Elevator system, control device and control method thereof, relay device and control method thereof, and storage medium

Abstract

The invention provides an elevator system, a control device and a control method thereof, a relay device and a control method thereof, and a storage medium. In an elevator system, door information related to opening and closing of a door of an elevator car can be appropriately transmitted to a device communicating with an autonomous moving body. An elevator system (1) is provided with an autonomous moving body (4), a control device (6), and a linkage device (3). The control device (6) manages the operation of the car (5). The control device (6) has an information provision unit (42), a communication unit (1), and an operation control unit (45). The information provision unit (42) transmits car information relating to the operation of the car (5) to the linkage device (3) at a first interval. The information providing unit (42) changes the transmission interval of the car information of the car (5) to a second interval that is shorter than the first interval when the car (5) that responds to the call registration request reaches the boarding floor Fr.

Description

Technical Field

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

[0002] An elevator system is described in Patent Document 1. The elevator system described in Patent Document 1 includes a relay device. When a car for a robot to ride is determined, information on the car is transmitted from the relay device to a robot server.

[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, information about a car is transmitted to a device that communicates with an autonomous moving body. Conventionally, the transmission interval of this information is long, and control in the device is sometimes delayed. When control delay occurs in the device, the autonomous moving body fails to board the car.

[0008] The present invention is made to solve the above-mentioned problems. An object of the present invention is to provide an elevator system that can appropriately transmit information about a car to a device that communicates with an autonomous moving body. Another object of the present invention is to provide a control device, a relay device, a control method for a control device, a control method for a relay 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 the first car; and an interlocking device that communicates with the autonomous moving body and the control device. The control device comprises: an information providing unit that sends car information related to the operation of the first car to the interlocking device at a first interval; a communication unit that receives an elevator registration request from the interlocking device, the elevator registration request being used for the autonomous moving body to move from the boarding floor to the target floor in the first car; and an operation control unit that causes the first car to respond to the elevator registration request received by the communication unit. When the first car that has responded to the elevator registration request arrives at the boarding floor, the information providing unit changes the sending interval of the car information of the first car to a second interval that is shorter than the first interval.

[0011] The elevator system of the present invention comprises: an autonomous moving body; a control device that manages the operation of a plurality of cars; and an interlocking device that communicates with the autonomous moving body and the control device. The control device comprises: an information providing unit that sends car information related to the operation to the interlocking device at a first interval for each of the plurality of cars; a communication unit that receives a call registration request from the interlocking device, the call registration request being used for the autonomous moving body to move from a boarding floor to a target floor in one of the plurality of cars; a decision unit that determines the first car that responds to the call registration request received by the communication unit from the plurality of cars; and an operation control unit that causes the first car determined by the decision unit to respond to the call registration request. When the first car that responds to the call registration request arrives at the boarding floor, the information providing unit changes the sending interval of the car information of the first car to a second interval that is shorter than the first interval.

[0012] The elevator system of the present invention comprises: an autonomous moving body; a control device that manages the operation of a plurality of cars; an interlocking device that communicates with the autonomous moving body; and a relay device that communicates with the interlocking device and the control device. The control device comprises: a first information providing unit that sends car information related to the operation to the relay device for each of the plurality of cars; a communication unit that receives a call registration request from the interlocking device via the relay device, the call registration request being used for the autonomous moving body to take one of the plurality of cars to move from the boarding floor to the target floor; a decision unit that determines the first car that responds to the call registration request received by the communication unit from the plurality of cars; an operation control unit that causes the first car determined by the decision unit to respond to the call registration request; and an allocation notification unit that sends an allocation car notification indicating the first car determined by the decision unit to the relay device. The relay device has a second information providing unit. When receiving a car allocation notification, the second information providing unit sends the car information of the first car to the linkage device at a first interval. When the first car that responds to the elevator call registration request arrives at the elevator floor, the car information of the first car changes the sending interval of the car information of the first car to a second interval that is shorter than the first interval.

[0013] The control device of the present invention is a control device capable of communicating with a linkage device that communicates with an autonomous moving body and managing the operation of the first car of an elevator. The linkage device communicates with the autonomous moving body. The control device comprises: an information providing unit that sends car information related to the operation of the first car to the linkage device at a first interval; a communication unit that receives an elevator registration request from the linkage device, the elevator registration request being used for the autonomous moving body to move from the boarding floor to the target floor on the first car; and an operation control unit that causes the first car to respond to the elevator registration request received by the communication unit. When the first car that has responded to the elevator registration request arrives at the boarding floor, the information providing unit changes the sending interval of the car information of the first car to a second interval that is shorter than the first interval.

[0014] The relay device of the present invention is a relay device capable of communicating with a linkage device and a control device, wherein the linkage device communicates with an autonomous moving body, and the control device manages the operation of multiple elevator cars. The relay device has: a communication unit, which receives car information related to the operation from the control device for each of the multiple cars; and an information providing unit, which, when receiving a car allocation notification from the control device, sends the car information of the first car to the linkage device at a first interval, wherein the car allocation notification indicates the first car that responds to the elevator registration request, and the elevator registration request is used for the autonomous moving body to take one of the multiple cars to move from the elevator floor to the target floor. When the first car that responds to the elevator registration request arrives at the elevator floor, the information providing unit changes the sending interval of the car information of the first car to a second interval that is shorter than the first interval.

[0015] The control method of the control device of the present invention is a control method of a control device capable of communicating with a linkage device and managing the operation of the first car of an elevator, wherein the linkage device communicates with an autonomous moving body. The control method comprises the following steps: a first information providing step of sending car information related to the operation of the first car to the linkage device at a first interval; a communication step of receiving an elevator registration request from the linkage device, wherein the elevator registration request is used for the autonomous moving body to move from the boarding floor to the target floor by taking the first car; an operation control step of causing the first car to respond to the elevator registration request received in the communication step; and a second information providing step of changing the sending interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the elevator registration request arrives at the boarding floor.

[0016] The control method of the relay device of the present invention is a control method of the relay device capable of communicating with a linkage device and a control device, the linkage device communicates with an autonomous moving body, and the control device manages the operation of multiple elevator cars. The control method has the following steps: a communication step, receiving car information related to the operation from the control device for each of the multiple cars; a first information providing step, when receiving a car allocation notification from the control device, sending the car information of the first car to the linkage device at a first interval, wherein the car allocation notification indicates the first car that responds to the elevator registration request, and the elevator registration request is used for the autonomous moving body to take one of the multiple cars to move from the elevator floor to the target floor; and a second information providing step, when the first car that responds to the elevator registration request arrives at the elevator floor, changing the sending interval of the car information of the first car to a second interval shorter than the first interval.

[0017] The storage medium of the present invention stores a program for causing a computer to execute a first information providing process, a communication process, an operation control process, and a second information providing process. The computer can communicate with a linkage device to manage the operation of a first car of an elevator. The linkage device communicates with an autonomous moving body. In the first information providing process, car information related to the operation of the first car is sent to the linkage device at a first interval. In the communication process, an elevator registration request is received from the linkage device. The elevator registration request is used for the autonomous moving body to move from an elevator floor to a target floor by taking the first car. In the operation control process, the first car responds to the elevator registration request received in the communication process. In the second information providing process, when the first car that has responded to the elevator registration request arrives at the elevator floor, the sending interval of the car information of the first car is changed to a second interval that is shorter than the first interval.

[0018] The storage medium of the present invention stores a program for causing a computer to execute communication processing, a first information providing processing, and a second information providing processing. The computer is capable of communicating with a linkage device and a control device. The linkage device communicates with an autonomous moving body. The control device manages the operation of multiple elevator cars. In the communication processing, car information related to the operation is received from the control device for each of the multiple cars. In the first information providing processing, when a car allocation notification is received from the control device, the car information of the first car is sent to the linkage device at a first interval. The car allocation notification indicates the first car that responds to an elevator registration request. The elevator registration request is used for the autonomous moving body to take one of the multiple cars to move from the elevator floor to the target floor. In the second information providing processing, when the first car that responds to the elevator registration request arrives at the elevator floor, the sending interval of the car information of the first car is changed to a second interval that is shorter than the first interval.

