Elevator cooperation control device and method, elevator system and storage medium

Abstract

The invention provides an elevator cooperation control device and method, an elevator system and a storage medium, which can flexibly use an elevator car of an autonomous moving body having an elevator descending failure for carrying other autonomous moving bodies, can inhibit the reduction of the carrying efficiency of the autonomous moving body, and can assist the efficient operation of the autonomous moving body. The call registration request unit transmits a landing call registration request to the landing floor to the elevator control device in accordance with allocation requests from each of the plurality of autonomous moving bodies. When a first autonomous moving body among the plurality of autonomous moving bodies does not descend from the car at the descending floor, the detection unit detects that the first autonomous moving body fails to descend from the car. The notification unit notifies the second autonomous mobile body that an autonomous mobile body different from the second autonomous mobile body is present in the car when the car determined by the car information of the landing call registered by the second autonomous mobile body is the same as the car in which the detection unit detects that the first autonomous mobile body fails to descend.

Description

Technical Field

[0001] The present invention relates to an elevator cooperative control device, an elevator system, an elevator cooperative control method and a storage medium storing an elevator cooperative control program. Background Art

[0002] In the technology of cooperative control of autonomous mobile bodies such as elevators and autonomous vehicles, it is known that when the completion information of descending from the elevator body (car) sent by the autonomous vehicle (autonomous mobile body) cannot be obtained within a certain period of time, the cooperative system is set up so that the autonomous vehicle cannot use the elevator system when there is a possibility of failure of the elevator system (for example, refer to patent document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2023-017498

[0004] However, in the technology disclosed in Patent Document 1, other autonomous moving bodies cannot use the car where the autonomous moving body that failed to get off the elevator is located. Therefore, the efficiency of the elevator in transporting the autonomous moving body is reduced. Summary of the invention

[0005] The present invention is made to solve such a problem. Its purpose is to provide an elevator cooperative control device, an elevator system, an elevator cooperative control method, and a storage medium storing an elevator cooperative control program, which can flexibly use the operation of the car of an autonomous moving object that fails to get off the elevator without stopping it, and can suppress the reduction of the elevator's efficiency in transporting autonomous moving objects.

[0006] The elevator cooperative control device of the present invention is configured to be able to communicate with the elevator control device that controls the elevator car, wherein the elevator cooperative control device comprises: an elevator call registration request unit, which sends a floor call registration request to the elevator control device for the boarding floor according to the allocation requests from a plurality of autonomous moving bodies respectively; a detection unit; and a notification unit, wherein the elevator control device registers the floor call to the boarding floor according to the floor call registration request, allocates the car according to the registered floor call, sends the car information of the car allocated to the floor call, and When a first autonomous moving body among the plurality of autonomous moving bodies does not get off from the car at the getting-off floor, the detection unit detects that the first autonomous moving body has failed to get off from the car, and when the car determined by the car information of the floor station call registered by a second autonomous moving body among the plurality of autonomous moving bodies that is different from the first autonomous moving body is the same as the car from which the detection unit detects that the first autonomous moving body has failed to get off, the notification unit notifies the second autonomous moving body that an autonomous moving body different from the second autonomous moving body exists in the car.

[0007] Alternatively, the elevator cooperative control device of the present invention is configured to be able to communicate with elevator control devices that control multiple elevator cars, wherein the elevator cooperative control device comprises: a call registration request unit, which sends a floor call registration request to the elevator control device for the boarding floor based on the allocation requests from the multiple autonomous moving bodies respectively; a detection unit; and a notification unit, wherein the elevator control device registers the floor call to the boarding floor based on the floor call registration request, allocates the car from the multiple cars for the registered floor call, sends the allocated car information for determining the car allocated to the floor call, and notifies the first autonomous moving body among the multiple autonomous moving bodies. When the first autonomous moving body fails to get off the car at the descending floor, the detection unit detects that the first autonomous moving body has failed to get off the car, and when there is a dispatch request from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, the notification unit requests the second autonomous moving body to answer whether to board the car in which the detection unit detected that the first autonomous moving body failed to get off, i.e., the car that failed to get off the car, and when the second autonomous moving body answers to board the car that failed to get off the car, the elevator control device allocates a car from the plurality of cars including the car that failed to get off the car in response to the floor station call based on the dispatch request of the second autonomous moving body.

[0008] An elevator system according to the present invention includes any of the above-described elevator cooperative control devices, the elevator control device, and a plurality of the autonomous moving bodies.

[0009] The elevator cooperative control method of the present invention is executed by a computer of an elevator cooperative control device that is configured to communicate with an elevator control device that controls an elevator car, wherein the elevator cooperative control method comprises: an elevator call registration request step, in which a floor call registration request to a boarding floor is sent to the elevator control device based on dispatch requests from a plurality of autonomous moving bodies; a detection step; and a notification step, in which the elevator control device registers a floor call to the boarding floor based on the floor call registration request, allocates the car to the registered floor call, and sends a car notification to determine the car to be dispatched to the floor call. Information, in the detecting step, when a first autonomous moving body among the plurality of autonomous moving bodies does not get off the car at the getting-off floor, it is detected that the first autonomous moving body has failed to get off the car, and in the notifying step, when the car determined by the car information of the floor station call registered by a second autonomous moving body among the plurality of autonomous moving bodies that is different from the first autonomous moving body is the same as the car in which the failure of the first autonomous moving body to get off is detected in the detecting step, the second autonomous moving body is notified that an autonomous moving body different from the second autonomous moving body exists in the car.

[0010] Alternatively, the elevator cooperative control method of the present invention is executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device that controls an elevator car, wherein the elevator cooperative control method comprises: a call registration request step, in which a floor call registration request to a boarding floor is sent to the elevator control device based on dispatch requests respectively from a plurality of autonomous moving bodies; a detection step; and a notification step, in which the elevator control device registers a floor call to the boarding floor based on the floor call registration request, allocates the car from a plurality of the cars for the registered floor call, sends allocated car information to determine the car allocated to the floor call, and in the detection step, in the plurality of autonomous moving bodies, When the first autonomous moving body among the main moving bodies does not get off the car at the descending floor, it is detected that the first autonomous moving body has failed to get off the car. In the notification step, when there is a dispatch request from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, the second autonomous moving body is requested to answer whether to board the car in which the failure of the first autonomous moving body to get off was detected in the detection step, i.e., the failed-to-descend car. When the second autonomous moving body answers to board the failed-to-descend car, the elevator control device allocates a car from the plurality of cars including the failed-to-descend car in response to the floor station call based on the dispatch request of the second autonomous moving body.

[0011] The present invention provides a storage medium storing an elevator cooperative control program, wherein the elevator cooperative control program is used to cause a computer of an elevator cooperative control device to execute any of the above-mentioned elevator cooperative control methods.

[0012] The elevator cooperative control device, elevator system, elevator cooperative control method, and storage medium storing the elevator cooperative control program of the present invention are made to solve such a problem. The purpose is to achieve the following effect: the operation of the car of the autonomous moving body that failed to get off the elevator can be flexibly used for the transportation of other autonomous moving bodies without stopping the operation, and the transportation efficiency of the elevator to the autonomous moving body can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a block diagram showing the overall configuration of an elevator system including the elevator cooperative control device according to the first embodiment.

[0014] Figure 2 This is a block diagram showing the configuration of an elevator control device included in the elevator system according to the first embodiment.

[0015] Figure 3 This is a block diagram showing the structure of an elevator cooperation control device included in the elevator system according to the first embodiment.

[0016] Figure 4 This is a flowchart showing an example of the operation of the elevator cooperation control device according to the first embodiment.

[0017] Figure 5 This is a diagram for explaining an example of the operation of the elevator system according to the first embodiment.

[0018] Figure 6 This is a flowchart showing an example of the operation of the first modified example of the elevator cooperation control device according to the first embodiment.

[0019] Figure 7 This is a flowchart showing another example of the operation of the first modified example of the elevator cooperative control device according to the first embodiment.

[0020] Figure 8 This is a block diagram showing the structure of a second modified example of the elevator cooperative control device according to the first embodiment.

[0021] Fig. 9 This is a flowchart showing an example of the operation of the second modified example of the elevator cooperation control device according to the first embodiment.

