Elevator cooperation control device, elevator system, elevator cooperation control method, and elevator cooperation control program

Abstract

The invention provides an elevator cooperation control device, an elevator system, an elevator cooperation control method, and an elevator cooperation control program. A decrease in operation efficiency can be suppressed. The cooperative control device is provided with a call registration request unit that transmits, to the elevator control device, a landing call registration request for a boarding floor and a car call registration request for a landing floor in response to a car dispatch request from the autonomous mobile body. The elevator control device registers a landing call for a boarding floor according to a landing call registration request, registers a car call for a landing floor for a car responding to the landing call, namely a car responding to the car, according to a car call registration request, and cancels the car call when a preset cancellation condition is satisfied. When the car call registered in the response car is cancelled, a car call cancellation notification is transmitted. When the call registration request unit receives the car call cancellation notification, the call registration request unit transmits a re-registration request for the car call of the lower floor to the elevator control device.

Description

Technical Field

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

[0002] Among the technologies for collaborative control of elevators and autonomous moving bodies such as robots, the following technologies are known: a call is sent from a robot to an elevator control system, an elevator car is assigned to the call, machine information of the assigned car is sent to the robot control system, and the elevator is controlled in such a way that the assigned car moves to the floor indicated by the call (the floor where the robot is located) (for example, refer to patent document 1).

[0003] Prior art literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2022-019590 Summary of the invention

[0005] However, in the technology shown in Patent Document 1, when the call registered by the request from the autonomous moving body is canceled, the autonomous moving body cannot get off at the target floor. In this case, for example, the autonomous moving body will continue to ride in the car until the timeout, that is, until the preset waiting time has passed, so the operation efficiency of the autonomous moving body is reduced.

[0006] The present invention is completed to solve such a problem. Its purpose is to provide an elevator cooperative control device, an elevator system, an elevator cooperative control method and an elevator cooperative control program that can suppress the reduction of the working efficiency of the autonomous moving body even when the elevator call registered based on the request from the autonomous moving body is cancelled.

[0007] The elevator cooperative control device of the present invention is configured to be able to communicate with an elevator control device that controls an elevator car, wherein the elevator cooperative control device is provided with an elevator call registration request unit, which sends a floor call registration request for an elevator boarding floor and a car call registration request for an elevator down-deck floor to the elevator control device based on a request for a dispatched car from an autonomous moving body, and the elevator control device registers a floor call for the elevator boarding floor based on the floor call registration request, and responds to the floor call based on the car call registration request. The car, i.e. the responding car, registers a car call for the next elevator floor, and cancels the car call when a preset cancellation condition is met. When the car call registered in the responding car is canceled, a car call cancellation notification is sent. When receiving the car call cancellation notification, the call registration request unit sends a re-registration request for the car call for the next elevator floor to the elevator control device. The elevator control device re-registers the car call for the next elevator floor for the responding car based on the re-registration request.

[0008] Alternatively, the elevator cooperative control device of the present invention is configured to be able to communicate with an elevator control device that controls an elevator car, wherein the elevator cooperative control device includes a call registration request unit, which sends a floor call registration request for a boarding floor and a car call registration request for a descending floor to the elevator control device based on a dispatch car request from an autonomous moving body, and the elevator control device registers a floor call for the boarding floor based on the floor call registration request, and registers a car call for the descending floor based on the car call registration request for the car that responds to the floor call, i.e., the car that responds to the floor call, when a preset cancellation condition is met. The car call is canceled, and the cancellation condition includes a first condition and a second condition, the first condition being a registered car call with a floor located in a direction opposite to the direction of travel of the car as a destination floor, and the second condition being a pre-set condition that at least includes the car stopping, the elevator control device cancels the car call with a floor located in a direction opposite to the direction of travel of the car as a destination floor when the cancellation condition is met, and sends a condition establishment notification when the second condition is met, and the call registration request unit sends a re-registration request for the car call for the descending floor to the elevator control device when receiving the condition establishment notification.

[0009] An elevator system according to the present invention includes any one of the above-mentioned elevator cooperative control devices, the elevator control device, and the autonomous moving body.

[0010] The elevator cooperative control method of the present invention is executed by a computer of an elevator cooperative control device which is configured to communicate with an elevator control device which controls an elevator car, wherein the elevator cooperative control method comprises: a first elevator call registration request step, in which a floor call registration request for an elevator riding floor and a car call registration request for an elevator going down floor are sent to the elevator control device according to a request for a dispatched car from an autonomous moving body; and a second elevator call registration request step, in which the elevator control device registers a floor call for the elevator riding floor according to the floor call registration request and sends a car call registration request to the elevator going down floor according to the car call registration request. , for the car that responds to the floor call, i.e., the responding car, registers a car call for the next elevator floor, and cancels the car call when a preset cancellation condition is met. When the car call registered in the responding car is canceled, a car call cancellation notification is sent, and in the second call registration request step, when the car call cancellation notification is received, a re-registration request for the car call for the next elevator floor is sent to the elevator control device, and the elevator control device re-registers the car call for the next elevator floor for the responding car according to the re-registration request.

