Elevator system, linkage device, method for controlling linkage device, and memory

Abstract

The invention provides an elevator system, a linkage device, a control method of the linkage device, and a memory. In an elevator system, the load of a manager can be reduced even if an autonomous moving body fails to descend. An elevator system (1) is provided with an autonomous moving body (4), a control device (6), a first determination unit (17), a suspension request unit (18), and a call request unit (14). When the first determination unit (17) determines that the autonomous moving body (4) fails to descend from the car (5) at the target floor (Fd), the suspension request unit (18) transmits a descending suspension request to the autonomous moving body (4). The call request unit (14) transmits a call registration request for descending from the car (5) at the target floor (Fd) to the control device (6) when a re-descending request is received from the autonomous moving body (4) as a response to a descending suspension request.

Description

Technical Field

[0001] The invention relates to an elevator system, a linkage device, a control method of the linkage device and a memory. Background Art

[0002] Patent document 1 discloses an elevator system. In the system disclosed in Patent document 1, an autonomous moving body moves in an elevator car. When the autonomous moving body cannot get off the car, a linkage device requests the autonomous moving body to stop. In addition, the linkage device requests the manager of the autonomous moving body to rescue the autonomous moving body.

[0003] Prior art literature

[0004] Patent Document 1: International Publication No. 2020 / 250409 Summary of the invention

[0005] In the system described in Patent Document 1, if the autonomous moving object cannot get off the car, the manager must rescue the autonomous moving object. The manager must move the autonomous moving object to the initial target floor, which places a heavy burden on the manager.

[0006] The present invention is made to solve the above-mentioned problems. The purpose of the present invention is to provide an elevator system that can reduce the burden on the manager even when the autonomous moving body fails to get off the elevator. Another purpose of the present invention is to provide a linkage device, a control method of the linkage device, and a program for realizing such a function in an elevator system.

[0007] The elevator system of the present invention comprises: an autonomous moving body; a control device that manages the operation of a car; a first determination unit that determines whether the autonomous moving body, which uses the car to go to a first target floor, has failed to get off the car at the first target floor; a stop request unit that sends a descent stop request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor; and a call request unit that sends a call registration request for getting off the car at the first target floor to the control device when receiving a re-descent request from the autonomous moving body as a response to the descent stop request. When receiving the descent stop request, the autonomous moving body stops the action for getting off the car and sends a re-descent request.

[0008] The elevator system of the present invention comprises: an autonomous moving body; a control device that manages the operation of a car; a first determination unit that determines whether the autonomous moving body, which uses the car to go to a first target floor, fails to get off the car at the first target floor; a stop request unit that sends a request for stopping the elevator from the car to the autonomous moving body when the first determination unit determines that the autonomous moving body fails to get off the car at the first target floor; a second determination unit that determines whether the autonomous moving body is in the car; and a call request unit that sends a call registration request for getting off the car at the first target floor to the control device when the first determination unit determines that the autonomous moving body fails to get off the car at the first target floor and the second determination unit determines that the autonomous moving body is in the car. When receiving the stop request for getting off the car, the autonomous moving body stops the action for getting off the car.

[0009] The linkage device of the present invention is capable of communicating with an autonomous moving body and a control device that manages the operation of an elevator car. The linkage device comprises: a first determination unit that determines whether the autonomous moving body, which uses the car to go to the first target floor, has failed to get off the car at the first target floor; a stop request unit that sends a descent stop request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor; and an elevator call request unit that sends an elevator call registration request for getting off the car at the first target floor to the control device when a re-descent request is received from the autonomous moving body as a response to the descent stop request. The autonomous moving body that has received the descent stop request stops the action for getting off the car and sends a re-descent request.

[0010] The linkage device of the present invention can communicate with an autonomous moving body and a control device that manages the operation of an elevator car. The linkage device includes: a first determination unit that determines whether the autonomous moving body, which uses the car to go to the first target floor, fails to get off the car at the first target floor; a stop request unit that sends a request for stopping the elevator from the car to the autonomous moving body when the first determination unit determines that the autonomous moving body fails to get off the car at the first target floor; a second determination unit that determines whether the autonomous moving body is in the car; and an elevator call request unit that sends a request for registering the elevator to get off the car at the first target floor to the control device when the first determination unit determines that the autonomous moving body fails to get off the car at the first target floor and the second determination unit determines that the autonomous moving body is in the car. The autonomous moving body that receives the request for stopping the elevator from the car stops the action to get off the car.

[0011] The control method of the linkage device of the present invention is a control method of the linkage device capable of communicating with an autonomous moving body and a control device that manages the operation of an elevator car. The control method includes: a first determination step of determining whether the autonomous moving body that uses the car to go to the first target floor fails to get off the car from the car at the first target floor; a stop request step of sending a down-elevation stop request to the autonomous moving body when it is determined by the first determination step that the autonomous moving body fails to get off the car from the car at the first target floor; and an elevator call request step of sending an elevator call registration request for getting off the car from the car at the first target floor to the control device when a re-down request is received from the autonomous moving body as a response to the down-elevation stop request. The autonomous moving body that receives the down-elevation stop request stops the action for getting off the car and sends a re-down request.

[0012] The control method of the linkage device of the present invention is a control method of the linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car. The control method includes: a first determination step of determining whether the autonomous moving body, which uses the car to go to the first target floor, fails to get off the car from the car at the first target floor; a stop request step of sending a down-elevation stop request to the autonomous moving body when it is determined by the first determination step that the autonomous moving body fails to get off the car from the car at the first target floor; a second determination step of determining whether the autonomous moving body is in the car; and a call request step of sending a call registration request for getting off the car from the car at the first target floor to the control device when it is determined by the first determination step that the autonomous moving body fails to get off the car from the car at the first target floor and it is determined by the second determination step that the autonomous moving body is in the car. The autonomous moving body that receives the down-elevation stop request stops the action for getting off the car.

[0013] The memory of the present invention stores a program for causing a computer to execute a first determination process, an abort request process, and an elevator call request process. The computer is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car. In the first determination process, it is determined whether the autonomous moving body that uses the car to go to the first target floor has failed to get off the car at the first target floor. In the abort request process, when it is determined by the first determination process that the autonomous moving body has failed to get off the car at the first target floor, an elevator abort request is sent to the autonomous moving body. In the elevator call request process, when a further elevator abort request is received from the autonomous moving body as a response to the elevator abort request, an elevator call registration request for getting off the car at the first target floor is sent to the control device. The program is used to cause the autonomous moving body that has received the elevator abort request to abort the action for getting off the car and to send a further elevator abort request.