[0022] Fig.10 This is a flowchart showing an example of the operation of the second modified example of the elevator cooperation control device according to the first embodiment.

[0023] Fig.11 This is a flowchart showing an example of the operation of the second modified example of the elevator cooperation control device according to the first embodiment.

[0024] Fig.12 This is a flowchart showing an example of the operation of the third modified example of the elevator cooperation control device according to the first embodiment.

[0025] Fig.13 This is a diagram showing an example of a structure for realizing the functions of the elevator cooperative control device and the elevator control device according to the first embodiment.

[0026] Description of symbols

[0027] 1: Processor; 2: Memory; 3: Special hardware; 10: Car; 20: Autonomous moving body; 21: First autonomous moving body; 22: Second autonomous moving body; 100: Elevator control device; 110: Floor call registration unit; 120: Car call registration unit; 130: Car allocation unit; 140: Car control unit; 150: Allocated car information sending unit; 200: Collaborative control device; 210: Autonomous moving body communication unit; 220: Elevator communication unit; 230: Storage unit; 240: Processing unit; 241: Call registration request unit; 242: Elevator descent failure detection unit; 243: Notification unit; 244: Elevator descent failure car travel indication unit; 245: Rescue request unit; 250: Door opening and closing control unit; 300: Repeater. DETAILED DESCRIPTION

[0028] The manner of implementing the elevator cooperative control device, elevator system, elevator cooperative control method and elevator cooperative control program of the present invention is described with reference to the accompanying drawings. In each figure, the same reference numerals are given to the same or corresponding parts, and repeated descriptions are appropriately simplified or omitted. In the following description, for convenience, the positional relationship of each structure is sometimes represented with reference to the illustrated state. In addition, the present invention is not limited to the following embodiments, and the various embodiments can be freely combined, any constituent elements of the various embodiments can be deformed, or any constituent elements of the various embodiments can be omitted without departing from the scope of the present invention.

[0029] Implementation Method 1

[0030] Reference Figures 1 to 13 Embodiment 1 of the present invention will be described. Figure 1 This is a block diagram showing the overall configuration of an elevator system including an elevator cooperative control device. Figure 2 This is a block diagram showing the configuration of an elevator control device included in an elevator system. Figure 3 This is a block diagram showing the structure of an elevator cooperative control device included in an elevator system. Figure 4 This is a flowchart showing an example of the operation of the elevator cooperative control device. Figure 5 This is a diagram for explaining an example of the operation of the elevator system. Figure 6 This is a flowchart showing an example of the operation of the first modified example of the elevator cooperative control device. Figure 7 This is a flowchart showing another example of the operation of the first modified example of the elevator cooperative control device. Figure 8 It is a block diagram showing the structure of the second modified example of the elevator cooperative control device. Figures 9 to 11 Each of them is a flowchart showing an example of the operation of the second modified example of the elevator cooperative control device. Fig.12 This is a flowchart showing an example of the operation of the third variant of the elevator cooperative control device. Fig.13This is a diagram showing an example of a structure that realizes the functions of an elevator cooperative control device and an elevator control device.

[0031] like Figure 1 As shown, the elevator system of this embodiment includes an elevator control device 100, a cooperative control device 200, and a plurality of autonomous moving bodies 20. The elevator control device 100 controls the elevator. The elevator controlled by the elevator control device 100 has one or more cars. In the example shown in the figure, two cars are provided in the elevator. However, the number of cars 10 of the elevator is not limited to two.

[0032] In a building where an elevator is installed, there are provided a shaft (not shown) having the same number as the cars 10. The cars 10 are arranged in the shaft so as to be able to be raised and lowered freely. Passengers and autonomous moving bodies 20 can get on and off the cars 10. The autonomous moving body 20 is, for example, a mobile robot and can move autonomously. The cars 10 are raised and lowered in the shaft, and one or both of the passengers and autonomous moving bodies 20 who are riding in the cars 10 are transported across multiple floors of the building.

[0033] At the landing of each floor where the car 10 can stop, a landing call button (not shown) is provided. The landing call button is used for passengers to register a landing call. By operating the landing call button, a passenger can register a landing call for calling the car 10 in the desired direction of travel to the floor. In addition, a destination floor button (not shown) is provided in the car 10. The destination floor button is provided, for example, on an in-car operating panel (not shown) provided in the car 10. The destination floor button is used for passengers to register a car call. By operating the destination floor button, a passenger boarding the car 10 can register a car call with the desired floor as the destination.

[0034] The elevator control device 100 controls the overall operation of the elevator including the operation of the elevator car 10. In the configuration example described here, the elevator control device 100 performs group management for managing a plurality of cars 10 as a group. In addition, the elevator control device 100 may not perform group management. In addition, when there is only one car 10, group management is not performed. Next, refer to Figure 2 The structure of the elevator control device 100 of this embodiment is described. Figure 2 As shown, the elevator control device 100 includes a landing call registration unit 110 , a car call registration unit 120 , a car allocation unit 130 , and a car control unit 140 .

[0035] The elevator control device 100 is communicatively connected to the landing call buttons of each floor. When a passenger operates a landing call button, a call registration request signal is output from the operated landing call button. The call registration request signal output from the landing call button is input to the elevator control device 100. The landing call registration unit 110 of the elevator control device 100 registers a landing call to the floor where the landing call button serving as the output source of the input call registration request signal is provided.

[0036] When a passenger in the car 10 operates a destination floor button in the car 10, a call registration request signal is output from the car operating panel provided with the operated destination floor button. The call registration request signal output from the car operating panel is input to the elevator control device 100. The car call registration unit 120 of the elevator control device 100 registers a car call to the destination floor indicated by the input call registration request signal.

[0037] The car allocation unit 130 determines the car 10 to be allocated for the registered landing call from among the plurality of cars 10. The car 10 to be allocated for the landing call is determined, for example, as follows. First, the car allocation unit 130 calculates an allocation evaluation value for each car 10 based on the operating status of each car 10. The allocation evaluation value is calculated using, for example, the waiting time until the car 10 that responds to the registered landing call arrives, the load of the car 10, and the like. Then, the car allocation unit 130 compares the calculated allocation evaluation values ​​of each car 10, and determines the car 10 with the largest allocation evaluation value as the car 10 to be allocated for the landing call. In this way, the car allocation unit 130 allocates the car 10 for the landing call.

[0038] In the present invention, the car 10 assigned by the car assignment unit 130 to a landing call is also referred to as an "assigned car". In addition, the car 10 that responds to a landing call is also referred to as a "responding car". The assigned car is also the responding car. In addition, as described above, the elevator control device 100 may not perform group management. In the case where group management is not performed, the elevator control device 100 may not include the car assignment unit 130. In the case where the elevator control device 100 does not include the car assignment unit 130, when a landing call is registered, the elevator control device 100 determines the responding car for the landing call. In this case, the elevator control device 100, for example, determines the car on the registered floor of the landing call among the cars 10 currently on standby as the responding car.

[0039] The car control unit 140 controls the operation of each of the plurality of cars 10. One car control unit 140 is provided corresponding to each of the plurality of cars 10. That is, the same number of car control units 140 as the number of cars 10 is provided. The car control unit 140 controls the movement of the corresponding cars 10. For example, when the car allocation unit 130 determines the car 10 to be allocated to a landing call, the car control unit 140 that controls the car 10 makes the car 10 move to the floor where the landing call is registered in response to the registered landing call. In addition, when the destination floor button in the car 10 is operated to register a car call, the car control unit 140 that controls the car 10 makes the car 10 move to the destination floor indicated by the car call in response to the registered car call.

[0040] The cooperative control device 200 of this embodiment is used to control the movement of the autonomous moving body 20 moving in a building where an elevator is installed in cooperation with the movement of the elevator. The cooperative control device 200 is configured to be able to communicate with the elevator control device 100. Figure 1 In the example shown, the cooperative control device 200 is communicatively connected to the elevator control device 100 via the repeater 300. The repeater 300 relays the communication between the cooperative control device 200 and the elevator control device 100. However, the repeater 300 may not be provided, and the cooperative control device 200 and the elevator control device 100 may be able to communicate directly.

