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

Abstract

An elevator cooperative control device, method, elevator system, and storage medium can flexibly use a car of an autonomous mobile body that has failed to alight to the transport of other autonomous mobile bodies, can suppress a decrease in the transport efficiency of autonomous mobile bodies, and can assist in the efficient use of autonomous mobile bodies. A call registration request section sends a landing call registration request to an elevator control device for a boarding floor in accordance with a dispatch request from each of a plurality of autonomous mobile bodies. In a case where a first autonomous mobile body among the plurality of autonomous mobile bodies has failed to alight from a car at an alighting floor, a detection section detects the failure of the first autonomous mobile body to alight from the car. In a case where a car determined by car information of a landing call registered by a second autonomous mobile body is the same car in which the detection section has detected the failure of the first autonomous mobile body to alight, a notification section notifies the second autonomous mobile body that there is an autonomous mobile body other than the second autonomous mobile body in the car.

Description

Technical Field

[0001] This 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 Technology

[0002] In technologies for the cooperative control of autonomous moving bodies such as elevators and autonomous vehicles, it is known that when it is impossible to obtain the information on the completion of descending from the elevator body (car) sent by the autonomous vehicle (autonomous moving body) within a certain time, the cooperative system is set so that the autonomous vehicle cannot use the elevator system in a state where the elevator system may malfunction (for example, see Patent Document 1).

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

[0004] However, in the technology shown in Patent Document 1, other autonomous moving bodies cannot utilize the car containing the autonomous moving body that failed to descend. Therefore, the elevator's efficiency in transporting autonomous moving bodies is reduced. Summary of the Invention

[0005] This invention was 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 be used for transporting other autonomous moving bodies without stopping the operation of the car of an autonomous moving body that has failed to descend, and can suppress the reduction of the elevator's transport efficiency for autonomous moving bodies.

[0006] The elevator cooperative control device of the present invention is configured to communicate with an elevator control device that controls the elevator car. The elevator cooperative control device includes: a call registration request unit that sends a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous moving bodies; a detection unit; and a notification unit, wherein the elevator control device registers floor calls to the floor based on the floor call registration requests, dispatches the car for the registered floor call, and sends car information confirming the car dispatched to the floor call. If the first autonomous mobile body among the plurality of autonomous mobile bodies fails to descend from the car at the next floor, and the detection unit detects that the first autonomous mobile body has failed to descend from the car, and if the car identified by the car information of the floor call registered by the second autonomous mobile body, which is different from the first autonomous mobile body, is the same car in which the detection unit detected the first autonomous mobile body's failure to descend, the notification unit notifies the second autonomous mobile body that there is an autonomous mobile body different from the second autonomous mobile body in that car.

[0007] Alternatively, the elevator cooperative control device of the present invention is configured to communicate with an elevator control device that controls multiple elevator cars. This elevator cooperative control device includes: a call registration request unit that sends a landing call registration request to the elevator control device based on allocation requests from multiple autonomous mobile entities; a detection unit; and a notification unit, wherein the elevator control device registers landing calls to the floor according to the landing call registration requests, allocates a car from the multiple cars for the registered landing calls, sends allocation car information determining the car allocated to the landing call, and, among the multiple autonomous mobile entities, the first autonomous mobile entity... If a first autonomous mobile body fails to descend from the car at the next floor, the detection unit detects that the first autonomous mobile body has failed to descend from the car. If there is a dispatch request from a second autonomous mobile body, which is different from the first autonomous mobile body, the notification unit requests the second autonomous mobile body to answer whether it wants to ride in the car that the detection unit detected as the car in which the first autonomous mobile body failed to descend (i.e., the car in which the descent failed). If the second autonomous mobile body answers that it wants to ride in the car in which the descent failed, the elevator control device allocates a car from the multiple cars that include the car in which the descent failed, based on the floor call based on the dispatch request of the second autonomous mobile body.

[0008] The elevator system of the present invention includes any of the above-mentioned elevator cooperative control devices, the elevator control devices, 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 configured to communicate with an elevator control device that controls the elevator car. The elevator cooperative control method includes: a call registration request step, in which a call registration request for a destination floor is sent to the elevator control device based on dispatch requests from multiple autonomous moving bodies; a detection step; and a notification step, in which the elevator control device registers the call for a destination floor based on the call registration request, allocates a car to the registered call for a destination floor, and sends a notification indicating the car to be allocated to the call for a destination floor. In the detection step, if the first autonomous mobile body among the plurality of autonomous mobile bodies fails to descend from the car at the next floor, and this is detected as a failure of the first autonomous mobile body to descend from the car, in the notification step, if the car identified by the car information of the floor call registered by the second autonomous mobile body, which is different from the first autonomous mobile body among the plurality of autonomous mobile bodies, is the same car in which the failure of the first autonomous mobile body to descend was detected in the detection step, the second autonomous mobile body is notified that there is an autonomous mobile body different from the second autonomous mobile body in that 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 the elevator car. This elevator cooperative control method includes: a call registration request step, in which a floor call registration request for a destination floor is sent to the elevator control device based on dispatch requests from multiple autonomous mobile entities; a detection step; and a notification step, in which the elevator control device registers a floor call for a destination floor based on the floor call registration request, allocates a car from the multiple cars for the registered floor call, and sends allocation car information determining the car allocated to the floor call. In the detection step, the elevator control device notifies the elevator control device of the allocation requests from multiple autonomous mobile entities. If the first autonomous moving body in the main moving body fails to descend from the car at the next floor, and it is detected that the first autonomous moving body failed to descend from the car, in the notification step, if there is a dispatch request from a second autonomous moving body that is different from the first autonomous moving body among the multiple autonomous moving bodies, the second autonomous moving body is requested to answer whether to ride in the car in the detection step where the first autonomous moving body failed to descend, i.e., the car that failed to descend. If the second autonomous moving body answers to ride in the car that failed to descend, the elevator control device allocates a car from the multiple cars that include the car that failed to descend, based on the floor call based on the dispatch request of the second autonomous moving body.

[0011] The present invention provides a storage medium storing an elevator cooperation control program, which is used to enable the computer of the elevator cooperation control device to execute any of the above-described elevator cooperation control methods.

[0012] The present invention, comprising an elevator cooperative control device, an elevator system, an elevator cooperative control method, and a storage medium storing an elevator cooperative control program, is intended to solve such a problem. Its purpose is to achieve the following effects: it enables the flexible use of a car that can transport other autonomous moving bodies without halting the operation of the car containing an autonomous moving body that has failed to descend, and it can suppress the reduction in the elevator's transport efficiency for autonomous moving bodies. Attached Figure Description

[0013] Figure 1 This is a block diagram showing the overall structure of an elevator system equipped with the elevator cooperative control device of Embodiment 1.

[0014] Figure 2 This is a block diagram showing the structure of the elevator control device included in the elevator system of Embodiment 1.

[0015] Figure 3 This is a block diagram showing the structure of the elevator cooperative control device included in the elevator system of Embodiment 1.

[0016] Figure 4 This is a flowchart illustrating an example of the operation of the elevator cooperative control device in Implementation Method 1.

[0017] Figure 5 This is a diagram illustrating an example of the operation of the elevator system in Implementation Method 1.

[0018] Figure 6 This is a flowchart illustrating an example of the operation of a first variation of the elevator cooperative control device according to Embodiment 1.

[0019] Figure 7 This is a flowchart illustrating another example of the operation of the first variation of the elevator cooperative control device according to Embodiment 1.

[0020] Figure 8 This is a block diagram showing the configuration of a second variation of the elevator cooperative control device according to Embodiment 1.