[0011] Alternatively, the elevator cooperative control method of the present invention is executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device for controlling an elevator car, wherein the elevator cooperative control method comprises: a first elevator call registration request step, in which, based on a dispatch car request from an autonomous moving body, a floor call registration request for a boarding floor and a car call registration request for a descending floor are sent to the elevator control device; and a second elevator call registration request step, in which the elevator control device registers a floor call for the boarding floor based on the floor call registration request, and registers a car call for the descending floor based on the car call registration request, in a preset selection step for the car that responds to the floor call, i.e., the car that responds to the car call. The car call is canceled when a cancellation condition is met, and the cancellation condition includes a first condition and a second condition, the first condition being that a car call with a floor located in a direction opposite to the direction of travel of the car as a destination floor is registered, and the second condition is a pre-set condition that at least includes the car stopping, and the elevator control device cancels the car call with a floor located in a direction opposite to the direction of travel of the car as a destination floor when the cancellation condition is met, and sends a condition establishment notification when the second condition is met, and in the second call registration request step, when the condition establishment notification is received, sends a re-registration request for the car call for the descending floor to the elevator control device.

[0012] The elevator cooperative control program of the present invention is used to enable a computer of an elevator cooperative control device to execute any of the above-mentioned elevator cooperative control methods.

[0013] Effects of the Invention

[0014] According to the elevator cooperative control device, elevator system, elevator cooperative control method and elevator cooperative control program of the present invention, the following effect is achieved: even if the elevator call registered based on the request from the autonomous moving body is cancelled, the reduction in the working efficiency of the autonomous moving body can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a block diagram showing the overall configuration of an elevator system including the elevator cooperative control device according to the first embodiment.

[0016] Figure 2 This is a block diagram showing the configuration of an elevator control device included in the elevator system according to the first embodiment.

[0017] Figure 3 This is a block diagram showing the structure of the elevator cooperation control device included in the elevator system according to the first embodiment.

[0018] Figure 4 This is a flowchart showing an example of the operation of the elevator cooperation control device according to the first embodiment.

[0019] Figure 5 This is a diagram for explaining an example of the operation of the elevator system according to the first embodiment.

[0020] Figure 6 This is a diagram for explaining an example of the operation of the elevator system according to the first embodiment.

[0021] Figure 7 This is a diagram for explaining an example of car call cancellation in the elevator system according to the first embodiment.

[0022] Figure 8 This is a diagram for explaining an example of car call cancellation in the elevator system according to the first embodiment.

[0023] Fig. 9 This is a diagram for explaining an example of car call cancellation in the elevator system according to the first embodiment.

[0024] Fig.10 This is a flowchart showing an example of the operation of the first modified example of the elevator cooperation control device according to the first embodiment.

[0025] Fig.11 This is a diagram for explaining an example of the operation of the first modified example of the elevator system according to the first embodiment.

[0026] Fig.12This is a diagram showing an example of a structure for realizing the functions of the elevator cooperative control device and the elevator control device according to the first embodiment.

[0027] Description of symbols

[0028] 1: Processor; 2: Memory; 3: Special hardware; 10: Car; 20: Autonomous moving body; 100: Elevator control device; 110: Floor call registration unit; 120: Car call registration unit; 130: Car allocation unit; 140: Car control unit; 150: Car call cancellation unit; 160: Call cancellation notification unit; 200: Collaborative control device; 210: Autonomous moving body communication unit; 220: Elevator communication unit; 230: Storage unit; 240: Processing unit; 241: Call registration request unit; 250: Door opening and closing control unit; 300: Repeater. DETAILED DESCRIPTION

[0029] With reference to the accompanying drawings, the implementation methods of the elevator cooperative control device, the elevator system, the elevator cooperative control method and the elevator cooperative control program of the present invention are described. In each figure, the same reference numerals are marked for the same or corresponding parts, and repeated descriptions are appropriately simplified or omitted. In the following description, for convenience, the positional relationship of each structure is sometimes expressed with reference to the illustrated state. In addition, the present invention is not limited to the following implementation methods, and the various implementation methods can be freely combined, any constituent elements of each implementation method can be deformed, or any constituent elements of each implementation method can be omitted without departing from the scope of the purpose of the present invention.

[0030] Implementation Method 1

[0031] Reference Figures 1 to 12 , embodiment 1 of the present invention is described. Figure 1 This is a block diagram showing the overall configuration of an elevator system including an elevator cooperative control device. Figure 2 This is a block diagram showing the configuration of an elevator control device included in the elevator system. Figure 3 This is a block diagram showing the structure of an elevator cooperation control device included in an elevator system. Figure 4 This is a flowchart showing an example of the operation of the elevator cooperation control device. Figure 5 and Figure 6 Each of them is a diagram for explaining an example of the operation of the elevator system. Figures 7 to 9 Each of them is a diagram for explaining an example of car call cancellation in the elevator system. Fig.10 This is a flowchart showing an example of the operation of the first modified example of the elevator cooperation control device. Fig.11 This is a diagram for explaining an example of the operation of the first modified example of the elevator system. Fig.12 This is a diagram showing an example of a structure that realizes the functions of an elevator cooperative control device and an elevator control device.

[0032] like Figure 1 As shown, the elevator system of this embodiment includes an elevator control device 100, a cooperative control device 200, and an autonomous moving body 20. The elevator control device 100 controls the elevator. The elevator controlled by the elevator control device 100 has one or more cars. In the example shown in the figure, two cars are provided in the elevator. However, the number of cars 10 of the elevator is not limited to two.

[0033] In a building in which an elevator is installed, there are provided a shaft (not shown) having the same number as the cars 10. The car 10 is configured to be able to be raised and lowered freely in the shaft. Passengers and autonomous moving bodies 20 can get on and off the car 10. The autonomous moving body 20 is, for example, a mobile robot, and can move autonomously. The number of autonomous moving bodies 20 is not limited to one, and may be two or more. The car 10 is raised and lowered in the shaft, and one or both of the passengers and autonomous moving bodies 20 who are riding in the car 10 are transported between multiple floors of the building.

