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. Even if a car allocated to a call is changed or the like, it is possible to suppress a decrease in operation efficiency of an autonomous moving body. The cooperative control device (200) is provided with a call registration request unit (241) that transmits a landing call registration request for a boarding floor to the elevator control device (100) in response to a car dispatch request from the autonomous mobile body (20). The elevator control device (100) registers a landing call for a boarding floor on the basis of the landing call registration request, and dispatches a car (10) to the registered landing call. A call registration request unit (241) transmits, to an elevator control device (100), a car call registration request for a car (10) dispatched to a landing call, the car call registration request taking a boarding floor as a destination floor. The elevator control device (100) registers a car call for the destination floor on the basis of the car call registration request.

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 car assigned to the call registered by the request from the autonomous moving body is changed or the call registered by the request from the autonomous moving body is cancelled, the autonomous moving body cannot take the notified car. In this case, for example, the autonomous moving body continues to wait for the notified car until it times out, that is, until a preset waiting time has passed, so the operation efficiency of the autonomous moving body is reduced.

[0006] The present invention is made to solve such a problem. Its purpose is to provide an elevator cooperative control device, an elevator system, an elevator cooperative control method, and an elevator cooperative control program, which can suppress the reduction of the operation efficiency of the autonomous moving body even when the car assigned to the elevator call registered based on the request from the autonomous moving body is changed or 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 includes a call registration request unit, which sends a floor call registration request for a boarding floor to the elevator control device based on a request for dispatching a car from an autonomous moving body, and the elevator control device registers the floor call for the boarding floor based on the floor call registration request and dispatches the car to the registered floor call, and the call registration request unit sends a car call registration request for the boarding floor as a destination floor for the car dispatched to the floor call to the elevator control device, and the elevator control device registers the car call for the destination floor based on the car call 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 multiple elevator cars, wherein the elevator cooperative control device comprises: a call registration request unit, which sends a floor call registration request for a boarding floor to the elevator control device based on a dispatch car request from an autonomous moving body; and a notification unit, wherein the elevator control device registers a floor call for the boarding floor based on the floor call registration request, allocates the registered floor call from multiple cars, and sends allocated car information for determining the car allocated to the floor call, the notification unit notifies the autonomous moving body of the allocated car information sent from the elevator control device, and the elevator control device further sends allocation change information when the car allocated to the floor call is changed, and the notification unit further notifies the autonomous moving body of the allocation change information sent from the elevator control device.

[0009] Alternatively, the elevator cooperative control device of the present invention is configured to be able to communicate with an elevator control device that controls multiple elevator cars, wherein the elevator cooperative control device comprises: a call registration request unit, which sends a floor call registration request for a boarding floor to the elevator control device based on a dispatch car request from an autonomous moving body; and a notification unit, wherein the elevator control device registers a floor call for the boarding floor based on the floor call registration request, allocates the registered floor call from multiple cars, and sends allocated car information for determining the car allocated to the floor call, the notification unit notifies the autonomous moving body of the allocated car information sent from the elevator control device, and the elevator control device further sends an operation mode change notification when the operation mode of the car allocated to the floor call is changed, and the notification unit further notifies the autonomous moving body of the operation mode change notification sent from the elevator control device.

[0010] The elevator system of the present invention comprises: any one of the above-mentioned elevator cooperative control devices; the elevator control device; and the autonomous moving body.

[0011] The elevator cooperative control method of the present invention is executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device that controls an elevator car, wherein the elevator cooperative control method includes: a first elevator call registration request step, in which a floor call registration request for a boarding floor is sent to the elevator control device based on 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 the floor call for the boarding floor based on the floor call registration request and dispatches the car to the registered floor call, and in the second elevator call registration request step, a car call registration request with the boarding floor as the destination floor is sent to the elevator control device for the car dispatched to the floor call, and the elevator control device registers the car call for the destination floor based on the car call registration request.