[0021] Figure 9 This is a flowchart illustrating an example of the operation of a second variation of the elevator cooperative control device according to Embodiment 1.

[0022] Figure 10 This is a flowchart illustrating an example of the operation of a second variation of the elevator cooperative control device according to Embodiment 1.

[0023] Figure 11 This is a flowchart illustrating an example of the operation of a second variation of the elevator cooperative control device according to Embodiment 1.

[0024] Figure 12 This is a flowchart illustrating an example of the operation of a third variation of the elevator cooperative control device according to Embodiment 1.

[0025] Figure 13 This is a diagram illustrating an example of the structure that implements the functions of the elevator cooperative control device and the elevator control device in Embodiment 1.

[0026] Label Explanation

[0027] 1: Processor; 2: Memory; 3: Dedicated Hardware; 10: Car; 20: Autonomous Moving Unit; 21: First Autonomous Moving Unit; 22: Second Autonomous Moving Unit; 100: Elevator Control Device; 110: Floor Call Registration Department; 120: Car Call Registration Department; 130: Car Allocation Department; 140: Car Control Department; 150: Allocation Car Information Transmission Department; 200: Cooperative Control Device; 210: Autonomous Moving Unit Communication Department; 220: Elevator Communication Department; 230: Storage Department; 240: Processing Department; 241: Call Registration Request Department; 242: Descending Failure Detection Department; 243: Notification Department; 244: Descending Failure Car Travel Indication Department; 245: Rescue Request Department; 250: Door Opening and Closing Control Department; 300: Repeater. Detailed Implementation

[0028] The elevator cooperative control device, elevator system, elevator cooperative control method, and elevator cooperative control program for implementing the present invention will be described with reference to the accompanying drawings. In the drawings, identical or equivalent parts are labeled with the same reference numerals, and repeated descriptions are simplified or omitted as appropriate. In the following description, for convenience, the positional relationships of the various structures are sometimes shown based on the illustrated states. Furthermore, the present invention is not limited to the following embodiments; free combinations of embodiments, modifications of any constituent elements of each embodiment, or omissions of any constituent elements of each embodiment are possible without departing from the spirit of the 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 representing the overall structure of an elevator system equipped with an elevator cooperative control device. Figure 2 This is a block diagram showing the structure of the elevator control device in an elevator system. Figure 3 This is a block diagram representing the structure of the elevator cooperative control device in an elevator system. Figure 4 This is a flowchart illustrating an example of the operation of an elevator collaborative control device. Figure 5 This is a diagram illustrating the operation of an elevator system. Figure 6 This is a flowchart illustrating the operation of a first variation of the elevator cooperative control device. Figure 7 This is a flowchart illustrating another example of the operation of the first variation of the elevator cooperative control device. Figure 8 This is a block diagram showing the structure of a second variation of the elevator cooperative control device. Figures 9-11 These are flowcharts illustrating an example of the operation of the second variation of the elevator cooperative control device. Figure 12 This is a flowchart illustrating the operation of the third variation of the elevator cooperative control device. Figure 13This is a diagram illustrating an example of the structure that realizes the functions of an elevator collaborative 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 multiple 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, there are two cars in the elevator. However, the number of cars 10 in the elevator is not limited to two.

[0032] In buildings equipped with elevators, there are the same number of shafts (not shown) as the number of cars 10. Cars 10 are flexibly positioned within the shafts. Passengers and autonomous mobile bodies 20 can board and alight from cars 10. The autonomous mobile body 20, for example, is a mobile robot capable of autonomous movement. Cars 10 move up and down within the shafts, transporting one or both of the passengers and autonomous mobile bodies 20 across multiple floors of the building.

[0033] At each floor where the car 10 can stop, there is a landing call button (not shown). These buttons are used by passengers to register a landing call. By operating the landing call button, a passenger can register a call for the car 10 to proceed to that floor in the desired direction. Additionally, a destination floor button (not shown) is provided inside the car 10. This destination floor button is located, for example, on an in-car control panel (not shown) located inside the car 10. This button is used by passengers to register a car call. By operating the destination floor button, a passenger traveling in the car 10 can register a call for the car to proceed to their desired floor.

[0034] The elevator control device 100 controls the overall operation of the elevator, including the movement of the elevator car 10. In the structural example described here, the elevator control device 100 performs group management, managing multiple cars 10 as a group. Alternatively, the elevator control device 100 may not perform group management. Furthermore, group management is not performed when there is only one car 10. Next, refer to... Figure 2 The structure of the elevator control device 100 according to this embodiment will be described. For example... Figure 2 As shown, the elevator control device 100 includes a landing call registration unit 110, a car call registration unit 120, a car distribution unit 130, and a car control unit 140.

[0035] The elevator control unit 100 is communicatively connected to the call buttons on each floor. When a passenger operates a call button, a call registration request signal is output from the operated call button. The call registration request signal output from the call button is input to the elevator control unit 100. The call registration section 110 of the elevator control unit 100 registers calls to floors that are to the floors where the call buttons, which are the output sources of the call registration request signals, are located.

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

[0037] The car allocation unit 130 determines which car 10 to allocate for a registered landing call from among multiple cars 10. For example, the car allocation unit 130 determines the car 10 to allocate for a landing call as follows: First, the car allocation unit 130 calculates an allocation evaluation value for each car 10 based on its operating status. This allocation evaluation value is calculated, for example, using the waiting time until the car 10 responding to the registered landing call arrives, the load on the car 10, etc. Then, the car allocation unit 130 compares the calculated allocation evaluation values ​​of each car 10 and determines the car 10 with the highest allocation evaluation value as the car 10 to allocate for the landing call. Thus, the car allocation unit 130 allocates the car 10 for the landing call.

[0038] In this invention, the car 10 assigned by the car allocation unit 130 to a landing call is also referred to as the "allocation car". Furthermore, the car 10 responding to a landing call is also referred to as the "response car". The allocation car is also a response car. Additionally, as described above, the elevator control device 100 may not perform group management. Without group management, the elevator control device 100 may not have the car allocation unit 130. When the elevator control device 100 does not have the car allocation unit 130, when a landing call is registered, the elevator control device 100 determines the response car for that landing call. In this case, the elevator control device 100, for example, determines the car among the currently standby cars 10 that is closest to the registered floor of the landing call as the response car.

[0039] The car control unit 140 controls the operation of each of the multiple cars 10. One car control unit 140 is provided for each of the multiple cars 10. That is, the number of car control units 140 is the same as the number of cars 10. The car control units 140 control the movement of their respective cars 10. For example, when the car allocation unit 130 determines which car 10 to allocate to a landing call, the car control unit 140 controlling that car 10 moves the car 10 towards the floor where the landing call was registered. Furthermore, when the destination floor button inside a car 10 is activated to register a car call, the car control unit 140 controlling that car 10 moves the car 10 towards 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 an autonomous moving body 20 moving within a building equipped with an elevator in a cooperative manner with the movement of the elevator. The cooperative control device 200 is configured 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 a repeater 300. The repeater 300 relays the communication between the cooperative control device 200 and the elevator control device 100. However, it is also possible to omit the repeater 300 and allow the cooperative control device 200 and the elevator control device 100 to communicate directly.

[0041] like Figure 1 As shown, the cooperative control device 200 includes an autonomous mobile body communication unit 210, an elevator communication unit 220, a storage unit 230, a processing unit 240, and a door opening / closing control unit 250. The autonomous mobile body communication unit 210 performs communication between the cooperative control device 200 and the autonomous mobile body 20. Communication between the cooperative control device 200 and the autonomous mobile body 20 is primarily wireless. The autonomous mobile body communication unit 210 mainly sends data and signals to the autonomous mobile body 20 based on instructions from the processing unit 240. Additionally, the autonomous mobile body communication unit 210 receives data and signals sent from the autonomous mobile body 20 and transmits them to the processing unit 240, etc.