[0034] At the landing of each floor where the car 10 can stop, there is a landing call button (not shown). The landing call button allows passengers to register a landing call. Passengers can register a landing call to summon the car 10 in the desired direction of travel to the floor by operating the landing call button. In addition, a destination floor button (not shown) is provided in the car 10. The destination floor button is provided, for example, on an in-car operating panel (not shown) provided in the car 10. The destination floor button allows passengers to register a car call. Passengers on the car 10 can register a car call with the desired floor as the destination by operating the destination floor button.

[0035] The elevator control device 100 controls the overall operation of the elevator including the operation of the elevator car 10. In the configuration example described here, the elevator control device 100 performs group management for managing a plurality of elevator cars 10 as a group. In addition, the elevator control device 100 may not perform group management. In addition, when there is only one elevator car 10, group management is not performed. Next, refer to Figure 2 The structure of the elevator control device 100 of this embodiment is described. Figure 2 As shown, the elevator control device 100 includes a landing call registration unit 110 , a car call registration unit 120 , a car allocation unit 130 , and a car control unit 140 .

[0036] The elevator control device 100 is connected to the landing call button of each floor in a communicable manner. When a passenger operates the landing call button, a call registration request signal is output from the operated landing call button. The call registration request signal output from the landing call button is input to the elevator control device 100. The landing call registration unit 110 of the elevator control device 100 registers the landing call for the floor where the landing call button is set, which is the output source of the input call registration request signal.

[0037] When a passenger in the car 10 operates a destination floor button in the car 10, a call registration request signal is output from the car operating panel provided with the operated destination floor button. The call registration request signal output from the car operating panel is input to the elevator control device 100. The car call registration unit 120 of the elevator control device 100 registers a car call for the destination floor indicated by the input call registration request signal.

[0038] The car allocation unit 130 determines the car 10 to be allocated to the registered landing call from a plurality of cars 10. The determination of the car 10 to be allocated to the landing call is performed, for example, as described below. First, the car allocation unit 130 calculates an allocation evaluation value for each car 10 based on the operating status of each car 10. The allocation evaluation value is calculated using, for example, the waiting time until the car 10 that responds to the registered landing call arrives, the load of the car 10, and the like. Then, the car allocation unit 130 compares the calculated allocation evaluation values ​​of each car 10, and determines the car 10 with the largest allocation evaluation value as the car 10 to be allocated to the landing call. In this way, the car allocation unit 130 allocates the car 10 to the landing call.

[0039] In the present invention, the car 10 assigned to the landing call by the car assignment unit 130 is also referred to as the "assigned car". In addition, the car 10 that responds to the landing call is also referred to as the "responding car". The assigned car is also the responding car. In addition, as described above, the elevator control device 100 does not have to perform group management. In the case where group management is not performed, the elevator control device 100 does not have to include the car assignment unit 130. When a landing call is registered when the elevator control device 100 does not have the car assignment unit 130, the elevator control device 100 determines the responding car for the landing call. In this case, the elevator control device 100, for example, determines the car on the registered floor of the landing call that is closest to the car 10 currently on standby as the responding car.

[0040] The car control unit 140 controls the operation of each of the plurality of cars 10. One car control unit 140 is provided corresponding to each of the plurality of cars 10. That is, the same number of car control units 140 as the cars 10 are provided. The car control unit 140 controls the travel of each corresponding car 10. For example, when the car 10 allocated to the landing call is determined by the car allocation unit 130, the car control unit 140 that controls the car 10 causes the car 10 to travel to the floor where the landing call is registered in response to the registered landing call. In addition, when the destination floor button in the car 10 is operated and the car call is registered, the car control unit 140 that controls the car 10 causes the car 10 to travel to the destination floor indicated by the car call in response to the registered car call.

[0041] The cooperative control device 200 of this embodiment is used to control the movement of the autonomous moving body 20 moving in a building where an elevator is installed in cooperation with the movement of the elevator. The cooperative control device 200 is configured to be able to communicate with the elevator control device 100. Figure 1 In the example shown, the cooperative control device 200 is connected to the elevator control device 100 in a communicable manner via the repeater 300. The repeater 300 relays the communication between the cooperative control device 200 and the elevator control device 100. However, the repeater 300 may not be provided, and the cooperative control device 200 and the elevator control device 100 may be able to communicate directly.

[0042] like Figure 1 As shown, the cooperative control device 200 includes an autonomous mobile communication unit 210, an elevator communication unit 220, a storage unit 230, a processing unit 240, and a door opening and closing control unit 250. The autonomous mobile communication unit 210 performs communication between the cooperative control device 200 and the autonomous mobile 20. The communication between the cooperative control device 200 and the autonomous mobile 20 is mainly performed wirelessly. The autonomous mobile communication unit 210 mainly sends data, signals, etc. to the autonomous mobile 20 according to instructions from the processing unit 240. In addition, the autonomous mobile communication unit 210 receives data, signals, etc. sent from the autonomous mobile 20 and sends them to the processing unit 240, etc. In addition, a dedicated mobile control device (not shown) for controlling the autonomous mobile 20 may be provided between the autonomous mobile communication unit 210 of the cooperative control device 200 and the autonomous mobile 20. In this case, the communication between the cooperative control device 200 and the autonomous mobile 20 is performed via the mobile control device (not shown).

