Mobile body control system, mobile body control method, and program

Abstract

A mobile body control system, a mobile body control method, and a program are capable of suppressing an autonomous mobile body from obstructing the action of a user waiting for an elevator. A mobile body control system includes: an elevator control device that controls operation of a car and allocates a car to a destination floor call registered by a user; a moving body control unit that controls the operation of the moving body so that the moving body is standby in the standby-enabled area until the car on which the moving body should be boarding arrives; and a region determination unit that determines standby region candidates in which the number of resident users per unit area is equal to or less than a preset reference density, in the standby-enabled region, on the basis of information relating to the allocation status of the elevator control device for calling to allocate the car to the destination floor. The moving body control unit causes the moving body to stand by in the region selected from the standby region candidates specified by the region specifying unit.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a mobile body control system, a mobile body control method, and a program. BACKGROUND

[0002] There is known a technology of distinguishing registration by a person destination floor registration device and registration by a robot destination floor registration device, and from a plurality of cars of an elevator, deciding a car to be allocated to a call corresponding to a destination floor registered by the person destination floor registration device and a car to be allocated to a call corresponding to a destination floor registered by the robot destination floor registration device (for example, refer to Patent Literature 1).

[0003] Patent Literature 1: International Publication No. 2020 / 230305

[0004] However, in the system shown in Patent Literature 1, a user who waits for an elevator at a landing must wait at a position where an autonomous mobile body (robot) that stands by at the landing until the elevator arrives is consciously avoided, and the autonomous mobile body can hinder the action of the user who waits for the elevator. Further, when one or both of the user and the autonomous mobile body are moving, the user can also collide with the autonomous mobile body if the user does not consciously avoid the autonomous mobile body. SUMMARY

[0005] The present disclosure has been made to solve such a problem. It is an object to provide a mobile body control system, a mobile body control method, and a program that can suppress an autonomous mobile body from hindering the action of a user who waits for an elevator.

[0006] The mobile body control system of the present disclosure has an elevator control device that controls operation of a car and allocates the car to a destination floor call registered by a user, a mobile body control section that controls the action of a mobile body and causes the mobile body to stand by in a stand-by area until the car on which the mobile body should ride arrives, and an area determination section that determines, in the stand-by area, a stand-by area candidate in which the number of users per unit area is equal to or less than a reference density set in advance, based on information about an allocation situation in which the car is allocated to the destination floor call by the elevator control device, and the mobile body control section causes the mobile body to stand by in an area selected from the stand-by area candidate determined by the area determination section.

[0007] Alternatively, the mobile body control system of the present disclosure has an elevator control device that controls operation of a car, assigns the car to a destination floor call registered by a user, a mobile body control section that controls movement of a mobile body, causes the mobile body to stand by in a stand-by area until the car on which the mobile body should board arrives, and a region determination section that estimates a movement path of the user based on information about an assignment state in which the car is assigned to the destination floor call by the elevator control device and information about a position passed by the user, determines a stand-by area candidate based on the estimated movement path of the user, and causes the mobile body control section to cause the mobile body to stand by in a region selected from the stand-by area candidate determined by the region determination section.

[0008] The mobile body control method of the present disclosure has an elevator control step of controlling operation of a car, assigning the car to a destination floor call registered by a user, a mobile body control step of controlling movement of a mobile body, causing the mobile body to stand by in a stand-by area until the car on which the mobile body should board arrives, and a region determination step of determining a stand-by area candidate in which a number of users per unit area is below a reference density set in advance, in the stand-by area, based on information about an assignment state in which the car is assigned to the destination floor call in the elevator control step, and causing the mobile body to stand by in a region selected from the stand-by area candidate determined in the region determination step in the mobile body control step.

[0009] Alternatively, the mobile body control method of the present disclosure has an elevator control step of controlling operation of a car, assigning the car to a destination floor call registered by a user, a mobile body control step of controlling movement of a mobile body, causing the mobile body to stand by in a stand-by area until the car on which the mobile body should board arrives, and a region determination step of estimating a movement path of the user based on information about an assignment state in which the car is assigned to the destination floor call in the elevator control step and information about a position passed by the user, determining a stand-by area candidate based on the estimated movement path of the user, and causing the mobile body to stand by in a region selected from the stand-by area candidate determined in the region determination step in the mobile body control step.

[0010] The program of the present disclosure is used to cause a computer possessed by a mobile body control system to execute the above-described mobile body control method.

[0011] According to the mobile body control system, the mobile body control method, and the program of the present disclosure, an effect that an autonomous mobile body can suppress hindering a user waiting for an elevator from moving is exerted. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 FIG. 1 is a diagram showing an overall structure of a mobile body control system according to Embodiment 1.

[0013] Figure 2 FIG. 2 is a diagram showing an example of a waiting place of an autonomous mobile body in the mobile body control system according to Embodiment 1.

[0014] Figure 3 FIG. 3 is a diagram showing an example of a waiting place of an autonomous mobile body in the mobile body control system according to Embodiment 1.

[0015] Figure 4 FIG. 4 is a diagram showing an example of a waiting place of an autonomous mobile body in the mobile body control system according to Embodiment 1.

[0016] Figure 5 FIG. 5 is a flowchart showing an example of an operation of the mobile body control system according to Embodiment 1.

[0017] Figure 6 FIG. 6 is a diagram showing an example of a structure of a control device that implements the mobile body control system, the mobile body control method, and the program according to Embodiment 1.

