Elevator system, linkage device, control method of linkage device, and storage medium

Abstract

The invention provides an elevator system, a linkage device, a control method of the linkage device, and a storage medium. In a device for communicating with an autonomous moving body, the situation that the autonomous moving body gets off from a car of an elevator at a floor other than a target floor can be grasped. The control device (6) manages the operation of the car (5). When the descending notification unit (36) determines that the autonomous moving body (4) descends from the car (5) at a floor other than the target floor (Fd) by the descending determination unit (35), the descending notification unit (36) transmits a notification of descending from another floor to the linkage device (3). When a door (7) of an elevator car (5) carrying an autonomous moving body (4) is opened at a target floor Fd, a boarding and alighting request part (17) sends a boarding request to the autonomous moving body (4). When the landing request unit (17) receives the other floor landing notification before sending the landing request, the landing determination unit (19) determines that the autonomous moving body (4) is landing from the car (5) at a floor other than the target floor (Fd).

Description

Technical Field

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

[0002] Patent Document 1 discloses an elevator system. The elevator system disclosed in Patent Document 1 includes a robot, a robot server, and an elevator car. The robot server communicates with the robot. The robot can move to a desired floor by riding in the car.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 7231096 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] In an elevator system having an autonomous moving body, when the autonomous moving body takes a car and moves to a target floor, the autonomous moving body may get off the car at a floor other than the target floor. In a conventional system, when the autonomous moving body gets off the car at a floor other than the target floor, the device communicating with the autonomous moving body cannot grasp this fact.

[0008] The present invention is made to solve the above-mentioned problems. An object of the present invention is to provide an elevator system in which a device communicating with an autonomous moving object can grasp the situation that the autonomous moving object gets off the car at a floor other than the target floor. Another object of the present invention is to provide a linkage device, a control method of the linkage device, and a storage medium for realizing such a function in an elevator system.

[0009] Means used to solve problems

[0010] The elevator system of the present invention comprises: an autonomous moving body; a control device that manages the operation of a car; and an interlocking device that communicates with the autonomous moving body and the control device. The autonomous moving body comprises: a first elevator-disembarking determination unit that determines whether the elevator has been disembarked from the car at a floor other than the first target floor when the car is used to go to the first target floor; and an elevator-disembarking notification unit that sends an elevator-disembarking notification of other floors to the interlocking device when the first elevator-disembarking determination unit determines that the elevator has been disembarked from the car at a floor other than the first target floor. The interlocking device comprises: an elevator-disembarking request unit that sends an elevator-disembarking request to the autonomous moving body when the door of the car carrying the autonomous moving body is opened at the first target floor; and a second elevator-disembarking determination unit that determines that the autonomous moving body has been disembarked from the car at a floor other than the first target floor when an elevator-disembarking notification of other floors is received before the elevator-disembarking request unit sends the elevator-disembarking request.

[0011] The linkage device of the present invention is a linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of a car. The linkage device comprises: a descending request unit that sends a descending request to the autonomous moving body when the door of a car carrying the autonomous moving body to the first target floor is opened at the first target floor; and a determination unit that determines the floor from which the autonomous moving body descends from the car when a descending notification of other floors indicating that the autonomous moving body descended from the car at a floor other than the first target floor is received from the autonomous moving body using the car to the first target floor before the descending request unit sends the descending 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 a car. The control method comprises the following steps: a step of sending ...

[0013] The storage medium of the present invention stores a program for enabling a computer capable of communicating with an autonomous moving body and a control device for managing the operation of a car to perform the following processing: a getting-off request processing, sending a getting-off request to the autonomous moving body when the door of a car carrying the autonomous moving body going to a first target floor is opened at the first target floor; and a determination processing, determining the floor from which the autonomous moving body gets off from the car when a getting-off notification of other floors indicating that the autonomous moving body gets off from the car is received from the autonomous moving body going to the first target floor using the car before sending the getting-off request in the getting-off request processing.

[0014] Effects of the Invention

[0015] According to the present invention, in the device that communicates with the autonomous moving object, it is possible to grasp that the autonomous moving object has gotten off the car at a floor other than the target floor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a diagram showing an example of the elevator system in the first embodiment.

[0017] Figure 2 This is a flowchart showing an example of the operation of the linkage device.

[0018] Figure 3 This is a flowchart showing an example of the operation of the relay device.

[0019] Figure 4 This is a flowchart showing another operation example of the linkage device.

[0020] Figure 5 This is a flowchart showing an example of the operation of the autonomous mobile object.

[0021] Figure 6 This is a flowchart showing another operation example of the linkage device.

[0022] Figure 7 This is a flowchart showing another operation example of the linkage device.

[0023] Figure 8 This is a flowchart showing another operation example of the control device.

[0024] Fig. 9 It is a diagram showing an example of hardware resources of a linkage device.

[0025] Fig.10 This is a diagram showing another example of hardware resources of the linkage device.

