresponds to the inability to operate the robot. Furthermore, the inability to operate the robot even though the car 2 can operate itself corresponds to the inability to operate the robot.

[0120] Transition condition T101 is used to change the state of the car 2 from being able to operate the robot to being in robot operation. The case where it is determined to be "yes" in S303 and the case where it is determined to be "yes" in S313 correspond to the case where transition condition T101 is met.

[0121] Transition condition T102 is used to change the state of car 2 from robot operation to the state where robot operation is possible. The case where it is determined to be "yes" in S332 and the case where it is determined to be "yes" in S336 correspond to the case where transition condition T102 is met.

[0122] The transition condition T103 is a condition used for the car 2 to change from a state where it can operate as a robot to a state where it cannot operate as a robot. For example, when the content of the elevator information received by the receiving unit 42 from the group management device 10 changes from "operating" to "absent", the transition condition T103 is met.

[0123] Transition condition T104 is a condition used to change the state of car 2 from being unable to operate the robot to being able to operate the robot. The conditions determined as "yes" in S322 and S335 correspond to the conditions where transition condition T104 is met. The conditions determined as "yes" in S326 and S339 correspond to the conditions where transition condition T104 is met. Furthermore, transition condition T104 is met when the elevator information received by receiving unit 42 from group management device 10 changes from being suspended to being in operation.

[0124] Transition condition T105 is used to change the state of car 2 from robot operation to inability to operate. The conditions determined as "no" in S320 and S332 correspond to the conditions where transition condition T105 is met. The conditions determined as "no" in S324 and S336 correspond to the conditions where transition condition T105 is met.

[0125] As explained above, in elevator system 1, relay device 40 is capable of determining whether robot 20 can utilize the elevator. Therefore, it is not necessary for each control device 8 to have this function. Furthermore, when relay device 40 is connected to multiple group management devices 10, it is not necessary for each group management device 10 to have this function. Therefore, the cost of implementing this function can be reduced.

[0126] In particular, it can reduce equipment costs when performing retrofitting or maintenance work on existing elevator systems to add this function. It is also effective in reducing the labor required for software modifications. Furthermore, the relay device 40 can determine whether the robot 20 can use the elevator, thus preventing the deterioration of operating efficiency caused by the robot 20 using the elevator.

[0127] In the example shown in this embodiment, when the determination unit 45 of the relay device 40 receives an elevator call registration request from the server 30, it determines whether the robot 20 can utilize each of the elevator cars 2 (S303). When the determination is "no" in S303, the relay device 40 sends a non-allocation information to the server 30, thus preventing useless elevator call registrations. Improved operating efficiency is particularly expected when many robots 20 are using the elevators.

[0128] In the example shown in this embodiment, the selection unit 44 of the relay device 40 selects either a designated method or a non-designated method as the allocation method for assigning car 2 to the elevator call registration request (S302). When the selection unit 44 selects the designated method, the conversion unit 46 converts the number information included in the elevator call registration request into virtual, non-existent robot-specific landing button information. The relay device 40 sends an elevator call registration request containing this landing button information to the group management device 10. Therefore, in the group management device 10, it is possible to prevent a car 2 other than the car 2 determined based on the number information from being assigned as car 2. That is, the robot 20 only needs to move to the door that the designated number car 2 will reach after sending the elevator call registration request in S101. The robot 20 can smoothly ride the elevator to car 2, thereby suppressing the deterioration of operating efficiency.

[0129] On the other hand, the selection unit 44 can also select a non-designated method when the number of cars 2 managed by the group management device 10 is small. If the number of cars 2 managed by the group management device 10 is small, even if cars 2 other than the designated car 2 are determined to be assigned cars 2, the robot 20 can smoothly ride the cars 2. If a non-designated method can be used, the group management device 10 can make a decision on the allocation of cars 2 corresponding to the operating status at that moment, thereby further suppressing the deterioration of operating efficiency.

[0130] In the example shown in this embodiment, if the designated method is used, when the determination unit 45 determines "no" in S320, it sets the car 2 that the robot 20 failed to ride, i.e., the car 2 of the designated machine, to be unable to operate for a specified period of time. This is because if the robot 20 fails to ride the car 2, there is a high probability that the robot 20 will not be able to immediately ride or land in the car 2 afterwards. Through the processing shown in S321 and S322, it is possible to prevent the car 2 of the designated machine from being set to be able to operate the robot immediately after the determination of "no" in S320.