[0042] The elevator communication unit 220 facilitates communication between the cooperative control device 200 and the elevator. Communication between the cooperative control device 200 and the elevator can be conducted wirelessly or via wired means. The elevator communication unit 220 primarily sends data and signals to the elevator based on instructions from the processing unit 240. Additionally, the elevator communication unit 220 receives data and signals from the elevator and transmits 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 body 200 by the cooperative control device 200. The processing unit 240 processes the information required by the cooperative control device 200 for the cooperative control of the elevator and the autonomous moving body 20.

[0044] The door opening and closing control unit 250 controls the opening and closing of the doors of the car 10 when the autonomous moving body 20 rides on or off the car 10. When the autonomous moving body 20 rides 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, which controls the car 10, causes the car 10 doors to open.

[0045] When the autonomous moving body 20 enters or exits the car 10 with its doors open, it sends a ride completion signal or an exit completion signal to the cooperative control device 200. When the autonomous moving body communication unit 210 of the cooperative control device 200 receives the ride completion signal or exit 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 the 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, which controls the car 10, closes the doors of the car 10.

[0046] Alternatively, the cooperative control device 200 may not include a door opening / closing control unit 250. In this case, the car control unit 140 of the elevator control device 100 opens and closes the doors of the car 10 for the autonomous moving body 20 in the same way as for ordinary passengers. Then, the autonomous moving body 20 monitors the opening and closing status of the doors of the car 10, for example, using a camera mounted on itself, and proceeds to board and alight from the car 10.

[0047] like Figure 3 As shown, the processing unit 240 of the cooperative control device 200 in this embodiment includes an elevator call registration request unit 241. The elevator call registration request unit 241 sends a floor call registration request to the elevator control device 100 and a car call registration request to the floor to which the autonomous mobile body 20 is going, based on a dispatch request from the autonomous mobile body 20. More specifically, the autonomous mobile body 20 sends a dispatch request signal to the cooperative control device 200. The dispatch request signal contains information related to the floor to which the autonomous mobile body 20 is going and the floor to which the autonomous mobile body 20 is going. The floor to which the autonomous mobile body 20 is going is the floor from which the autonomous mobile body 20 is going.

[0048] When the autonomous moving body communication unit 210 of the cooperative control device 200 receives a dispatch request signal, the elevator call registration request unit 241 of the processing unit 240 generates a floor call registration request signal to the floor to which the elevator is going, as indicated by the received dispatch request signal, and a car call registration request signal to the floor to which the elevator is going, as indicated by the received dispatch request signal. Then, the elevator communication unit 220 sends the floor call registration request signal and the car call registration request signal to the elevator control device 100.

[0049] When the elevator control unit 100 receives a landing call registration request signal and a car call registration request signal, firstly, the landing call registration unit 110 registers the landing call to the floor indicated by the landing call registration request signal. The car allocation unit 130 determines the car to be allocated 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 allocated car. In this way, based on the dispatch request from the autonomous moving body 20, landing calls to the floor and car calls to the floor below are registered, and the car 10 is dispatched.

[0050] like Figure 2 As shown, the elevator control device 100 of this embodiment also includes a car allocation information sending unit 150. When the car allocation unit 130 determines the car 10 to be allocated for a landing call, the car allocation information sending unit 150 sends the car allocation information to the cooperating control device 200. The car allocation information is the information that determines the car 10 to be allocated to the registered landing call. In particular, in this embodiment, the car allocation information sending unit 150 sends the car allocation information that determines the car 10 to be allocated to the registered landing call based on the landing call registration request sent from the cooperating control device 200. The car 10 to be allocated to the registered landing call based on the landing call registration request sent from the cooperating control device 200 is, in other words, the car 10 allocated based on the dispatch request from the autonomous moving body 20.

[0051] like Figure 3As shown, the processing unit 240 of the cooperative control device 200 also includes a descending failure detection unit 242. The descending failure detection unit 242 detects that any one of the plurality of autonomous mobile bodies 20 has failed to descend from the car 10 at the next floor. In this invention, the autonomous mobile body 20 for which a descending failure is detected is also referred to as the first autonomous mobile body 21. Furthermore, an autonomous mobile body 20 different from the one for which a descending failure is detected is also referred to as the second autonomous mobile body 22. When the descending failure detection unit 242 detects that an autonomous mobile body 20 has failed to descend, the storage unit 230 of the cooperative control device 200 stores information confirming the autonomous mobile body 20 that failed to descend and information confirming that the autonomous mobile body 20 is riding in the car 10.

[0052] As described above, when the autonomous mobile body 20 descends from the elevator car 10, it sends a descent completion signal to the cooperative control device 200. For example, if the elevator car 10 opens at the next floor, and even after a predetermined period of time has elapsed, the autonomous mobile body communication unit 210 of the cooperative control device 200 does not receive a descent completion signal from the autonomous mobile body 20, the descent failure detection unit 242 detects that the autonomous mobile body 20 has failed to descend.

[0053] Furthermore, for example, if the car 10 opens its door at the next floor, and even if the car 10 closes, but the autonomous mobile body communication unit 210 of the cooperative control device 200 does not receive a descent completion signal from the autonomous mobile body 20, the descent failure detection unit 242 can detect that the autonomous mobile body 20 has failed to descend. Also, for example, if the autonomous mobile body 20, attempting to descend from the car 10, detects an anomaly or obstacle and determines that it is unable to descend, it sends a "cannot descend" signal to the cooperative control device 200. In this case, if the autonomous mobile body communication unit 210 of the cooperative control device 200 receives the "cannot descend" signal from the autonomous mobile body 20, the descent failure detection unit 242 detects that the autonomous mobile body 20 has failed to descend.

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

[0055] When the elevator communication unit 220 of the cooperative control device 200 receives the car allocation information for a landing call registered by the second autonomous mobile body 22, the processing unit 240 determines whether the car 10 determined by the car allocation information for the landing call registered by the second autonomous mobile body 22 (i.e., the car 10 assigned to the second autonomous mobile body 22) is the same as the car 10 stored in the storage unit 230 that the first autonomous mobile body 21 was riding in (the car 10 that the first autonomous mobile body 21 was detected to have failed to descend, as detected by the descent failure detection unit 242). Then, if the car 10 assigned to the second autonomous mobile body 22 is the same as the car 10 that the first autonomous mobile body 21 was detected to have failed to descend, the notification unit 243 notifies the second autonomous mobile body 22 that there is an autonomous mobile body 20 different from the second autonomous mobile body 22 in that car 10, for example, the first autonomous mobile body 21. The notification is sent from the autonomous mobile unit 210 of the cooperative control device 200 to the second autonomous mobile unit 22.

[0056] According to the elevator system equipped with the cooperative control device 200 configured as described above, the second autonomous moving body 22 can identify, before boarding the car 10, that there is an autonomous moving body 20 in the car 10 that is different from the second autonomous moving body 22, such as the presence of a first autonomous moving body 21 that failed to descend. Therefore, given the presence of an autonomous moving body 20 that is different from the second autonomous moving body 22, the second autonomous moving body 22 can determine whether to board the car 10. Therefore, the operation of the car 10 containing an autonomous moving body 20 that is different from the second autonomous moving body 22 (e.g., the car 10 containing an autonomous moving body 20 that failed to descend) can be flexibly used for transporting other autonomous moving bodies 20 without stopping the operation of the car 10, thus suppressing the reduction in the elevator's transport efficiency for autonomous moving bodies 20.