[0014] The memory of the present invention stores a program for causing a computer to execute a first determination process, an abort request process, a second determination process, and an elevator call request process. The computer is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car. In the first determination process, it is determined whether the autonomous moving body that uses the car to go to a first target floor has failed to get off the car at the first target floor. In the abort request process, when it is determined by the first determination process that the autonomous moving body has failed to get off the car at the first target floor, an elevator abort request is sent to the autonomous moving body. In the second determination process, it is determined whether the autonomous moving body is in the car. In the elevator call request process, when it is determined by the first determination process that the autonomous moving body has failed to get off the car at the first target floor and by the second determination process that the autonomous moving body is in the car, an elevator call registration request for getting off the car at the first target floor is sent to the control device. The program is used to cause the autonomous moving body that has received the elevator abort request to terminate the action of getting off the car.

[0015] Effects of the Invention

[0016] According to the present invention, in the elevator system, even when the autonomous moving body fails to get off the elevator, the burden on the manager can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a diagram showing an example of the elevator system according to the first embodiment.

[0018] Figure 2 This is a flowchart showing an example of the operation of the linkage device.

[0019] Figure 3 This is a flowchart showing another operation example of the linkage device.

[0020] Figure 4 This is a timing chart showing an example of the operation of the entire elevator system.

[0021] Figure 5 This is a flowchart showing an example of the operation of the autonomous mobile object.

[0022] Figure 6 This is a flowchart showing another operation example of the linkage device.

[0023] Figure 7 This is a flowchart showing another operation example of the linkage device.

[0024] Figure 8 It is a flowchart showing an operation example of the control device.

[0025] Fig. 9 This is a flowchart showing another operation example of the linkage device.

[0026] Fig.10 It is a diagram showing an example of hardware resources of a linkage device.

[0027] Fig.11 This is a diagram showing another example of hardware resources of the linkage device.

[0028] Description of symbols

[0029] 1: Elevator system; 2: Elevator device; 3: Interlocking device; 4: Autonomous moving body; 5: Car; 6: Control device; 7: Door; 10: Storage unit; 11: Communication unit; 12: Communication unit; 13: Recording unit; 14: Call request unit; 15: Boarding and alighting request unit; 16: Door request unit; 17: First determination unit; 18: Stop request unit; 19: Second determination unit; 20: Third determination unit; 31: Communication unit; 32: Information acquisition unit; 33: Action control unit; 41: Communication unit; 42: Information acquisition unit; 43: Decision unit; 44: Operation control unit; 50: Processing circuit; 51: Processor; 52: Memory; 53: Special hardware. DETAILED DESCRIPTION

[0030] The following is a detailed description with reference to the accompanying drawings. The repeated description is appropriately simplified or omitted. In each figure, the same reference numeral represents the same part or a corresponding part.

[0031] Implementation Method 1

[0032] Figure 1 1 is a diagram showing an example of an elevator system 1 according to Embodiment 1. The elevator system 1 includes an elevator device 2, an interlocking device 3, and an autonomous moving body 4. The elevator device 2 includes a car 5 and a control device 6. The elevator system 1 may include a plurality of autonomous moving bodies 4. The elevator device 2 may include a plurality of cars 5.

[0033] The elevator car 5 stops at multiple floors in the building. Users can move to a desired floor by riding the car 5. The car 5 has a door 7. The control device 6 manages the operation of the car 5. When the elevator device 2 has a plurality of cars 5, the control device 6 can also manage the plurality of cars 5 as a group.

[0034] The autonomous mobile body 4 can move autonomously in the building. As an example, the autonomous mobile body 4 is a cleaning robot. The autonomous mobile body 4 can also be a security robot. The autonomous mobile body 4 can also be a robot for carrying goods. The autonomous mobile body 4 can also be a robot that performs other functions in the building. The autonomous mobile body 4 can move to a desired floor by riding in a car 5.

[0035] In the elevator system 1, the autonomous moving body 4 can move together with the user in the car 5. For example, the autonomous moving body 4 may get into the car 5 in which the user gets. Alternatively, the user may get into the car 5 in which the autonomous moving body 4 gets. The elevator system 1 may include a car 5 dedicated to the autonomous moving body 4 and a car 5 dedicated to the user. As another example, the elevator device 2 may include only a car 5 dedicated to the autonomous moving body 4.

[0036] The linkage device 3 can communicate bidirectionally with the control device 6. The linkage device 3 can communicate bidirectionally with the autonomous moving body 4. In the case where the device for managing the autonomous moving body 4 is provided separately from the autonomous moving body 4, the linkage device 3 can also communicate with the autonomous moving body 4 through the device. In the elevator system 1, in principle, the autonomous moving body 4 does not communicate directly with the control device 6. The linkage device 3 mediates between the autonomous moving body 4 and the control device 6.

[0037] The interlocking device 3 includes a storage unit 10 , a communication unit 11 , a communication unit 12 , a recording unit 13 , a call request unit 14 , a boarding and alighting request unit 15 , a door request unit 16 , a first determination unit 17 , a suspension request unit 18 , and a second determination unit 19 .

[0038] The communication unit 11 is a function for communicating with the autonomous moving body 4. The communication unit 12 is a function for communicating with the control device 6. The elevator call request unit 14 is a function for requesting the control device 6 to register an elevator call. The boarding and alighting request unit 15 is a function for requesting the autonomous moving body 4 to board and to get off. Specifically, the boarding and alighting request unit 15 has the function of an elevator request unit for requesting the autonomous moving body 4 to board, and the function of a descending request unit for requesting the autonomous moving body 4 to get off. That is, the descending request unit is a partial function of the boarding and alighting request unit 15. The door request unit 16 is a function for requesting the control device 6 to open and close the door 7.

[0039] The functions of the interlocking device 3 can be realized by a so-called computer. As an example, the functions of the interlocking device 3 are realized by a cloud server. The functions of the interlocking device 3 can also be realized by a server in a building equipped with the elevator device 2.

[0040] The autonomous mobile object 4 includes a communication unit 31 , an information acquisition unit 32 , and a motion control unit 33 .

[0041] The communication unit 31 is a function for communicating with the linkage device 3. The information acquisition unit 32 is a function for acquiring information related to the autonomous moving body 4. In the following content, this information is also referred to as moving body information. As an example, the moving body information includes information indicating the position coordinates, direction, current floor, remaining charge, status, and operation. The above status includes, for example, moving, waiting, charging, waiting at the elevator floor, elevator riding, in the elevator, and elevator descending. Examples of moving body information are not limited to the above examples.

[0042] The motion control unit 33 is a function for controlling motion. For example, the motion control unit 33 controls a driving machine (not shown) to move the autonomous moving body 4. The functions of the autonomous moving body 4 can be realized by a so-called computer.

[0043] The control device 6 includes a communication unit 41 , an information acquisition unit 42 , a determination unit 43 , and an operation control unit 44 .