[0041] like Figure 1 As shown, the cooperative control device 200 includes an autonomous mobile communication unit 210, an elevator communication unit 220, a storage unit 230, a processing unit 240, and a door opening and closing control unit 250. The autonomous mobile communication unit 210 performs communication between the cooperative control device 200 and the autonomous mobile 20. The communication between the cooperative control device 200 and the autonomous mobile 20 is mainly performed wirelessly. The autonomous mobile communication unit 210 mainly sends data, signals, etc. to the autonomous mobile 20 according to instructions from the processing unit 240. In addition, the autonomous mobile communication unit 210 receives data, signals, etc. sent from the autonomous mobile 20 and sends them to the processing unit 240, etc.

[0042] The elevator communication unit 220 communicates between the cooperative control device 200 and the elevator. The communication between the cooperative control device 200 and the elevator can be performed in any wireless or wired manner. The elevator communication unit 220 mainly sends data, signals, etc. to the elevator according to instructions from the processing unit 240. In addition, the elevator communication unit 220 receives data, signals, etc. sent from the elevator and sends them to the processing unit 240, etc.

[0043] The storage unit 230 stores various data related to the cooperative control of the elevator and the autonomous moving object 20 by the cooperative control device 200. The processing unit 240 performs information processing required for the cooperative control of the elevator and the autonomous moving object 20 by the cooperative control device 200.

[0044] The door opening and closing control unit 250 is used to control the opening and closing of the door of the car 10 when the autonomous vehicle 20 gets on or off the car 10. When the autonomous vehicle 20 gets on or off the car 10, the door opening and closing control unit 250 first generates a door opening request signal for the car 10. Then, the elevator communication unit 220 sends the door opening request signal to the elevator control device 100. When the elevator control device 100 receives the door opening request signal, the car control unit 140 that controls the car 10 opens the door of the car 10.

[0045] When the autonomous moving body 20 gets on or off the car 10 with the door opened, the autonomous moving body 20 sends a boarding completion signal or a getting-off completion signal to the cooperative control device 200. When the autonomous moving body communication unit 210 of the cooperative control device 200 receives the boarding completion signal or the getting-off completion signal, the door opening and closing control unit 250 generates a door closing request signal for the car 10. The elevator communication unit 220 sends a door closing request signal to the elevator control device 100. Then, when the elevator control device 100 receives the door closing request signal, the car control unit 140 that controls the car 10 closes the door of the car 10.

[0046] In addition, the cooperative control device 200 may not include the door opening and closing control unit 250. In this case, the car control unit 140 of the elevator control device 100 opens and closes the door of the car 10 for the autonomous moving body 20 in the same manner as for ordinary human passengers. Then, the autonomous moving body 20 grasps the opening and closing state of the door of the car 10 through, for example, a camera mounted on itself, and performs boarding and alighting of the car 10.

[0047] like Figure 3 As shown, the processing unit 240 of the cooperative control device 200 of the present embodiment includes an elevator call registration request unit 241. The elevator call registration request unit 241 sends a landing call registration request to the boarding floor and a car call registration request to the descending floor to the elevator control device 100 according to the dispatch request from the autonomous moving body 20. In more detail, the autonomous moving body 20 sends a dispatch request signal to the cooperative control device 200. The dispatch request signal contains information related to the boarding floor and the descending floor. The boarding floor is the floor where the autonomous moving body 20 takes the car 10. The descending floor is the floor where the autonomous moving body 20 gets off the car 10.

[0048] When the autonomous mobile communication unit 210 of the cooperative control device 200 receives the dispatch request signal, the elevator registration request unit 241 of the processing unit 240 generates a landing call registration request signal for the boarding floor indicated by the received dispatch request signal and a car call registration request signal for the next elevator floor indicated by the received dispatch request signal. Then, the elevator communication unit 220 sends the landing call registration request signal and the car call registration request signal to the elevator control device 100.

[0049] When the elevator control device 100 receives a landing call registration request signal and a car call registration request signal, first, the landing call registration unit 110 registers the landing call to the boarding floor indicated by the landing call registration request signal. The car allocation unit 130 determines the assigned car for the registered landing call. Then, the car call registration unit 120 registers the car call to the destination floor indicated by the car call registration request signal for the assigned car. In this way, according to the allocation request from the autonomous moving body 20, the landing call to the boarding floor and the car call to the descending floor are registered, and the car 10 is allocated.

[0050] like Figure 2 As shown, the elevator control device 100 of the present embodiment further includes an allocated car information sending unit 150. When the car allocation unit 130 determines the car 10 allocated for the landing call, the allocated car information sending unit 150 sends the allocated car information to the cooperative control device 200. The allocated car information is information that determines the car 10 allocated to the registered landing call. In particular, in the present embodiment, the allocated car information sending unit 150 sends the allocated car information that determines the car 10 allocated to the registered landing call in accordance with the landing call registration request sent from the cooperative control device 200. The car 10 allocated to the registered landing call in accordance with the landing call registration request sent from the cooperative control device 200, in other words, is the car 10 deployed in accordance with the deployment request from the autonomous moving body 20.

[0051] like Figure 3As shown, the processing unit 240 of the cooperative control device 200 further includes a descending failure detection unit 242. The descending failure detection unit 242 detects that the autonomous moving body 20 has failed to descend from the car 10 when any one of the plurality of autonomous moving bodies 20 has not descended from the car 10 at the descending floor. In the present invention, the autonomous moving body 20 in which the descending failure is detected is also referred to as the first autonomous moving body 21. In addition, an autonomous moving body 20 different from the autonomous moving body 20 in which the descending failure is detected is also referred to as the second autonomous moving body 22. When the descending failure detection unit 242 detects that the autonomous moving body 20 has failed to descend, information identifying the autonomous moving body 20 in which the descending failure is detected and information identifying the car 10 in which the autonomous moving body 20 is riding are stored in the storage unit 230 of the cooperative control device 200.

[0052] As described above, when the autonomous moving body 20 gets off the car 10, the autonomous moving body 20 sends a getting-off completion signal to the cooperative control device 200. For example, when the car 10 opens its door at the getting-off floor, even after a predetermined period of time has passed, if the autonomous moving body communication unit 210 of the cooperative control device 200 does not receive a getting-off completion signal from the autonomous moving body 20, the getting-off failure detection unit 242 detects that the autonomous moving body 20 has failed to get off the car.

[0053] Furthermore, for example, when the autonomous moving body communication unit 210 of the cooperative control device 200 does not receive a descending completion signal from the autonomous moving body 20 even if the door of the car 10 is closed after the car 10 opens its door at the descending floor, the descending failure detection unit 242 may detect that the autonomous moving body 20 has failed to descend. Furthermore, for example, when the autonomous moving body 20 that wants to descend from the car 10 detects an abnormality, an obstacle, etc. in itself and determines that it is in a state where it cannot descend, a descending failure signal may be sent to the cooperative control device 200. In this case, when the autonomous moving body communication unit 210 of the cooperative control device 200 receives a descending failure signal from the autonomous moving body 20, the descending failure detection unit 242 detects that the autonomous moving body 20 has failed to descend.

[0054] like Figure 3 As shown, the processing unit 240 of the cooperative control device 200 further includes a notification unit 243. The notification unit 243 notifies the second autonomous moving body 22, which is different from the first autonomous moving body 21 that detected the failed descent, that the first autonomous moving body 21 that detected the failed descent is riding in the car 10.

[0055] When the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information of the landing call registered by the second autonomous moving body 22, the processing unit 240 determines whether the car 10 determined by the assigned car information of the landing call registered by the second autonomous moving body 22 (i.e., the car 10 assigned to the second autonomous moving body 22) is the same as the car 10 in which the first autonomous moving body 21 that failed to get off the elevator is boarded and stored in the storage unit 230 (the car 10 in which the first autonomous moving body 21 failed to get off the elevator is detected by the failure to get off the elevator detection unit 242). Then, when the car 10 assigned to the second autonomous moving body 22 is the same as the car 10 in which the first autonomous moving body 21 failed to get off the elevator, the notification unit 243 notifies the second autonomous moving body 22 that there is an autonomous moving body 20 different from the second autonomous moving body 22, for example, the first autonomous moving body 21, in the car 10. This notification is transmitted from the autonomous mobile object communication unit 210 of the cooperative control device 200 to the second autonomous mobile object 22 .