[0026] Description of symbols

[0027] 1: Elevator system; 2: Elevator device; 3: Interlocking device; 4: Autonomous moving body; 5: Car; 6: Control device; 7: Door; 8: Relay device; 10: Storage unit; 11: Communication unit; 12: Communication unit; 13: Recording unit; 14: Call request unit; 15: Acceptance processing unit; 16: Door request unit; 17: Boarding and alighting request unit; 18: Door determination unit; 19: Descending determination unit; 20: Determination unit; 21: Floor notification unit; 31: Communication unit ; 32: Information providing unit; 33: Action control unit; 34: Elevator allocation request unit; 35: Elevator getting off determination unit; 36: Elevator getting off notification unit; 41: Communication unit; 42: Information providing unit; 43: Decision unit; 44: Allocation notification unit; 45: Operation control unit; 50: Storage unit; 51: Communication unit; 52: Communication unit; 53: Recording unit; 54: Information providing unit; 60: Processing circuit; 61: Processor; 62: Memory; 63: Dedicated hardware. DETAILED DESCRIPTION

[0028] The following is a detailed description with reference to the accompanying drawings. The repeated descriptions are appropriately simplified or omitted. In each of the drawings, the same reference numerals represent the same or corresponding parts.

[0029] Implementation Method 1

[0030] Figure 11 is a diagram showing an example of an elevator system 1 in Embodiment 1. The elevator system 1 includes an elevator device 2, an interlocking device 3, an autonomous moving body 4, and a relay device 8. 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. Next, an example in which the elevator device 2 includes two cars 5 will be described.

[0031] Each elevator car 5 stops at a plurality of floors in a building. A user can take the car 5 to move to a desired floor. Each car 5 has a door 7. The control device 6 manages the operation of each car 5. When the elevator device 2 has a plurality of cars 5, the control device 6 may also manage the plurality of cars 5 as a group.

[0032] The autonomous moving body 4 can move autonomously in the building. As an example, the autonomous moving body 4 is a cleaning robot. The autonomous moving body 4 can also be a robot for security. The autonomous moving body 4 can also be a robot for transporting luggage. The autonomous moving body 4 can also be a robot that performs other functions in the building. The autonomous moving body 4 can take the car 5 to move to the desired floor.

[0033] 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 enter the car 5 carrying the user. The user may enter the car 5 carrying the autonomous moving body 4. 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.

[0034] The linkage device 3 can perform two-way communication with the control device 6 via the relay device 8. The linkage device 3 can perform two-way communication 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 via the device. In the elevator system 1, basically, the autonomous moving body 4 does not communicate directly with the control device 6. The linkage device 3 mediates the autonomous moving body 4 and the control device 6.

[0035] The relay device 8 mediates the interlocking device 3 and the control device 6. The relay device 8 can communicate bidirectionally with the control device 6. The relay device 8 can communicate bidirectionally with the interlocking device 3. In addition, the elevator system 1 may not have the relay device 8. When the elevator system 1 does not have the relay device 8, the interlocking device 3 communicates directly with the control device 6.

[0036] The linkage device 3 has a storage unit 10, a communication unit 11, a communication unit 12, a recording unit 13, an elevator call request unit 14, an acceptance processing unit 15, a door request unit 16, a boarding and alighting request unit 17, a door determination unit 18, an elevator getting off determination unit 19, a determination unit 20 and a floor notification unit 21.

[0037] 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 relay device 8. The elevator call request unit 14 is a function for requesting the control device 6 to register an elevator call via the relay device 8. The door request unit 16 is a function for requesting the control device 6 to open and close the door 7 via the relay device 8. The boarding and alighting request unit 17 is a function for requesting the autonomous moving body 4 to board and to get off the elevator. Specifically, the boarding and alighting request unit 17 includes a function of a boarding request unit for requesting the autonomous moving body 4 to board the elevator and a function of a getting off the elevator request unit for requesting the autonomous moving body 4 to get off the elevator. That is, the getting off the elevator request unit is a function that is a part of the boarding and alighting request unit 17.

[0038] 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 having the elevator device 2.

[0039] The autonomous moving object 4 includes a communication unit 31 , an information providing unit 32 , an operation control unit 33 , an elevator allocation request unit 34 , a getting-off determination unit 35 , and a getting-off notification unit 36 ​​.

[0040] The communication unit 31 is a function for communicating with the linkage device 3. The information providing unit 32 is a function for obtaining information related to the autonomous moving body 4 and providing it to the outside. Hereinafter, this information is also referred to as moving body information. As an example, the moving body information includes information indicating the position coordinates, direction, remaining charge amount, state, and operation of the autonomous moving body 4. The above-mentioned states include, for example, moving, waiting, charging, waiting at the elevator landing, in the elevator, and in the elevator. Examples of moving body information are not limited to the above.

[0041] The motion control unit 33 is a function for controlling the motion of the autonomous mobile body 4. For example, the motion control unit 33 controls a driving machine (not shown), thereby causing the autonomous mobile body 4 to move. The functions of the autonomous mobile body 4 can be realized by a so-called computer.

[0042] The control device 6 includes a communication unit 41 , an information providing unit 42 , a determination unit 43 , an allocation notification unit 44 , and an operation control unit 45 .

[0043] The communication unit 41 is a function for communicating with the relay device 8. The information providing unit 42 is a function for obtaining information related to the car 5 and providing it to the outside. Hereinafter, this information is also referred to as car information. The information providing unit 42 can obtain car information about each car 5 of the elevator device 2 and provide it to the outside. As an example, the car information includes information indicating the position of the car 5 and the state of the car 5. The state of the car 5 includes, for example, stopped, moving upward, and moving downward. Furthermore, the car information includes information related to the opening and closing of the door 7. Hereinafter, this information is also referred to as door information. The door information includes, for example, completely closed, opening, completely open, and closing. Examples of car information are not limited to the above.