[0044] The communication unit 41 is a function for communicating with the linkage device 3. The information acquisition unit 42 is a function for acquiring information related to the elevator device 2. In the following content, this information is also referred to as elevator information. As an example, the elevator information includes information indicating the position of the car 5, the state of the car 5, and the state of the door 7. The state of the car 5 includes, for example, being stopped, moving upward, and moving downward. The state of the door 7 includes, for example, fully closed, opening, fully open, and closing. Examples of elevator information are not limited to the above examples.

[0045] The operation control unit 44 controls the operation of the elevator device 2. For example, the operation control unit 44 controls the movement of the car 5. The operation control unit 44 controls the opening and closing of the door 7. The functions of the control device 6 can be realized by a so-called computer.

[0046] See also below Figures 2 to 8 The operation of the elevator system 1 will be described in detail. Figure 2 It is a flowchart showing an operation example of the interlocking device 3 .

[0047] In the linkage device 3, it is determined whether the moving body information is received from the autonomous moving body 4 (S101). In the autonomous moving body 4, the moving body information acquired by the information acquisition unit 32 is periodically transmitted from the communication unit 31 to the linkage device 3. The moving body information may be transmitted from the autonomous moving body 4 every time the content of the moving body information is changed. In the linkage device 3, the moving body information from the autonomous moving body 4 is received by the communication unit 11. When the communication unit 11 receives the moving body information, it is determined as "yes" in S101.

[0048] When it is determined as "yes" in S101, the recording unit 13 records the moving body information received by the communication unit 11 in the storage unit 10 (S102). As a result, the moving body information is accumulated in the storage unit 10. In the linkage device 3, the latest state of the autonomous moving body 4 can be determined based on the moving body information stored in the storage unit 10. In addition, in the linkage device 3, the latest position of the autonomous moving body 4 can be determined based on the moving body information stored in the storage unit 10.

[0049] Figure 3 This is a flowchart showing another operation example of the interlocking device 3 .

[0050] In the linkage device 3, it is determined whether the elevator information is received from the control device 6 (S201). In the control device 6, the elevator information acquired by the information acquisition unit 42 is periodically transmitted from the communication unit 41 to the linkage device 3. It is also possible that the elevator information is transmitted from the control device 6 every time the content of the elevator information is changed. In the linkage device 3, the elevator information from the control device 6 is received by the communication unit 12. When the communication unit 12 receives the elevator information, it is determined as "yes" in S201.

[0051] When it is determined as "yes" in S201, the recording unit 13 records the elevator information received by the communication unit 12 in the storage unit 10 (S202). As a result, the elevator information is accumulated in the storage unit 10. In the linkage device 3, the latest position and state of the car 5 can be determined based on the elevator information stored in the storage unit 10. In addition, in the linkage device 3, the latest state of the door 7 can be determined based on the elevator information stored in the storage unit 10.

[0052] Next, the operation of the autonomous moving body 4 when traveling on the car 5 will be described. Figure 4 It is a timing chart showing an operation example of the entire elevator system 1 . Figure 5 30 is a flowchart showing an example of the operation of the autonomous moving object 4. When the autonomous moving object 4 needs to travel by the car 5, the communication unit 31 transmits a call request (S301).

[0053] Figure 6 and Figure 7 This is a flowchart showing another operation example of the interlocking device 3 . Figure 6 and Figure 7 A series of operations are shown. In the interlocking device 3, it is determined whether a call request is received from the autonomous moving object 4 (S401). When the communication unit 11 receives the call request transmitted from the autonomous moving object 4 in S301, it is determined as "Yes" in S401.

[0054] When it is determined as "yes" in S401, the elevator call request unit 14 sends an elevator call registration request to the control device 6 (S402) based on the elevator call request received by the communication unit 11 in S401. The elevator call registration request includes information on the boarding floor Fr and the target floor Fd. The boarding floor Fr is the floor where the autonomous moving body 4 takes the elevator car 5. The target floor Fd is the floor where the autonomous moving body 4 gets off the elevator from the elevator car 5.

[0055] Figure 8 : is a flowchart showing an example of the operation of the control device 6. The control device 6 determines whether a call registration request is received from the interlocking device 3 (S501). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 in S402, it determines "Yes" in S501.

[0056] When the determination result in S501 is "Yes", the determination unit 43 determines the car 5 to which the communication unit 41 responds to the call registration request received in S501 (S502). Figure 1 As shown in FIG. 5 , if the elevator device 2 includes a plurality of cars 5, the decision unit 43 allocates a call registration request to one of the plurality of cars 5 and causes the car to respond to the call registration request. In the following, the car 5 that responds to the call registration request is also referred to as the allocated car 5. When the decision unit 43 determines the allocated car 5 in S502, an allocated car notification is sent from the communication unit 41 to the linkage device 3 (S503). The allocated car notification includes information on the allocated car 5 determined by the decision unit 43.

[0057] In the linkage device 3, when the call registration request is sent in S402, it is determined whether the assigned car notification is received from the control device 6 as a response to the call registration request (S403). When the communication unit 12 receives the assigned car notification sent from the control device 6 in S503, it is determined as "yes" in S403. When it is determined as "yes" in S403, the assigned car notification is sent from the communication unit 11 to the autonomous moving body 4 (S404).

[0058] In addition, in the autonomous moving body 4, the communication unit 31 receives the assigned car notification transmitted from the linkage device 3 in S404. When the elevator device 2 includes a plurality of cars 5, the motion control unit 33 may also prepare for riding in the assigned car 5. For example, the motion control unit 33 controls the driving machine to move the autonomous moving body 4 to the door of the assigned car 5 for riding.

[0059] In the control device 6, when the determination unit 43 determines the assigned car 5 in S502, the operation control unit 44 causes the assigned car 5 to respond to the elevator call registration request (S504). Specifically, the operation control unit 44 moves the assigned car 5 to the elevator floor Fr. After the operation control unit 44 stops the assigned car 5 at the elevator floor Fr, it opens the door 7 of the assigned car 5. By opening the door 7 of the assigned car 5 at the elevator floor Fr, the door opening notification is sent from the communication unit 41 to the linkage device 3 (S505). The door opening notification includes information indicating that the door 7 of the assigned car 5 has been opened at the elevator floor Fr.

[0060] In the linkage device 3, when the elevator call registration request is sent in S402, it is determined whether the door opening notification of the elevator floor Fr is received (S405). When the communication unit 12 receives the door opening notification sent from the control device 6 in S505, it is determined as "yes" in S405. When it is determined as "yes" in S405, the boarding and alighting request unit 15 sends an elevator request to the autonomous moving body 4 (S406). The elevator request includes information indicating that boarding the assigned car 5 is allowed.