[0018] Explanation of Reference Numerals

[0019] 1: building; 11: processor; 12: memory; 13: dedicated hardware; 110: elevator; 120: elevator control device; 130: destination prediction system; 200: mobile body control server; 300: autonomous mobile body; 310: mobile body control section; 320: map storage section; 330: region determination section; 340: route determination section; 350: notification device. DETAILED DESCRIPTION

[0020] A mode for implementing a mobile body control system, a mobile body control method, and a program according to the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding portions are denoted by the same reference numerals, and redundant description is appropriately simplified or omitted. In the following description, for convenience, the positional relationship of each structure is sometimes expressed on the basis of the illustrated state. In addition, the present disclosure is not limited to the following embodiments, and free combination of the embodiments, modification of any structural element of the embodiments, or omission of any structural element of the embodiments can be made within the scope of the gist of the present disclosure.

[0021] Embodiment 1.

[0022] Reference Figures 1-6 Embodiment 1 of the present disclosure will be described. Figure 1 FIG. 1 is a diagram showing an overall structure of a mobile body control system according to Embodiment 1. Figures 2-4FIG. 1 is a diagram illustrating an example of a waiting place for an autonomous mobile body in a mobile body control system. Figure 5 FIG. 2 is a flowchart illustrating an example of an operation of a mobile body control system. Figure 6 FIG. 3 is a diagram illustrating an example of a functional configuration of a control device that implements a mobile body control system, a mobile body control method, and a program.

[0023] The mobile body control system of the embodiment is a system that controls the operation of a mobile body such as a robot using information related to the operation of an elevator. As shown in FIG. 1, the mobile body control system of the embodiment has an elevator control device 120, a destination prediction system 130, and a mobile body control server 200. The elevator control device 120 is connected to the destination prediction system 130 in a communicable manner. Further, the destination prediction system 130 is connected to the mobile body control server 200 in a communicable manner. Figure 1

[0024] The elevator control device 120 controls the elevator 110. The elevator 110 controlled by the elevator control device 120 has one or more cars.

[0025] The mobile body control server 200 controls the operation of an autonomous mobile body 300. The autonomous mobile body 300 is, for example, a mobile robot, and is capable of moving autonomously. The number of autonomous mobile bodies 300 is not limited to one, and can be two or more. The mobile body control server 200 transmits a control signal to the autonomous mobile body 300. The autonomous mobile body 300 that receives the control signal transmitted from the mobile body control server 200 operates in accordance with the received control signal. The autonomous mobile body 300 is capable of moving autonomously under the control of the mobile body control server 200.

[0026] The building 1 in which the elevator 110 is installed is provided with a number of shafts (not shown) equal to the number of cars. The cars are disposed so as to be able to ascend and descend in the shafts. Passengers and the autonomous mobile body 300 are able to get on and off the cars. The cars ascend and descend in the shafts, and transport one or both of the passengers and the autonomous mobile body 300 in the cars between a plurality of floors of the building.

[0027] The elevator 110 of the embodiment is capable of registering a destination floor call. The destination floor call is a call of a car to a landing of a departure floor on which a passenger gets on, in which a destination floor is specified. As a method by which a user registers a destination floor call, for example, the following methods can be given.

[0028] • A destination floor registration panel

[0029] • A security door

[0030] • A dedicated application of a portable terminal

[0031] ​The first type based on a destination floor registration operation panel refers to a case where a user operates a destination floor registration operation panel to thereby register a destination floor call. In this case, for example, a destination floor registration operation panel, not shown, is provided at a location of a landing in the building 1 leading to the elevators 110. The destination floor registration operation panel is provided, for example, with a numeric keypad, a touch panel, or the like as an operation section. The user operates the operation section of the destination floor registration operation panel to thereby be able to input a desired destination floor. Then, the elevator control device 120 registers a destination floor call in accordance with the input to the destination floor registration operation panel.

[0032] The second type based on a security gate refers to a case where a user passes through a security gate to thereby register a destination floor call. In this case, for example, a security gate, not shown, is provided at a location of a landing in the building 1 leading to the elevators 110. A user who wishes to pass through the security gate is authenticated as to whether or not the user has a right to pass through the gate. In this authentication, the user's identification information is used. The user's identification information refers to information that can uniquely determine the user. As the user's identification information, for example, a password set in advance by each user, an identification number assigned in advance to each user, data such as a character string for identification, biometric information such as the user's iris, fingerprint, vein pattern, face information, and the like can be cited. In this system, for example, the destination floor of each user is registered in advance in accordance with the user's identification information. Thus, when the authentication at the security gate is successful, the elevator control device 120 can register a destination floor call to the destination floor registered for the authenticated user.

[0033] The third type based on a dedicated application of a portable terminal refers to a case where a destination floor call is registered by a dedicated application executed by a portable terminal carried by a user. In the portable terminal carried by the user, for example, application software for destination floor call registration is installed in advance. Further, the portable terminal carried by the user can communicate with the elevator control device 120 via an internal wireless communication network of the building 1, the Internet, or the like, for example. The user can input a desired destination floor by executing the application software for destination floor call registration by the portable terminal. The portable terminal transmits a registration request for a destination floor call to the elevator control device 120. Then, the elevator control device 120 registers a destination floor call in accordance with the registration request for a destination floor call.