[0057] The notification unit 243 can also request the second autonomous mobile body 22 to answer whether it wants to ride in the car 10 that the first autonomous mobile body 21 failed to descend, as detected by the descent failure detection unit 242. If the second autonomous mobile body 22 answers to this request and rides in the car 10 where the first autonomous mobile body 21 was detected to have failed to descend, the cooperative control device 200 initiates communication for the second autonomous mobile body 22 to ride in the car 10.

[0058] Next, refer to Figure 4The operation of the cooperative control device 200 configured as described above will be explained using an example. When the first autonomous mobile body 21 fails to descend from the car 10 (step S10), the first autonomous mobile body 21 sends a "cannot descend" signal to the cooperative control device 200. Then, the autonomous mobile body communication unit 210 of the cooperative control device 200 receives the "cannot descend" signal from the first autonomous mobile body 21, and the "descend failure detection unit 242" detects that the first autonomous mobile body 21 has failed to descend. In the next step S11, the information of the autonomous mobile body 20 that has failed to descend and the information of the car 10 that the autonomous mobile body 20 is riding in are stored in the storage unit 230 of the cooperative control device 200. After step S11, the cooperative control device 200 then proceeds to the processing in step S12.

[0059] In step S12, the processing unit 240 of the cooperative control device 200 determines whether the autonomous mobile body communication unit 210 of the cooperative control device 200 has received a dispatch request signal from the second autonomous mobile body 22. If no dispatch request signal is received from the second autonomous mobile body 22, the series of operations ends. On the other hand, if a dispatch request signal is received from the second autonomous mobile body 22, the cooperative control device 200 then proceeds to the processing in step S13.

[0060] In step S13, the elevator call registration request unit 241 sends a floor call registration request signal to the elevator control device 100, indicating the destination floor, as shown in the received dispatch request signal. When the elevator control device 100 receives the floor call registration request signal, the floor call registration unit 110 registers the floor call indicating the destination floor. The car allocation unit 130 determines the car allocation for the registered floor call. Then, the car allocation information sending unit 150 sends the car allocation information to the cooperative control device 200. After step S13, the cooperative control device 200 proceeds to step S14.

[0061] In step S14, the elevator communication unit 220 of the cooperative control device 200 receives the car allocation information for the floor call registered by the second autonomous mobile body 22. Then, the processing unit 240 determines whether the car 10 allocated to the second autonomous mobile body 22 is the same as the car 10 that failed to descend for the first autonomous mobile body 21 stored in the storage unit 230. If the car 10 allocated to the second autonomous mobile body 22 is different from the car 10 that failed to descend for the first autonomous mobile body 21, the series of actions ends. On the other hand, if the car 10 allocated to the second autonomous mobile body 22 is the same as the car 10 that failed to descend for the first autonomous mobile body 21, the cooperative control device 200 then proceeds to the processing in step S15.

[0062] In step S15, communication is made to the second autonomous mobile unit 22 to confirm its intention to use the car 10 where the first autonomous mobile unit 21 failed to descend. Specifically, the notification unit 243 notifies the second autonomous mobile unit 22 that the first autonomous mobile unit 21, which failed to descend, is currently riding in the assigned car 10. Furthermore, the notification unit 243 requests the second autonomous mobile unit 22 to respond whether it intends to ride in the car 10 where the first autonomous mobile unit 21 failed to descend. In the next step S16, the processing unit 240 confirms the response from the second autonomous mobile unit 22 and determines whether the second autonomous mobile unit 22 intends to use the car 10 where the first autonomous mobile unit 21 failed to descend. If the second autonomous mobile unit 22 does not intend to use the car 10 where the first autonomous mobile unit 21 failed to descend, the series of actions ends. On the other hand, if the second autonomous mobile unit 22 intends to use the car 10 where the first autonomous mobile unit 21 failed to descend, the cooperative control device 200 then proceeds to step S17.

[0063] In step S17, the cooperative control device 200 initiates communication for the second autonomous mobile body 22 to ride in the car 10. If the processing in step S17 is completed, the series of actions ends. Additionally, Figure 5 This illustrates an example of the overall operation of the elevator system in this situation.

[0064] Additionally, the cooperative control device 200 can also send information related to the condition inside the car 10 where the first autonomous mobile unit 21 is detected to have failed to descend the stairs to the second autonomous mobile unit 22. In this case, the first autonomous mobile unit 21 sends a status notification to the cooperative control device 200. The status notification may include, for example, information such as the specifications of the first autonomous mobile unit 21, the status of the first autonomous mobile unit 21, and the conditions around the first autonomous mobile unit 21 (obstacles inside the car 10, etc.). The cooperative control device 200 sends the image obtained by the camera inside the car 10, along with the status notification information sent from the first autonomous mobile unit 21, as information related to the condition inside the car 10 where the first autonomous mobile unit 21 is detected to have failed to descend the stairs to the second autonomous mobile unit 22. Thus, information can be provided to the second autonomous mobile unit 22 for determining whether to ride in the car 10.

[0065] Next, a first modification of the elevator system of this embodiment will be described. In this first modification, when there is a dispatch request from a second autonomous moving body 22, which is different from the first autonomous moving body 21 that failed to descend from car 10, the notification unit 243 requests the second autonomous moving body to answer whether to take the car that failed to descend. Here, the car that failed to descend is the car 10 that the first autonomous moving body 21 was detected to have failed to descend from by the descent failure detection unit 242.

[0066] When the second autonomous mobile unit 22 responds that it will not take the car that failed to descend, the cooperative control device 200 sends an allocation object exclusion notification to the elevator control device 100 via the elevator communication unit 220 for the car that failed to descend. When the elevator control device 100 receives the allocation object exclusion notification, the car allocation unit 130 excludes the car that failed to descend from the allocation objects for floor calls based on the dispatch request of the second autonomous mobile unit 22. On the other hand, when the second autonomous mobile unit 22 responds that it will take the car that failed to descend, the cooperative control device 200 does not send an 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 the plurality of cars 10 that include the car that failed to descend for floor calls based on the dispatch request of the second autonomous mobile unit 22.

[0067] Next, refer to Figure 6 The operation of the cooperative control device 200 in the first modified example configured as described above will be explained. When the first autonomous mobile body 21 fails to descend from the car 10 (step S20), the first autonomous mobile body 21 sends a "cannot descend" signal to the cooperative control device 200. Then, the autonomous mobile body communication unit 210 of the cooperative control device 200 receives the "cannot descend" signal from the first autonomous mobile body 21, and the "descend failure detection unit 242" detects that the first autonomous mobile body 21 has failed to descend. In the next step S21, the information of the autonomous mobile body 20 that has failed to descend and the information of the car 10 that the autonomous mobile 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 then proceeds to the processing in step S22.

[0068] In step S22, the processing unit 240 of the cooperative control device 200 determines whether the autonomous mobile body communication unit 210 of the cooperative control device 200 has received a dispatch request signal from the second autonomous mobile body 22. If no dispatch request signal is received from the second autonomous mobile body 22, the series of operations ends. On the other hand, if a dispatch request signal is received from the second autonomous mobile body 22, the cooperative control device 200 then proceeds to the processing in step S23.