[0043] The elevator communication unit 220 performs communication between the cooperative control device 200 and the elevator. The communication between the cooperative control device 200 and the elevator can be performed by either wireless or wired. The elevator communication unit 220 mainly sends data, signals, etc. to the elevator according to the instructions from the processing unit 240. In addition, the elevator communication unit 220 receives data, signals, etc. sent from the elevator and sends them to the processing unit 240, etc.

[0044] The storage unit 230 stores various data related to the cooperative control of the elevator and the autonomous moving object 20 by the cooperative control device 200. The processing unit 240 performs information processing required for the cooperative control of the elevator and the autonomous moving object 20 by the cooperative control device 200.

[0045] The door opening and closing control unit 250 is used to control the opening and closing of the door of the car 10 when the autonomous vehicle 20 gets on or off the car 10. When the autonomous vehicle 20 gets on or off the car 10, the door opening and closing control unit 250 first generates a door opening request signal for the car 10. Then, the elevator communication unit 220 sends the door opening request signal to the elevator control device 100. When the elevator control device 100 receives the door opening request signal, the car control unit 140 that controls the car 10 opens the door of the car 10.

[0046] When the autonomous moving body 20 gets on or off the car 10 with the door opened, the autonomous moving body 20 sends a boarding completion signal or a getting-off completion signal to the cooperative control device 200. When the autonomous moving body communication unit 210 of the cooperative control device 200 receives the boarding completion signal or the getting-off completion signal, the door opening and closing control unit 250 generates a door closing request signal for the car 10. The elevator communication unit 220 sends the door closing request signal to the elevator control device 100. Then, when the elevator control device 100 receives the door closing request signal, the car control unit 140 that controls the car 10 closes the door of the car 10.

[0047] In addition, the cooperative control device 200 may not include the door opening and closing control unit 250. In this case, the car control unit 140 of the elevator control device 100 opens and closes the door of the car 10 for the autonomous moving body 20 in the same manner as for ordinary human passengers. Then, the autonomous moving body 20 grasps the open and closed state of the door of the car 10 through, for example, a camera device mounted on itself, and performs boarding and alighting of the car 10.

[0048] like Figure 3As shown, the processing unit 240 of the cooperative control device 200 of the present embodiment includes an elevator call registration request unit 241. The elevator call registration request unit 241 sends a landing call registration request for the boarding floor and a car call registration request for the descending floor to the elevator control device 100 according to the dispatch car request from the autonomous moving body 20. In more detail, the autonomous moving body 20 sends a dispatch car request signal to the cooperative control device 200. The dispatch car request signal contains information related to the boarding floor and the descending floor. The boarding floor is the floor where the autonomous moving body 20 takes the car 10. The descending floor is the floor where the autonomous moving body 20 descends from the car 10.

[0049] When the autonomous mobile communication unit 210 of the cooperative control device 200 receives a dispatch car request signal, the elevator call registration request unit 241 of the processing unit 240 generates a landing call registration request signal for the boarding floor indicated by the received dispatch car request signal and a car call registration request signal for the descending floor indicated by the received dispatch car request signal. Then, the elevator communication unit 220 sends the landing call registration request signal and the car call registration request signal to the elevator control device 100.

[0050] When the elevator control device 100 receives a landing call registration request signal and a car call registration request signal, first, the landing call registration unit 110 registers the landing call for the boarding floor indicated by the landing call registration request signal. The car allocation unit 130 determines the assigned car for the registered landing call. Then, the car call registration unit 120 registers the car call for the destination floor indicated by the car call registration request signal to the assigned car. In this way, according to the dispatch car request from the autonomous moving body 20, the landing call for the boarding floor and the car call for the getting-off floor are registered, and the car 10 is dispatched.

[0051] like Figure 2 As shown, the elevator control device 100 of the present embodiment further includes a car call canceling unit 150 and a call canceling notifying unit 160. The car call canceling unit 150 cancels the registered car call when a preset canceling condition is satisfied. The canceling condition is, for example, a car call canceling operation preset on the operating panel in the car 10. Specifically, the following operations can be listed as car call canceling operations.

[0052] · Press the destination floor button you want to cancel twice within the preset time.

[0053] · Press the destination floor button you want to cancel three times within the preset time.

[0054] ·Continue to press (long press) the destination floor button you want to cancel for a preset time or longer.

[0055] With the door of the car 10 open, keep pressing the door open button and press the destination floor button you want to cancel.

[0056] As another example of a cancellation condition, there is a condition for canceling a so-called back call. A back call refers to a car call with a floor located in the opposite direction to the direction of travel of the car 10 as the destination floor. In this case, the cancellation condition includes a first condition and a second condition. The first condition and the second condition are respectively pre-set conditions. When both the first condition and the second condition are satisfied at the same time, the cancellation condition is satisfied. The first condition is a registration of a car call with a floor located in the opposite direction to the direction of travel of the car 10 as the destination floor.

[0057] The second condition includes at least the stopping of the car 10. As the second condition, for example, the following conditions can be cited.

[0058] The car 10 stops.

[0059] The car 10 stops and the door of the car 10 starts to open.

[0060] The car 10 is parked and the door of the car 10 is fully opened.

[0061] After the car 10 stops and the door of the car 10 opens, the door starts to close.

[0062] After the car 10 stops and the door of the car 10 is opened, the door is closed and fully closed.

[0063] After the car 10 stops and the door of the car 10 is opened and closed, the car 10 enters a standby state.

[0064] As described above, when both the first condition and the second condition are satisfied at the same time, the cancellation condition is satisfied. Then, when the cancellation condition is satisfied, the car call canceling unit 150 cancels the registration of the back call, that is, cancels the registration of the car call with the floor located in the direction opposite to the traveling direction of the car 10 as the destination floor.