[0034] The elevator control device 120 controls the entire elevator operation including the operation of the cars of the elevators 110. In the configuration example described herein, the elevator control device 120 performs group management in which a plurality of cars are managed as a group. Alternatively, the elevator control device 120 can not perform group management. Further, in a case where there is only one car, group management is not performed.

[0035] The elevator control device 120 decides a car to which a registered destination floor call is assigned from among a plurality of cars. For example, the car to which the destination floor call is assigned is decided as described below. First, the elevator control device 120 calculates an assignment evaluation value for each car in accordance with the operating state of each car. The assignment evaluation value is calculated, for example, using the waiting time until the car responding to the call arrives, the load of the car, the destination floor of the call already assigned to the car, and the like. Then, the elevator control device 120 compares the assignment evaluation values of the calculated cars, and decides the car having the largest assignment evaluation value as the car to which the destination floor call is assigned. Thus, the elevator control device 120 assigns a car to the destination floor call.

[0036] In the present disclosure, the car to which the destination floor call is assigned by the elevator control device 120 is also referred to as an "assigned car". In addition, as described above, the elevator control device 120 can also not perform group management. In the case where group management is not performed, for example, if there is a car in which a call to the same destination floor has already been registered, the elevator control device 120 assigns the newly registered destination floor call to that car. Further, in the case where there is no car in which a call to the same destination floor has already been registered, for example, the car in the currently standing-by cars that is closest to the departure floor of the destination floor call is decided as the assigned car.

[0037] The elevator control device 120 controls the operation of each of the plurality of cars. After deciding the car to which the destination floor call is assigned, the elevator control device 120 causes the car to travel to the departure floor of the destination floor call in order to respond to the registered destination floor call. After the car arrives at the departure floor of the destination floor call, the elevator control device 120 causes the car to open the door, and closes the door after the passenger boards the car. Then, the elevator control device 120 causes the car to travel to the destination floor indicated by the destination floor call to which the car is assigned.

[0038] The elevator control device 120 transmits information about the assignment status of the car to which the destination floor call is assigned to the destination prediction system 130. The information about the assignment status of the car to which the destination floor call is assigned includes the departure floor and the destination floor of each destination floor call, the car number information of the car assigned to each destination floor call, and the information of the destination floor of the destination floor call assigned to each car.

[0039] The destination prediction system 130 notifies the users of the destination floors predetermined for the respective cars of the elevators 110, and notifies the respective users who registered the destination floor calls of the cars that the users should board, thereby guiding the users to be able to board appropriate cars. The destination prediction system 130 notifies the users who registered the destination floor calls of the cars that the users should board, respectively, on the basis of information transmitted from the elevator control device 120 regarding the allocation status of the cars to the destination floor calls.

[0040] The respective cars are previously determined to be which elevator by numbers or letters, or the like. The cars can be determined by the number information. The destination prediction system 130 displays, for example, on the display provided in the destination floor registration panel, the safety door, the portable terminal, or the like, which car is allocated to the destination floor call, thereby notifying the users who registered the destination floor calls of the cars that the users should board, respectively. Further, the destination prediction system 130 displays the destination floors predetermined for the respective cars of the elevators 110 on the display or the like provided in the lobby of the elevators 110 or the like.

[0041] The autonomous mobile body 300 has a mobile body control section 310 and a map storage section 320. The map storage section 320 stores a map of the building 1. The mobile body control section 310 controls the own action on the basis of the control signal transmitted from the mobile body control server 200, with reference to the map of the building 1 stored in the map storage section 320.

[0042] The mobile body control server 200 of this embodiment is able to control the action of the autonomous mobile body 300 moving in the building in which the elevators 110 are provided in cooperation with the action of the elevators 110. In a case where the autonomous mobile body 300 moves to another floor by using the elevators 110, the autonomous mobile body 300 transmits a dispatch request of the elevators 110 to the mobile body control server 200. The mobile body control server 200 receiving the dispatch request from the autonomous mobile body 300 transmits a landing call registration request of the autonomous mobile body 300 to the landing of the boarding floor to the elevator control device 120 on the basis of the dispatch request from the autonomous mobile body 300.

[0043] The elevator control device 120 receiving the landing call registration request registers the landing call of the autonomous mobile body 300 to the landing of the boarding floor. Then, the elevator control device 120 decides the allocated car for the registered landing call. Thus, the landing call to the landing of the boarding floor is registered, and the car is dispatched on the basis of the dispatch request from the autonomous mobile body 300. The elevator control device 120 transmits the allocated car information to the mobile body control server 200 when deciding the car allocated to the landing call registered on the basis of the dispatch request from the autonomous mobile body 300. The allocated car information is information that determines the car allocated to the registered landing call.

[0044] The mobile body control server 200 that receives the assigned car information transmits the assigned car information to the autonomous mobile body 300 that has the dispatch request. The assigned car information is information that specifies to the autonomous mobile body 300 a car on which the autonomous mobile body 300 should board. When the autonomous mobile body 300 receives the assigned car information, the mobile body control section 310 of the autonomous mobile body 300 causes the autonomous mobile body 300 to wait in the waiting area of the floor until the car specified by the assigned car information arrives at the floor on which the autonomous mobile body 300 is currently located. Here, an available waiting area is set in advance in the map stored in the map storage section 320. The available waiting area is an area in which the autonomous mobile body 300 can wait. In other words, the available waiting area in which the autonomous mobile body 300 can wait is stored in advance in the map storage section 320. The mobile body control section 310 causes the autonomous mobile body 300 to move into the available waiting area and causes the autonomous mobile body 300 to wait in the available waiting area until the car on which the autonomous mobile body 300 should board arrives.