[0044] The operation control unit 45 controls the operation of the elevator device 2. For example, the operation control unit 45 controls the movement of the car 5. The operation control unit 45 controls the opening and closing of the door 7. The functions of the control device 6 can be realized by a so-called computer.

[0045] The relay device 8 includes a storage unit 50 , a communication unit 51 , a communication unit 52 , a recording unit 53 , and an information providing unit 54 .

[0046] The communication unit 51 is a function for communicating with the control device 6. The communication unit 52 is a function for communicating with the linkage device 3. The information providing unit 54 is a function for providing the car information stored in the storage unit 50 to the outside. The information providing unit 54 can provide the car information of a specific car 5 to the outside, and can also provide the car information of all cars 5 to the outside.

[0047] The functions of the relay device 8 can be realized by a so-called computer. As an example, the functions of the relay device 8 are realized by a server in a building having the elevator device 2. The functions of the linkage device 3 can also be realized by a cloud server.

[0048] Below, also refer to Figure 2 to Figure 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 .

[0049] 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 information providing unit 32 sends the moving body information from the communication unit 31 to the linkage device 3 at a specific period. The moving body information may be sent from the autonomous moving body 4 every time the content of the moving body information is changed. In the linkage device 3, the communication unit 11 receives the moving body information from the autonomous moving body 4. When the communication unit 11 receives the moving body information, it is determined as "yes" in S101.

[0050] 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.

[0051] Figure 3 It is a flowchart showing an operation example of the relay device 8 .

[0052] In the relay device 8, it is determined whether the car information is received from the control device 6 (S201). In the control device 6, the information providing unit 42 sends the car information including the door information of each of the multiple cars 5 of the elevator device 2 to the relay device 8 at a specific cycle. The car information may be sent from the control device 6 every time the content of the car information is changed. In the relay device 8, the communication unit 51 receives the car information from the control device 6. When the communication unit 51 receives the car information, it is determined as "yes" in S201.

[0053] When it is determined as "YES" in S201, the recording unit 53 records the car information received by the communication unit 51 in the storage unit 50 (S202). Thus, the storage unit 50 stores the car information of each car 5 included in the elevator device 2.

[0054] Figure 4 This is a flowchart showing another operation example of the interlocking device 3 .

[0055] In the linkage device 3, it is determined whether the car information is received from the relay device 8 (S301). In the relay device 8, under certain conditions, the information providing unit 54 sends the car information stored in the storage unit 50 from the communication unit 52 to the linkage device 3. As an example, the information providing unit 54 sends the latest car information stored in the storage unit 50 to the linkage device 3 at a specific cycle for each of the multiple cars 5 possessed by the elevator device 2. As another example, the information providing unit 54 sends the latest car information stored in the storage unit 50 to the linkage device 3 at a specific cycle for the car 5 that responds to the call registration request. The car information can also be sent from the relay device 8 every time the content of the car information is changed. In the linkage device 3, the communication unit 12 receives the car information from the relay device 8. When the communication unit 12 receives the car information, it is determined as "yes" in S301.

[0056] When it is determined as "YES" in S301, the recording unit 13 records the car information received by the communication unit 12 in the storage unit 10 (S302). Thus, the car information is accumulated in the storage unit 10.

[0057] In addition, when the elevator system 1 does not include the relay device 8 , it is preferable that the car information of each car 5 included in the elevator device 2 is provided from the control device 6 to the interlocking device 3 .

[0058] Next, the operation of the autonomous movable body 4 when it moves by riding on the car 5 will be described. Figure 5 It is a flowchart showing an example of the operation of the autonomous mobile object 4 .

[0059] When the autonomous moving body 4 needs to move by taking the car 5, it moves to the elevator landing. Then, the elevator request unit 34 sends an elevator request (S401) from the communication unit 31 to the linkage device 3. The elevator request is a request from the autonomous moving body 4 to move by taking the car 5. The elevator request contains 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 car 5. The target floor Fd is the floor where the autonomous moving body 4 gets off the car 5. As an example, the boarding floor Fr is the 1st floor, and the target floor Fd is the 5th floor.

[0060] Figure 6 and Figure 7 This is a flowchart showing another operation example of the interlocking device 3 . Figure 6 and Figure 7 Shows a series of action flows.

[0061] In the interlocking device 3, it is determined whether or not an elevator allocation request is received from the autonomous moving object 4 (S501). When the communication unit 11 receives the elevator allocation request transmitted from the autonomous moving object 4 in S401, it is determined as "YES" in S501.

[0062] When it is determined as "yes" in S501, the acceptance processing unit 15 accepts the elevator allocation request received by the communication unit 11 in S501 (S502). Thus, for example, in the storage unit 10, the identification information of the autonomous moving body 4 is associated with the information indicating the elevator floor Fr and the destination floor Fd and stored.

[0063] In addition, when it is determined as "yes" in S501, the elevator call request unit 14 sends the elevator registration request corresponding to the elevator distribution request received by the communication unit 11 in S501 to the control device 6 via the relay device 8 (S503). The elevator registration request is a request to the control device 6 for registering the floor call and the destination call. The elevator registration request contains information on the elevator floor Fr and the destination floor Fd.

[0064] Specifically, the call request unit 14 transmits a call registration request to the relay device 8 in S503. In the relay device 8, when the communication unit 52 receives the call registration request transmitted from the interlocking device 3 in S503, the communication unit 51 transfers the call registration request to the control device 6.