[0069] In step S23, communication is made to the second autonomous mobile unit 22 to confirm its intention to use the car 10 where the first autonomous mobile unit 21 failed to descend. Specifically, the notification unit 243 notifies the second autonomous mobile unit 22 that the first autonomous mobile unit 21 has failed to descend from the car 10. At this time, the notification unit 243 requests the second autonomous mobile unit 22 to answer whether it intends to ride in the car 10 where the first autonomous mobile unit 21 failed to descend. In the next step S24, the processing unit 240 confirms the response from the second autonomous mobile unit 22 and determines whether the second autonomous mobile unit 22 intends to use the car 10 where the first autonomous mobile unit 21 failed to descend. If the second autonomous mobile unit 22 does not intend to use the car 10 where the first autonomous mobile unit 21 failed to descend, the cooperative control device 200 then proceeds to the processing in step S24.

[0070] In step S24, the cooperative control device 200 sends an allocation object exclusion notification to the elevator control device 100 via the elevator communication unit 220 for the cars that failed to descend. When the elevator control device 100 receives the allocation object exclusion notification, the car allocation unit 130 excludes the cars that failed to descend from the allocation objects for floor calls based on the dispatch request of the second autonomous moving body 22. If the processing of step S24 is completed, the series of actions ends.

[0071] On the other hand, if in step S23 the second autonomous moving body 22 intends to utilize the car 10 that failed to descend from the first autonomous moving body 21, the cooperative control device 200 then proceeds to step S25. In step S25, the cooperative control device 200 does not send an allocation object exclusion notification to the elevator control device 100. At this time, the cooperative control device 200 may also send an allocation object notification to the elevator control device 100. The allocation object notification is a notification that the car that failed to descend can be allocated to 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 a car 10 from the plurality of cars 10 that include the car that failed to descend, based on the landing call notification based on the dispatch request of the second autonomous moving body 22. If the processing of step S25 is completed, the series of actions ends.

[0072] Figure 7 This illustrates another example of the operation of the cooperative control device 200 in the first variation. Figure 7 In, with Figure 6 The steps with the same label are Figure 6The steps described in this example are identical to those in the previous example, so their description is omitted. In this example, after step S20, the cooperative control device 200 proceeds to step S26. In step S26, the cooperative control device 200 performs status verification and communication to confirm the response strategy for the first autonomous mobile body 21. In this communication, the first autonomous mobile body 21 sends information related to itself (e.g., at least one of its specifications, status, and surrounding conditions) to the cooperative control device 200. After step S26, the cooperative control device 200 proceeds to step S21.

[0073] In addition, the specifications of the first autonomous mobile unit 21 include, for example, its size and weight. Information about the size of the first autonomous mobile unit 21 can be used to determine, for example, the available space for the second autonomous mobile unit 22 to ride together. Information about the weight of the first autonomous mobile unit 21 can be used, for example, to determine the available weight in the elevator car 10, such as in an elevator system. The status of the first autonomous mobile unit 21 refers to, for example, whether the first autonomous mobile unit 21 can move or communicate. Information related to the mobility of the first autonomous mobile unit 21 can be used to determine whether space can be made available for riding together. Information related to the communication capability of the first autonomous mobile unit 21 can be used to determine whether at least one of the following information—the specifications, status, and surrounding conditions of the first autonomous mobile unit 21—can be transmitted to other autonomous mobile units 20. The surrounding conditions of the first autonomous mobile body 21 include, for example, the presence of obstacles (objects that may hinder the movement of the second autonomous mobile body 22) within the car 10 of the first autonomous mobile body 21, whether there are passengers traveling together, the number of passengers, the attributes of the passengers, and the status of the passengers.

[0074] In this example, upon receiving a dispatch request signal from the second autonomous mobile unit 22 in step S22, the cooperative control device 200 proceeds to step S27. In step S27, the notification unit 243 communicates with the second autonomous mobile unit 22 to confirm its intention to use the car 10 where the first autonomous mobile unit 21 failed to descend. Specifically, the notification unit 243 notifies the second autonomous mobile unit 22 that the first autonomous mobile unit 21 has failed to descend from the car 10. At this time, the notification unit 243 sends the information related to the first autonomous mobile unit 21 obtained in step S26 (e.g., at least one of the specifications, status, and surrounding conditions of the first autonomous mobile unit 21) to the second autonomous mobile unit 22. Simultaneously, the notification unit 243 requests the second autonomous mobile unit 22 to respond whether it wishes to use the car 10 where the first autonomous mobile unit 21 failed to descend. After step S27, the cooperative control device 200 proceeds to step S24.

[0075] According to the first modification of the elevator system configured as described above, the second autonomous mobile body 22 can determine whether to ride in the car 10 where the first autonomous mobile body 21 has failed to descend, and assign a floor call to the car that failed to descend. Therefore, the operation of the car 10 where the autonomous mobile body 20 has failed to descend can be flexibly used for transporting other autonomous mobile bodies 20 without stopping the operation of the car 10, and the reduction in the elevator's transport efficiency for autonomous mobile bodies 20 can be suppressed. Moreover, by providing the second autonomous mobile body 22 with information related to the first autonomous mobile body 21, the second autonomous mobile body 22 can flexibly apply at least one of the information related to the first autonomous mobile body 21 (such as the specifications and status of the first autonomous mobile body 21 and the surrounding conditions (the conditions inside the car that failed to descend, etc.)) as the determination material for whether to ride in the car that failed to descend, and can more appropriately determine whether to ride together.

[0076] Next, a second modification of the elevator system according to this embodiment will be described. In this second modification, as... Figure 8 As shown, the processing unit 240 of the cooperative control device 200 also includes a car travel instruction unit 244 for a failed descent. The car travel instruction unit 244 sends a signal to the elevator control device 100 instructing the failed descent car to travel to a designated floor. More specifically, the car travel instruction unit 244 generates a travel instruction signal instructing the failed descent car to travel to a designated floor. 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 a travel instruction signal, the car control unit 140, which controls the failed descending car, causes the failed descending car to travel to a designated floor. The designated floor is the rescue floor for rescuing the first autonomous mobile body 21 located in the failed descending car. The rescue floor can be preset or set each time a travel instruction signal is sent. For example, the rescue floor can be designated as the floor where other autonomous mobile bodies 20, maintenance personnel, etc., are waiting to rescue the first autonomous mobile body 21.

[0078] In this situation, elevator operators can also confirm the detection results of the descent failure detection unit 242 through a terminal device (not shown) that is communicatively connected to the cooperative control device 200. The descent failure car travel instruction unit 244 can also send a travel instruction signal for the descent failure car through operation by the elevator operators. Furthermore, after the descent failure car has reached the designated floor and the rescue by the first autonomous moving body 21 is completed, the descent failure detection state of the descent failure detection unit 242 can be reset, restoring the descent failure car to its normal state.

[0079] Furthermore, in this second variation, such as Figure 8As shown, the processing unit 240 of the cooperative control device 200 may also include a rescue request unit 245. If the descent failure detection unit 242 detects that the first autonomous mobile body 21 has failed to descend, and the cooperative control device 200 has not received the aforementioned status notification from the first autonomous mobile body 21, it is difficult to grasp the status of the first autonomous mobile body 21. Therefore, in this situation, the rescue request unit 245 notifies the elevator manager's terminal device, etc., requesting rescue.

[0080] Next, refer to Figures 9-11 An example of the operation of the cooperative control device 200 in the second modified example configured as described above will be explained. Figure 9 As shown, when the first autonomous mobile unit 21 fails to descend from the elevator car 10 (step S30), the first autonomous mobile unit 21 sends a "cannot descend" signal to the cooperative control device 200. Then, the autonomous mobile unit communication unit 210 of the cooperative control device 200 receives the "cannot descend" signal from the first autonomous mobile unit 21, and the "descend failure detection unit 242" detects that the first autonomous mobile unit 21 has failed to descend. In the next step S31, the cooperative control device 200 performs status confirmation and communication for confirming the response strategy for the first autonomous mobile unit 21. In this communication, the first autonomous mobile unit 21 sends information such as its own specifications, its own status, and the surrounding conditions to the cooperative control device 200. After step S31, the cooperative control device 200 proceeds to step S32.