[0056] According to the elevator system having the cooperative control device 200 configured as described above, the second autonomous moving body 22 can recognize that there is an autonomous moving body 20 different from the second autonomous moving body 22 in the car 10 before boarding the car 10, for example, there is the first autonomous moving body 21 that failed to get off the elevator. Therefore, the second autonomous moving body 22 can determine whether to board the car 10, etc., based on the existence of an autonomous moving body 20 different from the second autonomous moving body 22. Therefore, the operation of the car 10 in which there is an autonomous moving body 20 different from the second autonomous moving body 22 (for example, the car 10 in which there is an autonomous moving body 20 that failed to get off the elevator) can be flexibly used for the transportation of other autonomous moving bodies 20 without stopping the operation, and the reduction in the transportation efficiency of the elevator for the autonomous moving bodies 20 can be suppressed.

[0057] The notification unit 243 may also request the second autonomous moving body 22 to answer whether to board the car 10 in which the failure to get off the first autonomous moving body 21 is detected by the failure to get off detection unit 242. In response to the request, when the second autonomous moving body 22 answers to board the car 10 in which the failure to get off the first autonomous moving body 21 is detected, the cooperative control device 200 starts communication for the second autonomous moving body 22 to board the car 10.

[0058] Next, refer to Figure 4, an operation example of the cooperative control device 200 constructed as described above is described. When the first autonomous moving body 21 fails to get off the car 10 (step S10), the first autonomous moving body 21 sends a signal that it cannot get off the car 10 to the cooperative control device 200. Then, the autonomous moving body communication unit 210 of the cooperative control device 200 receives the signal that it cannot get off the car 10 from the first autonomous moving body 21, and the failure to get off the car detection unit 242 detects that the first autonomous moving body 21 has failed to get off the car. In the next step S11, information identifying the autonomous moving body 20 that has failed to get off the car 10 and information identifying the car 10 in which the autonomous moving body 20 is riding are stored in the storage unit 230 of the cooperative control device 20. After step S11, the cooperative control device 200 proceeds to process step S12.

[0059] In step S12, the processing unit 240 of the cooperative control device 200 determines whether the autonomous mobile communication unit 210 of the cooperative control device 200 has received the dispatch request signal from the second autonomous mobile object 22. If the dispatch request signal from the second autonomous mobile object 22 is not received, a series of operations are completed. On the other hand, if the dispatch request signal from the second autonomous mobile object 22 is received, the cooperative control device 200 then performs the process of step S13.

[0060] In step S13, the elevator call registration request unit 241 sends a landing call registration request signal for the boarding floor indicated by the received deployment request signal to the elevator control device 100. When the elevator control device 100 receives the landing call registration request signal, the landing call registration unit 110 registers the landing call for the boarding floor indicated by the landing call registration request signal. The car allocation unit 130 determines the allocated car for the registered landing call. Then, the allocated car information sending unit 150 sends the allocated car information to the cooperative control device 200. After step S13, the cooperative control device 200 proceeds to the process of step S14.

[0061] In step S14, the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information of the landing call registered by the second autonomous moving body 22. Then, the processing unit 240 determines whether the car 10 assigned to the second autonomous moving body 22 is the same as the car 10 of the first autonomous moving body 21 that failed to get off the elevator and stored in the storage unit 230. In the case where the car 10 assigned to the second autonomous moving body 22 is different from the car 10 of the first autonomous moving body 21 that failed to get off the elevator, a series of operations are completed. On the other hand, in the case where the car 10 assigned to the second autonomous moving body 22 is the same as the car 10 of the first autonomous moving body 21 that failed to get off the elevator, the cooperative control device 200 then performs the processing of step S15.

[0062] In step S15, communication is performed with respect to the second autonomous moving body 22 to confirm the intention to use the car 10 from which the first autonomous moving body 21 failed to deboard. That is, the notification unit 243 notifies the second autonomous moving body 22 that the first autonomous moving body 21 detected to have failed to deboard is boarding the allocated car 10. In addition, at this time, the notification unit 243 requests the second autonomous moving body 22 to answer whether to board the car 10 from which the first autonomous moving body 21 failed to deboard. In the next step S16, the processing unit 240 confirms the content of the answer of the second autonomous moving body 22, and determines whether the second autonomous moving body 22 has the intention to use the car 10 from which the first autonomous moving body 21 failed to deboard. If the second autonomous moving body 22 does not have the intention to use the car 10 from which the first autonomous moving body 21 failed to deboard, a series of actions are terminated. On the other hand, if the second autonomous moving body 22 has the intention to use the car 10 from which the first autonomous moving body 21 failed to deboard, the cooperative control device 200 then performs the processing of step S17.

[0063] In step S17, the cooperative control device 200 starts communication for the second autonomous moving body 22 to board the car 10. When the processing of step S17 is completed, a series of operations are completed. Figure 5 What is shown is an example of the operation of the entire elevator system in this case.

[0064] In addition, the cooperative control device 200 may also send information related to the condition in the car 10 where the first autonomous moving body 21 is detected to have failed to get off the elevator to the second autonomous moving body 22. In this case, the first autonomous moving body 21 sends a status notification to the cooperative control device 200. The status notification is, for example, a notification including information such as the specifications of the first autonomous moving body 21, the status of the first autonomous moving body 21, and the condition around the first autonomous moving body 21 (obstacles in the car 10, etc.). The cooperative control device 200 sends the image obtained by the camera shooting the inside of the car 10, the information of the status notification sent from the first autonomous moving body 21, etc. as information related to the condition in the car 10 where the first autonomous moving body 21 is detected to have failed to get off the elevator to the second autonomous moving body 22. Thus, it is possible to provide the second autonomous moving body 22 with information for determining whether to board the car 10.

[0065] Next, a first modification of the elevator system of the present embodiment will be described. In the first modification, when there is a dispatch request from a second autonomous moving body 22 different from the first autonomous moving body 21 that has failed to get off the car 10, the notification unit 243 requests the second autonomous moving body to answer whether to board the car that has failed to get off. Here, the car that has failed to get off is the car 10 in which the first autonomous moving body 21 has failed to get off as detected by the failure to get off detection unit 242.

[0066] When the second autonomous moving body 22 replies that it will not take the car that failed to get off, the cooperative control device 200 transmits an allocation object exclusion notification to the elevator control device 100 through the elevator communication unit 220 for the car that failed to get off. When the elevator control device 100 receives the allocation object exclusion notification, the car allocation unit 130 excludes the car that failed to get off from the allocation objects for the landing call based on the dispatch request of the second autonomous moving body 22. On the other hand, when the second autonomous moving body 22 replies that it will take the car that failed to get off, the cooperative control device 200 does not transmit the allocation object exclusion notification to the elevator control device 100. Therefore, the car allocation unit 130 of the elevator control device 100 allocates a car 10 from a plurality of cars 10 including the car that failed to get off for the landing call based on the dispatch request of the second autonomous moving body 22.

[0067] Next, refer to Figure 6 , an operation example of the cooperative control device 200 in the first variant configured as described above is described. When the first autonomous moving body 21 fails to get off the car 10 (step S20), the first autonomous moving body 21 sends a signal that it cannot get off the car 10 to the cooperative control device 200. Then, the autonomous moving body communication unit 210 of the cooperative control device 200 receives the signal that it cannot get off the car 10 from the first autonomous moving body 21, and the failure to get off the car detection unit 242 detects that the first autonomous moving body 21 has failed to get off the car. In the next step S21, information identifying the autonomous moving body 20 that has failed to get off the car 10 and information identifying the car 10 in which the autonomous moving body 20 is riding are stored in the storage unit 230 of the cooperative control device 200. After step S21, the cooperative control device 200 proceeds to process step S22.

[0068] In step S22, the processing unit 240 of the cooperative control device 200 determines whether the autonomous mobile communication unit 210 of the cooperative control device 200 has received the dispatch request signal from the second autonomous mobile object 22. If the dispatch request signal from the second autonomous mobile object 22 is not received, a series of operations are completed. On the other hand, if the dispatch request signal from the second autonomous mobile object 22 is received, the cooperative control device 200 then performs the process of step S23.