[0019] Effects of the Invention

[0020] According to the present invention, in the elevator system, it is possible to appropriately transmit the information of the car to the device that communicates with the autonomous moving body. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a diagram showing an example of the elevator system in the first embodiment.

[0022] Figure 2 This is a flowchart showing an example of the operation of the linkage device.

[0023] Figure 3 This is a timing chart showing an example of the overall operation of the elevator system.

[0024] Figure 4 It is a flowchart showing an operation example of the control device.

[0025] Figure 5 This is a flowchart showing another operation example of the linkage device.

[0026] Figure 6 This is a flowchart showing an example of the operation of the autonomous mobile object.

[0027] Figure 7 This is a flowchart showing another operation example of the linkage device.

[0028] Figure 8 This is a flowchart showing an example of the processing performed in S208.

[0029] Fig. 9 This is a diagram showing another example of the elevator system in the first embodiment.

[0030] Fig.10 This is a timing chart showing an example of the overall operation of the elevator system.

[0031] Fig.11 It is a flowchart showing an operation example of the control device.

[0032] Fig.12 This is a flowchart showing an example of the operation of the relay device.

[0033] Fig.13 This is a flowchart showing another operation example of the relay device.

[0034] Fig.14 It is a diagram showing an example of hardware resources of a control device.

[0035] Fig.15 This is a diagram showing another example of the hardware resources of the control device.

[0036] Description of symbols

[0037] 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: Second door determination unit; 16: Door request unit; 17: Boarding and alighting request unit; 31: Communication unit; 32: Information providing unit; 33: Action control unit; 41: Communication unit; 42: Information providing unit; 43: Decision unit; 44: Allocation notification unit; 45: Operation control unit; 46: First door determination unit; 50: Storage unit; 51: Communication unit; 52: Communication unit; 53: Recording unit; 54: Information providing unit; 55: Third door determination unit; 60: Processing circuit; 61: Processor; 62: Memory; 63: Special hardware. DETAILED DESCRIPTION

[0038] 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.

[0039] Implementation Method 1

[0040] Figure 1 1 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, 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. Next, an example in which the elevator device 2 includes two cars 5 will be described.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] The linkage device 3 can perform two-way communication with the control device 6. 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.

[0045] 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 second door determination unit 15 , a door request unit 16 , and a boarding and alighting request unit 17 .

[0046] 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 door request unit 16 is a function for requesting the control device 6 to open and close the door 7, etc. The boarding and alighting request unit 17 is a function for requesting the autonomous moving body 4 to board the elevator and to get off the elevator. Specifically, the boarding and alighting request unit 17 has the function of an elevator request unit for requesting the autonomous moving body 4 to board the elevator and the function of a descending request unit for requesting the autonomous moving body 4 to get off the elevator. That is, the elevator request unit is a function that is a part of the boarding and alighting request unit 17.

[0047] 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.

[0048] The autonomous mobile object 4 includes a communication unit 31 , an information providing unit 32 , and a motion control unit 33 .

[0049] 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, current floor, remaining charge, status, and operation of the autonomous moving body 4. The above-mentioned status includes, for example, moving, waiting, charging, waiting at the elevator floor, elevator riding, elevator in the field, and elevator getting off. Examples of moving body information are not limited to the above examples.

[0050] 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.

[0051] The control device 6 includes a communication unit 41 , an information providing unit 42 , a determination unit 43 , an allocation notification unit 44 , an operation control unit 45 , and a first door determination unit 46 .

[0052] The communication unit 41 is a function for communicating with the linkage device 3. The information providing unit 42 is a function for obtaining information related to the operation of the car 5 and providing it to the outside. Hereinafter, this information is also referred to as car information. The information providing unit 42 obtains car information about each car 5 of the elevator device 2 and provides 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, stopping, 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, fully closed, opening, fully open, and closing. Examples of car information are not limited to the above examples.

[0053] 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.

[0054] 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 .

[0055] 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 obtained by the information providing 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 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.

[0056] 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.

[0057] Next, the operation of the autonomous movable body 4 when it moves by riding on the car 5 will be described. Figure 3 It is a timing chart showing an example of the overall operation of the elevator system 1 . Figure 4 It is a flowchart showing an operation example of the control device 6 .

[0058] In the control device 6, the information providing unit 42 sends the car information of each car 5 to the linkage device 3 in a specific cycle (S201). The car information sent by the information providing unit 42 includes door information. Basically, the information providing unit 42 sends the car information of each of the multiple cars 5 of the elevator device 2 to the linkage device 3 at the first interval. The first interval is preset. In addition, the processing of S201 is not limited to when the autonomous moving body 4 moves by riding in the car 5. For example, the processing of S201 can also be performed all the time from before the autonomous moving body 4 rides in the car 5.

[0059] Figure 5 This is a flowchart showing another operation example of the interlocking device 3 .

[0060] In the interlocking device 3, it is determined whether or not the car information is received from the control device 6 (S301). In the interlocking device 3, the communication unit 12 receives the car information from the control device 6. When the communication unit 12 receives the car information, it is determined as "YES" in S301.

[0061] 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). As a result, the car information including the door 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 car information stored in the storage unit 10. In the linkage device 3, the latest state of the door 7 can be determined based on the car information stored in the storage unit 10.

[0062] Figure 6 4 is a flowchart showing an example of the operation of the autonomous vehicle 4. When the autonomous vehicle 4 needs to move by the car 5, it moves to the elevator landing. Then, the autonomous vehicle 4 transmits a call request from the communication unit 31 to the interlocking device 3 (S401).

[0063] Figure 7 2 is a flowchart showing another operation example of the linkage device 3. In the linkage device 3, it is determined whether a call request is received from the autonomous mobile object 4 (S501). When the communication unit 11 receives the call request sent from the autonomous mobile object 4 in S401, it is determined as "yes" in S501.

[0064] When it is determined as "yes" in S501, the elevator request unit 14 sends an elevator registration request to the control device 6 (S502) according to the call request received by the communication unit 11 in S501. The elevator registration 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. That is, the elevator registration request is a request to the control device 6 for the autonomous moving body 4 to take an arbitrary car 5 to move from the boarding floor Fr to the target floor Fd. In addition, in this example, the arbitrary car 5 is one of the multiple cars 5 of the elevator device 2, and if the elevator device 2 has only one car 5, the arbitrary car 5 is the car 5. In addition, the boarding floor Fr can also be determined, for example, based on the information indicating the current floor contained in the moving body information.

[0065] The control device 6 determines whether or not a call registration request has been received from the interlocking device 3 (S202). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 in S502, the determination in S202 is "YES".

[0066] When it is determined as "yes" in S202, the decision unit 43 decides the car 5 that responds to the call registration request received by the communication unit 41 in S202 (S203). 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 also 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 and responds to the call registration request.

[0067] After the determination unit 43 determines the assigned car 5 in S203, the assigned car notification unit 44 transmits an assigned car notification from the communication unit 41 to the interlocking device 3 (S204). The assigned car notification includes information indicating the assigned car 5 determined by the determination unit 43.

[0068] In the linkage device 3, when the call registration request is sent in S502, it is determined whether the assigned car notification is received from the control device 6 as a response (S503). When the communication unit 12 receives the assigned car notification sent from the control device 6 in S204, it is determined as "yes" in S503. When it is determined as "yes" in S503, the assigned car notification is sent from the communication unit 11 to the autonomous moving body 4 (S504).