[0045] The autonomous mobile body 300 also has a region determination section 330. The region determination section 330 determines a waiting area candidate in the available waiting area. Then, the mobile body control section 310 causes the autonomous mobile body 300 to wait in a region selected from the waiting area candidates determined by the region determination section 330. The available waiting area is an area having a certain width, and there are a plurality of positions / areas in which the autonomous mobile body 300 can wait in the available waiting area. The region determination section 330 determines the waiting area candidate from such an available waiting area, thereby screening the area in which the autonomous mobile body 300 actually waits. Then, the mobile body control section 310 selects the area in which the autonomous mobile body 300 actually waits from the waiting area candidates thus screened.

[0046] Next, an example in which the region determination section 330 determines the waiting area candidate will be described. In the mobile body control system of this embodiment, the destination prediction system 130 transmits information about the assignment situation in which the car is assigned to the destination floor call by the elevator control device 120 to the mobile body control server 200. Then, the mobile body control server 200 transmits the information about the assignment situation in which the car is assigned to the destination floor call by the elevator control device 120 to the autonomous mobile body 300 together when the assigned car information is transmitted to the autonomous mobile body 300 in accordance with the dispatch request from the autonomous mobile body 300.

[0047] The region determination section 330 determines the waiting area candidate from the information about the assignment situation in which the car is assigned to the destination floor call by the elevator control device 120. More specifically, the region determination section 330 determines, as the waiting area candidate, an area in which the number of users per unit area in the available waiting area is equal to or less than a predetermined reference density from the information about the assignment situation in which the car is assigned to the destination floor call.

[0048] That is, the region determination section 330 first determines the number of destination floor calls assigned to each car in accordance with information about the assignment status of the assignment of cars to destination floor calls. The region determination section 330 can determine the number of users who get on each car in the floor in accordance with the number of destination floor calls assigned to each car. Here, it can be considered that the user waits in the part of the lobby near the entrance of the car that the user gets on until the car arrives. Therefore, the region determination section 330 can estimate the position distribution of the users in the lobby in accordance with the number of users who get on each car in the floor. Then, the region determination section 330 calculates the number of users staying per unit area in accordance with the position distribution of the users thus estimated. Next, the region determination section 330 compares the number of users staying per unit area calculated with the reference density set in advance. Then, the region in which the number of users staying per unit area is below the reference density in the waiting region candidate is determined as a waiting region candidate.

[0049] The mobile body control system according to the embodiment, in cooperation with the destination prediction system 130 of the elevator 110, causes the autonomous mobile body 300 to wait in the region selected from the waiting region candidates determined as described above, and thereby can suppress the autonomous mobile body 300 from hindering the movement of the user waiting for the elevator 110. Therefore, it is possible to suppress the collision of the autonomous mobile body 300 with the user without the user (person) consciously avoiding the autonomous mobile body 300.

[0050] In a case where a plurality of waiting region candidates are determined by the region determination section 330, the mobile body control section 310 can also select the region in which the autonomous mobile body 300 waits, as follows, for example. That is, the mobile body control section 310 selects the region closest to the entrance of the car that the autonomous mobile body 300 should get on, among the plurality of waiting region candidates, and causes the autonomous mobile body 300 to wait. Thereby, it is possible to shorten the movement time taken when the autonomous mobile body 300 gets on the car. Alternatively, the mobile body control section 310 selects the region in which the number of users staying per unit area is the least, among the plurality of waiting region candidates, and causes the autonomous mobile body 300 to wait. Thereby, it is possible to further suppress the autonomous mobile body 300 from hindering the movement of the user.

[0051] Next, some variations of the mobile body control system of this embodiment will be described. The region determination unit 330 can also determine the standby region candidate based on information about the position passed by the user, in addition to information about the allocation status of the allocation of the car to the destination floor call by the elevator control device 120. Here, the information about the position passed by the user can include, for example, one or both of information about the security door passed by the user and information about the destination floor registration panel at which the destination floor call was registered by the user.

[0052] The information about the position passed by the user is obtained, for example, by the destination prediction system 130 or the elevator control device 120. That is, in a case where the destination floor call is registered at the security door when the user passes the security door, the destination prediction system 130 or the elevator control device 120 obtains information that can determine the position of the security door, and thereby can obtain the information about the position passed by the user. Further, in a case where the destination floor call is registered at the destination floor registration panel by the user, the destination prediction system 130 or the elevator control device 120 obtains information that can determine the position of the destination floor registration panel, and thereby can obtain the information about the position passed by the user.

[0053] In this case, first, the region determination unit 330 estimates the movement path of the user based on the information about the allocation status of the allocation of the car to the destination floor call and the information about the position passed by the user. The movement path of the user can be estimated as a path from the position passed by the user to the vicinity of the entrance of the car allocated to the destination floor call registered by the user.

[0054] Then, the region determination unit 330 determines the standby region candidate based on the number of users per unit area and the estimated movement path of the user described above. That is, a region in which the number of users per unit area is equal to or less than the reference density described above and does not overlap with the estimated movement path of the user is determined as the standby region candidate. In addition, in a case where all regions in which the number of users per unit area is equal to or less than the reference density described above overlap with the estimated movement path of the user, a region in which the range overlapping with the estimated movement path of the user is equal to or less than a certain range can also be determined as the standby region candidate. Thereby, not only the user who is waiting for the elevator 110, but also the user who is moving, can be prevented from being hindered by the autonomous mobile body 300.