[0069] In step S23, communication is performed with respect to the second autonomous moving body 22 to confirm the intention to utilize the car 10 from which the first autonomous moving body 21 has failed to debark. That is, the notification unit 243 notifies the second autonomous moving body 22 that the first autonomous moving body 21 is in a state of failing to debark from the car 10. At this time, the notification unit 243 requests the second autonomous moving body 22 to answer whether to board the car 10 from which the first autonomous moving body 21 has failed to debark. In the next step S24, the processing unit 240 confirms the content of the answer of the second autonomous moving body 22, and determines whether the second autonomous moving body 22 has the intention to utilize the car 10 from which the first autonomous moving body 21 has failed to debark. When the second autonomous moving body 22 does not have the intention to utilize the car 10 from which the first autonomous moving body 21 has failed to debark, the cooperative control device 200 then performs the processing of step S24.

[0070] In step S24, the cooperative control device 200 transmits an allocation object exclusion notification to the elevator control device 100 for the car that failed to get off via the elevator communication unit 220. When the elevator control device 100 receives the allocation object exclusion notification, the car allocation unit 130 excludes the car that failed to get off from the allocation objects for the landing call based on the dispatch request of the second autonomous moving body 22. If the processing of step S24 is completed, a series of operations are terminated.

[0071] On the other hand, when the second autonomous moving body 22 intends to use the car 10 that failed to get off the first autonomous moving body 21 in step S23, the cooperative control device 200 then performs the process of step S25. In step S25, the cooperative control device 200 does not send the allocation object exclusion notification to the elevator control device 100. At this time, the cooperative control device 200 may also send the allocation object notification to the elevator control device 100. The allocation object notification is a notification that the car that failed to get off the elevator can be the allocation object for the landing call notification based on the dispatch request of the second autonomous moving body 22. When the elevator control device 100 receives the allocation object notification, the car allocation unit 130 allocates the car 10 from the multiple cars 10 including the car that failed to get off the elevator for the landing call based on the dispatch request of the second autonomous moving body 22. If the process of step S25 is completed, a series of actions are completed.

[0072] Figure 7 FIG. 2 shows another example of the operation of the cooperative control device 200 in the first variant. Figure 7 In, with Figure 6 Steps with the same number Figure 6The contents of the steps with the same number are the same, so their descriptions are omitted. In this example, after step S20, the cooperative control device 200 proceeds to the process of step S26. In step S26, the cooperative control device 200 performs status confirmation and communication for confirming the response policy for the first autonomous mobile body 21. In this communication, the first autonomous mobile body 21 sends information related to the first autonomous mobile body 21 (for example, at least one of the information such as the specifications and status of the first autonomous mobile body 21 and the surrounding conditions) to the cooperative control device 200. After step S26, the cooperative control device 200 proceeds to the process of step S21.

[0073] In addition, the specifications of the first autonomous mobile body 21 include, for example, the size and weight of the first autonomous mobile body 21. Information on the size of the first autonomous mobile body 21 can be flexibly used, for example, to determine the amount of space available for the second autonomous mobile body 22 to share the ride. Information on the weight of the first autonomous mobile body 21 can be flexibly used, for example, to determine the weight margin of the car 10 in an elevator system, etc. The state of the first autonomous mobile body 21 refers to, for example, whether the first autonomous mobile body 21 can move, whether it can communicate, etc. Information related to whether the first autonomous mobile body 21 can move can be flexibly used, for example, to determine whether a passenger space can be vacated for sharing the ride. Information related to whether the first autonomous mobile body 21 can communicate can be flexibly used, for example, to determine whether at least one of the information such as the specifications and state of the first autonomous mobile body 21 and the surrounding conditions can be transmitted to other autonomous mobile bodies 20, etc. The conditions around the first autonomous mobile body 21 include, for example, the existence of obstacles in the car 10 of the first autonomous mobile body 21 (objects that may hinder the movement of the second autonomous mobile body 22, etc.), the presence or absence of passengers, the number of passengers, the attributes of the passengers, the status of the passengers, etc.

[0074] In addition, in this example, when the dispatch request signal from the second autonomous moving body 22 is received in step S22, the cooperative control device 200 then performs the process of step S27. In step S27, the notification unit 243 communicates with the second autonomous moving body 22 to confirm the intention to use the car 10 from which the first autonomous moving body 21 failed to get off. That is, the notification unit 243 notifies the second autonomous moving body 22 that the first autonomous moving body 21 is in a state of failing to get off from the car 10. At this time, the notification unit 243 sends the information related to the first autonomous moving body 21 obtained in step S26 (for example, at least one of the specifications, state, and surrounding conditions of the first autonomous moving body 21) to the second autonomous moving body 22. In addition, at the same time, the notification unit 243 requests the second autonomous moving body 22 to answer whether to board the car 10 from which the first autonomous moving body 21 failed to get off. After step S27, the cooperative control device 200 then performs the process of step S24.

[0075] According to the first variant of the elevator system constructed as described above, the second autonomous moving body 22 can confirm whether to board the failed-to-descend car, which is the car 10 of the first autonomous moving body 21 that has failed to deboard, and assign a landing call to the failed-to-descend car. Therefore, the operation of the car 10 of the autonomous moving body 20 that has failed to deboard can be flexibly used for transporting other autonomous moving bodies 20 without stopping, and the reduction in the transportation efficiency of the elevator for the autonomous moving bodies 20 can be suppressed. Moreover, at this time, by providing the information related to the first autonomous moving body 21 to the second autonomous moving body 22, the second autonomous moving body 22 can flexibly use the information related to the first autonomous moving body 21 (for example, at least one of the information related to the specifications and status of the first autonomous moving body 21 and the surrounding conditions (such as the conditions in the failed-to-descend car)) as a judgment material for whether to board the failed-to-descend car, and can more appropriately judge whether to ride together.

[0076] Next, a second variant of the elevator system of this embodiment will be described. In this second variant, Figure 8 As shown, the processing unit 240 of the cooperative control device 200 further includes a car travel instruction unit 244 for failing to descend. The car travel instruction unit 244 for failing to descend sends a signal to the elevator control device 100 for instructing the car to travel to a designated floor. More specifically, the car travel instruction unit 244 for failing to descend generates a travel instruction signal for instructing the car to travel to a designated floor for failing to descend. Then, the elevator communication unit 220 sends the travel instruction signal to the elevator control device 100.

[0077] When the elevator control device 100 receives the travel instruction signal, the car control unit 140 that controls the car that failed to descend moves the car that failed to descend to a designated floor. The designated floor is a rescue floor for rescuing the first autonomous moving body 21 located in the car that failed to descend. The rescue floor may be set in advance or may be set each time the travel instruction signal is sent. The rescue floor may, for example, specify a floor where other autonomous moving bodies 20, maintenance workers, etc., that are rescuing the first autonomous moving body 21 are waiting.

[0078] In this case, the elevator manager or the like may also confirm the detection result of the downstairs failure detection unit 242 through a terminal device (not shown) or the like that is communicably connected to the cooperative control device 200. The downstairs failure car travel instruction unit 244 may also send a travel instruction signal for the downstairs failure car through the operation of the elevator manager or the like. Moreover, after the downstairs failure car travels to the designated floor and the rescue of the first autonomous moving body 21 is completed, the downstairs failure detection state of the downstairs failure detection unit 242 may be reset, so that the downstairs failure car is restored to a normal state.

[0079] In addition, in the second modification, Figure 8As shown, the processing unit 240 of the cooperative control device 200 may further include a rescue request unit 245. When the down-stairs failure detection unit 242 detects that the first autonomous moving object 21 fails to down-stairs, and the cooperative control device 200 does not receive the above-mentioned state notification from the first autonomous moving object 21, it is difficult to grasp the state of the first autonomous moving object 21. Therefore, in this case, the rescue request unit 245 notifies the terminal device of the manager of the elevator, etc., and requests rescue.