[0065] Figure 8 It is a flowchart showing another operation example of the control device 6 .

[0066] The control device 6 determines whether or not a call registration request has been received from the relay device 8 (S601). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 in S503 via the relay device 8, the determination in S601 is "YES".

[0067] When it is determined as "yes" in S601, the decision unit 43 decides the car 5 that responds to the call registration request received by the communication unit 41 in S601 (S602). If the elevator device 2 has a plurality of cars 5 as in this example, the decision unit 43 allocates the call registration request to one of the plurality of cars 5 and responds to it. Hereinafter, the car 5 that responds to the call registration request is referred to as the allocated car 5. If the elevator device 2 has only one car 5, the car 5 is the allocated car 5 that responds to the call registration request.

[0068] When the decision unit 43 determines the assigned car 5 in S602, the assigned car notification unit 44 transmits the assigned car notification from the communication unit 41 to the interlocking device 3 via the relay device 8 (S603). The assigned car notification includes information indicating the assigned car 5 determined by the decision unit 43. Specifically, the assigned car notification unit 44 transmits the assigned car notification to the relay device 8 in S603. In the relay device 8, when the communication unit 51 receives the assigned car notification transmitted from the control device 6 in S603, the communication unit 52 forwards the assigned car notification to the interlocking device 3.

[0069] In the interlocking device 3, when the call registration request is sent in S503, it is determined whether the assigned car notification from the control device 6 is received from the relay device 8 as a response (S504). When the communication unit 12 receives the assigned car notification sent from the control device 6 in S603, it is determined as "yes" in S504.

[0070] When it is determined as "yes" in S504, the acceptance processing unit 15 accepts the assigned car notification received by the communication unit 12 in S504 (S505). Thus, for example, in the storage unit 10, information indicating the assigned car 5 is stored in association with the identification information of the autonomous moving body 4 and the information indicating the boarding floor Fr and the destination floor Fd.

[0071] Furthermore, when it is determined as "YES" in S504, the assigned car notification is transmitted from the communication unit 11 to the autonomous moving object 4 (S506).

[0072] In addition, in the autonomous moving body 4, the communication unit 31 receives the assigned car notification transmitted from the linkage device 3 in S506. When the elevator device 2 has a plurality of cars 5, the motion control unit 33 may also prepare for boarding the assigned car 5. For example, the motion control unit 33 controls the driving machine so that the autonomous moving body 4 moves in front of the door for boarding the assigned car 5.

[0073] In the control device 6, when the decision unit 43 determines the assigned car 5 in S602, the operation control unit 45 causes the assigned car 5 to respond to the elevator call registration request. Specifically, the operation control unit 45 causes the assigned car 5 to move to the boarding floor Fr. After the operation control unit 45 causes the assigned car 5 to stop at the boarding floor Fr, it opens the door 7 of the assigned car 5 (S604).

[0074] In the linkage device 3, when the assigned car notification is received in S504, the door determination unit 18 determines whether the door 7 of the assigned car 5 that responds to the elevator call registration request is open at the boarding floor Fr (S507). As an example, the determination of S507 is performed based on the car information stored in the storage unit 10. The determination of S507 can also be performed based on a specific notification from the control device 6. When the door determination unit 18 determines that the door 7 of the assigned car 5 is open at the boarding floor Fr, it is determined as "yes" in S507.

[0075] When it is determined as "YES" in S507, the boarding and alighting request unit 17 transmits a boarding request to the autonomous moving object 4 (S508). The boarding request includes information indicating that boarding of the assigned car 5 is permitted.

[0076] In the autonomous moving body 4, when the elevator request is sent in S401, it is determined whether a request for taking the elevator is received from the linkage device 3 as a response (S402). When the communication unit 31 receives the request for taking the elevator sent from the linkage device 3 in S508, it is determined as "yes" in S402. When it is determined as "yes" in S402, the autonomous moving body 4 starts the action for boarding the assigned car 5 and boards the assigned car 5 (S403). That is, the motion control unit 33 controls the drive machine, whereby the autonomous moving body 4 moves from the floor station of the elevator floor Fr to the inside of the assigned car 5. When the autonomous moving body 4 boards the assigned car 5, a notification of completion of taking the elevator is sent from the communication unit 31 to the linkage device 3 (S404).

[0077] In the linkage device 3, when a boarding request is sent in S508, it is determined whether a boarding completion notification is received from the autonomous moving body 4 as a response (S509). When the communication unit 11 receives the boarding completion notification sent from the autonomous moving body 4 in S404, it is determined as "yes" in S509. When it is determined as "yes" in S509, the door request unit 16 sends a door closing request from the communication unit 12 to the control device 6 via the relay device 8 to close the door 7 of the assigned car 5 (S510). Specifically, the door request unit 16 sends a door closing request to the relay device 8 in S510. In the relay device 8, when the communication unit 52 receives the door closing request sent from the linkage device 3 in S510, the communication unit 51 forwards the door closing request to the control device 6.

[0078] In the control device 6, when the door 7 of the assigned car 5 is opened at the boarding floor Fr, it is determined whether a door closing request from the linkage device 3 is received from the relay device 8 (S605). When the communication unit 41 receives the door closing request sent from the linkage device 3 in S510 via the relay device 8, it is determined as "yes" in S605. When it is determined as "yes" in S605, the operation control unit 45 causes the assigned car 5 to respond to the elevator call registration request. Specifically, the operation control unit 45 closes the door 7 of the assigned car 5. When the operation control unit 45 closes the door 7 of the assigned car 5, it moves the assigned car 5 to the target floor Fd (S606).