[0061] In the autonomous moving body 4, when a call request is sent in S301, it is determined whether a ride request is received from the linkage device 3 as a response to the call request (S302). When the communication unit 31 receives the ride request sent from the linkage device 3 in S406, it is determined as "yes" in S302. When it is determined as "yes" in S302, the autonomous moving body 4 gets on the assigned car 5 (S303). That is, the motion control unit 33 controls the drive motor to move the autonomous moving body 4 from the landing station of the ride floor Fr to the inside of the assigned car 5. When the autonomous moving body 4 gets on the assigned car 5, a ride completion notification is sent from the communication unit 31 to the linkage device 3 (S304).

[0062] In the linkage device 3, when a boarding request is sent in S406, it is determined whether a boarding completion notification is received from the autonomous moving body 4 as a response to the boarding request (S407). When the communication unit 11 receives the boarding completion notification sent from the autonomous moving body 4 in S304, it is determined as "yes" in S407. When it is determined as "yes" in S407, the door request unit 16 sends a door closing request to the control device 6 to close the door 7 of the assigned car 5 (S408).

[0063] In the control device 6, when the door opening notification is sent in S505, it is determined whether a door closing request is received from the linkage device 3 as a response to the door opening notification (S506). When the communication unit 41 receives the door closing request sent from the linkage device 3 in S408, it is determined as "yes" in S506. When it is determined as "yes" in S506, the operation control unit 44 moves the assigned car 5 to the target floor Fd (S507).

[0064] Specifically, the operation control unit 44 closes the door 7 of the assigned car 5 at the boarding floor Fr. Next, the operation control unit 44 causes the assigned car 5 to respond to the elevator call registration request and moves the assigned car 5 to the target floor Fd. After the operation control unit 44 stops the assigned car 5 at the target floor Fd, it opens the door 7 of the assigned car 5. By opening the door 7 of the assigned car 5 at the target floor Fd, a door opening notification is sent from the communication unit 41 to the linkage device 3 (S508). The door opening notification includes information indicating that the door 7 of the assigned car 5 has been opened at the target floor Fd.

[0065] In the linkage device 3, when the door closing request is sent in S408, it is determined whether the door opening notification of the target floor Fd is received (S409). When the communication unit 12 receives the door opening notification sent from the control device 6 in S508, it is determined as "yes" in S409. When it is determined as "yes" in S409, the boarding and alighting request unit 15 sends a down-elevation request to the autonomous moving body 4 (S410). The down-elevation request includes information indicating that the down-elevation from the assigned car 5 is allowed.

[0066] In the autonomous moving body 4, when the boarding completion notification is sent in S304, it is determined whether a request to get off the elevator is received from the linkage device 3 as a response to the boarding completion notification (S305). When the communication unit 31 receives the request to get off the elevator sent from the linkage device 3 in S410, it is determined as "yes" in S305. When it is determined as "yes" in S305, the autonomous moving body 4 starts the moving action to get off the elevator from the assigned car 5 (S306). That is, the action control unit 33 controls the driving machine to make the autonomous moving body 4 start moving from the assigned car 5 to the landing station of the target floor Fd.

[0067] When it is determined as "yes" in S305, in the autonomous moving body 4, it is determined whether the moving from the assigned car 5 to the landing of the target floor Fd is successful (S307). If the autonomous moving body 4 has moved to the landing of the target floor Fd, it is determined as "yes" in S307. When it is determined as "yes" in S307, a notification of completion of the moving from the assigned car 5 is sent to the linkage device 3 from the communication unit 31 (S308). The notification of completion of the moving includes information indicating that the autonomous moving body 4 has moved from the assigned car 5 at the target floor Fd.

[0068] On the other hand, if the autonomous moving body 4 fails to move to the landing of the target floor Fd, it is determined as "No" in S307. As an example, consider a case where the autonomous moving body 4 receives a request to get off the stairs when the autonomous moving body 4 and the user are riding in the assigned car 5. If the user is standing between the autonomous moving body 4 and the entrance and exit, the autonomous moving body 4 stops the action of getting off the stairs when it detects the presence of the user on the travel path. In such a case, even if the autonomous moving body 4 receives a request to get off the stairs, it cannot get off the stairs from the assigned car 5, and it is determined as "No" in S307. When it is determined as "No" in S307, the autonomous moving body 4 determines whether a request to stop getting off the stairs is received from the linkage device 3 (S309).

[0069] In the interlocking device 3, when the getting-off request is transmitted in S410, the first determination unit 17 determines whether the autonomous moving body 4 has failed to get off from the assigned car 5 at the target floor Fd.

[0070] As an example, the first determination unit 17 determines whether a notification of completion of getting off the elevator is received from the autonomous moving body 4 (S411). When the communication unit 11 receives the notification of completion of getting off the elevator transmitted from the autonomous moving body 4 in S308, it is determined as "yes" in S411. That is, the first determination unit 17 determines that the autonomous moving body 4 has not failed to get off the elevator from the assigned car 5 at the target floor Fd. When it is determined as "yes" in S411, the door request unit 16 sends a door closing request to the control device 6 (S412).

[0071] On the other hand, if the communication unit 11 does not receive the notification of completion of getting off the stairs from the autonomous moving body 4, it is determined as "No" in S411. When it is determined as "No" in S411, the first determination unit 17 determines whether a specified time has passed since the door opening notification was received in S409 (S413). The specified time is set in advance. If the specified time has passed without the autonomous moving body 4 receiving the notification of completion of getting off the stairs, the first determination unit 17 determines that the autonomous moving body 4 has failed to get off the stairs from the assigned car 5 at the target floor Fd. That is, it is determined as "Yes" in S413. When it is determined as "Yes" in S413, the abort request unit 18 sends a request to abort getting off the stairs to the autonomous moving body 4 (S414). In addition, the first determination unit 17 may also determine the failure of getting off the stairs by other methods.

[0072] In the autonomous moving body 4, when the communication unit 31 receives the request to stop the elevator descent sent from the linkage device 3 in S414, it is determined as "yes" in S309. When it is determined as "yes" in S309, the autonomous moving body 4 stops the descending action for getting off the assigned car 5 (S310). When the descending action is stopped in S310, a notice of completion of the elevator descent is sent from the communication unit 31 to the linkage device 3 (S311). The notice of completion of the elevator descent includes information indicating that the autonomous moving body 4 has stopped moving to the landing station of the target floor Fd.

[0073] In the linkage device 3, when a descent stop request is sent in S414, it is determined whether a descent stop completion notification is received from the autonomous moving body 4 as a response to the descent stop request (S415). When the communication unit 11 receives the descent stop completion notification sent from the autonomous moving body 4 in S311, it is determined as "yes" in S415. When it is determined as "yes" in S415, the door request unit 16 sends a door closing request to the control device 6 to close the door 7 of the assigned car 5 (S416).