[0012] Alternatively, the elevator cooperative control method of the present invention is executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device that controls multiple elevator cars, wherein the elevator cooperative control method includes: a call registration request step, in which a floor call registration request for a boarding floor is sent to the elevator control device based on a dispatch car request from an autonomous moving body; a first notification step; and a second notification step, in which the elevator control device registers a floor call for the boarding floor based on the floor call registration request, allocates the registered floor call from multiple cars, and sends allocated car information to determine the car allocated to the floor call, in the first notification step, the allocated car information sent from the elevator control device is notified to the autonomous moving body, and the elevator control device further sends allocation change information when the car allocated to the floor call is changed, and in the second notification step, the allocation change information sent from the elevator control device is notified to the autonomous moving body.

[0013] Alternatively, the elevator cooperative control method of the present invention is executed by a computer of an elevator cooperative control device configured to communicate with an elevator control device that controls multiple elevator cars, wherein the elevator cooperative control method includes: a call registration request step, in which a floor call registration request for a boarding floor is sent to the elevator control device based on a dispatch car request from an autonomous moving body; a first notification step; and a second notification step, in which the elevator control device registers a floor call for the boarding floor based on the floor call registration request, allocates the registered floor call from multiple cars, and sends allocated car information to determine the car allocated to the floor call, in the first notification step, the allocated car information sent from the elevator control device is notified to the autonomous moving body, and the elevator control device further sends an operation mode change notification when the operation mode of the car allocated to the floor call is changed, and in the second notification step, the operation mode change notification sent from the elevator control device is notified to the autonomous moving body.

[0014] The elevator cooperative control program of the present invention enables the computer of the elevator cooperative control device to execute any of the above-mentioned elevator cooperative control methods.

[0015] Effects of the Invention

[0016] 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 car assigned to the elevator call registered based on the request from the autonomous moving body is changed, or the elevator call registered based on the request from the autonomous moving body is cancelled, the reduction in the movement efficiency of the autonomous moving body can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] 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.

[0019] 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.

[0020] Figure 4 This is a flowchart showing an example of the operation of the elevator system according to the first embodiment.

[0021] Figure 5 This is a flowchart showing an example of the operation of the first modified example of the elevator system according to the first embodiment.

[0022] Figure 6 This is a block diagram showing the configuration of an elevator control device according to a second modified example of the elevator system according to the first embodiment.

[0023] Figure 7 This is a flowchart showing an example of the operation of the second modified example of the elevator system according to the first embodiment.

[0024] Figure 8 This 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.

[0025] Description of symbols

[0026] 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: Allocated car information sending unit; 160: Operation mode change unit; 170: Operation mode information sending 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; 242: Notification unit; 250: Door opening and closing control unit; 300: Repeater. DETAILED DESCRIPTION

[0027] 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.

[0028] Implementation method 1.

[0029] Reference Figures 1 to 8 , 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 system. Figure 5 This is a flowchart showing an example of the operation of the first modified example of the elevator system. Figure 6 This is a block diagram showing the configuration of an elevator control device according to a second modified example of the elevator system. Figure 7 This is a flowchart showing an example of the operation of the second modified example of the elevator system. Figure 8 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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 allocating unit 130 , and a car control unit 140 .

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] like Figure 3 As 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 to the elevator control device 100 based on 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 includes information related to the boarding floor. The boarding floor is the floor where the autonomous moving body 20 takes the car 10.

[0047] When the autonomous mobile communication unit 210 of the cooperative control device 200 receives the 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. Then, the elevator communication unit 220 sends the landing call registration request signal to the elevator control device 100.

[0048] When the elevator control device 100 receives a landing call registration request signal, the landing call registration unit 110 registers the landing call for the boarding floor indicated by the landing call registration request signal. Then, the car allocation unit 130 determines the allocated car for the registered landing call. In this way, the landing call for the boarding floor is registered based on the dispatch car request from the autonomous moving body 20, and the car 10 is dispatched. The dispatched car 10 is the above-mentioned allocated car for the landing call registered based on the dispatch car request, in other words, it is also the above-mentioned response car for the landing call registered based on the dispatch car request.

[0049] like Figure 2 As shown, the elevator control device 100 of the present embodiment further includes an allocated car information sending unit 150. When the car allocation unit 130 determines the car 10 allocated to the landing call, the allocated car information sending unit 150 sends the allocated car information to the cooperative control device 200. The allocated car information is information that determines the car 10 allocated to the registered landing call. In particular, in the present embodiment, the allocated car information sending unit 150 sends the allocated car information that determines the car 10 allocated to the landing call registered in accordance with the landing call registration request sent from the cooperative control device 200. In other words, the car 10 allocated to the landing call registered in accordance with the landing call registration request sent from the cooperative control device 200 is the car 10 dispatched in accordance with the dispatch car request from the autonomous moving body 20.