[0069] In addition, in the autonomous moving body 4, the communication unit 31 receives the assigned car notification transmitted from the linkage device 3 in S504. 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.

[0070] In the control device 6, when the decision unit 43 determines the assigned car 5 in S203, the operation control unit 45 causes the assigned car 5 to respond to the elevator call registration request. Specifically, in response to the elevator call registration request, the operation control unit 45 causes the assigned car 5 to move to the boarding floor Fr (S205). After causing the assigned car 5 to stop at the boarding floor Fr, the operation control unit 45 opens the door 7 of the assigned car 5.

[0071] The information providing unit 42 of the control device 6 has the following function: when the assigned car 5 responding to the elevator call registration request reaches the elevator floor Fr, the interval of sending the car information of the assigned car 5 to the linkage device 3 is shortened. Specifically, the information providing unit 42 changes the sending interval of the car information of the assigned car 5 to the linkage device 3 from the first interval to the second interval. The second interval is an interval shorter than the first interval. In addition, for the cars 5 other than the assigned car 5, the sending interval of the car information is still the first interval and is not changed.

[0072] In order to realize such a function, the control device 6 determines whether the first switching condition is satisfied (S206). The first switching condition is a condition for switching the transmission interval of the car information from the first interval to the second interval. The first switching condition is set in advance.

[0073] As an example, when the door 7 of the assigned car 5 begins to open at the boarding floor Fr, the first switching condition is satisfied. Therefore, in S206, the first door determination unit 46 determines whether the door 7 of the assigned car 5 that responds to the elevator registration request begins to open at the boarding floor Fr. When the first door determination unit 46 determines that the door 7 of the assigned car 5 that responds to the elevator registration request begins to open at the boarding floor Fr, the first switching condition is satisfied. That is, it is determined as "yes" in S206. When it is determined as "yes" in S206, the information providing unit 42 changes the sending interval of the car information of the assigned car 5 to the linkage device 3 from the first interval to the second interval (S207). That is, after it is determined as "yes" in S206, the car information of the assigned car 5 is sent to the linkage device 3 at the second interval.

[0074] As another example, the assigned car 5 may stop at the boarding floor Fr, whereby the first switching condition is satisfied.

[0075] In addition, if Figure 5As shown, in the interlocking device 3 , the car information received by the communication unit 12 is stored in the storage unit 10 .

[0076] Furthermore, in the linkage device 3, when the assigned car notification is received in S503, the second door determination unit 15 determines whether the door 7 of the assigned car 5 that responded to the elevator call registration request is opened at the boarding floor Fr (S505). For example, the determination in S505 is performed based on the car information stored in the storage unit 10. When the second door determination unit 15 determines that the door 7 of the assigned car 5 is opened at the boarding floor Fr, it is determined as "yes" in S505.

[0077] If it is determined to be YES in S505, the door request unit 16 sends a door-opening-continue request to the control device 6 (S506). The door-opening-continue request is a request for extending the opening time of the door 7 of the allocated car 5 for use by the autonomous moving body 4.

[0078] If it is determined to be "YES" in S505, the boarding and alighting request unit 17 transmits a boarding request to the autonomous moving object 4 (S507). The boarding request includes information indicating that boarding of the assigned car 5 is permitted.

[0079] In the autonomous moving body 4, when a call request is sent in S401, it is determined whether a ride request is received from the linkage device 3 as a response (S402). When the communication unit 31 receives the ride request sent from the linkage device 3 in S507, 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 ride floor Fr to the inside of the assigned car 5. After the autonomous moving body 4 boards the assigned car 5, a ride completion notification is sent from the communication unit 31 to the linkage device 3 (S404).

[0080] In the linkage device 3, when a boarding request is sent in S507, it is determined whether a boarding completion notification is received from the autonomous moving body 4 as a response (S508). 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 S508. When it is determined as "yes" in S508, the door request unit 16 sends a continuous door opening end request for closing the door 7 of the assigned car 5 to the control device 6 (S509).

[0081] In the control device 6, as described above, the operation control unit 45 opens the door 7 of the assigned car 5 after the assigned car 5 stops at the boarding floor Fr. Then, in the control device 6, it is determined whether the closing action start condition is met (S208). The closing action start condition is a condition for starting the closing action of the door 7 of the assigned car 5. The closing action start condition is preset.

[0082] Figure 8 Flowchart showing an example of the processing performed in S208. In the control device 6, when the door 7 of the assigned car 5 is fully opened, it is determined whether time T1 has passed since the door 7 is fully opened (S601). Time T1 is preset. Time T1 is an arbitrary time. As an example, time T1 is 4 seconds. If time T1 has not passed since the door 7 of the assigned car 5 is fully opened, it is determined as "No" in S601.

[0083] When it is determined as "No" in S601, it is determined whether a continuous door opening request is received from the linkage device 3 (S602). When the communication unit 41 receives the continuous door opening request sent from the linkage device 3 in S506, it is determined as "Yes" in S602. On the other hand, when the continuous door opening request is not received from the linkage device 3 and time T1 has passed, it is determined as "Yes" in S601. When it is determined as "Yes" in S601, the closing action start condition is met (S606). That is, it is determined as "Yes" in S208.

[0084] When a door opening request is received from the linkage device 3 before the time T1 has passed, it is determined as "yes" in S602. When it is determined as "yes" in S602, the opening time of the door 7 of the assigned car 5 is extended (S603). That is, after receiving the door opening request, the operation control unit 45 continues to open the door 7 of the assigned car 5 even after the time T1 has passed.

[0085] Specifically, when it is determined as "yes" in S602, in the control device 6, it is determined whether time T2 has passed since the continuous door opening request was received (S604). Time T2 is preset. Time T2 is an arbitrary time. As an example, time T2 is 3 minutes. If time T2 has not passed since the continuous door opening request was received, it is determined as "no" in S604.

[0086] When it is determined as "No" in S604, it is determined whether a continuous door opening end request is received from the linkage device 3 (S605). When the continuous door opening end request sent from the linkage device 3 in S509 is received by the communication unit 41 before the time T2, it is determined as "Yes" in S605. When it is determined as "Yes" in S605, the closing action start condition is met (S606).

[0087] On the other hand, when the time T2 has elapsed without receiving the door opening end request from the interlocking device 3, it is determined as "YES" in S604. When it is determined as "YES" in S604, the closing operation start condition is satisfied (S606).

[0088] In the control device 6, when it is determined as "YES" in S208, the operation control unit 45 starts closing the door 7 of the assigned car 5 (S209).

[0089] The information providing unit 42 of the control device 6 has the following function: when the assigned car 5 carrying the autonomous moving body 4 departs from the boarding floor Fr toward the target floor Fd, the interval of sending the car information of the assigned car 5 to the linkage device 3 is restored to the original interval. Specifically, the information providing unit 42 changes the sending interval of the car information of the assigned car 5 to the linkage device 3 from the second interval to the first interval.

[0090] In order to realize such a function, the control device 6 determines whether the second switching condition is satisfied (S210). The second switching condition is a condition for switching the transmission interval of the car information from the second interval to the first interval. The second switching condition is set in advance.

[0091] As an example, when the door 7 of the assigned car 5 is completely closed at the boarding floor Fr, the second switching condition is met. Therefore, in S210, the first door determination unit 46 determines whether the door 7 of the assigned car 5 carrying the autonomous moving body 4 is completely closed at the boarding floor Fr. When the first door determination unit 46 determines that the door 7 of the assigned car 5 carrying the autonomous moving body 4 is completely closed at the boarding floor Fr, the second switching condition is met. That is, it is determined as "yes" in S210. When it is determined as "yes" in S210, the information providing unit 42 changes the sending interval of the car information of the assigned car 5 to the linkage device 3 from the second interval to the first interval (S211).