[0055] As Figure 1As shown, the autonomous mobile body 300 can also have a path determination section 340. The path determination section 340 determines path candidates from the current position of the autonomous mobile body 300 to each of the standby region candidates determined by the region determination section 330. Then, the mobile body control section 310 causes the autonomous mobile body 300 to move to the region selected from the standby region candidates determined by the region determination section 330, following the path selected from the path candidates determined by the path determination section 340.

[0056] Next, an example in which the path determination section 340 determines path candidates will be described. The path determination section 340 determines path candidates, for example, based on information about the allocation status of cars to destination floor calls by the elevator control device 120. More specifically, the path determination section 340 determines paths that pass only through regions whose number of users per unit area is below a predetermined reference density, among regions between the current position of the autonomous mobile body 300 and each of the standby region candidates determined by the region determination section 330, based on information about the allocation status of cars to destination floor calls. Note that the number of users per unit area can be calculated in the same manner as described above. Also, in this case, the reference density used in the determination of path candidates can be the same value as the reference density used in the determination of standby region candidates, or can be a different value.

[0057] Also, information about positions passed by users can be used as another example in which the path determination section 340 determines path candidates. In this case, the path determination section 340 estimates the movement path of a user based on information about the allocation status of cars to destination floor calls and information about positions passed by users, in the same manner as described above. Then, the path determination section 340 determines path candidates based on the estimated movement path of the user. For example, paths in which the number of users passing through from the current position of the autonomous mobile body 300 to each of the standby region candidates is below a predetermined reference number of users are determined as path candidates. A path in which the number of users passing through is below the reference number of users refers to a path in which the number of users crossing the path is below the reference number of users. In other words, the number of intersections of the path with the estimated movement path of the user is below the reference value.

[0058] The mobile body control section 310 can comprehensively judge the plurality of standby area candidates and the plurality of path candidates, select a combination of a standby area and a path, or can select a path from the path candidates to the standby area after narrowing down the standby area candidates to one standby area. Further, the mobile body control section 310 can select a path candidate having the shortest moving distance to the standby area from among the plurality of path candidates. Thus, it is possible to shorten the moving time taken by the autonomous mobile body 300 to get on the car. Alternatively, the mobile body control section 310 can select a path candidate passing through an area having a smaller number of users per unit area from among the plurality of path candidates, or can select a path candidate having the smallest number of users passing through.

[0059] As shown in FIG. 3, the autonomous mobile body 300 can further have a notification device 350. The notification device 350 notifies users around the autonomous mobile body 300 of various information and the like. As the notification device 350, for example, a display capable of displaying characters, images, and the like, a speaker capable of sounding a sound, a rotating light, and the like can be given. The mobile body control section 310 can notify users around the autonomous mobile body 300 that the autonomous mobile body 300 is standing by through the notification device 350 when the autonomous mobile body 300 is standing by. In this case, a character message that the autonomous mobile body 300 is standing by is displayed on the display of the notification device 350, or a sound message that the autonomous mobile body 300 is standing by is sounded through the speaker of the notification device 350. Figure 1 Further, the mobile body control section 310 can notify users around the autonomous mobile body 300 that the autonomous mobile body 300 is moving and the destination of the autonomous mobile body 300 through the notification device 350 when the autonomous mobile body 300 is moving. In particular, in a case where there is no path candidate determined by the path determination section 340, the autonomous mobile body 300 has to move to the standby area through an area where a large number of users are standing by or a path where a large number of moving users cross. Therefore, in such a case, it is more preferable to move while notifying that the autonomous mobile body 300 is moving and the destination.

[0060] The mobile body control section 310 can make the front side of the autonomous mobile body 300 face the entrance of the car that the autonomous mobile body 300 should get on when the autonomous mobile body 300 is standing by. Thus, users around the autonomous mobile body 300 can easily predict the direction in which the autonomous mobile body 300 moves when the car arrives. Further, it is possible to shorten the time required for the autonomous mobile body 300 to start moving when the car arrives.

[0061]

[0062] ​Further, in a case where the stand-by site of the autonomous mobile body 300 is adjacent to a wall surface, the mobile body control section 310 can also cause the autonomous mobile body 300 to stand by in a manner such that the back surface side of the autonomous mobile body 300 faces the wall surface. Thereby, the surrounding users also easily predict the direction in which the autonomous mobile body 300 moves at the time of arrival of the car. Further, it is possible to shorten the time required for the autonomous mobile body 300 to start moving at the time of arrival of the car.

[0063] Next, a specific example of the stand-by site of the autonomous mobile body 300 in the mobile body control system of this embodiment will be described with reference to Figures 2-4 , in any of the examples shown in these drawings, it is assumed that the car of the elevator 110 on which the autonomous mobile body 300 rides is the car A.