[0050] In the present embodiment, when receiving the assigned car information, the call registration request unit 241 of the cooperative control device 200 transmits a car call registration request with the boarding floor as the destination floor to the elevator control device 100 for the car 10 determined according to the assigned car information, that is, the car 10 dispatched according to the dispatch car request from the autonomous moving body 20. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the call registration request unit 241 generates a car call registration request signal with the boarding floor indicated by the dispatch car request signal as the destination floor. The elevator communication unit 220 transmits the car call registration request signal to the elevator control device 100. Then, when the elevator control device 100 receives the car call registration request signal, the car call registration unit 120 registers the car call for the destination floor indicated by the car call registration request signal for the assigned car, that is, the car 10 dispatched according to the dispatch car request from the autonomous moving body 20.

[0051] like Figure 3 As shown, the processing unit 240 of the cooperative control device 200 further includes a notification unit 242. The notification unit 242 notifies the autonomous moving body 20 of the allocated car information transmitted from the elevator control device 100. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the allocated car information, the notification unit 242 transmits the allocated car information to the autonomous moving body 20 through the autonomous moving body communication unit 210. In addition, the allocated car information received by the elevator communication unit 220 is stored in the storage unit 230 of the cooperative control device 200.

[0052] Next, refer to Figure 4 An example of the operation of the elevator system configured as described above is described. First, in step S10, the autonomous moving body 20 sends a dispatch car request signal to the cooperative control device 200. In the next step S11, when the autonomous moving body communication unit 210 of the cooperative control device 200 receives the 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. Then, the elevator communication unit 220 sends the landing call registration request signal to the elevator control device 100. After step S11, the elevator system then performs the processing of step S12.

[0053] In step S12, when the elevator control device 100 receives a landing call registration request signal, the landing call registration unit 110 registers the landing call for the boarding floor indicated by the landing call registration request signal. Next, the car allocation unit 130 determines the allocated car for the registered landing call. Then, the allocated car information transmission unit 150 transmits the allocated car information to the cooperative control device 200.

[0054] In the next step S13, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the storage unit 230 stores the received assigned car information. In addition, the notification unit 242 transmits the assigned car information to the autonomous moving body 20 through the autonomous moving body communication unit 210. Then, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the elevator call registration request unit 241 generates a car call registration request signal with the boarding floor indicated by the dispatched car request signal as the destination floor. The elevator communication unit 220 transmits the car call registration request signal to the elevator control device 100. When the elevator control device 100 receives the car call registration request signal, the car call registration unit 120 registers the car call registration for the destination floor indicated by the car call registration request signal for the assigned car, i.e., the car 10 dispatched according to the dispatched car request from the autonomous moving body 20. After step S13, the elevator system then performs the processing of step S14.

[0055] In step S14, when the elevator control device 100 changes the assigned car to the landing call registered in accordance with the dispatch car request of the autonomous moving body 20, for example, based on the change in the operating status of the car 10, the elevator system then performs the processing of step S15. In step S15, the car 10 after the allocation change is dispatched to the landing call registered in accordance with the dispatch car request of the autonomous moving body 20. On the other hand, the assigned car notified to the autonomous moving body 20 in step S13, that is, the car 10 before the allocation change is also dispatched to the boarding floor in response to the car call registered in step S13. Therefore, in step S16, the autonomous moving body 20 can get on the assigned car, that is, the car 10 after the allocation change. In addition, even if the elevator control device 100 does not change the assigned car to the landing call registered in accordance with the dispatch car request of the autonomous moving body 20 in step S14, the process proceeds to step S16, and the autonomous moving body 20 can get on the car 10.

[0056] According to the elevator system having the cooperative control device 200 configured as described above, even when the car 10 assigned to the landing call registered based on the request from the autonomous moving body 20 is changed, by registering a car call with the boarding floor of the autonomous moving body 20 as the destination floor, the car 10 originally assigned to the landing call registered based on the request from the autonomous moving body 20 can be dispatched to the boarding floor of the autonomous moving body 20. Therefore, the autonomous moving body 20 can board the car 10 notified from the cooperative control device 200, so that the reduction in the operation efficiency of the autonomous moving body 20 can be suppressed.