[0080] Next, refer to Figures 9 to 11 , an operation example of the cooperative control device 200 in the second modified example constructed as described above will be described. Fig. 9 As shown, when the first autonomous moving body 21 fails to get off the car 10 (step S30), the first autonomous moving body 21 sends a signal that it cannot get off to the cooperative control device 200. Then, the autonomous moving body communication unit 210 of the cooperative control device 200 receives the signal that it cannot get off from the first autonomous moving body 21, and the failure to get off detection unit 242 detects that the first autonomous moving body 21 has failed to get off. In the next step S31, the cooperative control device 200 performs status confirmation and communication for confirming the response policy for the first autonomous moving body 21. In this communication, the first autonomous moving body 21 sends information such as its own specifications, its own state, and the conditions around it to the cooperative control device 200. After step S31, the cooperative control device 200 proceeds to the processing of step S32.

[0081] In step S32, information identifying the first autonomous moving object 21 that failed to get off the elevator and information identifying the car 10 in which the first autonomous moving object 21 is riding are stored in the storage unit 230 of the cooperative control device 200. In addition, information such as the specifications, status, and surrounding conditions of the first autonomous moving object 21 transmitted from the first autonomous moving object 21 is also stored in the storage unit 230. After step S32, the cooperative control device 200 then performs the processing of step S33.

[0082] In step S33, the cooperative control device 200 transmits the detection result of the failure-to-descend detection unit 242, the information of the first autonomous moving body 21 that has failed to de-escalate stored in the storage unit 230, the information of the car 10 that the first autonomous moving body 21 is riding, the specifications and state of the first autonomous moving body 21, and the surrounding conditions to the terminal device and the like. In the next step S34, the processing unit 240 determines whether there is a car 10 in a state where the autonomous moving body 20 has failed to de-escalate. If there is no car 10 in a state where the autonomous moving body 20 has failed to de-escalate, a series of actions are completed. On the other hand, if there is a car 10 in a state where the autonomous moving body 20 has failed to de-escalate, the cooperative control device 200 proceeds to the process of step S35.

[0083] In step S35, the cooperative control device 200 enables the function of the failed descent car travel instruction unit 244. Thus, the elevator manager or the like can send a travel instruction signal for the failed descent car through the failed descent car travel instruction unit 244, so that the failed descent car travels to a designated floor. If the processing of step S35 is completed, a series of actions are terminated.

[0084] Then, if Fig.10 As shown, in step S40, if the elevator manager or the like can confirm that the descent failure state of the first autonomous movable body 21 has been released for the descent failure car, the manager or the like resets the descent failure detection state of the descent failure detection unit 242, and releases the descent failure state of the car 10 (step S41).

[0085] In addition, if Fig.11 As shown, when the first autonomous moving body 21 fails to get off the car 10 (step S50), the first autonomous moving body 21 sends a signal indicating that it cannot get off to the cooperative control device 200. Then, the autonomous moving body communication unit 210 of the cooperative control device 200 receives the signal indicating that it cannot get off from the first autonomous moving body 21, and the failure-to-get off detection unit 242 detects that the first autonomous moving body 21 has failed to get off. In the next step S51, the processing unit 240 determines whether the cooperative control device 200 has received the above-mentioned status notification sent from the first autonomous moving body 21. In the case where the cooperative control device 200 has not received the status notification sent from the first autonomous moving body 21, the cooperative control device 200 then performs the processing of step S52, and the rescue request unit 245 notifies the terminal device of the manager of the elevator, etc., to request rescue.

[0086] On the other hand, when the cooperative control device 200 receives the status notification transmitted from the first autonomous mobile object 21 in step S51, the cooperative control device 200 then performs the process of step S53. In step S53, the content of the status notification transmitted from the first autonomous mobile object 21, that is, the specification, status, surrounding conditions, and other information of the first autonomous mobile object 21 are stored in the storage unit 230 of the cooperative control device 200. After steps S52 and S53, the cooperative control device 200 then performs the process of step S54.

[0087] In step S54, information indicating that the first autonomous moving body 21 failed to get off, information identifying the first autonomous moving body 21 that failed to get off, and information identifying the car 10 in which the first autonomous moving body 21 is riding are stored in the storage unit 230. When the processing of step S54 is completed, a series of operations are terminated.

[0088] According to the second modified example of the elevator system configured as described above, the first autonomous moving body 21 that has failed to get off the car 10 can be quickly rescued and the car 10 can be restored to a normal state. Therefore, it is possible to suppress a reduction in the transport efficiency of the autonomous moving body 20 due to a reduction in the utilization rate of the car 10 of the autonomous moving body 20 that has failed to get off the car 10.

[0089] Next, the third variant of the elevator system of the present embodiment is described. In the third variant, in response to the second autonomous moving body 22 boarding the car 10 of the first autonomous moving body 21 that has failed to get off the elevator, the notification unit 243 of the cooperative control device 200 notifies the second autonomous moving body 22 to board the car that has failed to get off the elevator with respect to the first autonomous moving body 21. As a result, the first autonomous moving body 21 can move in a manner that does not hinder the second autonomous moving body 22 from getting on or off the car 10 when possible. At this time, the notification unit 243 may also send a signal indicating an appropriate waiting position in the car 10 to the first autonomous moving body 21. In addition, the notification unit 243 may also send a signal indicating an appropriate waiting position in the car 10 to the second autonomous moving body 22 based on the position of the first autonomous moving body 21 in the car 10, etc.

[0090] Next, refer to Fig.12 , an example of the operation of the cooperative control device 200 in the third variant constructed as described above is explained. When the first autonomous moving body 21 fails to get off the elevator from the car 10 (step S60), the first autonomous moving body 21 sends a signal that it cannot get off the elevator to the cooperative control device 200. Then, the autonomous moving body communication unit 210 of the cooperative control device 200 receives the signal that it cannot get off the elevator from the first autonomous moving body 21, and the failure to get off the elevator detection unit 242 detects that the first autonomous moving body 21 has failed to get off the elevator. In the next step S61, the cooperative control device 200 performs status confirmation and communication for confirming the response policy for the first autonomous moving body 21. In this communication, the first autonomous moving body 21 sends information such as its own specifications, its own status, and the status of its surroundings to the cooperative control device 200. After step S61, the cooperative control device 200 proceeds to process step S62.

[0091] In step S62, the cooperative control device 200 communicates with the second autonomous moving body 22 to confirm the intention to use the car 10 from which the first autonomous moving body 21 failed to get off. That is, the notification unit 243 notifies the second autonomous moving body 22 that the first autonomous moving body 21 is in a state of failing to get off the car 10. At this time, the notification unit 243 requests the second autonomous moving body 22 to answer whether to board the car 10 from which the first autonomous moving body 21 failed to get off. Then, the processing unit 240 confirms the content of the answer of the second autonomous moving body 22 and determines whether the second autonomous moving body 22 intends to use the car 10 from which the first autonomous moving body 21 failed to get off. If the second autonomous moving body 22 intends to use the car 10 from which the first autonomous moving body 21 failed to get off, the cooperative control device 200 then performs the processing of step S63.

[0092] In step S63, the notification unit 243 notifies the first autonomous moving body 21 that the second autonomous moving body 22 is to board the failed elevator car. In addition, the notification unit 243 sends a signal indicating an appropriate waiting position in the car 10 to the first autonomous moving body 21. In the next step S64, the notification unit 243 sends a signal indicating an appropriate waiting position in the car 10 to the second autonomous moving body 22. In addition, the processing order of steps S63 and S64 can be arbitrarily preceding. In addition, these steps can also be performed in parallel at the same time. After the processing of steps S63 and S64 is completed, a series of actions are completed.

[0093] According to the third modified example of the elevator system configured as described above, when other autonomous moving bodies 20 are riding in the car 10 of the autonomous moving body 20 that has failed to get off the car 10, it is possible to suppress the interference between these autonomous moving bodies 20 and assist smooth use. Therefore, it is possible to promote smooth use of the car 10 of the autonomous moving body 20 that has failed to get off the car 10, and suppress the reduction in the transportation efficiency of the autonomous moving bodies 20.

[0094] Fig.13 1 is a diagram showing an example of a configuration for realizing the functions of the cooperative control device 200 and the elevator control device 100 in the present embodiment. The functions of the cooperative control device 200 and the elevator control device 100 are realized, for example, by a processing circuit. The processing circuit may include a processor 1 and a memory 2. The processing circuit may also be dedicated hardware 3. Alternatively, a portion of the processing circuit may be formed as dedicated hardware 3, and the processing circuit may also include a processor 1 and a memory 2. In the example shown in the figure, a portion of the processing circuit is formed as dedicated hardware 3. In addition, in the example shown in the figure, the processing circuit also includes a processor 1 and a memory 2.