[0131] Similarly, if the designated method is used, when the determination unit 45 determines "no" in S332, it sets the car 2 of the designated machine, where robot 20 failed to descend, to be unable to operate until robot 20 can retreat to the retreat floor. This is because if robot 20 fails to descend from car 2, there is a high probability that robot 20 will not be able to immediately board or alight from car 2 afterwards. Through the processing shown in S334 and S335, it is possible to prevent the car 2 of the designated machine from being set to be able to operate immediately after determining "no" in S332. In addition, it is also possible to prevent situations where robot 20 is obstructed from descending from car 2 or retreating to the retreat floor if it fails to descend from car 2.

[0132] In the example shown in this embodiment, if a non-designated method is used, when the determination unit 45 determines "no" in S324, it sets all cars 2 managed by the group management device 10 to be unable to operate the robot for a specified time. This is because, in the case of using the non-designated method, the assigned car 2 may be selected as the assigned car 2 for other elevator call registration requests. Through the processing shown in S325 and S326, useless elevator call registrations can be prevented.

[0133] Similarly, if a non-designated method is used, when the determination unit 45 determines "no" in S336, it sets all cars 2 managed by the group management device 10 to be unable to operate the robot until the robot 20 can retreat to the retreat floor. This is because, in the case of a non-designated method, the assigned car 2 may be selected as the assigned car 2 for other elevator call registration requests. Through the processing shown in S338 and S339, useless elevator call registrations can be prevented. In addition, it can also prevent situations where the robot 20 is unable to descend from car 2 or is obstructed from retreating to the retreat floor.

[0134] Figure 12This diagram illustrates an example of the hardware resources of the relay device 40. The relay device 40 includes a processing circuit 60 comprising a processor 61 and a memory 62 as hardware resources. The processing circuit 60 may also include multiple processors 61. The processing circuit 60 may also include multiple memories 62.

[0135] In this embodiment, the parts indicated by reference numerals 41 to 46 represent the functions of the relay device 40. The functions of the storage unit 41 are implemented by the memory 62. The functions of the parts indicated by reference numerals 42 to 46 can be implemented by software, firmware, or a combination of software and firmware described as a program. This program is stored in the memory 62. The relay device 40 implements the functions of the parts indicated by reference numerals 42 to 46 by the processor 61 (computer) executing the program stored in the memory 62.

[0136] The processor 61 is also referred to as a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. Semiconductor memory, magnetic disks, floppy disks, optical disks, CDs (compact disks), mini discs, or DVDs (Digital Versatile Disks) can also be used as memory 62. Suitable semiconductor memories include RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory), etc.

[0137] Figure 13 This is another example of the hardware resources of the relay device 40. Figure 13 In the example shown, the relay device 40 includes a processing circuit 60 comprising a processor 61, a memory 62, and dedicated hardware 63. Figure 13An example is shown where some of the functions of the relay device 40 are implemented using dedicated hardware 63. All the functions of the relay device 40 can also be implemented using dedicated hardware 63. The dedicated hardware 63 can be a single circuit, a composite circuit, a programming processor, a parallel programming processor, an ASIC (Application Specific Integrated Circuit), a FPGA (Field Programmable Gate Array), or a combination thereof.

[0138] The hardware resources of each device in robot 20, server 30, group management device 10, and control device 8 Figure 12 or Figure 13 The example shown is the same. Each device has processing circuitry including a processor and memory as hardware resources. Each device implements its functions by having the processor (computer) execute programs stored in memory. Furthermore, the functions of the storage unit 51 are implemented using the memory provided by the group management device 10. Each device may also have processing circuitry including a processor, memory, and dedicated hardware as hardware resources. Regarding each device, some or all of the functions of the device may also be implemented using dedicated hardware.

[0139] In the example shown in this embodiment, some of the functions of the robot 20 can also be set on the server 30.

[0140] Hereinafter, examples of the modes that may be included in this invention will be described as appendices.

[0141] [Postscript 1]

[0142] An elevator system, wherein the elevator system comprises:

[0143] Group management device, which manages multiple cars; and

[0144] The relay device, which is different from the group management device, receives elevator call registration requests for autonomous mobile entities to ride in any of the multiple elevator cars.

[0145] The group management device sends a first message indicating the operating status of each of the multiple cars.

[0146] The autonomous mobile body sends a second piece of information indicating its action status.

[0147] The relay device includes a determination unit that, based on the first information and the second information, determines whether the autonomous moving body can be utilized for each of the plurality of cars.