[0057] Next, the first variant of the elevator system of the present embodiment is described. In the elevator system of the present embodiment, the car allocation unit 130 of the elevator control device 100 may change the allocated car for the registered floor call, for example, according to the change in the operating status of the car 10. In the first variant, the allocated car information sending unit 150 sends the allocation change information when the allocated car for the registered floor call is changed. In particular, when the car allocation unit 130 changes the car 10 allocated to the floor call registered in response to the dispatch car request from the autonomous moving body 20, the allocated car information sending unit 150 sends the allocation change information to the cooperative control device 200.

[0058] In this case, the notification unit 242 notifies the autonomous moving body 20 of the allocation change information transmitted from the elevator control device 100. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the allocation change information, the notification unit 242 transmits the allocation change information to the autonomous moving body 20 through the autonomous moving body communication unit 210. In addition, the allocation change information received by the elevator communication unit 220 is stored in the storage unit 230 of the cooperative control device 200.

[0059] The allocation change information may also include information that specifies the changed allocation to the car 10 of the landing call registered in response to the dispatch car request from the autonomous moving body 20. In this case, the allocation change information may also be the above-mentioned allocated car information. As described above, the allocated car information previously received by the cooperative control device 200 is stored in the storage unit 230. Therefore, for example, in the processing unit 240, by comparing the allocated car information received this time with the allocated car information stored in the storage unit 230, it is possible to determine whether the allocated car has been changed.

[0060] The autonomous moving body 20 that has received the allocation change information may ride on the car 10 after the allocation change determined according to the allocation change information, or may ride on a car 10 different from the car 10 after the allocation change. When the autonomous moving body 20 rides on the car 10 after the allocation change, the call registration request unit 241 of the cooperative control device 200 may also send a car call registration request to the elevator control device 100 for the car 10 determined according to the allocation change information with the boarding floor of the autonomous moving body 20 as the destination floor. In this case, the call registration request unit 241 generates a car call registration request signal with the boarding floor indicated by the dispatch car request signal as the destination floor. The elevator communication unit 220 sends the car call registration request signal to the elevator control device 100. Then, when the elevator control device 100 receives the car call registration request signal, the car call registration unit 120 registers the car call registration for the destination floor indicated by the car call registration request signal for the car 10 after the allocation change. Thereby, the car 10 after the allocation change can be reliably dispatched to the boarding floor of the autonomous movable body 20.

[0061] Furthermore, when the autonomous moving body 20 is riding in a car 10 different from the car 10 after the allocation change, the autonomous moving body 20 may send a dispatch car request signal to the cooperative control device 200 to request the dispatch of a car 10 different from the car 10 after the allocation change. In this case, when the cooperative control device 200 receives the dispatch car request signal, the call registration request unit 241 of the cooperative control device 200 sends a landing call registration request for a car 10 different from the car 10 determined according to the allocation change information and for the boarding floor of the autonomous moving body 20 to the elevator control device 100. Alternatively, instead of the autonomous moving body 20 sending a dispatch car request signal for another car 10 to the cooperative control device 200, the call registration request unit 241 of the cooperative control device 200 sends a landing call registration request for a car 10 different from the car 10 determined according to the allocation change information and for the boarding floor of the autonomous moving body 20 to the elevator control device 100.

[0062] Next, refer to Figure 5An example of the operation of the first variant of the elevator system constructed as described above is described. First, in step S20, the autonomous moving body 20 sends a dispatch car request signal to the cooperative control device 200. In the next step S21, when the autonomous moving body communication unit 210 of the cooperative control device 200 receives the dispatch car request signal, the elevator call registration request unit 241 of the processing unit 240 generates a floor call registration request signal for the boarding floor indicated by the received dispatch car request signal. Then, the elevator communication unit 220 sends the floor call registration request signal to the elevator control device 100. After step S21, the elevator system then performs the processing of step S22.