[0074] In the control device 6, when the door opening notification is sent in S508, it is determined whether a door closing request is received from the linkage device 3 (S509). When the communication unit 41 receives the door closing request sent from the linkage device 3 in S412, it is determined as "yes" in S509. In addition, when the communication unit 41 receives the door closing request sent from the linkage device 3 in S416, it is determined as "yes" in S509. When it is determined as "yes" in S509, the operation control unit 44 closes the door 7 of the assigned car 5 (S510).

[0075] In the autonomous moving body 4, when the descending operation is stopped in S310 and the descending stop completion notification is sent in S311, a further descending request is sent from the communication unit 31 to the linkage device 3 (S312). The further descending request may be sent after the door closing request is sent in S416.

[0076] In the linkage device 3, when a request to stop descending is sent in S414, it is determined whether a request to descend again is received from the autonomous moving body 4 as a response to the request to stop descending (S417). When the communication unit 11 receives the request to descend again sent from the autonomous moving body 4 in S312, it is determined as "yes" in S417. When it is determined as "yes" in S417, the second determination unit 19 determines whether the autonomous moving body 4 is in the assigned car 5 (S418). The determination in S418 is performed, for example, based on the latest moving body information stored in the storage unit 10.

[0077] When the second determination unit 19 determines that the autonomous moving body 4 is in the assigned car 5, it is determined as "yes" in S418. When it is determined as "yes" in S418, the elevator call request unit 14 sends a call registration request (S419) to the control device 6 for the autonomous moving body 4 to get off from the assigned car 5 at the target floor Fd, that is, the same target floor as the target floor included in the elevator call registration request sent in S402. This elevator call registration request is equivalent to a call generated by operating the operating panel in the assigned car 5, that is, a so-called car call. That is, the car 5 that responds to the call registration request is the car 5 that has responded to the call registration request sent in S402. When it is determined as "no" in S418, the call registration request is not sent.

[0078] In addition, the determination in S418 may not be performed by the linkage device 3. For example, the autonomous mobile body 4 may perform a determination equivalent to the determination in S418.

[0079] In the control device 6, after S510, it is determined whether a call registration request equivalent to a car call is received from the linkage device 3 (S511). When the communication unit 41 receives the call registration request sent from the linkage device 3 in S419, it is determined as "yes" in S511. When it is determined as "yes" in S511, the process returns to S507. That is, the operation control unit 44 moves the assigned car 5 to the target floor Fd and opens the door 7.

[0080] Thus, in the linkage device 3, the communication unit 12 receives the door opening notification sent from the control device 6 in S508 ("Yes" in S420). When it is determined as "Yes" in S420, the boarding and alighting request unit 15 sends a descending request to the autonomous moving body 4 (S410). The autonomous moving body 4 that receives the descending request starts the descending action (S306), and if it has descended from the assigned car 5, it sends a descending completion notification to the linkage device 3 (S308).

[0081] In the above example, when the determination in S511 is "YES", the registration result of the car call may be notified from the control device 6 to the interlocking device 3 before the processing in S507 is performed, and the interlocking device 3 may forward the notification to the autonomous moving body 4.

[0082] In the example shown in the present embodiment, the first determination unit 17 determines whether the autonomous moving body 4, which is traveling to the target floor Fd using the assigned car 5, has failed to get off from the assigned car 5 at the target floor Fd. When the first determination unit 17 determines that the autonomous moving body 4 has failed to get off from the assigned car 5 at the target floor Fd, the suspension request unit 18 transmits a descent suspension request to the autonomous moving body 4. Then, when the call request unit 14 receives a re-descent request from the autonomous moving body 4 as a response to the descent suspension request, it transmits a call registration request for the autonomous moving body 4 to get off from the assigned car 5 at the target floor Fd to the control device 6.

[0083] In the elevator system 1, even if the autonomous moving body 4 fails to temporarily descend, a call registration request corresponding to the re-descending request from the autonomous moving body 4 is performed, so that the autonomous moving body 4 can descend from the assigned car 5 at the target floor Fd. Even if the autonomous moving body 4 fails to descend, the manager does not need to go to rescue the autonomous moving body 4. Therefore, the burden on the manager can be reduced.

[0084] The following describes other functions that can be used by the elevator system 1. If possible, the elevator system 1 can also use a combination of the following functions. In the example shown below, only the differences from the above example are described in detail. The description of the same points as the above example is omitted.

[0085] In the above example, when the call request unit 14 receives a re-descending request from the autonomous moving body 4 as a response to the descending suspension request, it transmits a call registration request for the autonomous moving body 4 to descend from the assigned car 5 at the target floor Fd to the control device 6. However, even if the re-descending request is not received from the autonomous moving body 4, it is possible in the linkage device 3 to determine that the autonomous moving body 4 has failed to descend from the assigned car 5 at the target floor Fd and that the autonomous moving body 4 is in the assigned car 5.

[0086] When the first determination unit 17 determines that the autonomous moving body 4 has failed to get off the assigned car 5 at the target floor Fd, it is determined as "Yes" in S413. When the second determination unit 19 determines that the autonomous moving body 4 is in the assigned car 5, it is determined as "Yes" in S418. The elevator call request unit 14 may send an elevator call registration request for the autonomous moving body 4 to get off the assigned car 5 at the target floor Fd to the control device 6 in S419 when it is determined as "Yes" in S413 and "Yes" in S418. In this case, the linkage device 3 may not be performed. Figure 7 The processing shown in S417 of the autonomous moving body 4 may not be performed. Figure 5 The processing shown in S312.

[0087] Fig. 9is a flowchart showing another example of the operation of the linkage device 3. Fig. 9 In the case of the illustrated operation flow, the interlocking device 3 further includes a third determination unit 20 .

[0088] Depending on the function of the elevator device 2, there may be a case where the car 5 does not respond to a car call with the floor at which the car 5 is currently parked as the target floor. Fig. 9 In the example shown, when it is determined as "yes" in S418, the third determination unit 20 determines whether the floor where the assigned car 5 is currently located is consistent with the target floor Fd (S421). When the third determination unit 20 determines that the current floor of the assigned car 5 is inconsistent with the target floor Fd, the processing shown in S419 is performed.

[0089] On the other hand, when the third determination unit 20 determines that the current floor of the assigned car 5 coincides with the target floor Fd, the door request unit 16 sends a door opening request for opening the door 7 of the assigned car 5 to the control device 6 (S422). Then, the process shown in S420 is performed. That is, the determination in S421 is "yes", and the boarding and alighting request unit 15 sends a descending request to the autonomous moving body 4 (S410). The autonomous moving body 4 receives the descending request, and starts the descending action for descending from the assigned car 5 (S306).