[0092] That is, after S206 is determined as "yes", until S210 is determined as "yes", the car information of the assigned car 5 is sent to the interlocking device 3 at the second interval. After S210 is determined as "yes", the car information of the assigned car 5 is sent to the interlocking device 3 at the first interval.

[0093] As another example, the second switching condition may be satisfied when the assigned car 5 starts moving toward the target floor Fd. As another example, the second switching condition may be satisfied when the communication unit 41 receives a door opening completion request.

[0094] In addition, after the door 7 of the assigned car 5 is completely closed, the operation control unit 45 moves the assigned car 5 to the target floor Fd (S212). Similar to the above, when the assigned car 5 carrying the autonomous moving body 4 and departing from the boarding floor Fr reaches the target floor Fd, the information providing unit 42 may also change the interval of sending the car information of the assigned car 5 to the linkage device 3 from the first interval to the second interval. For example, when the first door determination unit 46 determines that the door 7 of the assigned car 5 carrying the autonomous moving body 4 and departing from the boarding floor Fr begins to open at the target floor Fd, the interval of sending the car information is changed to the second interval. Alternatively, when the assigned car 5 departs from the target floor Fd toward other floors after the autonomous moving body 4 gets off the elevator, the information providing unit 42 changes the interval of sending the car information of the assigned car 5 to the linkage device 3 from the second interval to the first interval.

[0095] In the example shown in the present embodiment, basically, the information providing unit 42 sends the car information of the assigned car 5 to the linkage device 3 at the first interval. Moreover, when the assigned car 5 that responds to the elevator call registration request arrives at the elevator floor Fr, the information providing unit 42 changes the sending interval of the car information of the assigned car 5 from the first interval to the second interval. The second interval is an interval shorter than the first interval. Therefore, the car information of the assigned car 5 is sent to the linkage device 3 at a shorter period. In the case of the present elevator system 1, the door information of the assigned car 5 can be appropriately sent to the linkage device 3 that communicates with the autonomous moving body 4.

[0096] That is, in the linkage device 3, the state of the assigned car 5 and the state of the door 7 can be grasped in more real time. Therefore, it is possible to prevent the situation where the control based on the car information in the linkage device 3 is delayed. For example, when the transmission delay of the door opening request continues, the closing action of the door 7 will start before the autonomous moving body 4 gets on the assigned car 5. In the case of the present elevator system 1, it is also possible to prevent the autonomous moving body 4 from being unable to operate efficiently due to a failure to board the elevator, etc.

[0097] Next, other functions that can be adopted by the elevator system 1 are described. If possible, the elevator system 1 can also adopt a combination of the following functions. In the examples shown below, only the differences from the above examples are described in detail. The description of the same points as the above examples is omitted.

[0098] Fig. 9 FIG. 1 is a diagram showing another example of the elevator system 1 in Embodiment 1. Fig. 9 In the example shown, the elevator system 1 includes a relay device 8 in addition to the elevator device 2, the linkage device 3, and the autonomous moving body 4. Fig. 9 In the example shown, the elevator device 2 may include one or more cars 5 .

[0099] exist Fig. 9 In the example shown, the control device 6 communicates with the linkage device 3 via the relay device 8. That is, the relay device 8 can communicate bidirectionally with the control device 6. The relay device 8 can communicate bidirectionally with the linkage device 3. The linkage device 3 can communicate bidirectionally with the autonomous moving body 4. The control device 6 does not communicate directly with the linkage device 3.

[0100] In this example, the communication unit 12 of the linkage device 3 communicates with the relay device 8. The call request unit 14 requests the control device 6 to register the call via the relay device 8. The door request unit 16 requests the control device 6 to open and close the door 7 via the relay device 8. In addition, the communication unit 41 of the control device 6 communicates with the relay device 8. That is, the communication unit 41 receives the call registration request from the call request unit 14 and various requests from the door request unit 16 from the linkage device 3 via the relay device 8. The allocation notification unit 44 sends the allocation car notification from the communication unit 41 to the linkage device 3 via the relay device 8.

[0101] The relay device 8 includes a storage unit 50 , a communication unit 51 , a communication unit 52 , a recording unit 53 , an information providing unit 54 , and a third door determination unit 55 .

[0102] 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 interlocking device 3. The information providing unit 54 is a function for acquiring car information about a specific car 5 from the storage unit 50 and providing it to the outside.

[0103] 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.

[0104] Fig.10 It is a timing chart showing an example of the overall operation of the elevator system 1 . Fig.11 It is a flowchart showing an operation example of the control device 6 .

[0105] In the control device 6, the information providing unit 42 sends the car information of each car 5 to the relay device 8 at a specific period. For example, the information providing unit 42 sends the car information including the door information to the linkage device 3 at the third interval for each of the multiple cars 5 possessed by the elevator device 2 (S701). The third interval is preset. As an example, the third interval is an interval shorter than the second interval. The third interval may also be the same interval as the second interval. Basically, the process of sending the car information of each car 5 to the relay device 8 is always performed.

[0106] Fig.12It is a flowchart showing an operation example of the relay device 8 .

[0107] In the relay device 8, it is determined whether the car information is received from the control device 6 (S801). 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 S801.

[0108] When it is determined as "YES" in S801, the recording unit 53 records the car information received by the communication unit 51 in the storage unit 50 (S802). Thus, the car information of each car 5 included in the elevator device 2 is accumulated in the storage unit 50. In addition, the car information includes door information.

[0109] exist Fig. 9 and Fig.10 In the example shown, the linkage device 3 is connected with Figure 7 The autonomous moving body 4 performs the same operation as shown in FIG. Figure 6 For example, in the linkage device 3, it is determined whether a call request is received from the autonomous moving object 4 (S501). The call request unit 14 transmits a call registration request to the relay device 8 (S502) in response to the call request received by the communication unit 11 in S501.

[0110] Fig.13 1 is a flowchart showing another operation example of the relay device 8. In the relay device 8, it is determined whether a call registration request is received from the interlocking device 3 (S901). When the communication unit 52 receives the call registration request transmitted from the interlocking device 3 in S502, it is determined as "yes" in S901.

[0111] When it is determined as "yes" in S901, the recording unit 53 records the information of the boarding floor Fr and the destination floor Fd included in the call registration request in the storage unit 50 (S902). In addition, the call registration request received by the communication unit 52 in S901 is sent from the communication unit 51 to the control device 6 (S903).

[0112] Fig.11 The processing shown in S702 to S704 is the same as Figure 4 The processes shown in S202 to S204 are basically the same. In the control device 6, when the communication unit 41 receives the call registration request transmitted from the relay device 8 in S903, it is determined as "YES" in S702.

[0113] The decision unit 43 decides the car 5 that responds to the call registration request received by the communication unit 41 in S702 (S703). When the decision unit 43 decides the assigned car 5 in S703, the assigned notification unit 44 transmits an assigned car notification from the communication unit 41 to the relay device 8 (S704).

[0114] In the relay device 8, when the elevator call registration request is sent in S903, it is determined whether the assigned car notification is received from the control device 6 as a response (S904). When the communication unit 51 receives the assigned car notification sent from the control device 6 in S704, it is determined as "yes" in S904. When it is determined as "yes" in S904, the recording unit 53 records the information of the assigned car 5 contained in the assigned car notification in the storage unit 50 (S905). For example, the information of the boarding floor Fr and the target floor Fd of the autonomous moving body 4 is associated with the information of the assigned car 5 and stored in the storage unit 50. In addition, the assigned car notification received by the communication unit 51 in S904 is sent from the communication unit 52 to the linkage device 3 (S906).