[0063] In step S22, when the elevator control device 100 receives a landing call registration request signal, the landing call registration unit 110 registers the landing call for the boarding floor indicated by the landing call registration request signal. Next, the car allocation unit 130 determines the allocated car for the registered landing call. Then, the allocated car information transmission unit 150 transmits the allocated car information to the cooperative control device 200.

[0064] In the next step S23, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the storage unit 230 stores the received assigned car information. In addition, the notification unit 242 sends the assigned car information to the autonomous moving body 20 through the autonomous moving body communication unit 210. After step S23, the elevator system next performs the processing of step S24.

[0065] When the elevator control device 100 does not change the assigned car for the landing call registered based on the dispatched car request of the autonomous moving body 20 in step S24, the autonomous moving body 20 can board the car 10 (step S25). On the other hand, when the elevator control device 100 changes the assigned car for the landing call registered based on the dispatched car request of the autonomous moving body 20, the elevator system then performs the processing of step S26.

[0066] In step S26, the assigned car information transmitting unit 150 transmits the assigned car information of the assigned car after the assignment change as the assignment change information to the cooperative control device 200. When the elevator communication unit 220 of the cooperative control device 200 receives the assignment change information, the processing unit 240 compares the assigned car information received as the assignment change information with the assigned car information stored in the storage unit 230, thereby detecting the change of the assigned car. Then, the notification unit 242 transmits the assignment change information, that is, the assigned car information after the change, to the autonomous moving body 20 through the autonomous moving body communication unit 210. After step S26, the elevator system then performs the processing of step S27.

[0067] In step S27, the autonomous moving body 20 that has received the allocation change information may take the car 10 after the allocation change determined according to the allocation change information, or may take the car 10 different from the car 10 after the allocation change. In the case where the autonomous moving body 20 takes the car 10 different from the car 10 after the allocation change, the process returns to step S20 and continues.

[0068] According to the first modified example of the elevator system configured as described above, even when the car 10 assigned to the landing call registered based on the request from the autonomous moving body 20 is changed, by notifying the autonomous moving body 20 of the change in assignment, the autonomous moving body 20 can stop waiting for the original car 10 and board the car 10 after the assignment change, or make a car request for dispatching another car 10. In addition, the cooperative control device 200 may make a car request for dispatching another car 10 instead of the autonomous moving body 20. Therefore, the autonomous moving body 20 can board the car 10 notified from the cooperative control device 200, so that the reduction in the operation efficiency of the autonomous moving body 20 can be suppressed.

[0069] Next, a second variant of the elevator system of this embodiment will be described. In this second variant, Figure 6 As shown, the elevator control device 100 further includes an operation mode changing unit 160 and an operation mode information sending unit 170. The operation mode changing unit 160 changes the operation mode of each car 10. The operation modes of the car 10 include, for example, a normal operation mode, a special operation mode, a VIP operation mode, and an inspection operation mode. The normal operation mode is a normal operation mode. The special operation mode is an operation mode in which the elevator directly runs to the target floor without stopping at other floors.

[0070] The operation mode information sending unit 170 sends an operation mode change notification when the operation mode of the car 10 assigned to the registered landing call is changed. In particular, when the operation mode change unit 160 changes the operation mode of the car 10 assigned to the landing call registered in response to the dispatch car request from the autonomous moving body 20, the operation mode information sending unit 170 sends the operation mode change notification to the cooperative control device 200.

[0071] In the second variation, the notification unit 242 of the cooperative control device 200 notifies the autonomous moving body 20 of the operation mode change notification sent from the elevator control device 100. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the operation mode change notification, the notification unit 242 sends the operation mode change notification to the autonomous moving body 20 through the autonomous moving body communication unit 210.

[0072] The autonomous moving body 20 that has received the operation mode change notification may also send a dispatch car request signal to the cooperative control device 200 to request the dispatch of a car 10 that is different from the car 10 whose operation mode has been changed. In this case, when the cooperative control device 200 receives the dispatch car request signal, the elevator call registration request unit 241 of the cooperative control device 200 sends a landing call registration request for the boarding floor of the autonomous moving body 20 to the elevator control device 100 for a car 10 that is different from the car 10 whose operation mode has been changed.