[0090] exist Fig. 9 In the example shown, the third determination unit 20 determines in S421 whether the current floor of the assigned car 5 coincides with the target floor Fd, on the condition that a further descending request is received from the autonomous moving body 4. When it is determined as "No" in S421, a call registration request for the autonomous moving body 4 to descend from the assigned car 5 at the target floor Fd is sent to the control device 6. On the other hand, when it is determined as "Yes" in S421, the call registration request is not sent, but a door opening request is sent to the control device 6. In this example, it is possible to prevent the call registration request with the current floor of the assigned car 5 as the target floor from being sent in S419.

[0091] in addition, Fig. 9 The example shown can also be applied to an example in which no further descending request is sent from the autonomous moving body 4. In this case, the third determination unit 20 determines whether the current floor of the assigned car 5 coincides with the target floor Fd (S421) as long as it determines "yes" in S413 and "yes" in S418.

[0092] Fig.10 2 is a diagram showing an example of hardware resources of the linkage device 3. The linkage device 3 includes a processing circuit 50 including a processor 51 and a memory 52 as hardware resources. The processing circuit 50 may include a plurality of processors 51. The processing circuit 50 may include a plurality of memories 52.

[0093] In this embodiment, the parts indicated by reference numerals 10 to 20 represent the functions of the linkage device 3. The function of the storage unit 10 is implemented by the memory 52. ​​The functions of the parts indicated by reference numerals 11 to 20 can be implemented by software, firmware, or a combination of software and firmware described as a program. The program is stored in the memory 52. ​​The linkage device 3 implements the functions of the parts indicated by reference numerals 11 to 20 by executing the program stored in the memory 52 by the processor 51 (computer).

[0094] The processor 51 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. A semiconductor memory, a magnetic disk, a floppy disk, an optical disk, a CD (compact disk), a mini disc or a DVD (Digital Versatile Disk) can also be used as the memory 52. ​​The semiconductor memory that can be used includes a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory) and an EEPROM (Electrically Erasable Programmable Read Only Memory).

[0095] Fig.11 FIG. 4 is a diagram showing another example of hardware resources of the linkage device 3. Fig.11 In the example shown, the linkage device 3 includes a processing circuit 50 including a processor 51 , a memory 52 , and dedicated hardware 53 . Fig.11 The example in which a part of the functions of the linkage device 3 is implemented by the dedicated hardware 53 is shown. It is also possible to implement all the functions of the linkage device 3 by the dedicated hardware 53. As the dedicated hardware 53, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof can be used.

[0096] Hardware resources and Fig.10 or Fig.11The example shown is the same. The autonomous mobile body 4 has a processing circuit including a processor and a memory as hardware resources. The autonomous mobile body 4 realizes the functions of the various parts shown by reference numerals 31 to 33 by executing a program stored in the memory by a processor (computer). The autonomous mobile body 4 may also have a processing circuit including a processor, a memory, and dedicated hardware as hardware resources. Regarding the autonomous mobile body 4, part or all of the functions of the device may also be realized by dedicated hardware.

[0097] The hardware resources of the control device 6 are Fig.10 or Fig.11 The example shown is the same. The control device 6 has a processing circuit including a processor and a memory as hardware resources. The control device 6 realizes the functions of the various parts shown by reference numerals 41 to 44 by executing the program stored in the memory by the processor (computer). The control device 6 may also have a processing circuit including a processor, a memory and dedicated hardware as hardware resources. Regarding the control device 6, part or all of the functions of the device may also be realized by dedicated hardware.

[0098] Hereinafter, examples of aspects that may be included in the present invention will be described as supplementary notes.

[0099] [Note 1]

[0100] An elevator system, wherein the elevator system comprises:

[0101] Autonomous mobile body;

[0102] A control device, which manages the operation of the car;

[0103] a first determination unit for determining whether the autonomous movable body, which is traveling to a first target floor using the car, fails to get off the car at the first target floor;

[0104] a suspension request unit that transmits a descent suspension request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to deboard from the car at the first target floor; and

[0105] a call request section that, upon receiving a re-descending request from the autonomous moving body as a response to the descending suspension request, transmits to the control device a call registration request for descending from the car at the first destination floor,

[0106] When receiving the alighting stop request, the autonomous moving body stops the movement for alighting from the car and transmits the re-descending request.

[0107] [Note 2]

[0108] The elevator system according to Supplement 1, wherein:

[0109] The elevator system further includes a second determination unit that determines whether the autonomous moving object is in the car.

[0110] When the second determination unit determines that the autonomous moving object is in the car when the call request unit receives the re-descending request from the autonomous moving object, the call request unit transmits the call registration request to the control device.

[0111] [Note 3]

[0112] The elevator system according to Supplement 1 or 2, further comprising:

[0113] a third determination unit, which, upon receiving the further getting-off request, determines whether the current floor of the car coincides with the first target floor;

[0114] Door Request Department; and

[0115] Downstairs Request Department,

[0116] The call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not coincide with the first destination floor.

[0117] The door request unit transmits a door opening request for opening the door of the car to the control device when the third determination unit determines that the current floor of the car coincides with the first target floor.

[0118] The getting-off request unit sends a first getting-off request to the autonomous moving object when the third determination unit determines that the current floor of the car coincides with the first target floor.

[0119] The autonomous moving body starts an operation for getting off the car when receiving the first getting-off request.

[0120] [Note 4]

[0121] An elevator system, wherein the elevator system comprises:

[0122] Autonomous mobile body;

[0123] A control device, which manages the operation of the car;

[0124] a first determination unit for determining whether the autonomous movable body, which is traveling to a first target floor using the car, fails to get off the car at the first target floor;

[0125] a suspension request unit that sends a descent suspension request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to deboard from the car at the first target floor;

[0126] a second determination unit that determines whether the autonomous moving object is in the car; and

[0127] an elevator call request unit for sending an elevator call registration request for getting off the car at the first target floor to the control device when the first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor and the second determination unit determines that the autonomous moving body is in the car,

[0128] The autonomous moving body stops the movement for getting off the car when receiving the getting off stop request.

[0129] [Note 5]

[0130] The elevator system according to Supplementary Note 4, further comprising:

[0131] a third determination unit for determining whether the current floor of the car coincides with the first target floor when the first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor and the second determination unit determines that the autonomous moving body is in the car;

[0132] Door Request Department; and

[0133] Downstairs Request Department,

[0134] The call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not coincide with the first destination floor.

[0135] The door request unit transmits a door opening request for opening the door of the car to the control device when the third determination unit determines that the current floor of the car coincides with the first target floor.

[0136] The getting-off request unit sends a first getting-off request to the autonomous moving object when the third determination unit determines that the current floor of the car coincides with the first target floor.

[0137] The autonomous moving body starts an operation for getting off the car when receiving the first getting-off request.

[0138] [Note 6]

[0139] The elevator system according to any one of Supplementary Notes 1 to 5, wherein:

[0140] The first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor, if the first determination unit has not received a disembarking completion notification from the autonomous moving body indicating that the autonomous moving body has got off the car at the first target floor until a preset time has passed since the first door opening notification indicating that the door of the car at the first target floor has been opened was received from the control device.