[0115] exist Fig. 9 and Fig.10 In the example shown, the relay device 8 is responsible for the function of providing the linkage device 3 with the car information. As described above, the storage unit 50 stores the car information of each car 5. When the communication unit 51 receives the notification of the assigned car from the control device 6 in S904, the information providing unit 54 sends the car information of the assigned car 5 to the linkage device 3 at the first interval (S907). In addition, the information providing unit 54 does not provide the car information to the linkage device 3 until it is determined as "yes" in S904. Even if it is determined as "yes" in S904, the information providing unit 54 does not provide the car information of the car 5 other than the assigned car 5 to the linkage device 3. In the linkage device 3 provided with the car information, Figure 5 Processing shown.

[0116] In the interlocking device 3, when the communication unit 12 receives the assigned car notification transmitted from the relay device 8 in S906, the assigned car notification is transmitted from the communication unit 11 to the autonomous moving object 4 (S504).

[0117] In the control device 6, when the decision unit 43 determines the assigned car 5 in S703, the operation control unit 45 makes the assigned car 5 respond to the elevator call registration request. Specifically, in response to the elevator call registration request, the operation control unit 45 moves the assigned car 5 to the elevator floor Fr (S705). After making the assigned car 5 stop at the elevator floor Fr, the operation control unit 45 opens the door 7 of the assigned car 5.

[0118] The information providing unit 54 of the relay device 8 has the following function: when the assigned car 5 that responds to the elevator call registration request arrives at the elevator floor Fr, the interval of sending the car information of the assigned car 5 to the linkage device 3 is shortened. Specifically, the information providing unit 54 changes the sending interval of the car information of the assigned car 5 to the linkage device 3 from the first interval to the second interval.

[0119] In order to realize such a function, in this example, it is determined in the relay device 8 whether the first switching condition is satisfied (S908).

[0120] As an example, when the door 7 of the assigned car 5 begins to open at the boarding floor Fr, the first switching condition is satisfied. Therefore, in S908, the third door determination unit 55 determines whether the door 7 of the assigned car 5 that responds to the elevator call registration request begins to open at the boarding floor Fr. When the third door determination unit 55 determines that the door 7 of the assigned car 5 that responds to the elevator call registration request begins to open at the boarding floor Fr, the first switching condition is satisfied. That is, it is determined as "yes" in S908. When it is determined as "yes" in S908, the information providing unit 54 changes the sending interval of the car information of the assigned car 5 to the linkage device 3 from the first interval to the second interval (S909). That is, after it is determined as "yes" in S908, the car information of the assigned car 5 is sent to the linkage device 3 at the second interval.

[0121] The information providing unit 54 makes a determination in S908 based on the car information stored in the storage unit 50. For example, when the current floor of the assigned car 5 is the boarding floor Fr and the travel direction of the assigned car 5 is from the boarding floor Fr to the target floor Fd, the first switching condition is satisfied when the state of the door 7 is switched from fully closed to open. Even if a certain time has passed since the car information was sent in S907 and the first switching condition is not satisfied, the information providing unit 54 may stop sending the car information. The certain time is preset.

[0122] As another example, the first switching condition may be satisfied by allocating the car 5 to stop at the boarding floor Fr.

[0123] In the linkage device 3, the second door determination unit 15 determines whether the door 7 of the assigned car 5 that responds to the elevator call registration request is opened at the boarding floor Fr (S505). When it is determined as "yes" in S505, the door request unit 16 sends a continuous door opening request to the control device 6 via the relay device 8. That is, in S506, the door request unit 16 sends a continuous door opening request to the relay device 8. In the relay device 8, when the communication unit 52 receives the continuous door opening request sent from the linkage device 3 in S506, the continuous door opening request is sent from the communication unit 51 to the control device 6.

[0124] In addition, when it is determined as "yes" in S505, the boarding and alighting request unit 17 sends the boarding request to the autonomous moving body 4 (S507). When the communication unit 11 receives the boarding completion notification from the autonomous moving body 4 as a response to the boarding request (S508: yes), the door request unit 16 sends the continuous door opening end request to the control device 6 via the relay device 8. That is, the door request unit 16 sends the continuous door opening end request to the relay device 8 (S509). In the relay device 8, when the communication unit 52 receives the continuous door opening end request sent from the linkage device 3 in S509, the continuous door opening end request is sent from the communication unit 51 to the control device 6.

[0125] Fig.11 The processing shown in S706 and S707 is the same as Figure 4 The processing shown in S208 and S209 is basically the same. After the assigned car 5 stops at the boarding floor Fr, the operation control unit 45 of the control device 6 opens the door 7 of the assigned car 5. Then, in the control device 6, it is determined whether the closing operation start condition is met (S706). As an example, in S706, the same Figure 8 If the determination result in S706 is "YES", the operation control unit 45 starts closing the door 7 of the assigned car 5 (S707).

[0126] In addition, the information providing unit 54 of the relay device 8 has the following function: when the assigned car 5 carrying the autonomous moving body 4 departs from the boarding floor Fr toward the target floor Fd, the interval for sending the car information of the assigned car 5 to the linkage device 3 is restored to the original interval. Specifically, the information providing unit 54 changes the sending interval of the car information of the assigned car 5 to the linkage device 3 from the second interval to the first interval.

[0127] In order to realize such a function, the relay device 8 determines whether the second switching condition is satisfied (S910).

[0128] As an example, when the door 7 of the assigned car 5 is completely closed at the boarding floor Fr, the second switching condition is satisfied. Therefore, in S910, the third door determination unit 55 determines whether the door 7 of the assigned car 5 carrying the autonomous moving body 4 is completely closed at the boarding floor Fr. When the third door determination unit 55 determines that the door 7 of the assigned car 5 carrying the autonomous moving body 4 is completely closed at the boarding floor Fr, the second switching condition is satisfied. That is, it is determined as "yes" in S910. When it is determined as "yes" in S910, the information providing unit 54 changes the sending interval of the car information of the assigned car 5 to the linkage device 3 from the second interval to the first interval (S911).

[0129] That is, after the determination of "yes" in S908, the car information of the assigned car 5 is sent to the linkage device 3 at the second interval until the determination of "yes" in S910. After the determination of "yes" in S910, the car information of the assigned car 5 is sent to the linkage device 3 at the first interval.

[0130] As another example, the second switching condition may be satisfied when the assigned car 5 starts moving toward the target floor Fd. As another example, the second switching condition may be satisfied when the communication unit 51 receives a door opening completion request.

[0131] Furthermore, after the door 7 of the assigned car 5 is completely closed, the operation control unit 45 moves the assigned car 5 to the destination floor Fd (S708).

[0132] Similar to the function when the assigned car 5 arrives at the boarding floor Fr, when the assigned car 5 carrying the autonomous moving body 4 and departing from the boarding floor Fr arrives at the target floor Fd, the information providing unit 54 may also change the interval of sending the car information of the assigned car 5 to the linkage device 3 from the first interval to the second interval. For example, when the third door determination unit 55 determines that the door 7 of the assigned car 5 for the autonomous moving body 4 to board from the boarding floor Fr begins to open at the target floor Fd, the interval of sending the car information may be changed to the second interval.

[0133] Alternatively, when the third door determination unit 55 determines that the door 7 of the assigned car 5 is completely closed at the target floor Fd after the autonomous moving body 4 gets off, the information providing unit 54 stops sending the car information of the assigned car 5. Alternatively, in the relay device 8, when the third door determination unit 55 determines that the door 7 of the assigned car 5 is completely closed at the target floor Fd after the autonomous moving body 4 gets off, the information of the boarding floor and the target floor recorded in S902 and the information of the assigned car 5 recorded in S905 are deleted from the storage unit 50. The information may be deleted at other times.

[0134] According to this example, it is possible to reduce the amount of communication between the relay device 8 and the interlocking device 3. The relay device 8 is preferably installed in a building having the elevator device 2.