[0064] First, Figure 2 , an example of a case where a landing of the elevator 110 is provided in a cul-de-sac (a site that becomes a dead end) is shown. In this case, one direction among the four directions of the landing of the elevator 110 is open to become an entrance to the landing, that is, the entrance to the landing of the elevator 110 is one. The user enters the landing through this entrance. On the right side as viewed from the entrance to the landing, the entrances of the cars A, B, and C are provided in this order from the inside of the cul-de-sac. Further, on the left side as viewed from the entrance to the landing, the entrances of the cars D, E, and F are provided from the inside of the cul-de-sac. One of the two users is scheduled to ride the car B, and the other is scheduled to ride the car F. The predicted moving paths of the two users in this example and the stand-by sites (stand-by area candidates) of the autonomous mobile body 300 that do not obstruct the actions of such users are shown in Figure 2 . That is, the stand-by area candidates become the areas that spread in front of the entrances of the cars A, D, E, respectively. The mobile body control section 310 causes the autonomous mobile body 300 to stand by, for example, selecting the area in front of the designated car A from the stand-by area candidates.

[0065] Next, Figure 3 , an example of a case where a landing of the elevator 110 is provided in a passage is shown. In this case, two opposite directions among the four directions of the landing of the elevator 110 are open to become entrances to the landing, that is, the entrances to the landing of the elevator 110 are two. On one side of the left and right as viewed from the entrance to the landing, the entrances of the cars A, B, and C are provided. Further, on the other side of the left and right as viewed from the entrance to the landing, the entrances of the cars D, E, and F are provided. One of the two users is scheduled to ride the car B, and the other is scheduled to ride the car F. Both of the two users enter from the entrance to the landing on the side of the cars C and F. The predicted moving paths of the two users in this example and the stand-by sites (stand-by area candidates) of the autonomous mobile body 300 that do not obstruct the actions of such users are shown in Figure 3The waiting area candidate is the area from the front of the entrance of the A-number machine to the front of the entrance of the D-number machine. The mobile body control section 310 causes the autonomous mobile body 300 to wait in the area in front of the entrance of the D-number machine, which is the waiting area candidate.

[0066] Figure 4 An example of a case where the elevator 110 is provided in a wall-side landing is shown. In this case, three directions of the four directions in the landing of the elevator 110 are open, and the entrances of the A-number machine, the B-number machine, and the C-number machine are provided in the wall. One of the two users is scheduled to board the B-number machine, and the other is scheduled to board the C-number machine. Both of the two users enter the landing from the C-number machine side. The predicted movement paths of the two users in this example and the waiting places (waiting area candidates) of the autonomous mobile body 300 that do not obstruct the actions of such users are shown in Figure 4 The waiting area candidate is the area in front of the entrance of the A-number machine. The mobile body control section 310 causes the autonomous mobile body 300 to wait in the area in front of the entrance of the A-number machine, which is the waiting area candidate.

[0067] Next, an example of the operation of the mobile body control system of this embodiment is described with reference to the flowchart of Figure 5 First, in step S1, the mobile body control section 310 of the autonomous mobile body 300 determines whether or not waiting is required until the car of the elevator 110 that the autonomous mobile body 300 should board arrives. This determination can be made using information from the destination prediction system 130. In the case where waiting is required until the car of the elevator 110 that the autonomous mobile body 300 should board arrives, the mobile body control system proceeds to the processing of step S2.

[0068] In step S2, the area determination section 330 determines a waiting area candidate. Then, the mobile body control section 310 determines whether or not there is a waiting area candidate determined by the area determination section 330. That is, it is determined whether or not there is a candidate of a waiting place where there are few people (users). In the case where there is a waiting area candidate determined by the area determination section 330, the mobile body control system proceeds to the processing of step S3.

[0069] In step S3, the path determination section 340 determines a path candidate. Then, the mobile body control section 310 determines whether or not there is a path candidate determined by the path determination section 340. That is, the mobile body control section 310 determines whether or not there is a space where there are few people (users) in the path to the waiting place. In the case where there is a path candidate determined by the path determination section 340, the mobile body control system proceeds to the processing of step S4.

[0070] In step S4, the mobile body control section 310 decides a waiting place from among the waiting place candidates determined by the area determination section 330 in step S2, and decides a path from among the path candidates determined by the path determination section 340 in step S3. Then, the mobile body control section 310 causes the autonomous mobile body 300 to move to the decided waiting place along the decided path. In the next step S5, the mobile body control section 310 causes the autonomous mobile body 300 to wait at the waiting place until the specified car arrives. Then, after the specified car arrives, in step S6, the mobile body control section 310 causes the autonomous mobile body 300 to board the car.

[0071] On the other hand, in a case where there is no waiting place candidate determined by the area determination section 330 in step S2, or in a case where there is no path candidate determined by the path determination section 340 in step S3, the mobile body control system proceeds to the processing of step S7. In step S7, the mobile body control section 310 causes the autonomous mobile body 300 to move to the entrance of the group of elevators 110, that is, to the entrance of the lobby of the elevators 110. In the next step S8, the mobile body control section 310 causes the autonomous mobile body 300 to wait at the entrance of the lobby until the specified car arrives. Then, in step S9, the mobile body control section 310 causes the autonomous mobile body 300 to move to the entrance of the specified car while notifying the autonomous mobile body 300 of the movement and the destination of the autonomous mobile body 300 by the notification device 350. After step S9, the mobile body control system proceeds to the processing of step S6.

[0072] Further, in a case where there is no need to wait in step S1 until the car of the elevator 110 to which the autonomous mobile body 300 boards arrives, the mobile body control system proceeds to the processing of step S10. In step S10, the path determination section 340 determines a path candidate to the entrance of the car to which the autonomous mobile body 300 boards. Then, the mobile body control section 310 determines whether there is a path candidate determined by the path determination section 340. That is, the mobile body control section 310 determines whether there is a space with fewer people (users) in the path to the entrance of the car to which the autonomous mobile body 300 boards.