[0148] [Postscript 2]

[0149] According to the elevator system described in Appendix 1, wherein,

[0150] The autonomous mobile unit sends an elevator failure message if it cannot board the first elevator car among the multiple elevator cars that responded to the elevator call registration request, and sends an elevator exit failure message if it cannot exit from the first elevator car.

[0151] The second piece of information includes the elevator failure information and the elevator exit failure information.

[0152] [Postscript 3]

[0153] According to the elevator system described in Appendix 2, wherein,

[0154] The elevator call registration request includes information indicating the floor the autonomous mobile entity will be using.

[0155] When the determination unit receives the elevator arrival information indicating that the first elevator car has reached the designated floor, and then receives the elevator failure information, it determines that the autonomous moving body cannot utilize the first elevator car.

[0156] When the determination unit determines that the autonomous moving body is able to utilize the first elevator car after a predetermined time has elapsed since receiving the elevator failure information, the determination unit determines that the autonomous moving body is able to utilize the first elevator car.

[0157] The first piece of information includes the elevator floor arrival information.

[0158] [Postscript 4]

[0159] According to the elevator system described in Appendix 2 or 3, wherein,

[0160] The elevator call registration request includes information indicating the floor the autonomous mobile body will be going down.

[0161] The autonomous mobile body sends out retreat information when it retreats to the predetermined retreat floor.

[0162] When the determination unit receives the information indicating that the first elevator car has reached the next floor, and then receives the information indicating that the elevator has failed to descend, it determines that the autonomous moving body cannot utilize the first elevator car.

[0163] When the determination unit receives the retreat information after receiving the descending failure information, it determines that the autonomous moving body can utilize the first car.

[0164] The first piece of information includes the information about the floor the stairs have been descended.

[0165] The second piece of information includes the retreat information.

[0166] [Postscript 5]

[0167] According to the elevator system described in Appendix 1 or 2, wherein,

[0168] The elevator call registration request includes elevator number information used to determine the number of one of the multiple elevator cars.

[0169] The relay device also includes a selection unit that selects a designated method or a non-designated method as the allocation method for assigning a car to the elevator call registration request. The designated method is to designate the car responding to the elevator call registration request as the car determined according to the number information. The non-designated method is to enable the group management device to determine the car responding to the elevator call registration request from the multiple cars.

[0170] [Postscript 6]

[0171] According to the elevator system described in Appendix 5 (but only where Appendix 2 is referenced), wherein,

[0172] The elevator call registration request includes information indicating the floor the autonomous mobile entity will be using.

[0173] When the selection unit selects the non-specified method, and after receiving elevator arrival information indicating that the first elevator car has reached the designated floor, the determination unit determines that the autonomous mobile body cannot utilize any of the multiple elevator cars. Conversely, if a predetermined time has elapsed since receiving the elevator failure information, the determination unit determines that the autonomous mobile body can utilize any of the multiple elevator cars.

[0174] The first piece of information includes the elevator floor arrival information.

[0175] [Postscript 7]

[0176] According to the elevator system described in Appendix 5 or 6 (but only in the case of reference to Appendix 2), wherein,

[0177] The elevator call registration request includes information indicating the floor the autonomous mobile body will be going down.

[0178] The autonomous mobile body sends out retreat information when it retreats to the predetermined retreat floor.

[0179] When the selection unit selects the non-specified method, and upon receiving the information indicating that the first car has reached the next floor and then receiving the information indicating a failure to descend, the determination unit determines that the autonomous mobile body cannot utilize any of the multiple cars. Conversely, upon receiving the information indicating a failure to descend and then receiving the information indicating a retreat, the determination unit determines that the autonomous mobile body can utilize any of the multiple cars.

[0180] The first piece of information includes the information about the floor the stairs have been descended.

[0181] The second piece of information includes the retreat information.

[0182] [Postscript 8]

[0183] According to any one of the appendices 1 to 7, the elevator system wherein,

[0184] The elevator call registration request includes information to determine the elevator number of one of the multiple elevator cars, information indicating the floor the autonomous mobile entity is going to, and information indicating the floor the autonomous mobile entity is going to go down.

[0185] The relay device also includes a conversion unit that converts the call number information into floor button information so that the group management device can identify whether the call registration request is from an autonomous mobile body and the car determined based on the call number information.