[0095] In a processing circuit whose part is at least one dedicated hardware 3, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. When the processing circuit has at least one processor 1 and at least one memory 2, the respective functions of the cooperative control device 200 and the elevator control device 100 are implemented by software, firmware, or a combination of software and firmware.

[0096] Software and firmware are described as programs and stored in the memory 2. The processor 1 realizes the functions of each part by reading and executing the programs stored in the memory 2. The processor 1 is also called a CPU (Central Processing Unit), a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 2 is, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, and an EEPROM, or a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk, and a DVD.

[0097] In this way, the respective processing circuits of the cooperative control device 200 and the elevator control device 100 can realize the respective functions of the cooperative control device 200 and the elevator control device 100 through hardware, software, firmware or a combination thereof. When the respective processing circuits of the cooperative control device 200 and the elevator control device 100 have at least the processor 1 and the memory 2, in each device of the cooperative control device 200 and the elevator control device 100, the processor 1 executes the program stored in the memory 2, and the respective hardware and software of the cooperative control device 200 and the elevator control device 100 cooperate, and the functions of the respective parts of the cooperative control device 200 and the elevator control device 100 are realized.

[0098] In addition, the elevator cooperative control method of the present embodiment is executed by a computer of the cooperative control device 200 configured to be able to communicate with the elevator control device 100. And, as can be seen from the above description, the elevator cooperative control method of the present embodiment has at least a call registration request step, a detection step, and a notification step. In the call registration request step, the cooperative control device 200 sends a landing call registration request to the boarding floor to the elevator control device 100 according to the allocation request from the plurality of autonomous moving bodies 20, and the elevator control device 100 registers the landing call to the boarding floor according to the landing call registration request, allocates the car 10 to the registered landing call, and sends the car information of the car 10 allocated to the landing call to the cooperative control device 200. In the detection step, when the first autonomous moving body 21 among the plurality of autonomous moving bodies 20 does not get off the car 10 at the getting-off floor, the cooperative control device 200 detects that the first autonomous moving body 21 fails to get off the car 10. In the notification step, when the car 10 determined by the car information of the floor call registered by the second autonomous moving body 22 which is different from the first autonomous moving body 21 among the multiple autonomous moving bodies 20 is the same as the car in which the first autonomous moving body 21 was detected to have failed to get off in the detection step, the cooperative control device 200 notifies the second autonomous moving body 22 that there is an autonomous moving body 20 different from the second autonomous moving body 22 in the car 10.

[0099] Alternatively, it can be seen from the above description that the elevator cooperative control method of this embodiment has at least an elevator call registration request step, a detection step and a notification step. In the elevator call registration request step, the cooperative control device 200 sends a landing call registration request to the boarding floor to the elevator control device 100 according to the deployment requests from the plurality of autonomous moving bodies. The elevator control device 100 registers the landing call to the boarding floor according to the landing call registration request, allocates a car 10 from the plurality of cars 10 for the registered landing call, and sends the allocated car information of the car 10 allocated to the landing call to the cooperative control device 200. In the detection step, the cooperative control device 200 detects that the first autonomous moving body 21 among the plurality of autonomous moving bodies 20 has failed to get off the car 10 at the getting-off floor when the first autonomous moving body 21 has not gotten off the car 10 at the getting-off floor. In the notification step, when there is a dispatch request from a second autonomous moving body 22 different from the first autonomous moving body 21 among the plurality of autonomous moving bodies 20, the cooperative control device 200 requests the second autonomous moving body 22 to answer whether to board the car 10 in which the first autonomous moving body 21 is detected to have failed to deplane in the detection step, i.e., the failed deplane car. When the second autonomous moving body 22 answers to board the failed deplane car, the elevator control device allocates a car 10 from the plurality of cars 10 including the failed deplane car in response to the landing call based on the dispatch request of the second autonomous moving body 22.

[0100] The elevator cooperative control program of the present embodiment is used to cause the computer of the cooperative control device 200 to execute the above-mentioned elevator cooperative control method. In addition, the storage medium of the present embodiment stores such an elevator cooperative control program.

[0101] In addition, in the present invention, each embodiment can be arbitrarily combined within the scope that does not deviate from the gist of the present invention. Hereinafter, examples of each mode of the present invention are collectively described as supplementary notes.

[0102] (Note 1)

[0103] An elevator cooperative control device is configured to communicate with an elevator control device that controls an elevator car, wherein the elevator cooperative control device has:

[0104] A call registration request unit, which sends a landing call registration request to the boarding floor to the elevator control device according to the dispatch requests from the plurality of autonomous moving bodies;

[0105] Testing Department; and

[0106] Notification Department,

[0107] The elevator control device registers the landing call to the boarding floor according to the landing call registration request, allocates the car for the registered landing call, and sends car information to determine the car allocated to the landing call.

[0108] When a first autonomous moving object among the plurality of autonomous moving objects fails to get off the car at a getting-off floor, the detecting unit detects that the first autonomous moving object fails to get off the car,

[0109] When the car determined by the car information of the floor station call registered by a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies is the same as the car in which the detection unit detects that the first autonomous moving body has failed to get off the elevator, the notification unit notifies the second autonomous moving body that an autonomous moving body different from the second autonomous moving body exists in the car.

[0110] (Note 2)

[0111] The elevator cooperative control device according to Supplement 1, wherein:

[0112] The elevator control device controls the plurality of cars and allocates the car from the plurality of cars in response to the registered landing call.

[0113] The car information is allocated car information for specifying the car allocated to the hall call.

[0114] (Note 3)

[0115] An elevator cooperative control device according to Appendix 1 or 2, wherein:

[0116] The notification unit requests the second autonomous movable body to answer whether or not to board the car for which the detection unit detected that the first autonomous movable body failed to get off.

[0117] (Note 4)

[0118] The elevator cooperative control device according to any one of Supplementary Notes 1 to 3, wherein:

[0119] The notification unit notifies the second autonomous mobile object of information related to the first autonomous mobile object.

[0120] (Note 5)

[0121] The elevator cooperative control device according to Supplement 4, wherein:

[0122] The notification unit notifies the second autonomous mobile object of at least one of a state, a specification, and a surrounding condition of the first autonomous mobile object as information related to the first autonomous mobile object.

[0123] (Note 6)

[0124] An elevator cooperative control device is configured to communicate with an elevator control device that controls a plurality of elevator cars, wherein the elevator cooperative control device has:

[0125] A call registration request unit, which sends a landing call registration request to the boarding floor to the elevator control device according to the dispatch requests from the plurality of autonomous moving bodies;

[0126] Testing Department; and

[0127] Notification Department,

[0128] The elevator control device registers the landing call to the boarding floor according to the landing call registration request, allocates the car from the plurality of cars for the registered landing call, and sends allocated car information to determine the car allocated to the landing call.

[0129] When a first autonomous moving object among the plurality of autonomous moving objects fails to get off the car at a getting-off floor, the detecting unit detects that the first autonomous moving object fails to get off the car,

[0130] In the case of a dispatch request from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, the notification unit requests the second autonomous moving body to answer whether to board the car in which the detection unit detected that the first autonomous moving body failed to deboard, i.e., the failed deboarding car.

[0131] When the second autonomous movable body responds to board the failed-to-get-off car, the elevator control device allocates a car from the plurality of cars including the failed-to-get-off car in response to the hall call based on the dispatch request of the second autonomous movable body.

[0132] (Note 7)

[0133] The elevator cooperative control device according to any one of Supplementary Notes 1 to 6, wherein:

[0134] The elevator cooperative control device also has a car descent failure travel indication unit, which sends a signal to the elevator control device to indicate travel to a designated floor for the car in which the detection unit detects that the first autonomous movable body has failed to demount.

[0135] (Note 8)

[0136] An elevator system, wherein the elevator system comprises:

[0137] An elevator cooperative control device as described in any one of Notes 1 to 7;

[0138] The elevator control device; and

[0139] A plurality of said autonomous mobile bodies.