[0135] The above describes an example in which the control device 6 receives a continuous door opening request from the door request unit 16 of the linkage device 3, thereby extending the opening time of the door 7 of the assigned car 5. As another example, if the elevator system 1 does not have the relay device 8, additional processing for extending the opening time of the door 7 may also be performed in the control device 6. For example, when the assigned car 5 stops at the boarding floor Fr in response to the call registration request from the autonomous moving body 4, Figure 8In S601, it is determined whether the time (T1+T3) has passed. The time T3 is set in advance.

[0136] Similarly, if the elevator system 1 has a relay device 8, additional processing for extending the opening time of the door 7 may be performed in the relay device 8. For example, when it is determined to be "yes" in S908, the first continuous door opening request may be sent from the relay device 8 to the control device 6.

[0137] Fig.14 2 is a diagram showing an example of hardware resources of the control device 6. The control device 6 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.

[0138] In this embodiment, the components shown by reference numerals 41 to 46 represent functions of the control device 6. The functions of the components shown by reference numerals 41 to 46 can be realized by software, firmware, or a combination of software and firmware described as a program. The program is stored in the memory 62. The control device 6 can realize the functions of the components shown by reference numerals 41 to 46 by executing the program stored in the memory 62 through the processor 61 (computer).

[0139] 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.

[0140] Fig.15 is a diagram showing another example of hardware resources of the control device 6. Fig.15 In the example shown, the control device 6 has a processing circuit 60 including a processor 61 , a memory 62 and dedicated hardware 63 . Fig.15 The example in which a part of the functions of the control device 6 is implemented by the dedicated hardware 63 is shown. All the functions of the control device 6 may be implemented by the dedicated hardware 63. As the dedicated hardware 63, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof can be used.

[0141] The hardware resources of linkage device 3 and Fig.14 or Fig.15The example shown is the same. The linkage device 3 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 10 is implemented by the memory. The linkage device 3 executes the program stored in the memory through the processor (computer), thereby realizing the functions of the various parts shown by numbers 11 to 17. The linkage device 3 may also have a processing circuit including a processor, a memory and dedicated hardware as a hardware resource. Regarding the linkage device 3, part or all of the functions of the device may also be implemented by dedicated hardware.

[0142] Hardware resources and Fig.14 or Fig.15 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 33. 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.

[0143] The hardware resources of the relay device 8 and Fig.14 or Fig.15 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 55. 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.

[0144] Examples of aspects that may be included in the present invention are explicitly described below as supplementary notes.

[0145] [Note 1]

[0146] An elevator system comprising:

[0147] Autonomous mobile body;

[0148] a control device that manages the operation of the first car; and

[0149] a linkage device that communicates with the autonomous moving body and the control device,

[0150] The control device has:

[0151] an information providing unit that sends car information related to the operation of the first car to the linkage device at a first interval;

[0152] a communication unit that receives, from the linkage device, an elevator call registration request for the autonomous moving body to move from the boarding floor to the target floor on the first car; and

[0153] an operation control unit configured to cause the first car to respond to the call registration request received by the communication unit,

[0154] When the first car that has responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

[0155] [Note 2]

[0156] An elevator system comprising:

[0157] Autonomous mobile body;

[0158] A control device that manages the operation of the plurality of cars; and

[0159] a linkage device that communicates with the autonomous moving body and the control device,

[0160] The control device has:

[0161] an information providing unit that transmits car information related to operation to the linkage device at a first interval for each of the plurality of cars;

[0162] a communication unit that receives a call registration request from the linkage device, the call registration request being used for the autonomous moving body to move from a boarding floor to a target floor by taking one of the plurality of cars;

[0163] a determination unit that determines a first car that responds to the call registration request received by the communication unit from among the plurality of cars; and

[0164] an operation control unit configured to cause the first car determined by the determination unit to respond to the call registration request,

[0165] When the first car that has responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

[0166] [Note 3]

[0167] The elevator system according to Supplement 1 or Supplement 2, wherein:

[0168] The control device further includes a first door determination unit that determines whether the door of the first car that responds to the call registration request starts to open at the boarding floor.

[0169] When the first door determination unit determines that the door of the first car starts to open at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to the second interval.

[0170] [Note 4]

[0171] The elevator system according to any one of Supplement 1 to Supplement 3, wherein:

[0172] The linkage device has:

[0173] a second door determination unit for determining whether the door of the first car that has responded to the call registration request is opened at the boarding floor;

[0174] a door request unit that sends a door-opening-continue request to the control device when the second door determination unit determines that the door of the first car is open at the boarding floor; and

[0175] a boarding request unit that sends a boarding request to the autonomous moving body when the second door determination unit determines that the door of the first car is open at the boarding floor,

[0176] The autonomous moving body starts an action for boarding the first car upon receiving the boarding request, and sends a boarding completion notification to the linkage device after boarding the first car.

[0177] Upon receiving the boarding completion notification, the door request unit sends a door opening end request to the control device.

[0178] The operation control unit continues to open the door of the first car when receiving the door opening continuation request.

[0179] The operation control section closes the door of the first car when a first time has elapsed since the continuous door opening request was received, and when the continuous door opening end request is received before the first time has elapsed.

[0180] [Note 5]

[0181] The elevator system according to any one of Supplement 1 to Supplement 4, wherein:

[0182] When the first car carrying the autonomous movable body departs from the boarding floor toward the destination floor, the information providing unit changes the transmission interval of the car information of the first car to the first interval.

[0183] [Note 6]

[0184] The elevator system according to Supplement 5, wherein:

[0185] The control device further includes a first door determination unit for determining whether a door of the first car carrying the autonomous moving body is completely closed at the boarding floor.

[0186] When the first door determination unit determines that the door of the first car is completely closed at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to the first interval.

[0187] [Note 7]

[0188] The elevator system according to Supplement 5 or Supplement 6, wherein:

[0189] When the first car carrying the autonomous movable body and departing from the boarding floor reaches the destination floor, the information providing unit changes the transmission interval of the car information of the first car to the second interval.

[0190] [Note 8]

[0191] An elevator system comprising:

[0192] Autonomous mobile body;

[0193] A control device that manages the operation of the plurality of cars;

[0194] A linkage device that communicates with the autonomous moving object; and

[0195] a relay device, which communicates with the linkage device and the control device,

[0196] The control device has:

[0197] a first information providing unit that transmits car information related to operation of each of the plurality of cars to the relay device;

[0198] a communication unit that receives an elevator call registration request from the linkage device via the relay device, the elevator call registration request being used for the autonomous moving body to move from the boarding floor to the target floor by taking one of the plurality of cars;

[0199] a determination unit that determines a first car, from among the plurality of cars, that responds to the call registration request received by the communication unit;

[0200] an operation control unit that causes the first car determined by the determination unit to respond to the call registration request; and

[0201] an allocation notification unit that transmits an allocation car notification indicating the first car determined by the determination unit to the relay device,

[0202] The relay device has a second information providing unit, and when receiving the assigned car notification, the second information providing unit sends the car information of the first car to the linkage device at a first interval. When the first car that responds to the elevator call registration request arrives at the elevator floor, the second information providing unit changes the sending interval of the car information of the first car to a second interval that is shorter than the first interval.

[0203] [Note 9]

[0204] An elevator system according to Supplementary Note 8, wherein:

[0205] The relay device further includes a third door determination unit that determines whether the door of the first car that has responded to the call registration request has started to open at the boarding floor.

[0206] When the third door determination unit determines that the door of the first car starts to open at the boarding floor, the second information providing unit changes the transmission interval of the car information of the first car to the second interval.