[0073] Alternatively, instead of the autonomous moving body 20 sending a car dispatch request signal for other cars 10 to the cooperative control device 200, the call registration request unit 241 of the cooperative control device 200 may send a landing call registration request for other cars 10 for the boarding floor of the autonomous moving body 20 to the elevator control device 100. In this case, the operation mode change notification may include information for determining the changed operation mode. The call registration request unit 241 confirms the changed operation mode determined by the operation mode change notification received by the elevator communication unit 220. Then, when the changed operation mode is an operation mode such as a dedicated operation mode in which there is a possibility that the landing call is cancelled, the call registration request unit 241 sends a landing call registration request for other cars 10 to the elevator control device 100. On the other hand, when the changed operation mode is an operation mode such as a normal operation mode in which there is no possibility that the landing call is cancelled, the call registration request unit 241 does not send a landing call registration request for other cars 10 to the elevator control device 100. Furthermore, the storage unit 230 may store information on the operation mode specified based on the operation mode change notification.

[0074] Next, refer to Figure 7 An example of the operation of the second variant of the elevator system constructed as described above is described. First, in step S30, the autonomous moving body 20 sends a dispatch car request signal to the cooperative control device 200. In the next step S31, when the autonomous moving body communication unit 210 of the cooperative control device 200 receives the dispatch car request signal, the elevator call registration request unit 241 of the processing unit 240 generates a floor call registration request signal for the boarding floor indicated by the received dispatch car request signal. Then, the elevator communication unit 220 sends the floor call registration request signal to the elevator control device 100. After step S31, the elevator system next performs the processing of step S32.

[0075] In step S32, when the elevator control device 100 receives a landing call registration request signal, the landing call registration unit 110 registers the landing call for the boarding floor indicated by the landing call registration request signal. Next, the car allocation unit 130 determines the allocated car for the registered landing call. Then, the allocated car information transmission unit 150 transmits the allocated car information to the cooperative control device 200.

[0076] In the next step S33, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the storage unit 230 stores the received assigned car information. In addition, the notification unit 242 sends the assigned car information to the autonomous moving body 20 through the autonomous moving body communication unit 210. After step S33, the elevator system next performs the processing of step S34.

[0077] When the elevator control device 100 does not change the operation mode of the assigned car for the landing call registered based on the dispatched car request of the autonomous moving body 20 in step S34, the autonomous moving body 20 can board the car 10 (step S35). On the other hand, when the elevator control device 100 changes the operation mode of the assigned car for the landing call registered based on the dispatched car request of the autonomous moving body 20, the elevator system then performs the processing of step S36.

[0078] In step S36, the operation mode information transmission unit 170 transmits information that specifies the changed operation mode as the allocation change information to the cooperative control device 200 as an operation mode change notification. When the elevator communication unit 220 of the cooperative control device 200 receives the operation mode change notification, the processing unit 240 compares the operation mode specified by the operation mode change notification received this time with the operation mode stored in the storage unit 230, thereby detecting the change of the operation mode. Then, the notification unit 242 transmits the operation mode change notification to the autonomous mobile body 20 via the autonomous mobile body communication unit 210. After step S36, the elevator system then performs the processing of step S37.

[0079] In step S37, the autonomous moving body 20 that has received the operation mode change notification may return to step S30 to request the dispatch of another car 10. Alternatively, the call registration request unit 241 of the cooperative control device 200 may send a landing call registration request for another car 10 to the elevator control device 100.

[0080] According to the second modified example of the elevator system configured as described above, even when the operation mode of the car 10 assigned to the landing call registered based on the request from the autonomous moving body 20 is changed, by notifying the autonomous moving body 20 of the change in the operation mode, the autonomous moving body 20 can make a car request for dispatching another car 10 without continuing to wait for the original car 10. In addition, the cooperative control device 200 may make a car request for dispatching another car 10 on behalf of the autonomous moving body 20. Therefore, the autonomous moving body 20 can get on the car 10 notified from the cooperative control device 200, so that the reduction in the operation efficiency of the autonomous moving body 20 can be suppressed.

[0081] Figure 8 This 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 of 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.

[0082] The processing circuit of which a part is at least one dedicated hardware 3 is, for example, a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), 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.

[0083] 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 (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory), or a magnetic disk, a floppy disk, an optical disk, a CD (compact disk), a mini disc, and a DVD (Digital Versatile Disk).