[0081] In step S32, information about the first autonomous mobile unit 21 that failed to descend the stairs and information about the first autonomous mobile unit 21 being in the elevator car 10 are stored in the storage unit 230 of the cooperative control device 200. Furthermore, information such as the specifications, status, and surrounding conditions of the first autonomous mobile unit 21, transmitted from the first autonomous mobile unit 21, is also stored in the storage unit 230. After step S32, the cooperative control device 200 proceeds to step S33.

[0082] In step S33, the cooperative control device 200 sends the detection result of the escalator descent failure detection unit 242, the information stored in the storage unit 230 regarding the first autonomous mobile body 21 that has failed to descend, the information regarding the car 10 that the first autonomous mobile body 21 is riding in, the specifications and status of the first autonomous mobile 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 the state of autonomous mobile body 20 failing to descend. If there is no car 10 in the state of autonomous mobile body 20 failing to descend, the series of actions ends. On the other hand, if there is a car 10 in the state of autonomous mobile body 20 failing to descend, the cooperative control device 200 then proceeds to the processing in step S35.

[0083] In step S35, the cooperative control device 200 activates the function of the failed descent car travel indicator 244. This allows elevator operators to send a travel instruction signal to the failed descent car via the failed descent car travel indicator 244, causing the failed descent car to travel to the designated floor. If step S35 is completed, the series of actions ends.

[0084] Next, as Figure 10 As shown, in step S40, if the elevator manager or others can confirm that the state of the first autonomous moving body 21 failing to descend has been lifted, the manager or others will reset the detection state of the failure to descend detection unit 242 and lift the failure to descend state of the car 10 (step S41).

[0085] In addition, such as Figure 11 As shown, when the first autonomous mobile unit 21 fails to descend from the elevator car 10 (step S50), the first autonomous mobile unit 21 sends a "cannot descend" signal to the cooperative control device 200. Then, the autonomous mobile unit communication unit 210 of the cooperative control device 200 receives the "cannot descend" signal from the first autonomous mobile unit 21, and the descent failure detection unit 242 detects that the first autonomous mobile unit 21 has failed to descend. In the next step S51, the processing unit 240 determines whether the cooperative control device 200 has received the aforementioned status notification sent from the first autonomous mobile unit 21. If the cooperative control device 200 has not received the status notification sent from the first autonomous mobile unit 21, the cooperative control device 200 proceeds to step S52, and the rescue request unit 245 notifies the elevator manager's terminal device, etc., requesting rescue.

[0086] On the other hand, if the cooperative control device 200 receives a status notification sent from the first autonomous mobile body 21 in step S51, the cooperative control device 200 then proceeds to step S53. In step S53, the content of the status notification sent from the first autonomous mobile body 21, namely, information such as the specifications, status, and surrounding conditions of the first autonomous mobile body 21, is stored in the storage unit 230 of the cooperative control device 200. After steps S52 and S53, the cooperative control device 200 then proceeds to step S54.

[0087] In step S54, information indicating that the first autonomous mobile unit 21 failed to descend the stairs, information confirming that the first autonomous mobile unit 21 failed to descend the stairs, and information confirming that the first autonomous mobile unit 21 was riding in the car 10 are stored in the storage unit 230. If the processing of step S54 is completed, the series of actions ends.

[0088] According to the second variation of the elevator system configured as described above, the first autonomous moving body 21 that failed to descend from the car 10 can be quickly rescued, and the car 10 can be restored to its normal state. Therefore, the reduction in the transport efficiency of the autonomous moving body 20 due to the reduced utilization rate of the car 10 caused by the presence of the autonomous moving body 20 that failed to descend can be suppressed.

[0089] Next, a third variation of the elevator system of this embodiment will be described. In this third variation, when the notification unit 243 of the cooperative control device 200 responds that the second autonomous mobile body 22 is riding in the car 10 where the first autonomous mobile body 21 has failed to descend, it notifies the second autonomous mobile body 22 to ride in the car that failed to descend. Thus, the first autonomous mobile body 21 can move in a manner that does not obstruct the second autonomous mobile body 22 from entering or leaving the car 10, if possible. At this time, the notification unit 243 can also send a signal to the first autonomous mobile body 21 instructing it to an appropriate standby position within the car 10. Furthermore, the notification unit 243 can also send a signal to the second autonomous mobile body 22 instructing it to an appropriate standby position within the car 10 based on the position of the first autonomous mobile body 21 within the car 10.

[0090] Next, refer to Figure 12 The operation of the cooperative control device 200 in the third modified example configured as described above will be explained. When the first autonomous moving body 21 fails to descend from the car 10 (step S60), the first autonomous moving body 21 sends a "cannot descend" signal to the cooperative control device 200. Then, the autonomous moving body communication unit 210 of the cooperative control device 200 receives the "cannot descend" signal from the first autonomous moving body 21, and the "descend failure detection unit 242" detects that the first autonomous moving body 21 has failed to descend. In the next step S61, the cooperative control device 200 performs status confirmation and communication for confirming the response strategy 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 surrounding conditions to the cooperative control device 200. After step S61, the cooperative control device 200 then proceeds to the processing in step S62.

[0091] In step S62, the cooperative control device 200 communicates with the second autonomous mobile body 22 to confirm the intention of the first autonomous mobile body 21 to use the car 10 that failed to descend. Specifically, the notification unit 243 notifies the second autonomous mobile body 22 that the first autonomous mobile body 21 is in a state of failure to descend from the car 10. At this time, the notification unit 243 requests the second autonomous mobile body 22 to answer whether it intends to use the car 10 that the first autonomous mobile body 21 failed to descend from. Then, the processing unit 240 confirms the response from the second autonomous mobile body 22 and determines whether the second autonomous mobile body 22 intends to use the car 10 that the first autonomous mobile body 21 failed to descend from. If the second autonomous mobile body 22 intends to use the car 10 that the first autonomous mobile body 21 failed to descend from, the cooperative control device 200 then proceeds to step S63.

[0092] In step S63, notification unit 243 notifies the second autonomous moving body 22 to board the failed elevator car to the first autonomous moving body 21. Furthermore, notification unit 243 sends a signal to the first autonomous moving body 21 instructing it to the appropriate standby position within the elevator car 10. In the following step S64, notification unit 243 sends the same signal to the second autonomous moving body 22, instructing it to the appropriate standby position within the elevator car 10. The order of steps S63 and S64 can be arbitrary. Alternatively, these steps can be performed simultaneously in parallel. After steps S63 and S64 are completed, the series of actions ends.

[0093] According to the third modification of the elevator system configured as described above, in the case of a car 10 where other autonomous moving bodies 20 have failed to descend from the car 10, interference between these autonomous moving bodies 20 can be suppressed, facilitating smooth use. Therefore, it is possible to promote smooth use of the car 10 where autonomous moving bodies 20 have failed to descend, and to suppress the reduction in the transport efficiency of the autonomous moving bodies 20.

[0094] Figure 13 This figure illustrates an example of the configuration that implements the functions of the cooperative control device 200 and the elevator control device 100 in this embodiment. The functions of the cooperative control device 200 and the elevator control device 100 are implemented, 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 this processing circuit may also include the processor 1 and the memory 2. In the example shown in this figure, a portion of the processing circuit is formed as dedicated hardware 3. Furthermore, in the example shown in this figure, the processing circuit also includes the processor 1 and the memory 2.