[0079] In the interlocking device 3, when the door closing request is transmitted in S510, the door determination unit 18 determines whether the door 7 of the assigned car 5 carrying the autonomous moving body 4 is opened at the destination floor Fd (S511).

[0080] After the autonomous vehicle 4 gets on the assigned car 5 in S403 and the assigned car 5 departs toward the target floor Fd in S606, if nothing happens afterwards, the operation control unit 45 stops the assigned car 5 at the target floor Fd and opens the door 7 of the assigned car 5 (S607). As a result, the door determination unit 18 of the linkage device 3 determines that the door 7 of the assigned car 5 carrying the autonomous vehicle 4 is opened at the target floor Fd. That is, it is determined as "yes" in S511.

[0081] When it is determined as "YES" in S511, the boarding and alighting request unit 17 transmits a getting-off request to the autonomous moving body 4 (S512). The getting-off request includes information indicating that getting off from the assigned car 5 is permitted.

[0082] In the autonomous moving body 4, when the boarding completion notification is sent in S404, it is determined whether a request to get off the elevator is received from the linkage device 3 as a response (S405). When the communication unit 31 receives the request to get off the elevator sent from the linkage device 3 in S512, it is determined as "yes" in S405. When it is determined as "yes" in S405, the autonomous moving body 4 starts the getting off action for getting off the elevator from the assigned car 5, and gets off the elevator from the assigned car 5 (S406). That is, the motion control unit 33 controls the driving machine, whereby the autonomous moving body 4 moves from the assigned car 5 to the landing station of the target floor Fd. After the autonomous moving body 4 gets off the elevator from the assigned car 5, the getting off completion notification is sent from the communication unit 31 to the linkage device 3 (S407).

[0083] In the linkage device 3, when a request to get off the elevator is sent in S512, it is determined whether a notification of completion of getting off the elevator is received from the autonomous moving body 4 as a response (S513). When the communication unit 11 receives the notification of completion of getting off the elevator sent from the autonomous moving body 4 in S407, it is determined as "yes" in S513. When it is determined as "yes" in S513, the door request unit 16 sends a door closing request from the communication unit 12 to the control device 6 via the relay device 8 to close the door 7 of the assigned car 5 (S514). In addition, when it is determined as "yes" in S513, the information recorded in the acceptance processing of S502 and the acceptance processing of S505 can also be deleted from the storage unit 10.

[0084] In the control device 6, when the door 7 of the assigned car 5 is opened at the target floor Fd, it is determined whether a door closing request from the interlocking device 3 is received from the relay device 8 (S608). When the communication unit 41 receives the door closing request sent from the interlocking device 3 in S514 via the relay device 8, it is determined as "yes" in S608. When it is determined as "yes" in S608, the operation control unit 45 closes the door 7 of the assigned car 5 (S609).

[0085] On the other hand, when the autonomous moving body 4 is moving to the target floor Fd in the assigned car 5, the autonomous moving body 4 may get off the assigned car 5 before the assigned car 5 reaches the target floor Fd. For example, consider a case where the autonomous moving body 4 is moving from the 1st floor to the 5th floor in the assigned car 5. In a case where a user enters the assigned car 5 in which the autonomous moving body 4 is riding on the 3rd floor, if sufficient space is not ensured for the user to ride in the assigned car 5, the autonomous moving body 4 is forced to get off the assigned car 5 by the user. For example, the user can push the autonomous moving body 4 out of the assigned car 5. In a case where the autonomous moving body 4 has a get-off button, the user can make the autonomous moving body 4 get off the assigned car 5 by pressing the get-off button.

[0086] When the user has large luggage, when the user enters the assigned car 5 with a cart or a baby carriage, or when a person needs to be transported urgently, the autonomous moving body 4 can be forced by the user to get off the assigned car 5 on the third floor. When the elevator device 2 is installed in a hospital or the like, it is preferable that the autonomous moving body 4 has the above-mentioned getting off button.

[0087] In order to prepare for such a situation, the autonomous mobile body 4 includes a step-down determination unit 35 and a step-down notification unit 36. In addition, the linkage device 3 includes a step-down determination unit 19, a determination unit 20, and a floor notification unit 21.

[0088] The descending determination unit 35 has a function of determining whether the autonomous moving body 4 has descended from the assigned car 5 at a floor other than the target floor Fd when the autonomous moving body 4 goes to the target floor Fd. That is, when the boarding completion notification is sent in S404, the descending determination unit 35 determines whether the autonomous moving body 4 has descended from the assigned car 5 at a floor other than the target floor Fd (S408). When the descending determination unit 35 does not determine that the autonomous moving body 4 has descended from the assigned car 5 at a floor other than the target floor Fd, but receives a descending request from the linkage device 3, it is determined as "yes" in S405.

[0089] On the other hand, when the descending determination unit 35 determines that the autonomous moving body 4 descends from the assigned car 5 at a floor other than the target floor Fd before receiving the descending request from the linkage device 3, it is determined as "yes" in S408. When it is determined as "yes" in S408, the descending notification unit 36 ​​sends a descending notification of other floors from the communication unit 31 to the linkage device 3 (S409). The descending notification of other floors includes information indicating that the autonomous moving body 4 descends from the assigned car 5 at a floor other than the target floor Fd.