[0073] In a case where there is a path candidate determined by the path determination section 340, the mobile body control section 310 decides a path from among the path candidates determined by the path determination section 340. Then, by the processing of step S6, the mobile body control section 310 causes the autonomous mobile body 300 to move to the entrance of the car along the decided path. On the other hand, in a case where there is no path candidate determined by the path determination section 340, by the processing of step S9, the mobile body control section 310 causes the autonomous mobile body 300 to move to the entrance of the specified car while notifying the autonomous mobile body 300 of the movement and the destination of the autonomous mobile body 300 by the notification device 350.

[0074] In addition, part or all of the mobile body control section 310, the map storage section 320, the region determination section 330, and the route determination section 340 can be provided to the mobile body control server 200 instead of the autonomous mobile body 300. Further, the notification device 350 can not be provided to the autonomous mobile body 300, or can be provided to the lobby of the elevator 110 or the like together with the autonomous mobile body 300.

[0075] Figure 6 Fig. 17 is a diagram showing an example of a structure of each of the mobile body control section 310, the map storage section 320, the region determination section 330, and the route determination section 340 of the autonomous mobile body 300, and each of the elevator control device 120, the destination prediction system 130, and the mobile body control server 200 (hereinafter, referred to as "each of the respective sections of the autonomous mobile body 300, etc.") in the embodiment, and functions of each of the respective sections. The functions of each of the respective sections of the autonomous mobile body 300, etc. are realized by, for example, a processing circuit. The processing circuit can have a processor 11 and a memory 12. The processing circuit can also be a dedicated hardware 13. Part of the processing circuit is formed as the dedicated hardware 13, and the processing circuit can also have the processor 11 and the memory 12. In the example shown in the drawing, part of the processing circuit is formed as the dedicated hardware 13. Further, in the example shown in the drawing, the processing circuit also has the processor 11 and the memory 12.

[0076] The processing circuit that is part of at least one dedicated hardware 13 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a component in which these are combined. In a case where the processing circuit has at least one processor 11 and at least one memory 12, the functions of each of the respective sections of the autonomous mobile body 300, etc. are realized by software, firmware, or a combination of software and firmware.

[0077] The software and the firmware are described as programs, and are stored in the memory 12. The processor 11 realizes the functions of each section by reading out and executing the programs stored in the memory 12. The processor 11 is also referred to as a CPU (Central Processing Unit), a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 12 is, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, and an EEPROM, or a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD.

[0078] Thus, each processing circuit of each of the components of the autonomous mobile body 300 can realize each function of each of the components of the autonomous mobile body 300 by hardware, software, firmware, or a combination thereof. In a case where each processing circuit of each of the components of the autonomous mobile body 300 has at least the processor 11 and the memory 12, each hardware of each of the components of the autonomous mobile body 300 cooperates with software by the processor 11 executing a program stored in the memory 12 in each of the components of the autonomous mobile body 300, and thus each function of each of the components of the autonomous mobile body 300 is realized.

[0079] Further, the mobile body control method of the present disclosure has the steps of: an elevator control step of controlling operation of a car, and assigning a car to a destination floor call registered by a user; a mobile body control step of controlling movement of the autonomous mobile body 300, and causing the autonomous mobile body 300 to stand by in a stand-by area until a car in which the autonomous mobile body 300 should board arrives; and an area determination step of determining a stand-by area candidate in which a number of users per unit area is equal to or less than a predetermined reference density, from among stand-by areas, based on information about an assignment state in which a car is assigned to a destination floor call in the elevator control step. Then, in the mobile body control step, the autonomous mobile body 300 is caused to stand by in an area selected from among the stand-by area candidates determined by the area determination step.

[0080] Alternatively, the mobile body control method of the present disclosure has the steps of: an elevator control step of controlling operation of a car, and assigning a car to a destination floor call registered by a user; a mobile body control step of controlling movement of the autonomous mobile body 300, and causing the autonomous mobile body 300 to stand by in a stand-by area until a car in which the autonomous mobile body 300 should board arrives; and an area determination step of estimating a movement path of a user, based on information about an assignment state in which a car is assigned to a destination floor call in the elevator control step and information about a position through which the user passes, and determining a stand-by area candidate based on the estimated movement path of the user. Then, in the mobile body control step, the autonomous mobile body 300 is caused to stand by in an area selected from among the stand-by area candidates determined by the area determination step.

[0081] Further, the program of the present disclosure is used to cause a computer included in a mobile body control system to execute the above-described mobile body control method. Further, the recording medium of the present disclosure is a recording medium that can be read by a computer in which such a program is recorded.

[0082] In addition, in the present disclosure, each embodiment, each configuration example, each modification example, and the like can be arbitrarily combined without departing from the gist of the present disclosure. Hereinafter, examples of each mode of the present disclosure will be collectively described as a postscript.

[0083] (Postscript 1)

[0084] A mobile body control system, wherein the mobile body control system has:

[0085] An elevator control device that controls operation of a car, and assigns the car to a destination floor call registered by a user;

[0086] A mobile body control section that controls movement of a mobile body, and causes the mobile body to stand by in a stand-by area until the car on which the mobile body should board arrives; and

[0087] An area determination section that determines, in the stand-by area, a stand-by area candidate in which a number of users per unit area is equal to or less than a reference density set in advance, based on information about an assignment situation in which the car is assigned to the destination floor call by the elevator control device,

[0088] The mobile body control section causes the mobile body to stand by in an area selected from the stand-by area candidates determined by the area determination section.