[0065] The call cancellation notification unit 160 transmits a car call cancellation notification when the car call cancellation unit 150 cancels the registration of the car call. In particular, in the present embodiment, when the car call cancellation unit 150 cancels the car call registered in accordance with the car call registration request transmitted from the cooperative control device 200, the call cancellation notification unit 160 transmits a car call cancellation notification signal to the cooperative control device 200. Here, the car call registered in accordance with the car call registration request transmitted from the cooperative control device 200 may also be referred to as a car call registered in the responding car.

[0066] In the present embodiment, the call registration request unit 241 of the cooperative control device 200, when receiving a car call cancellation notification, sends a re-registration request for the car call for the next elevator floor to the elevator control device 100. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the car call cancellation notification signal, the call registration request unit 241 generates a re-registration request signal for the car call for the next elevator floor indicated by the above-mentioned dispatch car request signal. Then, the elevator communication unit 220 sends the re-registration request signal to the elevator control device 100. When the elevator control device 100 receives the re-registration request signal, the car call registration unit 120 re-registers the car call for the destination floor indicated by the re-registration request signal to the assigned car, that is, the response car.

[0067] Next, refer to Figure 4 An operation example of the cooperative control device 200 constructed as described above is described. When the cooperative control device 200 receives a request for dispatching a car from the autonomous moving body 20, first, in step S101, it sends a landing call registration request for the boarding floor to the elevator control device 100. In the next step S102, the cooperative control device 200 waits for the arrival notification of the car 10 arriving at the boarding floor and the door opening completion notification of the car 10 from the elevator control device 100. Then, after receiving the arrival notification and the door opening completion notification from the elevator control device 100, the cooperative control device 200 proceeds to the processing of step S103.

[0068] In step S103, the cooperative control device 200 sends a door opening continuation notification to the elevator control device 100. In the next step S104, the cooperative control device 200 sends an instruction to the autonomous moving body 20 to board the car 10. In the next step S105, the cooperative control device 200 waits for the autonomous moving body 20 to complete boarding the car 10. Then, after the autonomous moving body 20 completes boarding the car 10, the cooperative control device 200 proceeds to the processing of step S106.

[0069] In step S106, the cooperative control device 200 sends a door closing notification to the elevator control device 100. In the next step S107, the cooperative control device 200 waits for a door closing completion notification from the elevator control device 100. Then, after receiving the door closing completion notification from the elevator control device 100, the cooperative control device 200 proceeds to the process of step S108.

[0070] In step S108, the cooperative control device 200 sends a car call request for the descending floor of the autonomous moving body 20 to the elevator control device 100. In the next step S109, the cooperative control device 200 waits for a notification from the elevator control device 100. In the case where the cooperative control device 200 receives a car call cancellation notification from the elevator control device 100, the cooperative control device 200 returns to the process of step S108 and requests re-registration of the car call for the descending floor of the autonomous moving body 20. On the other hand, in the case where the cooperative control device 200 receives a notification from the elevator control device 100 indicating that the car 10 has arrived at the descending floor and has opened the door, the cooperative control device 200 then performs the process of step S110.

[0071] In step S110, the cooperative control device 200 sends a door opening continuation notification to the elevator control device 100. In the next step S111, the cooperative control device 200 sends a descent instruction to the autonomous moving body 20 to get off the car 10. In the next step S112, the cooperative control device 200 waits for the autonomous moving body 20 to complete the descent from the car 10. Then, after the autonomous moving body 20 completes the descent from the car 10, the cooperative control device 200 proceeds to the process of step S113.

[0072] In step S113, the cooperative control device 200 transmits a car dispatch completion notification to the autonomous moving object 20. In the next step S114, the cooperative control device 200 transmits a door closing notification to the elevator control device 100. When the processing of step S114 is completed, a series of operations are terminated.

[0073] in addition, Figure 5 The figure shows an example of the overall operation of the elevator system when the cooperative control device 200 receives the car call cancellation notification from the elevator control device 100 in step S109. Figure 6 The figure shows an example of the overall operation of the elevator system when the cooperative control device 200 does not receive the car call cancellation notification from the elevator control device 100 in step S109 but receives a notification indicating that the car 10 has arrived at the next floor and opened its door.

[0074] then, Figures 7 to 9 The example shown is a case where a car call based on a dispatch car request of the autonomous moving body 20 is canceled. Figure 7In the example shown, an autonomous moving body 20 is in a car 10 on the 1st floor, which is a boarding floor, and a car call with the 10th floor, which is a descending floor, as the destination floor is registered in the car 10. Here, it is assumed that someone is riding the car 10 while it is traveling from the 1st floor to the 5th floor, and the person has registered a car call with the 5th floor as the destination floor. Then, the person operates the operating panel in the car to cancel the car call with the 10th floor, which is not the person's target floor, as the destination floor. In this case, the car 10 stops at the 5th floor and can no longer travel to the 10th floor, which is the descending floor of the autonomous moving body 20 that has boarded the car. Moreover, the autonomous moving body 20 continues to wait for the car 10 to travel to the destination floor while riding in the car 10, for example, before a timeout, that is, before a preset waiting time has passed, so the operating efficiency of the autonomous moving body 20 is reduced.