[0090] In order to realize the function of the step-down determination unit 35, the autonomous moving body 4 may include a sensor capable of detecting movement from the car 5 to the outside. The autonomous moving body 4 may include a sensor that radiates infrared rays or a camera capable of capturing images of the surroundings as the sensor.

[0091] As described above, in the linkage device 3, when the door 7 of the assigned car 5 is opened at the target floor Fd, the boarding and alighting request unit 17 sends a descending request. On the other hand, after sending the door closing request in S510, if it is not determined as "yes" in S511, the descending determination unit 19 determines whether the autonomous moving body 4 has descended from the assigned car 5 at a floor other than the target floor Fd. Specifically, the descending determination unit 19 determines whether a descending notification of another floor is received from the autonomous moving body 4 (S515).

[0092] Before the determination of "yes" in S511, that is, before the boarding and alighting request unit 17 sends the descending request in S512, if the communication unit 11 receives the other floor descending notification sent from the autonomous moving body 4 in S409, the determination of "yes" in S515 is made. That is, the descending determination unit 19 determines that the autonomous moving body 4 has descended from the assigned car 5 at a floor other than the target floor Fd.

[0093] When it is determined as "yes" in S515, the determination unit 20 determines the floor where the autonomous moving body 4 gets off from the assigned car 5 (S516). Hereinafter, this floor is also referred to as the getting-off floor. The getting-off floor is a floor other than the target floor Fd. As an example, the determination unit 20 determines the floor where the assigned car 5 is located as the getting-off floor when the communication unit 11 receives a notification of getting off from other floors. The getting-off floor is determined, for example, based on the car information recorded in the storage unit 10. The determination unit 20 may also determine the getting-off floor by other methods.

[0094] When the descending floor is determined in S516, the floor notification unit 21 transmits a descending floor notification to the autonomous moving object 4 (S517). The descending floor notification includes information indicating the descending floor determined by the determination unit 20 in S516.

[0095] In the autonomous moving body 4, when a notification of descending the elevator to other floors is sent in S409, it is determined whether a notification of descending the elevator floor is received from the linkage device 3 as a response (S410). When the communication unit 31 receives the notification of descending the elevator floor sent from the linkage device 3 in S517, it is determined as "yes" in S410. When it is determined as "yes" in S410, the elevator request unit 34 sends an elevator request to the linkage device 3, and the elevator request is used for the autonomous moving body 4 to take the car 5 from the floor indicated by the notification of descending the elevator floor, that is, the descending elevator floor determined by the determination unit 20 to move to the target floor Fd (S411). As a result, the autonomous moving body 4 can take the car 5 assigned to the elevator request sent in S411 and move from the descending elevator floor to the target floor Fd.

[0096] In the example shown in the present embodiment, when a notification of getting off at another floor is received before a request to get off is sent in S512, the getting off determination unit 19 determines that the autonomous moving body 4, which is traveling to the target floor Fd in the assigned car 5, has gotten off from the assigned car 5 at a floor other than the target floor Fd. In the case of the present elevator system 1, in the linkage device 3 that communicates with the autonomous moving body 4, it can be determined that the autonomous moving body 4 has gotten off from the assigned car 5 at a floor other than the target floor Fd. Thus, it is possible to respond by notifying the autonomous moving body 4 of the floor on which the autonomous moving body 4 will get off. In the autonomous moving body 4, when the autonomous moving body 4 gets off from the assigned car 5 at a floor other than the target floor Fd, an elevator request for moving from the floor on which the autonomous moving body 4 will get off to the target floor Fd can also be generated.

[0097] According to the present elevator system 1, the manager does not need to go to the landing station on the 3rd floor to rescue the autonomous moving body 4 that has gotten off the assigned car 5 on the 3rd floor. For the autonomous moving body 4 that has gotten off the assigned car 5 on the 3rd floor, an elevator allocation request for moving from the 3rd floor to the 5th floor, which is the target floor Fd, is automatically generated and sent. Therefore, it is possible to suppress the delay or stagnation of the autonomous moving body 4, and to perform efficient operation of the system.

[0098] Next, other functions that can be adopted by the elevator system 1 will be described. In the example shown below, only the differences from the above example will be described in detail. The description of the same points as the above example will be omitted.

[0099] In the linkage device 3, when it is determined as "yes" in S515, the notification of the descending floor may not be sent to the autonomous moving body 4 in S517. The information of the target floor Fd is stored in the storage unit 10. Therefore, when the descending floor is determined by the determination unit 20 in S516, the call request unit 14 may send a call registration request for moving from the descending floor determined by the determination unit 20 to the target floor Fd to the control device 6. In this case, in the linkage device 3, after sending the call registration request, the processing after S504 is performed.

[0100] Fig. 9 2 is a diagram showing an example of hardware resources of the linkage device 3. The linkage device 3 includes a processing circuit 60 including a processor 61 and a memory 62 as hardware resources. The processing circuit 60 may include a plurality of processors 61. The processing circuit 60 may include a plurality of memories 62.