[0095] In a processing circuit that is partly dedicated hardware 3, such as a single circuit, a composite circuit, a programmable processor, a parallel programmable 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 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 memory 2. Processor 1 reads and executes the programs stored in memory 2 to perform the functions of each part. Processor 1 is also called CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. Memory 2 is, for example, non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, or disk, floppy disk, optical disk, high-density disk, mini disk, and DVD, etc.

[0097] In this way, the processing circuits of the cooperative control device 200 and the elevator control device 100 can realize their respective functions through hardware, software, firmware, or a combination thereof. When the processing circuits of the cooperative control device 200 and the elevator control device 100 each have at least a processor 1 and a 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 hardware and software of the cooperative control device 200 and the elevator control device 100 cooperate, thus realizing the functions of each part of the cooperative control device 200 and the elevator control device 100.

[0098] Furthermore, the elevator cooperative control method of this embodiment is executed by a computer of the cooperative control device 200, which is configured to communicate with the elevator control device 100. As can be seen from the above description, the elevator cooperative control method of this embodiment includes 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 floor call registration request to the elevator control device 100 based on dispatch requests from multiple autonomous mobile bodies 20. The elevator control device 100 registers the floor calls to the destination floor based on the floor call registration requests, assigns a car 10 to the registered floor calls, and sends car information to the cooperative control device 200 confirming the car 10 assigned to the floor call. In the detection step, if the first autonomous mobile body 21 among the multiple autonomous mobile bodies 20 fails to disembark from the car 10 at the next floor, the cooperative control device 200 detects that the first autonomous mobile body 21 failed to disembark from the car 10. In the notification step, if the car 10 identified by the cooperative control device 200 through the car information of the floor call registered by the second autonomous mobile body 22, which is different from the first autonomous mobile body 21 among the multiple autonomous mobile bodies 20, is the same as the car in the detection step where the first autonomous mobile body 21 was detected to have failed to descend the elevator, the cooperative control device 200 notifies the second autonomous mobile body 22 that there is an autonomous mobile body 20 different from the second autonomous mobile body 22 in the car 10.

[0099] Alternatively, as can be seen from the above description, the elevator cooperative control method of this embodiment includes 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 floor call registration request to the elevator control device 100 based on allocation requests from multiple autonomous moving bodies. The elevator control device 100 registers the floor calls to the destination floor based on the floor call registration requests, allocates a car 10 from multiple cars 10 for the registered floor calls, and sends allocation car information to the cooperative control device 200 confirming the car 10 allocated to the floor call. In the detection step, if the first autonomous moving body 21 among the multiple autonomous moving bodies 20 fails to alight from the car 10 at the destination floor, the cooperative control device 200 detects that the first autonomous moving body 21 failed to alight from the car 10. In the notification step, when there is a dispatch request from a second autonomous mobile body 22, which is different from the first autonomous mobile body 21, among the multiple autonomous mobile bodies 20, the cooperative control device 200 requests the second autonomous mobile body 22 to answer whether it wants to ride in the car 10 that was detected as having failed to descend during the detection step, i.e., the car that failed to descend. If the second autonomous mobile body 22 answers that it wants to ride in the car that failed to descend, the elevator control device allocates a car 10 from the multiple cars 10 that include the car that failed to descend, based on the floor call based on the dispatch request of the second autonomous mobile body 22.

[0100] The elevator cooperation control program of this embodiment is used to cause the computer of the cooperation control device 200 to execute the elevator cooperation control method described above. Furthermore, the storage medium of this embodiment stores such an elevator cooperation control program.

[0101] Furthermore, in this invention, the various embodiments can be combined arbitrarily without departing from the spirit of the invention. Hereinafter, examples of various embodiments of the invention will be uniformly described as appendices.

[0102] (Postscript 1)

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

[0104] The elevator call registration request unit sends a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous mobile entities.

[0105] Testing Department; and

[0106] Notification Department

[0107] The elevator control device registers floor call requests for passengers heading to the designated floor based on the floor call registration requests, dispatches the elevator car to the registered floor call, and sends car information confirming the car to be dispatched to the floor call.

[0108] If the first autonomous moving body among the plurality of autonomous moving bodies fails to disembark from the elevator car at the next floor, the detection unit detects that the first autonomous moving body has failed to disembark from the elevator car.

[0109] If the car identified by the car information of the landing call registered by the second autonomous mobile body, which is different from the first autonomous mobile body among the plurality of autonomous mobile bodies, is the same as the car in which the detection unit detected that the first autonomous mobile body failed to descend the elevator, the notification unit notifies the second autonomous mobile body that there is an autonomous mobile body different from the second autonomous mobile body in that car.

[0110] (Postscript 2)

[0111] According to the elevator cooperative control device described in Appendix 1, wherein...

[0112] The elevator control device controls multiple elevator cars, and allocates an elevator car from the multiple cars in response to a registered floor call.

[0113] The car information is the car allocation information that determines the car assigned to the call elevator at the floor.

[0114] (Note 3)

[0115] According to the elevator cooperative control device described in Appendix 1 or 2, wherein...

[0116] The notification unit requests the second autonomous mobile body to answer whether it wants to ride in the car that the detection unit detected as the first autonomous mobile body failing to descend the stairs.

[0117] (Note 4)

[0118] The elevator cooperative control device according to any one of Appendices 1 to 3, wherein...

[0119] The notification unit will notify the second autonomous mobile body of information related to the first autonomous mobile body.

[0120] (Note 5)

[0121] According to the elevator cooperative control device described in Appendix 4, wherein...

[0122] The notification unit will notify the second autonomous mobile body of at least one of the status, specifications, and surrounding conditions of the first autonomous mobile body as information related to the first autonomous mobile body.

[0123] (Note 6)

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

[0125] The elevator call registration request unit sends a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous mobile entities.

[0126] Testing Department; and

[0127] Notification Department

[0128] The elevator control device registers floor call requests to the floor being used based on the floor call registration requests, allocates a car from among the multiple elevator cars for the registered floor call requests, and sends allocation car information confirming the car assigned to the floor call request.

[0129] If the first autonomous moving body among the plurality of autonomous moving bodies fails to disembark from the elevator car at the next floor, the detection unit detects that the first autonomous moving body has failed to disembark from the elevator car.

[0130] In the event of a dispatch request from a second autonomous mobile body, which is different from the first autonomous mobile body, among a plurality of such autonomous mobile bodies, the notification unit requests the second autonomous mobile body to respond whether it will ride in the car that the detection unit detected as the first autonomous mobile body failing to descend, i.e., the car that failed to descend.

[0131] When the second autonomous mobile body responds to the failure to board the descending car, the elevator control device allocates a car from among the multiple cars containing the failed descending car in response to the floor call based on the dispatch request of the second autonomous mobile body.

[0132] (Note 7)

[0133] The elevator cooperative control device according to any one of Appendices 1 to 6, wherein...

[0134] The elevator cooperative control device also has a car travel indication unit for failed descent. This car travel indication unit sends a signal to the elevator control device to indicate that the car has failed to descend, as detected by the detection unit, should travel to a designated floor.

[0135] (Note 8)

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

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

[0138] The elevator control device; and

[0139] Multiple autonomous mobile entities.

[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 that controls the elevator car, wherein the elevator cooperative control method comprises:

[0142] The elevator call registration request step involves sending a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous mobile entities.

[0143] Detection steps; and

[0144] Notification steps,

[0145] The elevator control device registers floor call requests for passengers heading to the designated floor based on the floor call registration requests, allocates a car to the registered floor call, and sends car information confirming the car assigned to the floor call.