[0075] In addition, Figure 8 In the example shown, an autonomous moving body 20 is boarding a car 10 on the 1st floor, which is a boarding floor, and a car call with the 5th floor, which is a descending floor, as the destination floor is registered in the car 10. Here, it is assumed that while the car is traveling from the 1st floor to the 5th floor, someone else is boarding the car, and the person registers a car call with the 10th floor as the destination floor. Then, the person operates the operating panel in the car to cancel the car call with the 5th floor, which is not the person's target floor, as the destination floor. In this case, the car 10 passes through the 5th floor and travels to the 10th floor, and the autonomous moving body 20 on board cannot get off at the 5th floor, which is a descending floor. Then, when the car 10 reaches the 10th floor, it becomes Fig. 9 In the state shown, the car 10 is on standby at floor 10. Furthermore, the autonomous moving body 20 continues to wait for the car 10 to travel to the destination floor while riding in the car 10, for example, before timeout, that is, before a preset standby time has passed, so the operating efficiency of the autonomous moving body 20 is reduced.

[0076] According to the elevator system including the cooperative control device 200 configured as described above, in the case where the car call registered in response to the dispatch car request of the autonomous moving body 20 is cancelled, the car call cancellation notification is sent from the elevator control device 100 to the cooperative control device 200. Then, when receiving the car call cancellation notification, the call registration request unit 241 of the cooperative control device 200 sends a re-registration request for the car call for the descending floor to the elevator control device 100. When the elevator control device 100 receives the re-registration request signal, the car call registration unit 120 re-registers the car call for the destination floor indicated by the re-registration request signal to the assigned car, that is, the response car. Therefore, in the case where the car call registered in response to the dispatch car request of the autonomous moving body 20 is cancelled, the car call with the descending floor of the autonomous moving body 20 as the destination floor can be re-registered, and the autonomous moving body 20 can be made to descend at the target destination floor. Therefore, the reduction in the operation efficiency of the autonomous moving body 20 can be suppressed.

[0077] Next, a modification of the elevator system of the present embodiment is described. In this modification, the car call cancellation unit 150 of the elevator control device 100 cancels the car call when both the above-mentioned first condition and the second condition of the cancellation condition are met. That is, the so-called back-end call is canceled. Here, as described above, the first condition is a car call registered with a floor located in the opposite direction to the direction of travel of the car 10 as the destination floor. In addition, the second condition is a pre-set condition that at least includes the stop of the car 10. And, the call cancellation notification unit 160 sends a condition establishment notification signal to the cooperative control device 200 when at least the second condition of the cancellation condition is met.

[0078] In this modification, the call registration request unit 241 of the cooperative control device 200 sends a re-registration request for the car call for the down-going floor to the elevator control device 100 when receiving the condition establishment notification. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the condition establishment notification signal, the call registration request unit 241 generates a re-registration request signal for the car call for the down-going floor indicated by the above-mentioned dispatch car request signal. Then, the elevator communication unit 220 sends the re-registration request signal to the elevator control device 100. When the elevator control device 100 receives the re-registration request signal, the car call registration unit 120 confirms whether a car call for the destination floor indicated by the re-registration request signal is registered in the assigned car. Then, if the car call for the destination floor indicated by the re-registration request signal is not registered in the assigned car, the car call registration unit 120 re-registers the car call for the destination floor indicated by the re-registration request signal in the assigned car.

[0079] Next, refer to Fig.10 An operation example of the cooperative control device 200 constructed as described above is described. When the cooperative control device 200 receives a request for dispatching a car from the autonomous moving body 20, first, in step S201, it sends a landing call registration request for the boarding floor to the elevator control device 100. In the next step S202, the cooperative control device 200 waits for the arrival notification of the car 10 arriving at the boarding floor and the door opening completion notification of the car 10 from the elevator control device 100. Then, after receiving the arrival notification and the door opening completion notification from the elevator control device 100, the cooperative control device 200 proceeds to the processing of step S203.

[0080] In step S203, the cooperative control device 200 sends a door opening continuation notification to the elevator control device 100. In the next step S204, the cooperative control device 200 sends an instruction to board the car 10 to the autonomous moving body 20. In the next step S205, the cooperative control device 200 waits for the autonomous moving body 20 to complete boarding the car 10. Then, after the autonomous moving body 20 completes boarding the car 10, the cooperative control device 200 proceeds to the processing of step S206.

[0081] In step S206, the cooperative control device 200 sends a door closing notification to the elevator control device 100. In the next step S207, the cooperative control device 200 waits for a door closing completion notification from the elevator control device 100. Then, after receiving the door closing completion notification from the elevator control device 100, the cooperative control device 200 proceeds to the process of step S208.

[0082] In step S208, the cooperative control device 200 sends a car call request for the descending floor of the autonomous moving body 20 to the elevator control device 100. In the next step S209, the cooperative control device 200 waits for a notification from the elevator control device 100. When the cooperative control device 200 receives a notification from the elevator control device 100 that the condition is satisfied, the cooperative control device 200 returns to the process of step S208 and requests to re-register the car call for the descending floor of the autonomous moving body 20. On the other hand, when the cooperative control device 200 receives a notification from the elevator control device 100 indicating that the car 10 has arrived at the descending floor and has opened the door, the cooperative control device 200 then performs the process of step S210.

[0083] In step S210, the cooperative control device 200 sends a door opening continuation notification to the elevator control device 100. In the next step S211, the cooperative control device 200 sends a descent instruction to the autonomous moving body 20 to get off the car 10. In the next step S212, the cooperative control device 200 waits for the autonomous moving body 20 to complete the descent from the car 10. Then, after the autonomous moving body 20 completes the descent from the car 10, the cooperative control device 200 proceeds to the process of step S213.