[0101] In this embodiment, the parts indicated by reference numerals 10 to 21 represent the functions of the linkage device 3. The functions of the storage unit 10 are implemented by the memory 62. The functions of the parts indicated by reference numerals 11 to 21 can be implemented by software, firmware, or a combination of software and firmware described as a program. The program is stored in the memory 62. The linkage device 3 can implement the functions of the parts indicated by reference numerals 11 to 21 by executing the program stored in the memory 62 through the processor 61 (computer).

[0102] The processor 61 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. As the memory 62, a semiconductor memory, a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk or a DVD may also be used. The semiconductor memory that can be used includes RAM, ROM, flash memory, EPROM and EEPROM.

[0103] Fig.10FIG. 4 is a diagram showing another example of hardware resources of the linkage device 3. Fig.10 In the example shown, the linkage device 3 has a processing circuit 60 including a processor 61 , a memory 62 and dedicated hardware 63 . Fig.10 The example in which a part of the functions of the linkage device 3 is implemented by the dedicated hardware 63 is shown. All the functions of the linkage device 3 may be implemented by the dedicated hardware 63. As the dedicated hardware 63, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof can be used.

[0104] The hardware resources of the control device 6 are Fig. 9 or Fig.10 The example shown is the same. The control device 6 has a processing circuit including a processor and a memory as a hardware resource. The processing circuit may also include multiple processors. The processing circuit may also include multiple memories. The control device 6 executes the program stored in the memory through the processor (computer), thereby realizing the functions of the various parts shown by labels 41 to 45. The control device 6 may also have a processing circuit including a processor, a memory and dedicated hardware as a hardware resource. Regarding the control device 6, part or all of the functions of the device may also be realized by dedicated hardware.

[0105] Hardware resources and Fig. 9 or Fig.10 The example shown is the same. The autonomous mobile body 4 has a processing circuit including a processor and a memory as a hardware resource. The processing circuit may also include a plurality of processors. The processing circuit may also include a plurality of memories. The autonomous mobile body 4 executes the program stored in the memory through the processor (computer), thereby realizing the functions of the various parts shown by reference numerals 31 to 36. The autonomous mobile body 4 may also have a processing circuit including a processor, a memory and dedicated hardware as a hardware resource. Regarding the autonomous mobile body 4, part or all of the functions of the device may also be realized by dedicated hardware.

[0106] The hardware resources of the relay device 8 and Fig. 9 or Fig.10 The example shown is the same. The relay device 8 has a processing circuit including a processor and a memory as a hardware resource. The processing circuit may also include multiple processors. The processing circuit may also include multiple memories. The function of the storage unit 50 is implemented by the memory. The relay device 8 executes the program stored in the memory through the processor (computer), thereby realizing the functions of the various parts shown by labels 51 to 54. The relay device 8 may also have a processing circuit including a processor, a memory and dedicated hardware as a hardware resource. Regarding the relay device 8, part or all of the functions of the device may also be implemented by dedicated hardware.

[0107] Examples of aspects that may be included in the present invention are explicitly described below as supplementary notes.

[0108] [Note 1]

[0109] An elevator system comprising:

[0110] Autonomous mobile body;

[0111] A control device that manages the operation of the car; and

[0112] a linkage device that communicates with the autonomous moving body and the control device,

[0113] The autonomous mobile body has:

[0114] a first getting-off determination unit for determining whether or not the person has gotten off the car at a floor other than the first target floor when traveling to the first target floor using the car; and

[0115] a descending notification unit for transmitting a descending notification of another floor to the interlocking device when the first descending determination unit determines that the elevator has descended from the car at a floor other than the first target floor,

[0116] The linkage device has:

[0117] a descent request unit that transmits a descent request to the autonomous moving object when a door of the car carrying the autonomous moving object is opened at the first destination floor; and

[0118] A second getting-off determination unit determines that the autonomous movable body has gotten off from the car at a floor other than the first target floor, upon receiving the other-floor getting-off notification before the getting-off request unit transmits the getting-off request.

[0119] [Note 2]

[0120] The elevator system according to Supplement 1, wherein:

[0121] The linkage device also has:

[0122] a determination unit that determines a floor at which the autonomous moving body has descended, when the second descending determination unit determines that the autonomous moving body has descended from the car at a floor other than the first target floor; and

[0123] a floor notification unit that transmits a down-floor notification indicating the floor determined by the determination unit to the autonomous moving object,

[0124] The autonomous moving body further includes an elevator request unit that transmits an elevator request to the interlocking device, the elevator request being for moving from the floor indicated by the down-floor notification to the first destination floor by the car.

[0125] [Note 3]

[0126] The elevator system according to Supplement 1, wherein:

[0127] The linkage device also has:

[0128] a determination unit that determines a floor at which the autonomous moving body has descended, when the second descending determination unit determines that the autonomous moving body has descended from the car at a floor other than the first target floor; and

[0129] A call request unit transmits a call registration request to the control device, the call registration request being for the autonomous movable body to move from the floor determined by the determination unit to the first destination floor on the car.

[0130] [Note 4]

[0131] The elevator system according to Supplement 2 or Supplement 3, wherein:

[0132] The determination unit determines the floor at which the car is located when the other-floor getting-off notification is received as the floor at which the autonomous movable body gets off the car.

[0133] [Note 5]

[0134] The elevator system according to any one of Supplement 1 to Supplement 4, wherein:

[0135] The elevator system also has a relay device, which communicates with the linkage device and the control device.

[0136] The linkage device communicates with the control device via the relay device.