[0141] [Note 7]

[0142] The elevator system according to any one of Supplementary Notes 1 to 6, wherein:

[0143] The elevator system further comprises a door request unit.

[0144] When the autonomous moving body receives the alighting suspension request and stops the movement for getting off the car, the autonomous moving body sends a alighting suspension completion notification.

[0145] The door request unit transmits a door closing request for closing the door of the car to the control device when receiving the getting-off suspension completion notification.

[0146] [Note 8]

[0147] The elevator system according to any one of Supplementary Notes 1 to 7, wherein:

[0148] The elevator system further comprises a getting-off request unit.

[0149] The control device transmits a second door opening notification indicating that the door of the car is opened at the first destination floor when causing the car to open the door of the car at the first destination floor in response to the call registration request.

[0150] The step-down request unit sends a second step-down request to the autonomous moving object when receiving the second door opening notification.

[0151] The autonomous moving body starts an operation for getting off the car when receiving the second getting-off request.

[0152] [Note 9]

[0153] A linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, wherein the linkage device comprises:

[0154] a first determination unit for determining whether the autonomous movable body, which is traveling to a first target floor using the car, fails to get off the car at the first target floor;

[0155] a suspension request unit that transmits a descent suspension request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to deboard from the car at the first target floor; and

[0156] a call request section that, upon receiving a re-descending request from the autonomous moving body as a response to the descending suspension request, transmits to the control device a call registration request for descending from the car at the first destination floor,

[0157] The interlocking device causes the autonomous moving body that has received the descent stop request to stop the movement for getting off the car and transmits the re-descent request.

[0158] [Note 10]

[0159] A linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, wherein the linkage device comprises:

[0160] a first determination unit for determining whether the autonomous movable body, which is traveling to a first target floor using the car, fails to get off the car at the first target floor;

[0161] a suspension request unit that sends a descent suspension request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to deboard from the car at the first target floor;

[0162] a second determination unit that determines whether the autonomous moving object is in the car; and

[0163] an elevator call request unit for sending an elevator call registration request for getting off the car at the first target floor to the control device when the first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor and the second determination unit determines that the autonomous moving body is in the car,

[0164] The interlocking device causes the autonomous movable body, which has received the descent stop request, to stop the movement for getting off the car.

[0165] [Note 11]

[0166] A control method for a linkage device, wherein the linkage device is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, the control method for the linkage device comprising:

[0167] a first determination step of determining whether the autonomous moving body, which uses the car to go to a first target floor, fails to get off the car at the first target floor;

[0168] a suspension request step of sending a descent suspension request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body fails to deboard from the car at the first target floor; and

[0169] a call request step of transmitting, to the control device, a call registration request for getting off the car at the first target floor, when receiving a re-getting-off request from the autonomous moving body as a response to the getting-off suspension request,

[0170] The autonomous moving body that has received the descent stop request stops the movement for getting off the car and transmits the re-descent request.

[0171] [Note 12]

[0172] A control method for a linkage device, wherein the linkage device is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, the control method for the linkage device comprising:

[0173] a first determination step of determining whether the autonomous moving body, which uses the car to go to a first target floor, fails to get off the car at the first target floor;

[0174] a suspension request step of sending a descent suspension request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body fails to deboard from the car at the first target floor;

[0175] a second determination step of determining whether the autonomous moving object is in the car; and

[0176] an elevator call request step of sending an elevator call registration request for getting off the car at the first target floor to the control device when it is determined by the first determination step that the autonomous moving body fails to get off the car at the first target floor and it is determined by the second determination step that the autonomous moving body is in the car,

[0177] The autonomous moving body that has received the alighting stop request stops the operation for alighting from the car.

[0178] [Note 13]

[0179] A memory storing a program for causing a computer to execute a first determination process, a stop request process, and an elevator call request process, wherein the computer is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car,

[0180] In the first determination process, it is determined whether the autonomous movable body, which is traveling to a first target floor by using the car, fails to get off the car at the first target floor,

[0181] In the suspension request processing, when it is determined by the first determination processing that the autonomous moving body fails to get off the car at the first target floor, a request to stop getting off is sent to the autonomous moving body,

[0182] In the elevator call request processing, when a re-descending request is received from the autonomous moving body as a response to the descending suspension request, a call registration request for descending from the car at the first destination floor is sent to the control device,

[0183] The program is for causing the autonomous moving body, which has received the descent stop request, to stop the operation for getting off the car and to transmit the re-descent request.

[0184] [Note 14]

[0185] A memory storing a program for causing a computer to execute a first determination process, a stop request process, a second determination process, and an elevator call request process, wherein the computer is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car,

[0186] In the first determination process, it is determined whether the autonomous movable body, which is traveling to a first target floor by using the car, fails to get off the car at the first target floor,

[0187] In the suspension request processing, when it is determined by the first determination processing that the autonomous moving body fails to get off the car at the first target floor, a request to stop getting off is sent to the autonomous moving body,

[0188] In the second determination process, it is determined whether the autonomous moving object is in the car.

[0189] In the elevator call request processing, when it is determined by the first determination processing that the autonomous moving body has failed to get off the car at the first target floor and it is determined by the second determination processing that the autonomous moving body is in the car, a call registration request for getting off the car at the first target floor is sent to the control device,

[0190] The program is for causing the autonomous moving body, which has received the descent stop request, to stop an operation for getting off the car.

[0191] The matters described in Supplementary Notes 2-3 and 6-8 may be added to Supplementary Notes 9, 11, and 13, respectively. The matters described in Supplementary Notes 5 to 8 may be added to Supplementary Notes 10, 12, and 14, respectively.

Claims

1. An elevator system, wherein: The elevator system comprises: Autonomous mobile body; A control device, which manages the operation of the car; a first determination unit for determining whether the autonomous movable body, which is traveling to a first target floor using the car, fails to get off the car at the first target floor; a suspension request unit that sends a descent suspension request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to deboard from the car at the first target floor; as well as a call request section that, upon receiving a re-descending request from the autonomous moving body as a response to the descending suspension request, transmits to the control device a call registration request for descending from the car at the first destination floor, When receiving the alighting stop request, the autonomous moving body stops the movement for alighting from the car and transmits the re-descending request.

2. The elevator system according to claim 1, wherein: The elevator system further includes a second determination unit that determines whether the autonomous moving object is in the car. When the second determination unit determines that the autonomous moving object is in the car when the call request unit receives the re-descending request from the autonomous moving object, the call request unit transmits the call registration request to the control device.