[0207] [Note 10]

[0208] The elevator system according to Supplement 8 or Supplement 9, wherein:

[0209] The linkage device has:

[0210] a second door determination unit for determining whether the door of the first car that has responded to the call registration request is opened at the boarding floor;

[0211] a door request unit that sends a door-opening-continue request to the control device via the relay device when the second door determination unit determines that the door of the first car is open at the boarding floor; and

[0212] a boarding request unit that sends a boarding request to the autonomous moving body when the second door determination unit determines that the door of the first car is open at the boarding floor,

[0213] The autonomous moving body starts an action for boarding the first car upon receiving the boarding request, and sends a boarding completion notification to the linkage device after boarding the first car.

[0214] When receiving the boarding completion notification, the door request unit sends a door opening end request to the control device via the relay device.

[0215] The operation control unit continues to open the door of the first car when receiving the door opening continuation request.

[0216] The operation control section closes the door of the first car when a first time has elapsed since the continuous door opening request was received, and when the continuous door opening end request is received before the first time has elapsed.

[0217] [Note 11]

[0218] The elevator system according to any one of Supplement 8 to Supplement 10, wherein:

[0219] When the first car carrying the autonomous movable body departs from the boarding floor toward the destination floor, the second information providing unit changes the transmission interval of the car information of the first car to the first interval.

[0220] [Note 12]

[0221] The elevator system according to Supplement 11, wherein:

[0222] The relay device further includes a third door determination unit for determining whether the door of the first car carrying the autonomous moving body is completely closed at the boarding floor.

[0223] When the third door determination unit determines that the door of the first car is completely closed at the boarding floor, the second information providing unit changes the transmission interval of the car information of the first car to the first interval.

[0224] [Note 13]

[0225] The elevator system according to Supplement 11 or Supplement 12, wherein:

[0226] When the first car carrying the autonomous movable body and departing from the boarding floor reaches the target floor, the second information providing unit changes the transmission interval of the car information of the first car to the second interval.

[0227] [Note 14]

[0228] A control device capable of communicating with a linkage device to manage the operation of a first car of an elevator, wherein the linkage device communicates with an autonomous moving body, wherein the control device comprises:

[0229] an information providing unit that sends car information related to the operation of the first car to the linkage device at a first interval;

[0230] a communication unit that receives, from the linkage device, an elevator call registration request for the autonomous moving body to move from the boarding floor to the target floor on the first car; and

[0231] an operation control unit configured to cause the first car to respond to the call registration request received by the communication unit,

[0232] When the first car that has responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

[0233] [Note 15]

[0234] A relay device capable of communicating with a linkage device and a control device, wherein the linkage device communicates with an autonomous moving body and the control device manages the operation of a plurality of elevator cars, wherein the relay device has:

[0235] a communication unit that receives car information related to operation from the control device for each of the plurality of cars; and

[0236] an information providing unit, which, upon receiving a car allocation notification from the control device, sends car information of a first car to the linkage device at a first interval, wherein the car allocation notification indicates the first car that responds to a call registration request for the autonomous moving body to move from a boarding floor to a target floor by taking one of the plurality of cars,

[0237] When the first car that has responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

[0238] [Note 16]

[0239] A control method for a control device, wherein the control device is capable of communicating with a linkage device to manage the operation of a first car of an elevator, wherein the linkage device communicates with an autonomous moving body, wherein the control method comprises the following steps:

[0240] a first information providing step of sending car information related to the operation of the first car to the linkage device at a first interval;

[0241] A communication step of receiving a call registration request from the linkage device, the call registration request being used for the autonomous moving body to move from the boarding floor to the target floor by the first car;

[0242] an operation control step of causing the first car to respond to the call registration request received in the communication step; and

[0243] The second information providing step is to change the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor.

[0244] [Note 17]

[0245] A control method for a relay device, wherein the relay device can communicate with a linkage device and a control device, the linkage device communicates with an autonomous moving body, and the control device manages the operation of multiple elevator cars, wherein the control method comprises the following steps:

[0246] a communication step of receiving, with respect to each of the plurality of cars, car information related to operation from the control device;

[0247] a first information providing step of sending car information of a first car to the linkage device at a first interval upon receiving a car allocation notification from the control device, wherein the car allocation notification indicates the first car that responds to a call registration request for the autonomous moving body to move from a boarding floor to a target floor by taking one of the plurality of cars; and

[0248] The second information providing step is to change the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor.

[0249] [Note 18]

[0250] A storage medium storing a program for causing a computer to execute a first information provision process, a communication process, an operation control process, and a second information provision process, wherein the computer is capable of communicating with a linkage device to manage the operation of a first car of an elevator, the linkage device communicating with an autonomous moving body, wherein:

[0251] In the first information providing process, car information related to the operation of the first car is sent to the linkage device at a first interval,

[0252] In the communication process, a call registration request is received from the linkage device, the call registration request being used for the autonomous moving body to move from the boarding floor to the target floor on the first car,

[0253] in the operation control process, causing the first car to respond to the call registration request received in the communication process,

[0254] In the second information providing process, when the first car that has responded to the call registration request arrives at the boarding floor, the transmission interval of the car information of the first car is changed to a second interval that is shorter than the first interval.

[0255] [Note 19]

[0256] A storage medium storing a program for causing a computer to execute communication processing, first information providing processing, and second information providing processing, wherein the computer is capable of communicating with a linkage device and a control device, the linkage device communicates with an autonomous moving body, and the control device manages the operation of a plurality of elevator cars, wherein:

[0257] In the communication process, for each of the plurality of cars, car information related to operation is received from the control device,

[0258] In the first information providing process, upon receiving a car allocation notification from the control device, car information of a first car is sent to the linkage device at a first interval, wherein the car allocation notification indicates the first car that responds to a call registration request for the autonomous moving body to move from a boarding floor to a target floor by taking one of the plurality of cars,

[0259] In the second information providing process, when the first car that has responded to the call registration request arrives at the boarding floor, the transmission interval of the car information of the first car is changed to a second interval that is shorter than the first interval.

[0260] The matters described in Supplementary Notes 3 to 7 or equivalent matters may be added to Supplementary Notes 14, 16, and 18, respectively. The matters described in Supplementary Notes 9 to 13 or equivalent matters may be added to Supplementary Notes 15, 17, and 19, respectively.

Claims

1. An elevator system, comprising: Autonomous mobile body; a control device that manages the operation of the first car; and a linkage device that communicates with the autonomous moving body and the control device, The control device has: an information providing unit that sends car information related to the operation of the first car to the linkage device at a first interval; a communication unit that receives a call registration request from the linkage device, the call registration request being used for the autonomous moving body to move from the boarding floor to the target floor on the first car; and an operation control unit configured to cause the first car to respond to the call registration request received by the communication unit, When the first car that has responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

2. An elevator system, comprising: Autonomous mobile body; A control device that manages the operation of the plurality of cars; and a linkage device that communicates with the autonomous moving body and the control device, The control device has: an information providing unit that transmits car information related to operation to the linkage device at a first interval for each of the plurality of cars; a communication unit that receives a call registration request from the linkage device, the call registration request being used for the autonomous moving body to move from a boarding floor to a target floor by taking one of the plurality of cars; a determination unit that determines a first car that responds to the call registration request received by the communication unit from among the plurality of cars; and an operation control unit configured to cause the first car determined by the determination unit to respond to the call registration request, When the first car that has responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

3. The elevator system according to claim 1 or 2, wherein: The control device further includes a first door determination unit that determines whether the door of the first car that responds to the call registration request starts to open at the boarding floor. When the first door determination unit determines that the door of the first car starts to open at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to the second interval.