[0084] In this way, the respective processing circuits of the cooperative control device 200 and the elevator control device 100 can realize the respective functions of the cooperative control device 200 and the elevator control device 100 through hardware, software, firmware or a combination thereof. When the respective processing circuits of the cooperative control device 200 and the elevator control device 100 have at least a processor 1 and a memory 2, in each device of the cooperative control device 200 and the elevator control device 100, the processor 1 executes a program stored in the memory 2, and the respective hardware and software of the cooperative control device 200 and the elevator control device 100 cooperate, thereby realizing the functions of the respective parts of the cooperative control device 200 and the elevator control device 100.

[0085] In addition, the elevator cooperative control method of the present embodiment is executed by a computer of the cooperative control device 200 that is configured to be able to communicate with the elevator control device 100. And, according to 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 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 dispatches the car 10 to the registered landing call. In the second call registration request step, the cooperative control device 200 sends a car call registration request with the boarding floor as the destination floor to the elevator control device 100 for the car 10 dispatched to the landing call. Then, the elevator control device 100 registers the car call for the destination floor according to the car call registration request.

[0086] Alternatively, as can be seen from the above description, the elevator cooperative control method of the present embodiment may also include at least a call registration request step, a first notification step, and a second notification step. In the call registration request step, the cooperative control device 200 sends a landing call registration request for the boarding floor to the elevator control device 100 according to the car dispatch 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, allocates a car 10 to the registered landing call from a plurality of cars 10, and sends the allocated car information for determining the car 10 allocated to the landing call to the cooperative control device 200. In the first notification step, the cooperative control device 200 notifies the autonomous moving body 20 of the allocated car information sent from the elevator control device 100. When the elevator control device 100 changes the car 10 allocated to the landing call, it sends the allocation change information to the cooperative control device 200. In the second notification step, the cooperative control device 200 notifies the autonomous moving object 20 of the allocation change information transmitted from the elevator control device 100 .

[0087] Alternatively, as can be seen from the above description, the elevator cooperative control method of the present embodiment may also include at least a call registration request step, a first notification step, and a second notification step. In the call registration request step, the cooperative control device 200 sends a landing call registration request for the boarding floor to the elevator control device 100 according to the car dispatch 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, allocates a car 10 to the registered landing call from a plurality of cars 10, and sends the allocated car information for determining the car 10 allocated to the landing call to the cooperative control device 200. In the first notification step, the cooperative control device 200 notifies the autonomous moving body 20 of the allocated car information sent from the elevator control device 100. When the elevator control device 100 changes the operation mode of the car 10 allocated to the landing call, it sends an operation mode change notification to the cooperative control device 200. In the second notification step, the cooperative control device 200 notifies the autonomous moving object 20 of the operation mode change notification transmitted from the elevator control device 100 .

[0088] 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.

[0089] 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 a call registration request unit, which sends a landing call registration request for a boarding floor to the elevator control device according to a request for a dispatched car from an autonomous moving body. The elevator control device registers the landing call for the boarding floor according to the landing call registration request, and dispatches the car in response to the registered landing call. The call registration request unit transmits a car call registration request for the car dispatched to the landing call, with the boarding floor as the destination floor, to the elevator control device. The elevator control device registers a car call for the destination floor in accordance with the car call registration request.

2. The elevator cooperative control device according to claim 1, wherein: The elevator control device controls the plurality of cars, allocates the car to the registered landing call from the plurality of cars, and transmits allocated car information identifying the car allocated to the landing call, The elevator cooperative control device further includes a notification unit that notifies the autonomous moving body of the allocated car information transmitted from the elevator control device. The call registration request unit transmits a car call registration request for the car specified by the assigned car information and having the boarding floor as a destination floor to the elevator control device.

3. An elevator cooperative control device, which is configured to communicate with an elevator control device that controls multiple elevator cars, wherein: The elevator cooperative control device comprises: a call registration request unit that transmits a landing call registration request for a boarding floor to the elevator control device in response to a car dispatch request from the autonomous moving body; and Notification Department, The elevator control device registers the landing call for the boarding floor according to the landing call registration request, allocates the car to the registered landing call from the plurality of cars, and sends allocated car information for determining the car allocated to the landing call. The notification unit notifies the autonomous moving body of the allocated car information transmitted from the elevator control device, The elevator control device further transmits allocation change information when the car allocated to the landing call is changed. The notification unit further notifies the autonomous moving object of the allocation change information transmitted from the elevator control device.