Claims

1. An elevator system, wherein, The elevator system has the following features: Group management device, which manages multiple cars; and The relay device, which is different from the group management device, receives elevator call registration requests from the autonomous mobile body or the server to which the autonomous mobile body communicates, for the autonomous mobile body to ride in any of the multiple elevator cars. The elevator call registration request includes information indicating the floor the autonomous mobile entity will be using. The group management device sends the first piece of information, representing the operating status of each of the multiple cars, to the relay device. The autonomous mobile body sends a second piece of information indicating its action status to the relay device. The relay device includes a determination unit that, based on the first information and the second information, determines whether the autonomous moving body can be utilized for each of the plurality of cars. The autonomous mobile unit sends an elevator access failure message if it cannot board the first elevator car among the multiple elevator cars that responded to the elevator call registration request, and sends an exit failure message if it cannot exit the first elevator car. The second piece of information includes the elevator failure information and the elevator exit failure information. When the determination unit receives the elevator arrival information indicating that the first elevator car has reached the designated floor, and then receives the elevator failure information, it determines that the autonomous moving body cannot utilize the first elevator car. When the determination unit determines that the autonomous moving body is able to utilize the first elevator car after a predetermined time has elapsed since receiving the elevator failure information, the determination unit determines that the autonomous moving body is able to utilize the first elevator car. The first piece of information includes the elevator floor arrival information.

2. An elevator system, wherein, The elevator system has the following features: Group management device, which manages multiple cars; and The relay device, which is different from the group management device, receives elevator call registration requests from the autonomous mobile body or the server to which the autonomous mobile body communicates, for the autonomous mobile body to ride in any of the multiple elevator cars. The elevator call registration request includes information indicating the floor the autonomous mobile body will be going down. The group management device sends the first piece of information, representing the operating status of each of the multiple cars, to the relay device. The autonomous mobile body sends a second piece of information indicating its action status to the relay device. The relay device includes a determination unit that, based on the first information and the second information, determines whether the autonomous moving body can be utilized for each of the plurality of cars. The autonomous mobile unit sends an elevator access failure message if it cannot board the first elevator car among the multiple elevator cars that responded to the elevator call registration request, and sends an exit failure message if it cannot exit the first elevator car. The second piece of information includes the elevator failure information and the elevator exit failure information. The autonomous mobile body sends out retreat information when it retreats to the predetermined retreat floor. When the determination unit receives the information indicating that the first elevator car has reached the next floor, and then receives the information indicating that the elevator has failed to descend, it determines that the autonomous moving body cannot utilize the first elevator car. When the determination unit receives the retreat information after receiving the descending failure information, it determines that the autonomous moving body can utilize the first car. The first piece of information includes the information about the floor the stairs have been descended. The second piece of information includes the retreat information.

3. An elevator system, wherein, The elevator system has the following features: Group management device, which manages multiple cars; and The relay device, which is different from the group management device, receives elevator call registration requests from the autonomous mobile body or the server to which the autonomous mobile body communicates, for the autonomous mobile body to ride in any of the multiple elevator cars. The elevator call registration request includes elevator number information used to determine the number of one of the multiple elevator cars. The group management device sends the first piece of information, representing the operating status of each of the multiple cars, to the relay device. The autonomous mobile body sends a second piece of information indicating its action status to the relay device. The relay device includes: The determination unit, based on the first information and the second information, determines whether the autonomous moving body can be utilized for each of the plurality of cars; and The selection unit chooses either a designated method or a non-designated method for allocating a car to the elevator call registration request. The designated method assigns the car responding to the elevator call registration request to a car determined based on the car number information. The non-designated method allows the group management device to determine the car responding to the elevator call registration request from among the multiple cars. The autonomous mobile unit sends an elevator access failure message if it cannot board the first elevator car among the multiple elevator cars that responded to the elevator call registration request, and sends an exit failure message if it cannot exit the first elevator car. The second piece of information includes the elevator failure information and the elevator exit failure information.

4. The elevator system according to claim 3, wherein, The elevator call registration request includes information indicating the floor the autonomous mobile entity will be using. When the selection unit selects the non-specified method, and after receiving elevator arrival information indicating that the first elevator car has reached the designated floor, the determination unit determines that the autonomous mobile body cannot utilize any of the multiple elevator cars. Conversely, if a predetermined time has elapsed since receiving the elevator failure information, the determination unit determines that the autonomous mobile body can utilize any of the multiple elevator cars. The first piece of information includes the elevator floor arrival information.