[0084] In step S213, the cooperative control device 200 sends a car dispatch completion notification to the autonomous moving body 20. In the next step S214, the cooperative control device 200 sends a door closing notification to the elevator control device 100. If the processing of step S214 is completed, a series of actions are completed. In addition, Fig.11 The figure shows an example of the operation of the entire elevator system when the cooperative control device 200 receives the condition satisfaction notification from the elevator control device 100 in step S209.

[0085] In the elevator system of the present embodiment, a car call corresponding to the dispatch car request of the autonomous moving body 20 is registered. For example, when the car call is canceled by the operation of other passengers, the car call can be re-registered. However, when the car 10 passes the descending floor of the autonomous moving body 20 and a car call with the descending floor as the destination floor is registered, it becomes a so-called back-call. When the condition for canceling the back-call is met, the car call of the autonomous moving body 20 is canceled.

[0086] According to the modified example of the elevator system configured as described above, when at least the second condition among the conditions for canceling the back call is satisfied, a condition satisfaction notification is sent from the elevator control device 100 to the cooperative control device 200. Then, when receiving the condition satisfaction notification, the call registration request unit 241 of the cooperative control device 200 sends a re-registration request for the car call for the descending floor to the elevator control device 100. Therefore, when the car call registered in accordance with the dispatch car request of the autonomous moving body 20 is cancelled, the car call with the descending floor of the autonomous moving body 20 as the destination floor can be re-registered, and the autonomous moving body 20 can be made to descend at the target destination floor. Therefore, the reduction in the operation efficiency of the autonomous moving body 20 can be suppressed.

[0087] Furthermore, as described above, the second condition is a pre-set condition that at least includes the car 10 stopping, and more specifically, is often a combination of the car 10 stopping and the open / closed state of the door of the car 10. Therefore, it is possible to easily determine whether the second condition is satisfied. Therefore, even if the first condition is not determined, if the car call of the autonomous moving body 20 is cancelled by the simple determination process regarding the second condition, the car call can be re-registered.

[0088] Fig.12 1 is a diagram showing an example of a structure for realizing the functions of the cooperative control device 200 and the elevator control device 100 in the present embodiment. The functions of the cooperative control device 200 and the elevator control device 100 are realized by, for example, a processing circuit. The processing circuit may also include a processor 1 and a memory 2. The processing circuit may also be dedicated hardware 3. Alternatively, a part of the processing circuit may be formed as dedicated hardware 3, and the processing circuit may also include a processor 1 and a memory 2. In the example shown in the figure, a part of the processing circuit is formed as dedicated hardware 3. In addition, in the example shown in the figure, the processing circuit also includes a processor 1 and a memory 2.

[0089] The processing circuit of which a part is at least one dedicated hardware 3 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. When the processing circuit has at least one processor 1 and at least one memory 2, the functions of the cooperative control device 200 and the elevator control device 100 are respectively implemented by software, firmware, or a combination of software and firmware.

[0090] Software and firmware are described as programs and stored in the memory 2. The processor 1 realizes the functions of each part by reading and executing the programs stored in the memory 2. The processor 1 is also called a CPU (Central Processing Unit), a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer or a DSP. The memory 2 is, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM and an EEPROM, or a magnetic disk, a floppy disk, an optical disk, a compact disc (CD), a mini disk and a DVD.

[0091] In this way, the processing circuits of the cooperative control device 200 and the elevator control device 100 can realize the functions of the cooperative control device 200 and the elevator control device 100 respectively through hardware, software, firmware or a combination thereof. When the processing circuits of the cooperative control device 200 and the elevator control device 100 respectively include at least a processor 1 and a memory 2, in each of the cooperative control device 200 and the elevator control device 100, the processor 1 executes a program stored in the memory 2, and the hardware and software of the cooperative control device 200 and the elevator control device 100 cooperate, thereby realizing the functions of the various parts of the cooperative control device 200 and the elevator control device 100 respectively.

[0092] In addition, the elevator cooperative control method of the present embodiment is executed by a computer of the cooperative control device 200 which is set to be able to communicate with the elevator control device 100. And, as is clear from the above description, the elevator cooperative control method of the present embodiment includes at least a first call registration request step and a second call registration request step. In the first call registration request step, the cooperative control device 200 sends a landing call registration request for the boarding floor and a car call registration request for the descending floor to the elevator control device 100 according to the dispatch car request from the autonomous moving body 20. The elevator control device 100 registers the landing call for the boarding floor according to the landing call registration request, registers the car call for the descending floor for the car 10 that responds to the landing call, that is, the responding car according to the car call registration request, cancels the car call when a preset cancellation condition is satisfied, and sends a car call cancellation notification to the cooperative control device 200 when the registered car call is canceled in the responding car. In the second call registration request step, upon receiving the car call cancellation notification, the cooperative control device 200 sends a re-registration request for the car call for the descending floor to the elevator control device 100. The elevator control device 100 re-registers the car call for the descending floor to the responding car according to the re-registration request.

[0093] Alternatively, as is clear from the above description, the elevator cooperative control method of the present embodiment includes at least a first call registration request step and a second call registration request step. In the first call registration request step, the cooperative control device 200 sends a landing call registration request for the boarding floor and a car call registration request for the descending floor to the elevator control device 100 according to the dispatch car request from the autonomous moving body 20. The elevator control device 100 registers the landing call for the boarding floor according to the landing call registration request, and cancels the car call for the descending floor according to the car call registration request for the car 10 that responds to the landing call, that is, the car that responds to the car registration of the car call for the descending floor, when a pre-set cancellation condition is satisfied. The cancellation condition includes a first condition and a second condition. The first condition is a car call with a floor located in the opposite direction to the traveling direction of the car 10 as the destination floor registered. The second condition is a pre-set condition that at least includes the car 10 stopping. When the cancellation condition is satisfied, the elevator control device 100 cancels the car call with the floor located in the direction opposite to the traveling direction of the car 10 as the destination floor, and when the second condition is satisfied, sends a condition satisfaction notification to the cooperative control device 200. In the second call registration request step, when receiving the condition satisfaction notification, the cooperative control device 200 sends a re-registration request for the car call for the descending floor to the elevator control device 100.