[0140] (Note 9)

[0141] An elevator cooperative control method is executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device for controlling an elevator car, wherein the elevator cooperative control method comprises:

[0142] An elevator call registration request step, in accordance with the dispatch requests from the plurality of autonomous moving bodies, sending a landing call registration request to the elevator boarding floor to the elevator control device;

[0143] a detection step; and

[0144] Notification steps,

[0145] The elevator control device registers the landing call to the boarding floor according to the landing call registration request, allocates the car to the registered landing call, and sends car information to determine the car allocated to the landing call.

[0146] In the detection step, when a first autonomous moving body among the plurality of autonomous moving bodies fails to get off the car at a getting-off floor, it is detected that the first autonomous moving body fails to get off the car,

[0147] In the notification step, when the car determined by the car information of the floor station call registered by the second autonomous moving body among the plurality of autonomous moving bodies, which is different from the first autonomous moving body, is the same as the car in which the failure of the first autonomous moving body to get off the elevator is detected in the detection step, the second autonomous moving body is notified that an autonomous moving body different from the second autonomous moving body exists in the car.

[0148] (Note 10)

[0149] An elevator cooperative control method is executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device for controlling an elevator car, wherein the elevator cooperative control method comprises:

[0150] An elevator call registration request step, in accordance with the dispatch requests from the plurality of autonomous moving bodies, sending a landing call registration request to the elevator boarding floor to the elevator control device;

[0151] a detection step; and

[0152] Notification steps,

[0153] The elevator control device registers the landing call to the boarding floor according to the landing call registration request, allocates the car from the plurality of cars for the registered landing call, and sends allocated car information to determine the car allocated to the landing call.

[0154] In the detection step, when a first autonomous moving body among the plurality of autonomous moving bodies fails to get off the car at a getting-off floor, it is detected that the first autonomous moving body fails to get off the car,

[0155] In the notification step, when there is a dispatch request from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, the second autonomous moving body is requested to answer whether to board the car in which the first autonomous moving body failed to get off the elevator in the detection step, i.e., the failed-to-get-off elevator.

[0156] When the second autonomous movable body responds to board the failed-to-get-off car, the elevator control device allocates a car from the plurality of cars including the failed-to-get-off car in response to the hall call based on the dispatch request of the second autonomous movable body.

[0157] (Note 11)

[0158] A storage medium storing an elevator cooperative control program, wherein the elevator cooperative control program is used to enable a computer of the elevator cooperative control device to execute the elevator cooperative control method described in Note 9 or 10.

Claims

1. An elevator cooperative control device, the elevator cooperative control device being configured to be able to communicate with an elevator control device controlling an elevator car, wherein: The elevator cooperative control device has: A call registration request unit, which sends a landing call registration request to the elevator floor to the elevator control device according to the dispatch requests from the plurality of autonomous moving bodies; Testing Department; as well as Notification Department, The elevator control device registers the landing call to the boarding floor according to the landing call registration request, allocates the car for the registered landing call, and sends car information to determine the car allocated to the landing call. When a first autonomous moving object among the plurality of autonomous moving objects fails to get off the car at a getting-off floor, the detecting unit detects that the first autonomous moving object fails to get off the car, When the car determined by the car information of the floor station call registered by a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies is the same as the car in which the detection unit detects that the first autonomous moving body has failed to get off the elevator, the notification unit notifies the second autonomous moving body that an autonomous moving body different from the second autonomous moving body exists in the car.

2. The elevator cooperative control device according to claim 1, wherein: The elevator control device controls the plurality of cars and allocates the car from the plurality of cars in response to the registered landing call. The car information is allocated car information for specifying the car allocated to the hall call.

3. The elevator cooperative control device according to claim 1 or 2, wherein: The notification unit requests the second autonomous movable body to answer whether or not to board the car for which the detection unit detected that the first autonomous movable body failed to get off.

4. The elevator cooperative control device according to any one of claims 1 to 3, wherein: The notification unit notifies the second autonomous mobile object of information related to the first autonomous mobile object.

5. The elevator cooperative control device according to claim 4, wherein: The notification unit notifies the second autonomous mobile object of at least one of a state, a specification, and a surrounding condition of the first autonomous mobile object as information related to the first autonomous mobile object.

6. The elevator cooperative control device according to any one of claims 1 to 5, wherein: The elevator cooperative control device also has a car descent failure travel indication unit, which sends a signal to the elevator control device to indicate travel to a designated floor for the car in which the detection unit detects that the first autonomous movable body has failed to demount.

7. An elevator cooperative control device, the elevator cooperative control device being configured to communicate with an elevator control device controlling a plurality of elevator cars, wherein: The elevator cooperative control device has: A call registration request unit, which sends a landing call registration request to the elevator floor to the elevator control device according to the dispatch requests from the plurality of autonomous moving bodies; Testing Department; as well as Notification Department, The elevator control device registers the landing call to the boarding floor according to the landing call registration request, allocates the car from the plurality of cars for the registered landing call, and sends allocated car information to determine the car allocated to the landing call. When a first autonomous moving object among the plurality of autonomous moving objects fails to get off the car at a getting-off floor, the detecting unit detects that the first autonomous moving object fails to get off the car, In the case of a dispatch request from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, the notification unit requests the second autonomous moving body to answer whether to board the car in which the detection unit detected that the first autonomous moving body failed to deboard, i.e., the failed deboarding car. When the second autonomous movable body responds to board the failed-to-get-off car, the elevator control device allocates a car from the plurality of cars including the failed-to-get-off car in response to the hall call based on the dispatch request of the second autonomous movable body.

8. The elevator cooperative control device according to claim 7, wherein: The elevator cooperative control device also has a car descent failure travel indication unit, which sends a signal to the elevator control device to indicate travel to a designated floor for the car in which the detection unit detects that the first autonomous movable body has failed to demount.

9. An elevator system, wherein: The elevator system has: The elevator cooperative control device according to any one of claims 1 to 8; The elevator control device; and A plurality of said autonomous mobile bodies.

10. An elevator cooperative control method, executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device controlling an elevator car, wherein: The elevator cooperative control method has the following features: An elevator call registration request step, in accordance with the dispatch requests from the plurality of autonomous moving bodies, sending a landing call registration request to the elevator boarding floor to the elevator control device; Testing steps: as well as Notification steps, The elevator control device registers the landing call to the boarding floor according to the landing call registration request, allocates the car to the registered landing call, and sends car information to determine the car allocated to the landing call. In the detection step, when a first autonomous moving body among the plurality of autonomous moving bodies fails to get off the car at a getting-off floor, it is detected that the first autonomous moving body fails to get off the car, In the notification step, when the car determined by the car information of the floor station call registered by the second autonomous moving body among the plurality of autonomous moving bodies, which is different from the first autonomous moving body, is the same as the car in which the failure of the first autonomous moving body to get off the elevator is detected in the detection step, the second autonomous moving body is notified that an autonomous moving body different from the second autonomous moving body exists in the car.

11. An elevator cooperative control method, executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device controlling an elevator car, wherein: The elevator cooperative control method has the following features: An elevator call registration request step, in accordance with the dispatch requests from the plurality of autonomous moving bodies, sending a landing call registration request to the elevator boarding floor to the elevator control device; Testing steps: as well as Notification steps, The elevator control device registers the landing call to the boarding floor according to the landing call registration request, allocates the car from the plurality of cars for the registered landing call, and sends allocated car information to determine the car allocated to the landing call. In the detection step, when a first autonomous moving body among the plurality of autonomous moving bodies fails to get off the car at a getting-off floor, it is detected that the first autonomous moving body fails to get off the car, In the notification step, when there is a dispatch request from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, the second autonomous moving body is requested to answer whether to board the car in which the first autonomous moving body failed to get off the elevator in the detection step, i.e., the failed-to-get-off elevator. When the second autonomous movable body responds to board the failed-to-get-off car, the elevator control device allocates a car from the plurality of cars including the failed-to-get-off car in response to the hall call based on the dispatch request of the second autonomous movable body.

12. A storage medium storing an elevator cooperative control program, wherein the elevator cooperative control program is used to enable a computer of the elevator cooperative control device to execute the elevator cooperative control method according to claim 10 or 11.

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