4. The elevator system according to claim 1 or 2, wherein: The linkage device has: a second door determination unit for determining whether the door of the first car that has responded to the call registration request is opened at the boarding floor; a door request unit that sends a door-opening-continue request to the control device when the second door determination unit determines that the door of the first car is open at the boarding floor; and a boarding request unit that sends a boarding request to the autonomous moving body when the second door determination unit determines that the door of the first car is open at the boarding floor, The autonomous moving body starts an action for boarding the first car upon receiving the boarding request, and sends a boarding completion notification to the linkage device after boarding the first car. Upon receiving the boarding completion notification, the door request unit sends a door opening end request to the control device. The operation control unit continues to open the door of the first car when receiving the door opening continuation request. The operation control section closes the door of the first car when a first time has elapsed since the continuous door opening request was received, and when the continuous door opening end request is received before the first time has elapsed.

5. The elevator system according to claim 1 or 2, wherein: When the first car carrying the autonomous movable body departs from the boarding floor toward the destination floor, the information providing unit changes the transmission interval of the car information of the first car to the first interval.

6. The elevator system according to claim 5, wherein: The control device further includes a first door determination unit for determining whether a door of the first car carrying the autonomous moving body is completely closed at the boarding floor. When the first door determination unit determines that the door of the first car is completely closed at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to the first interval.

7. The elevator system according to claim 5, wherein: When the first car carrying the autonomous movable body and departing from the boarding floor reaches the destination floor, the information providing unit changes the transmission interval of the car information of the first car to the second interval.

8. An elevator system, comprising: Autonomous mobile body; A control device that manages the operation of the plurality of cars; A linkage device that communicates with the autonomous moving object; and a relay device, which communicates with the linkage device and the control device, The control device has: a first information providing unit that transmits car information related to operation of each of the plurality of cars to the relay device; a communication unit that receives an elevator call registration request from the linkage device via the relay device, the elevator call registration request being used for the autonomous moving body to move from the boarding floor to the target floor by taking one of the plurality of cars; a determination unit that determines a first car, from among the plurality of cars, that responds to the call registration request received by the communication unit; an operation control unit that causes the first car determined by the determination unit to respond to the call registration request; and an allocation notification unit that transmits an allocation car notification indicating the first car determined by the determination unit to the relay device, The relay device has a second information providing unit, and when receiving the assigned car notification, the second information providing unit sends the car information of the first car to the linkage device at a first interval. When the first car that responds to the elevator call registration request arrives at the elevator floor, the second information providing unit changes the sending interval of the car information of the first car to a second interval that is shorter than the first interval.

9. The elevator system according to claim 8, wherein: The relay device further includes a third door determination unit that determines whether the door of the first car that has responded to the call registration request has started to open at the boarding floor. When the third door determination unit determines that the door of the first car starts to open at the boarding floor, the second information providing unit changes the transmission interval of the car information of the first car to the second interval.

10. The elevator system according to claim 8 or 9, wherein: The linkage device has: a second door determination unit for determining whether the door of the first car that has responded to the call registration request is opened at the boarding floor; a door request unit that sends a door-opening-continue request to the control device via the relay device when the second door determination unit determines that the door of the first car is open at the boarding floor; as well as a boarding request unit that sends a boarding request to the autonomous moving body when the second door determination unit determines that the door of the first car is open at the boarding floor, The autonomous moving body starts an action for boarding the first car upon receiving the boarding request, and sends a boarding completion notification to the linkage device after boarding the first car. When receiving the boarding completion notification, the door request unit sends a door opening end request to the control device via the relay device. The operation control unit continues to open the door of the first car when receiving the door opening continuation request. The operation control section closes the door of the first car when a first time has elapsed since the continuous door opening request was received, and when the continuous door opening end request is received before the first time has elapsed.

11. The elevator system according to claim 8, wherein: When the first car carrying the autonomous movable body departs from the boarding floor toward the destination floor, the second information providing unit changes the transmission interval of the car information of the first car to the first interval.

12. The elevator system according to claim 11, wherein: The relay device further includes a third door determination unit for determining whether the door of the first car carrying the autonomous moving body is completely closed at the boarding floor. When the third door determination unit determines that the door of the first car is completely closed at the boarding floor, the second information providing unit changes the transmission interval of the car information of the first car to the first interval.

13. The elevator system according to claim 11 or 12, wherein: When the first car carrying the autonomous movable body and departing from the boarding floor reaches the target floor, the second information providing unit changes the transmission interval of the car information of the first car to the second interval.

14. A control device capable of communicating with a linkage device to manage the operation of a first car of an elevator, wherein the linkage device communicates with an autonomous moving body, wherein: The control device has: an information providing unit that sends car information related to the operation of the first car to the linkage device at a first interval; a communication unit that receives a call registration request from the linkage device, the call registration request being used for the autonomous moving body to move from the boarding floor to the target floor by the first car; as well as an operation control unit configured to cause the first car to respond to the call registration request received by the communication unit, When the first car that has responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

15. A relay device capable of communicating with a linkage device and a control device, the linkage device communicating with an autonomous moving body, the control device managing the operation of a plurality of elevator cars, wherein: The relay device has: a communication unit that receives car information related to operation from the control device for each of the plurality of cars; and an information providing unit, which, upon receiving a car allocation notification from the control device, sends car information of a first car to the linkage device at a first interval, wherein the car allocation notification indicates the first car that responds to a call registration request for the autonomous moving body to move from a boarding floor to a target floor by taking one of the plurality of cars, When the first car that has responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

16. A control method for a control device, the control device being capable of communicating with a linkage device to manage the operation of a first car of an elevator, the linkage device communicating with an autonomous moving body, wherein: The control method comprises the following steps: a first information providing step of sending car information related to the operation of the first car to the linkage device at a first interval; A communication step of receiving a call registration request from the linkage device, the call registration request being used for the autonomous moving body to move from the boarding floor to the target floor by the first car; an operation control step of causing the first car to respond to the call registration request received in the communication step; as well as The second information providing step is to change the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor.

17. A control method for a relay device, the relay device being capable of communicating with a linkage device and a control device, the linkage device communicating with an autonomous moving body, the control device managing the operation of a plurality of elevator cars, wherein: The control method comprises the following steps: a communication step of receiving, with respect to each of the plurality of cars, car information related to operation from the control device; a first information providing step of sending car information of a first car to the linkage device at a first interval upon receiving a car allocation notification from the control device, wherein the car allocation notification indicates the first car that responds to a call registration request for the autonomous moving body to move from a boarding floor to a target floor by taking one of the plurality of cars; and The second information providing step is to change the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that has responded to the call registration request arrives at the boarding floor.

18. A storage medium storing a program for causing a computer to execute a first information provision process, a communication process, an operation control process, and a second information provision process, wherein the computer is capable of communicating with a linkage device to manage the operation of a first car of an elevator, the linkage device communicating with an autonomous moving body, wherein: In the first information providing process, car information related to the operation of the first car is sent to the linkage device at a first interval, In the communication process, a call registration request is received from the linkage device, the call registration request being used for the autonomous moving body to move from the boarding floor to the target floor on the first car, in the operation control process, causing the first car to respond to the call registration request received in the communication process, In the second information providing process, when the first car that has responded to the call registration request arrives at the boarding floor, the transmission interval of the car information of the first car is changed to a second interval that is shorter than the first interval.

19. A storage medium storing a program, the program being used to cause a computer to execute communication processing, first information providing processing, and second information providing processing, the computer being able to communicate with a linkage device and a control device, the linkage device communicating with an autonomous moving body, the control device managing the operation of a plurality of elevator cars, wherein: In the communication process, for each of the plurality of cars, car information related to operation is received from the control device, In the first information providing process, upon receiving a car allocation notification from the control device, car information of a first car is sent to the linkage device at a first interval, wherein the car allocation notification indicates the first car that responds to a call registration request for the autonomous moving body to move from a boarding floor to a target floor by taking one of the plurality of cars, In the second information providing process, when the first car that has responded to the call registration request arrives at the boarding floor, the transmission interval of the car information of the first car is changed to a second interval that is shorter than the first interval.

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