[0137] [Note 6]

[0138] A linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of a car, wherein the linkage device has:

[0139] a getting-off request unit that transmits a getting-off request to the autonomous moving body when a door of the car carrying the autonomous moving body going to a first destination floor is opened at the first destination floor; and

[0140] A determination unit determines the floor at which the autonomous moving body gets off the car when, before the getting-off request unit sends the getting-off request, a getting-off notification of other floors is received from the autonomous moving body traveling to the first target floor using the car, indicating that the autonomous moving body has got off the car at a floor other than the first target floor.

[0141] [Note 7]

[0142] A control method for a linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of a car, wherein the control method comprises the following steps:

[0143] a step of requesting a descent of sending a descent request to the autonomous moving body when a door of the car carrying the autonomous moving body to a first target floor is opened at the first target floor; and

[0144] A determination step, before sending the descending request in the descending request step, when receiving a descending notification from the autonomous moving body using the car to go to the first target floor, indicating that the autonomous moving body has descended from the car at a floor other than the first target floor, the floor from which the autonomous moving body descended from the car is determined.

[0145] [Note 8]

[0146] A storage medium storing a program for causing a computer capable of communicating with an autonomous moving body and a control device for managing the operation of a car to execute the following processing:

[0147] a descent request process of sending a descent request to the autonomous moving body when a door of the car carrying the autonomous moving body going to a first target floor is opened at the first target floor; and

[0148] Determination processing, before sending the descent request in the descent request processing, when receiving a descent notification from the autonomous moving body using the car to go to the first target floor indicating that the autonomous moving body has descended from the car at a floor other than the first target floor, the floor from which the autonomous moving body descended from the car is determined.

[0149] The matters described in Supplementary Notes 2 to 5 or equivalent matters may be added to Supplementary Notes 6 to 8, respectively.

Claims

1. An elevator system, comprising: Autonomous mobile body; a control device that manages the operation of the car; and a linkage device that communicates with the autonomous moving body and the control device, The autonomous mobile body has: a first getting-off determination unit for determining whether or not the person has gotten off the car at a floor other than the first target floor when traveling to the first target floor using the car; and a descending notification unit for transmitting a descending notification of another floor to the interlocking device when the first descending determination unit determines that the elevator has descended from the car at a floor other than the first target floor, The linkage device has: a descent request unit that transmits a descent request to the autonomous moving object when a door of the car carrying the autonomous moving object is opened at the first destination floor; and A second getting-off determination unit determines that the autonomous movable body has gotten off from the car at a floor other than the first target floor, upon receiving the other-floor getting-off notification before the getting-off request unit transmits the getting-off request.

2. The elevator system according to claim 1, wherein: The linkage device also has: a determination unit that determines the floor at which the autonomous moving body has descended, when the second descending determination unit determines that the autonomous moving body has descended from the car at a floor other than the first target floor; as well as a floor notification unit that transmits a down-floor notification indicating the floor determined by the determination unit to the autonomous moving object, The autonomous moving body further includes an elevator request unit that transmits an elevator request to the interlocking device, the elevator request being for moving from the floor indicated by the down-floor notification to the first destination floor by the car.

3. The elevator system according to claim 1, wherein: The linkage device also has: a determination unit that determines the floor at which the autonomous moving body has descended, when the second descending determination unit determines that the autonomous moving body has descended from the car at a floor other than the first target floor; as well as A call request unit transmits a call registration request to the control device, the call registration request being for the autonomous movable body to move from the floor determined by the determination unit to the first destination floor on the car.

4. The elevator system according to claim 2 or 3, wherein: The determination unit determines the floor at which the car is located when the other-floor getting-off notification is received as the floor at which the autonomous movable body gets off the car.

5. The elevator system according to any one of claims 1 to 3, wherein: The elevator system also has a relay device, which communicates with the linkage device and the control device. The linkage device communicates with the control device via the relay device.

6. A linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of a car, wherein: The linkage device has: a getting-off request unit that transmits a getting-off request to the autonomous moving body when a door of the car carrying the autonomous moving body going to a first destination floor is opened at the first destination floor; and A determination unit determines the floor at which the autonomous moving body gets off the car when, before the getting-off request unit sends the getting-off request, a getting-off notification of other floors is received from the autonomous moving body traveling to the first target floor using the car, indicating that the autonomous moving body has got off the car at a floor other than the first target floor.

7. A method for controlling a linkage device capable of communicating with an autonomous moving body and a control device for managing the operation of a car, wherein: The control method comprises the following steps: a step of requesting a descent of sending a descent request to the autonomous moving body when a door of the car carrying the autonomous moving body to the first target floor is opened at the first target floor; as well as A determination step, before sending the descending request in the descending request step, when receiving a descending notification from the autonomous moving body using the car to go to the first target floor, indicating that the autonomous moving body has descended from the car at a floor other than the first target floor, the floor from which the autonomous moving body descended from the car is determined.

8. A storage medium storing a program for causing a computer capable of communicating with an autonomous moving body and a control device for managing the operation of a car to execute the following processing: a descent request process of sending a descent request to the autonomous moving body when a door of the car carrying the autonomous moving body going to a first target floor is opened at the first target floor; and Determination processing, before sending the descent request in the descent request processing, when receiving a descent notification from the autonomous moving body using the car to go to the first target floor indicating that the autonomous moving body has descended from the car at a floor other than the first target floor, the floor from which the autonomous moving body descended from the car is determined.

Images