[0146] In the detection step, if the first autonomous moving body among the plurality of autonomous moving bodies fails to descend from the elevator car at the next floor, it is detected that the first autonomous moving body has failed to descend from the elevator car.

[0147] In the notification step, if the car identified by the car information of the landing call registered by the second autonomous mobile body, which is different from the first autonomous mobile body among the plurality of autonomous mobile bodies, is the same as the car in the detection step in which the first autonomous mobile body was detected to have failed to descend the elevator, the second autonomous mobile body is notified that there is an autonomous mobile body different from the second autonomous mobile body in that car.

[0148] (Postscript 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 that controls the elevator car, wherein the elevator cooperative control method comprises:

[0150] The elevator call registration request step involves sending a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous mobile entities.

[0151] Detection steps; and

[0152] Notification steps,

[0153] The elevator control device registers floor call requests to the floor being used based on the floor call registration requests, allocates a car from among the multiple elevator cars for the registered floor call requests, and sends allocation car information confirming the car assigned to the floor call request.

[0154] In the detection step, if the first autonomous moving body among the plurality of autonomous moving bodies fails to descend from the elevator car at the next floor, it is detected that the first autonomous moving body has failed to descend from the elevator car.

[0155] In the notification step, if there is a dispatch request from a second autonomous mobile body that is different from the first autonomous mobile body among the multiple autonomous mobile bodies, the second autonomous mobile body is requested to answer whether it wants to ride in the car that the first autonomous mobile body failed to descend in the detection step, i.e., the car that failed to descend.

[0156] When the second autonomous mobile body responds to the failure to board the descending car, the elevator control device allocates a car from among the multiple cars containing the failed descending car in response to the floor call based on the dispatch request of the second autonomous mobile body.

[0157] (Postscript 11)

[0158] A storage medium storing an elevator collaboration control program for causing the computer of the elevator collaboration control device to execute the elevator collaboration control method described in Appendix 9 or 10.

Claims

1. An elevator cooperative control device, the elevator cooperative control device being configured to communicate with an elevator control device that controls the elevator car, wherein, The elevator collaborative control device has the following features: The elevator call registration request unit sends a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous mobile entities. Testing Department; as well as Notification Department The elevator control device registers floor call requests for passengers heading to the designated floor based on the floor call registration requests, allocates a car to the registered floor call, and sends car information to the elevator coordination control device to confirm the car allocated to the floor call. If the first autonomous moving body among the plurality of autonomous moving bodies fails to disembark from the elevator car at the next floor, the detection unit detects that the first autonomous moving body has failed to disembark from the elevator car. If the car identified by the car information of the landing call registered by the second autonomous mobile body, which is different from the first autonomous mobile body among the plurality of autonomous mobile bodies, is the same as the car in which the detection unit detected that the first autonomous mobile body failed to descend the elevator, the notification unit notifies the second autonomous mobile body that there is an autonomous mobile body different from the second autonomous mobile body in that car.

2. The elevator cooperative control device according to claim 1, wherein, The elevator control device controls multiple elevator cars, and allocates an elevator car from the multiple cars in response to a registered floor call. The car information is the car allocation information that determines the car assigned to the call elevator at the floor.

3. The elevator cooperative control device according to claim 1, wherein, The notification unit requests the second autonomous mobile body to answer whether it wants to ride in the car that the detection unit detected as the first autonomous mobile body failing to descend the stairs.

4. The elevator cooperative control device according to claim 1, wherein, The notification unit will notify the second autonomous mobile body of information related to the first autonomous mobile body.

5. The elevator cooperative control device according to claim 4, wherein, The notification unit will notify the second autonomous mobile body of at least one of the status, specifications, and surrounding conditions of the first autonomous mobile body as information related to the first autonomous mobile body.

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 travel indication unit for failed descent. This car travel indication unit sends a signal to the elevator control device to indicate that the car has failed to descend, as detected by the detection unit, should travel to a designated floor.

7. An elevator cooperative control device, the elevator cooperative control device being configured to communicate with an elevator control device that controls multiple elevator cars, wherein, The elevator collaborative control device has the following features: The elevator call registration request unit sends a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous mobile entities. Testing Department; as well as Notification Department The elevator control device registers floor calls destined for the floor based on the floor call registration request, allocates a car from among the multiple elevator cars for the registered floor call, and sends the allocated car information to the elevator cooperation control device to confirm the car allocated to the floor call. If the first autonomous moving body among the plurality of autonomous moving bodies fails to disembark from the elevator car at the next floor, the detection unit detects that the first autonomous moving body has failed to disembark from the elevator car. In the event of a dispatch request from a second autonomous mobile body, which is different from the first autonomous mobile body, among a plurality of such autonomous mobile bodies, the notification unit requests the second autonomous mobile body to respond whether it will ride in the car that the detection unit detected as the first autonomous mobile body failing to descend, i.e., the car that failed to descend. When the second autonomous mobile body responds to the failure to board the descending car, the elevator control device allocates a car from among the multiple cars containing the failed descending car in response to the floor call based on the dispatch request of the second autonomous mobile body.

8. The elevator cooperative control device according to claim 7, wherein, The elevator cooperative control device also has a car travel indication unit for failed descent. This car travel indication unit sends a signal to the elevator control device to indicate that the car has failed to descend, as detected by the detection unit, should travel to a designated floor.

9. An elevator system, wherein, This elevator system has the following features: The elevator cooperative control device according to any one of claims 1 to 8; The elevator control device; and Multiple autonomous mobile entities.

10. An elevator cooperative control method, executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device that controls the elevator car, wherein... This elevator collaborative control method has the following characteristics: The elevator call registration request step involves sending a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous mobile entities. Testing steps; as well as Notification steps, The elevator control device registers floor call requests for passengers heading to the designated floor based on the floor call registration requests, allocates a car to the registered floor call, and sends car information to the elevator coordination control device to confirm the car allocated to the floor call. In the detection step, if the first autonomous moving body among the plurality of autonomous moving bodies fails to descend from the elevator car at the next floor, it is detected that the first autonomous moving body has failed to descend from the elevator car. In the notification step, if the car identified by the car information of the landing call registered by the second autonomous mobile body, which is different from the first autonomous mobile body among the plurality of autonomous mobile bodies, is the same as the car in the detection step in which the first autonomous mobile body was detected to have failed to descend the elevator, the second autonomous mobile body is notified that there is an autonomous mobile body different from the second autonomous mobile body in that 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 that controls the elevator car, wherein, This elevator collaborative control method has the following characteristics: The elevator call registration request step involves sending a floor call registration request to the elevator control device based on dispatch requests from multiple autonomous mobile entities. Testing steps; as well as Notification steps, The elevator control device registers floor calls destined for the floor based on the floor call registration request, allocates a car from among the multiple elevator cars for the registered floor call, and sends the allocated car information to the elevator cooperation control device to confirm the car allocated to the floor call. In the detection step, if the first autonomous moving body among the plurality of autonomous moving bodies fails to descend from the elevator car at the next floor, it is detected that the first autonomous moving body has failed to descend from the elevator car. In the notification step, if there is a dispatch request from a second autonomous mobile body that is different from the first autonomous mobile body among the multiple autonomous mobile bodies, the second autonomous mobile body is requested to answer whether it wants to ride in the car that the first autonomous mobile body failed to descend in the detection step, i.e., the car that failed to descend. When the second autonomous mobile body responds to the failure to board the descending car, the elevator control device allocates a car from among the multiple cars containing the failed descending car in response to the floor call based on the dispatch request of the second autonomous mobile body.

12. A storage medium storing an elevator collaboration control program for causing a computer of the elevator collaboration control device to execute the elevator collaboration control method of claim 10 or 11.

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