5. The elevator system according to claim 3, wherein, The elevator call registration request includes information indicating the floor the autonomous mobile body will be going down. The autonomous mobile body sends out retreat information when it retreats to the predetermined retreat floor. When the selection unit selects the non-specified method, and upon receiving the information indicating that the first car has reached the next floor and then receiving the information indicating a failure to descend, the determination unit determines that the autonomous mobile body cannot utilize any of the multiple cars. Conversely, upon receiving the information indicating a failure to descend and then receiving the information indicating a retreat, the determination unit determines that the autonomous mobile body can utilize any of the multiple cars. The first piece of information includes the information about the floor the stairs have been descended. The second piece of information includes the retreat information.

6. The elevator system according to any one of claims 1 to 5, wherein, The elevator call registration request includes information to determine the elevator number of one of the multiple elevator cars, information indicating the floor the autonomous mobile entity is going to, and information indicating the floor the autonomous mobile entity is going to go down. The relay device also includes a conversion unit that converts the call number information into floor button information so that the group management device can identify whether the call registration request is from an autonomous mobile body and the car determined based on the call number information.

7. An elevator system, wherein, The elevator system has the following features: Group management device, which manages multiple cars; and The relay device, which is different from the group management device, receives elevator call registration requests from the autonomous mobile body or the server to which the autonomous mobile body communicates, for the autonomous mobile body to ride in any of the multiple elevator cars. The elevator call registration request includes information to determine the elevator number of one of the multiple elevator cars, information indicating the floor the autonomous mobile entity is going to, and information indicating the floor the autonomous mobile entity is going to go down. The group management device sends the first piece of information, representing the operating status of each of the multiple cars, to the relay device. The autonomous mobile body sends a second piece of information indicating its action status to the relay device. The relay device includes: The determination unit, based on the first information and the second information, determines whether the autonomous moving body can be utilized for each of the plurality of cars; as well as The conversion unit converts the call number information into floor button information so that the group management device can identify whether the call registration request is from an autonomous mobile body and the car determined based on the call number information.

8. A relay device, which is different from a group management device for managing multiple cars, wherein, The relay device includes: The receiving unit receives from the autonomous mobile body or the server to which the autonomous mobile body communicates a call registration request for the autonomous mobile body to ride in any of the multiple cars. Judgment Department; as well as Selection Department The elevator call registration request includes elevator number information used to determine the number of one of the multiple elevator cars. The group management device sends the first piece of information, representing the operating status of each of the multiple cars, to the relay device. The autonomous mobile body sends a second piece of information indicating its action status to the relay device. Based on the first information and the second information, the determination unit determines whether the autonomous moving body can be utilized for each of the multiple elevator cars. The selection unit selects a designated method or a non-designated method as the allocation method for assigning a car to the elevator call registration request. The designated method is to designate the car responding to the elevator call registration request as the car determined according to the number information. The non-designated method is to have the group management device determine the car responding to the elevator call registration request from the multiple cars.

9. A relay device, which is different from a group management device for managing multiple cars, wherein, The relay device includes: The receiving unit receives from the autonomous mobile body or the server to which the autonomous mobile body communicates a call registration request for the autonomous mobile body to ride in any of the multiple cars. Judgment Department; as well as Conversion section, The elevator call registration request includes information to determine the elevator number of one of the multiple elevator cars, information indicating the floor the autonomous mobile entity is going to, and information indicating the floor the autonomous mobile entity is going to go down. The group management device sends the first piece of information, representing the operating status of each of the multiple cars, to the relay device. The autonomous mobile body sends a second piece of information indicating its action status to the relay device. Based on the first information and the second information, the determination unit determines whether the autonomous moving body can be utilized for each of the multiple elevator cars. The conversion unit converts the call number information into floor button information so that the group management device can identify whether the elevator call registration request is from an autonomous mobile body and the car determined based on the call number information.

10. The relay device according to claim 8 or 9, wherein, The autonomous mobile unit sends an elevator failure message if it cannot board the first elevator car among the multiple elevator cars that responded to the elevator call registration request, and sends an elevator exit failure message if it cannot exit from the first elevator car. The second piece of information includes the elevator failure information and the elevator exit failure information.