[0094] The elevator cooperative control program of the present embodiment is used to cause the computer of the cooperative control device 200 to execute the above-mentioned elevator cooperative control method. In addition, the storage medium of the present embodiment stores such an elevator cooperative control program.

[0095] Furthermore, in the present invention, each embodiment may be arbitrarily combined within a range not departing from the gist of the present invention.

Claims

1. An elevator cooperative control device, which is configured to communicate with an elevator control device that controls an elevator car, wherein: The elevator cooperative control device includes an elevator call registration request unit, which sends a landing call registration request for the boarding floor and a car call registration request for the descending floor to the elevator control device according to a dispatch car request from the autonomous moving body. The elevator control device registers the landing call for the boarding floor according to the landing call registration request, registers the car call for the descending floor for the car that responds to the landing call, i.e., the responding car according to the car call registration request, cancels the car call when a preset cancellation condition is met, and sends a car call cancellation notification when the car call registered in the responding car is canceled. The call registration request unit transmits a re-registration request for the car call of the descending floor to the elevator control device when receiving the car call cancellation notification. The elevator control device re-registers the car call for the descending floor to the responding car based on the re-registration request.

2. The elevator cooperative control device according to claim 1, wherein: The cancel condition is to perform a preset car call cancel operation on the operating panel in the response car.

3. The elevator cooperative control device according to claim 1, wherein: The cancellation condition includes a first condition and a second condition. The first condition is that a car call with a floor located in a direction opposite to the traveling direction of the car as a destination floor is registered, The second condition is a pre-set condition that at least includes the car stopping. The elevator control device cancels the car call with a floor located in a direction opposite to the traveling direction of the car as a destination floor, when the cancellation condition is satisfied.

4. An elevator cooperative control device, which is configured to communicate with an elevator control device that controls an elevator car, wherein: The elevator cooperative control device includes an elevator call registration request unit, which sends a landing call registration request for the boarding floor and a car call registration request for the descending floor to the elevator control device according to a dispatch car request from the autonomous moving body. The elevator control device registers the landing call for the boarding floor according to the landing call registration request, and registers the car call for the descending floor according to the car call registration request, and cancels the car call for the car that responds to the landing call, i.e., responds to the car registration request, when a preset cancellation condition is met. The cancellation condition includes a first condition and a second condition. The first condition is that a car call with a floor located in a direction opposite to the traveling direction of the car as a destination floor is registered, The second condition is a pre-set condition that at least includes the car stopping. The elevator control device cancels the car call with a floor located in a direction opposite to the traveling direction of the car as a destination floor when the cancellation condition is satisfied, and transmits a condition satisfaction notification when the second condition is satisfied, The call registration request unit transmits a re-registration request for the car call of the descending floor to the elevator control device when receiving the condition establishment notification.

5. An elevator system comprising: The elevator cooperative control device according to any one of claims 1 to 4; The elevator control device; and The autonomous mobile object.

6. An elevator cooperative control method, which is executed by a computer of an elevator cooperative control device configured to be able to communicate with an elevator control device that controls an elevator car, wherein: The elevator cooperative control method comprises: a first elevator call registration request step of sending a landing call registration request for an elevator floor and a car call registration request for an elevator descending floor to the elevator control device according to a car dispatch request from the autonomous moving body; and Second call registration request step, The elevator control device registers the landing call for the boarding floor according to the landing call registration request, registers the car call for the descending floor for the car that responds to the landing call, i.e., the responding car according to the car call registration request, cancels the car call when a preset cancellation condition is met, and sends a car call cancellation notification when the car call registered in the responding car is canceled. In the second call registration request step, when the car call cancellation notification is received, a re-registration request for the car call of the descending floor is sent to the elevator control device, The elevator control device re-registers the car call for the descending floor to the responding car based on the re-registration request.

7. An elevator cooperative control method, which is executed by a computer of an elevator cooperative control device configured to be able to communicate with an elevator control device that controls an elevator car, wherein: The elevator cooperative control method comprises: a first elevator call registration request step of sending a landing call registration request for an elevator floor and a car call registration request for an elevator descending floor to the elevator control device according to a car dispatch request from the autonomous moving body; and Second call registration request step, The elevator control device registers the landing call for the boarding floor according to the landing call registration request, and registers the car call for the descending floor according to the car call registration request, and cancels the car call for the car that responds to the landing call, i.e., responds to the car registration request, when a preset cancellation condition is met. The cancellation condition includes a first condition and a second condition. The first condition is that a car call with a floor located in a direction opposite to the traveling direction of the car as a destination floor is registered, The second condition is a pre-set condition that at least includes the car stopping. The elevator control device cancels the car call with a floor located in a direction opposite to the traveling direction of the car as a destination floor when the cancellation condition is satisfied, and transmits a condition satisfaction notification when the second condition is satisfied, In the second call registration request step, when the condition establishment notification is received, a re-registration request for the car call for the descending floor is transmitted to the elevator control device.

8. An elevator cooperative control program, used to enable a computer of the elevator cooperative control device to execute the elevator cooperative control method according to claim 6 or 7.

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