3. The elevator system according to claim 1, wherein: The elevator system also has: a third determination unit, which, upon receiving the further getting-off request, determines whether the current floor of the car coincides with the first target floor; Door Request Department; and Downstairs Request Department, The call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not coincide with the first destination floor. The door request unit transmits a door opening request for opening the door of the car to the control device when the third determination unit determines that the current floor of the car coincides with the first target floor. The getting-off request unit sends a first getting-off request to the autonomous moving object when the third determination unit determines that the current floor of the car coincides with the first target floor. The autonomous moving body starts an operation for getting off the car when receiving the first getting-off request.

4. An elevator system, wherein: The elevator system comprises: Autonomous mobile body; A control device, which manages the operation of the car; a first determination unit for determining whether the autonomous movable body, which is traveling to a first target floor using the car, fails to get off the car at the first target floor; a suspension request unit that sends a descent suspension request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to deboard from the car at the first target floor; a second determination unit for determining whether the autonomous moving object is in the car; as well as an elevator call request unit for sending an elevator call registration request for getting off the car at the first target floor to the control device when the first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor and the second determination unit determines that the autonomous moving body is in the car, The autonomous moving body stops the movement for getting off the car when receiving the getting off stop request.

5. The elevator system according to claim 4, wherein: The elevator system also has: a third determination unit for determining whether the current floor of the car coincides with the first target floor when the first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor and the second determination unit determines that the autonomous moving body is in the car; Door Request Department; and Downstairs Request Department, The call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not coincide with the first destination floor. The door request unit transmits a door opening request for opening the door of the car to the control device when the third determination unit determines that the current floor of the car coincides with the first target floor. The getting-off request unit sends a first getting-off request to the autonomous moving object when the third determination unit determines that the current floor of the car coincides with the first target floor. The autonomous moving body starts an operation for getting off the car when receiving the first getting-off request.

6. The elevator system according to any one of claims 1 to 5, wherein: The first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor, if the first determination unit has not received a disembarking completion notification from the autonomous moving body indicating that the autonomous moving body has got off the car at the first target floor until a preset time has passed since the first door opening notification indicating that the door of the car at the first target floor has been opened was received from the control device.

7. The elevator system according to any one of claims 1 to 5, wherein: The elevator system further comprises a door request unit. When the autonomous moving body receives the alighting suspension request and stops the movement for getting off the car, the autonomous moving body sends a alighting suspension completion notification. The door request unit transmits a door closing request for closing the door of the car to the control device when receiving the getting-off suspension completion notification.

8. The elevator system according to any one of claims 1 to 5, wherein: The elevator system further comprises a getting-off request unit. The control device transmits a second door opening notification indicating that the door of the car is opened at the first destination floor when causing the car to open the door of the car at the first destination floor in response to the call registration request. The step-down request unit sends a second step-down request to the autonomous moving object when receiving the second door opening notification. The autonomous moving body starts an operation for getting off the car when receiving the second getting-off request.

9. A linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, wherein: The linkage device comprises: a first determination unit for determining whether the autonomous movable body, which is traveling to a first target floor using the car, fails to get off the car at the first target floor; a suspension request unit that sends a descent suspension request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to deboard from the car at the first target floor; as well as a call request section that, upon receiving a re-descending request from the autonomous moving body as a response to the descending suspension request, transmits to the control device a call registration request for descending from the car at the first destination floor, The interlocking device causes the autonomous moving body that has received the descent stop request to stop the movement for getting off the car and transmits the re-descent request.

10. A linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, wherein: The linkage device comprises: a first determination unit for determining whether the autonomous movable body, which is traveling to a first target floor using the car, fails to get off the car at the first target floor; a suspension request unit that sends a descent suspension request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to deboard from the car at the first target floor; a second determination unit for determining whether the autonomous moving object is in the car; as well as an elevator call request unit for sending an elevator call registration request for getting off the car at the first target floor to the control device when the first determination unit determines that the autonomous moving body has failed to get off the car at the first target floor and the second determination unit determines that the autonomous moving body is in the car, The interlocking device causes the autonomous movable body, which has received the descent stop request, to stop the movement for getting off the car.

11. A control method for a linkage device, wherein the linkage device is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, the control method for the linkage device comprising: a first determination step of determining whether the autonomous moving body, which uses the car to go to a first target floor, fails to get off the car at the first target floor; a suspension request step of sending a descent suspension request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body fails to deboard from the car at the first target floor; as well as a call request step of transmitting, to the control device, a call registration request for getting off the car at the first target floor, when receiving a re-getting-off request from the autonomous moving body as a response to the getting-off suspension request, The autonomous moving body that has received the descent stop request stops the movement for getting off the car and transmits the re-descent request.

12. A control method for a linkage device, wherein the linkage device is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, the control method for the linkage device comprising: a first determination step of determining whether the autonomous moving body, which uses the car to go to a first target floor, fails to get off the car at the first target floor; a suspension request step of sending a descent suspension request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body fails to deboard from the car at the first target floor; A second determination step of determining whether the autonomous moving object is in the car; as well as an elevator call request step of sending an elevator call registration request for getting off the car at the first target floor to the control device when it is determined by the first determination step that the autonomous moving body fails to get off the car at the first target floor and it is determined by the second determination step that the autonomous moving body is in the car, The autonomous moving body that has received the alighting stop request stops the operation for alighting from the car.

13. A memory storing a program for causing a computer to execute a first determination process, a stop request process, and an elevator call request process, wherein the computer is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, In the first determination process, it is determined whether the autonomous movable body, which is traveling to a first target floor by using the car, fails to get off the car at the first target floor, In the suspension request processing, when it is determined by the first determination processing that the autonomous moving body fails to get off the car at the first target floor, a request to stop getting off is sent to the autonomous moving body, In the elevator call request processing, when a re-descending request is received from the autonomous moving body as a response to the descending suspension request, a call registration request for descending from the car at the first destination floor is sent to the control device, The program is for causing the autonomous moving body, which has received the descent stop request, to stop the operation for getting off the car and to transmit the re-descent request.

14. A memory storing a program for causing a computer to execute a first determination process, a stop request process, a second determination process, and an elevator call request process, wherein the computer is capable of communicating with an autonomous moving body and a control device for managing the operation of an elevator car, In the first determination process, it is determined whether the autonomous movable body, which is traveling to a first target floor by using the car, fails to get off the car at the first target floor, In the suspension request processing, when it is determined by the first determination processing that the autonomous moving body fails to get off the car at the first target floor, a request to stop getting off is sent to the autonomous moving body, In the second determination process, it is determined whether the autonomous moving object is in the car. In the elevator call request processing, when it is determined by the first determination processing that the autonomous moving body has failed to get off the car at the first target floor and it is determined by the second determination processing that the autonomous moving body is in the car, a call registration request for getting off the car at the first target floor is sent to the control device, The program is for causing the autonomous moving body, which has received the descent stop request, to stop an operation for getting off the car.

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