11. A control method of a relay device that is a device different from a group management device that manages a plurality of cars, wherein The control method for the relay device includes: The first receiving step involves receiving an elevator call registration request from the autonomous mobile body or the server to which the autonomous mobile body communicates, for the autonomous mobile body to ride in any of the multiple elevator cars. The second receiving step involves receiving first information from the group management device, representing the operating status of each of the multiple cars. The third receiving step involves receiving second information representing the operational state of the autonomous mobile body from the autonomous mobile body. The determination step involves, based on the first information and the second information, determining whether the autonomous moving body can be utilized for each of the multiple elevator cars; and Select steps, The elevator call registration request includes elevator number information used to determine the number of one of the multiple elevator cars. In the selection step, a designated method or a non-designated method is selected as the allocation method for assigning a car to the elevator call registration request. The designated method is to designate the car responding to the elevator call registration request as the car determined according to the number information. The non-designated method is to enable the group management device to determine the car responding to the elevator call registration request from the multiple cars.

12. A control method for a relay device, wherein the relay device is different from a group management device that manages multiple cars, wherein, The control method for the relay device includes: The first receiving step involves receiving an elevator call registration request from the autonomous mobile body or the server to which the autonomous mobile body communicates, for the autonomous mobile body to ride in any of the multiple elevator cars. The second receiving step involves receiving first information from the group management device, representing the operating status of each of the multiple cars. The third receiving step involves receiving second information representing the operational state of the autonomous mobile body from the autonomous mobile body. The determination step involves, based on the first information and the second information, determining whether the autonomous moving body can be utilized for each of the multiple elevator cars; and Conversion steps, The elevator call registration request includes information to determine the elevator number of one of the multiple elevator cars, information indicating the floor the autonomous mobile entity is going to, and information indicating the floor the autonomous mobile entity is going to go down. In the conversion step, the call number information is converted into floor button information so that the group management device can identify whether the call registration request is from an autonomous mobile body and the car determined based on the call number information.

13. The control method for the relay device according to claim 11 or 12, wherein, The autonomous mobile unit sends an elevator failure message if it cannot board the first elevator car among the multiple elevator cars that responded to the elevator call registration request, and sends an elevator exit failure message if it cannot exit from the first elevator car. The second piece of information includes the elevator failure information and the elevator exit failure information.

14. A memory storing a program for causing a computer to perform a first receiving process, a second receiving process, a third receiving process, a decision process, and a selection process. The computer is capable of communicating with a group management device that manages multiple car cars, as well as with autonomous moving bodies, and is located in a different device than the group management device. In the first receiving process, a call registration request for the autonomous mobile body to ride in any of the multiple elevator cars is received from the autonomous mobile body or the server to which the autonomous mobile body communicates. In the second receiving process, first information representing the operating status of each of the multiple cars is received from the group management device. In the third receiving process, second information representing the operational state of the autonomous mobile body is received from the autonomous mobile body. In the determination process, based on the first information and the second information, for each of the multiple elevator cars, it is determined whether the autonomous moving body can be utilized. The elevator call registration request includes elevator number information used to determine the number of one of the multiple elevator cars. In the selection process, a specified method or a non-specified method is selected as the allocation method for assigning a car to the elevator call registration request, wherein, The designated method is to designate the car responding to the elevator call registration request as the car determined according to the number information, while the non-designated method is to have the group management device determine the car responding to the elevator call registration request from among the multiple cars.

15. A memory storing a program for causing a computer to perform a first receiving process, a second receiving process, a third receiving process, a decision process, and a conversion process. The computer is capable of communicating with a group management device that manages multiple car cars, as well as with autonomous moving bodies, and is located in a different device than the group management device. In the first receiving process, a call registration request for the autonomous mobile body to ride in any of the multiple elevator cars is received from the autonomous mobile body or the server to which the autonomous mobile body communicates. In the second receiving process, first information representing the operating status of each of the multiple cars is received from the group management device. In the third receiving process, second information representing the operational state of the autonomous mobile body is received from the autonomous mobile body. In the determination process, based on the first information and the second information, for each of the multiple elevator cars, it is determined whether the autonomous moving body can be utilized. The elevator call registration request includes information to determine the elevator number of one of the multiple elevator cars, information indicating the floor the autonomous mobile entity is going to, and information indicating the floor the autonomous mobile entity is going to go down. In the conversion process, the call number information is converted into floor button information so that the group management device can identify whether the call registration request is from an autonomous mobile body and the car determined based on the call number information.

16. The memory according to claim 14 or 15, wherein the program is stored, The autonomous mobile unit sends an elevator failure message if it cannot board the first elevator car among the multiple elevator cars that responded to the elevator call registration request, and sends an elevator exit failure message if it cannot exit from the first elevator car. The second piece of information includes the elevator failure information and the elevator exit failure information.

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