4. The elevator cooperative control device according to claim 3, wherein: The allocation change information includes information identifying the changed car allocated to the landing call, The call registration request unit transmits a car call registration request with the boarding floor as a destination floor to the elevator control device for the car specified by the allocation change information. The elevator control device registers a car call for the destination floor in accordance with the car call registration request.

5. The elevator cooperative control device according to claim 3, wherein: The allocation change information includes information identifying the changed car allocated to the landing call, The call registration request unit transmits, to the elevator control device, a hall call registration request for the boarding floor, which is directed to the car different from the car specified by the allocation change information.

6. An elevator cooperative control device, which is configured to communicate with an elevator control device that controls a plurality of elevator cars, wherein: The elevator cooperative control device comprises: a call registration request unit that transmits a landing call registration request for a boarding floor to the elevator control device in response to a car dispatch request from the autonomous moving body; and Notification Department, The elevator control device registers the landing call for the boarding floor according to the landing call registration request, allocates the car to the registered landing call from the plurality of cars, and sends allocated car information for determining the car allocated to the landing call. The notification unit notifies the autonomous moving body of the allocated car information transmitted from the elevator control device, The elevator control device further transmits an operation mode change notification when the operation mode of the car assigned to the landing call is changed. The notification unit further notifies the autonomous movable body of the operation mode change notification transmitted from the elevator control device.

7. The elevator cooperative control device according to claim 6, wherein: The call registration request unit transmits, to the elevator control device, a landing call registration request for the boarding floor for a car different from the car specified by the allocated car information when the operation mode change notification is transmitted from the elevator control device.

8. An elevator system, wherein: The elevator system comprises: The elevator cooperative control device according to any one of claims 1 to 7; The elevator control device; and The autonomous mobile object.

9. An elevator cooperative control method, the elevator cooperative control method being 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 call registration request step of sending a landing call registration request for a boarding floor to the elevator control device in response 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 dispatches the car in response to the registered landing call. In the second call registration request step, a car call registration request with the boarding floor as the destination floor for the car dispatched to the landing call is sent to the elevator control device, The elevator control device registers a car call for the destination floor in accordance with the car call registration request.

10. An elevator cooperative control method, the elevator cooperative control method being executed by a computer of an elevator cooperative control device configured to be able to communicate with an elevator control device for controlling a plurality of elevator cars, wherein: The elevator cooperative control method comprises: An elevator call registration request step, in response to a car dispatch request from the autonomous moving body, sending an elevator call registration request for a landing of the boarding floor to the elevator control device; The first notification step; and The second notification step, The elevator control device registers the landing call for the boarding floor according to the landing call registration request, allocates the car to the registered landing call from the plurality of cars, and sends allocated car information for determining the car allocated to the landing call. In the first notification step, the allocated car information transmitted from the elevator control device is notified to the autonomous moving body, The elevator control device further transmits allocation change information when the car allocated to the landing call is changed. In the second notification step, the allocation change information transmitted from the elevator control device is notified to the autonomous moving object.

11. An elevator cooperative control method, the elevator cooperative control method being executed by a computer of an elevator cooperative control device configured to be able to communicate with an elevator control device for controlling a plurality of elevator cars, wherein: The elevator cooperative control method comprises: An elevator call registration request step, in response to a car dispatch request from the autonomous moving body, sending an elevator call registration request for a landing of the boarding floor to the elevator control device; The first notification step; and The second notification step, The elevator control device registers the landing call for the boarding floor according to the landing call registration request, allocates the car to the registered landing call from the plurality of cars, and sends allocated car information for determining the car allocated to the landing call. In the first notification step, the allocated car information transmitted from the elevator control device is notified to the autonomous moving body, The elevator control device further transmits an operation mode change notification when the operation mode of the car assigned to the landing call is changed. In the second notification step, the operation mode change notification transmitted from the elevator control device is notified to the autonomous movable body.

12. An elevator cooperative control program, which causes a computer of the elevator cooperative control device to execute the elevator cooperative control method according to any one of claims 9 to 11.

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