[0089] (Addendum 2)

[0090] The mobile body control system according to Addendum 1, wherein

[0091] The area determination section estimates a movement path of the user based on the information about the assignment situation in which the car is assigned to the destination floor call by the elevator control device and information about a position passed through by the user, and determines the stand-by area candidate further based on the estimated movement path of the user.

[0092] (Addendum 3)

[0093] A mobile body control system, wherein the mobile body control system has:

[0094] An elevator control device that controls operation of a car, and assigns the car to a destination floor call registered by a user;

[0095] A mobile body control section that controls movement of a mobile body, and causes the mobile body to stand by in a stand-by area until the car on which the mobile body should board arrives; and

[0096] An area determination section that estimates a movement path of the user based on information about an assignment situation in which the car is assigned to the destination floor call by the elevator control device and information about a position passed through by the user, and determines a stand-by area candidate based on the estimated movement path of the user,

[0097] The mobile body control section causes the mobile body to stand by in a region selected from the stand-by region candidates determined by the region determination section.

[0098] (Paragraph 4)

[0099] The mobile body control system according to any one of Paragraphs 1 to 3, wherein

[0100] The mobile body control system further has a path determination section that determines, based on information about an allocation state in which the car is allocated to the destination floor call by the elevator control device and information about the position passed by the user, a path candidate to the stand-by region candidate in which the number of users passing is below a reference number set in advance,

[0101] The mobile body control section causes the mobile body to move to the region selected from the stand-by region candidates determined by the region determination section along a path selected from the path candidates determined by the path determination section.

[0102] (Paragraph 5)

[0103] The mobile body control system according to Paragraph 4, wherein

[0104] In the absence of the path candidate determined by the path determination section, the mobile body control section causes the mobile body to move to the region selected from the stand-by region candidates determined by the region determination section while informing the user around the mobile body that the mobile body is moving and the destination of the mobile body through an informing device provided to the mobile body.

[0105] (Paragraph 6)

[0106] The mobile body control system according to any one of Paragraphs 2 to 5, wherein

[0107] The information about the position passed by the user includes one or both of information about a security gate passed by the user and information about a panel on which the destination floor call is registered by the user.

[0108] (Paragraph 7)

[0109] The mobile body control system according to any one of Paragraphs 1 to 6, wherein

[0110] The mobile body control section selects, from among the plurality of stand-by region candidates, a region closest to an entrance of the car that the mobile body should board and causes the mobile body to stand by.

[0111] (Paragraph 8)

[0112] The mobile body control system according to any one of appendices 1 to 7, wherein

[0113] The mobile body control section causes the mobile body to wait in a manner that the front side of the mobile body faces the entrance of the car in which the mobile body should get on.

[0114] (appendix 9)

[0115] The mobile body control system according to any one of appendices 1 to 7, wherein

[0116] In a case where the waiting site of the mobile body is adjacent to a wall surface, the mobile body control section causes the mobile body to wait in a manner that the back side of the mobile body faces the wall surface.

[0117] (appendix 10)

[0118] The mobile body control system according to any one of appendices 1 to 9, wherein

[0119] The mobile body control section notifies the user around the mobile body that the mobile body is waiting, by a notification device provided to the mobile body.

[0120] (appendix 11)

[0121] A mobile body control method, wherein the mobile body control method has the following steps:

[0122] An elevator control step of controlling the operation of a car, and assigning the car to a destination floor call registered by a user;

[0123] A mobile body control step of controlling the action of a mobile body, and causing the mobile body to wait in an available waiting area until the car in which the mobile body should get on arrives; and

[0124] An area determination step of determining, in the available waiting area, a waiting area candidate in which the number of users per unit area is below a reference density set in advance, based on information about the assignment of the car to the destination floor call in the elevator control step,

[0125] In the mobile body control step, the mobile body is caused to wait in an area selected from the waiting area candidates determined by the area determination step.

[0126] (appendix 12)

[0127] A mobile body control method, wherein the mobile body control method has the following steps:

[0128] an elevator control step of controlling operation of a car to assign the car to a destination floor call registered by a user;

[0129] a mobile body control step of controlling movement of a mobile body to cause the mobile body to stand by in a standby area until the car on which the mobile body should board arrives; and

[0130] an area determination step of estimating a movement path of the user based on information about an assignment situation in which the car is assigned to the destination floor call in the elevator control step and information about a position through which the user passes, and determining a standby area candidate based on the estimated movement path of the user,

[0131] in the mobile body control step, the mobile body is caused to stand by in an area selected from the standby area candidates determined in the area determination step.

[0132] (Addendum 13)

[0133] A program, wherein the program is used to cause a computer of a mobile body control system to execute the mobile body control method described in Addendum 11 or 12.

Claims

1. A mobile body control system, wherein, The mobile body control system has the following features: An elevator control device that controls the operation of the car and assigns the car to the destination floor called by the user. A mobile body control unit controls the movement of the mobile body, keeping it in a standby area until the car the mobile body is supposed to ride in arrives; and The area determination unit, based on information related to the allocation status of the elevator car to the destination floor via elevator calls from the elevator control device, determines, within the available standby area, candidates for standby areas where the number of users per unit area is below a pre-set baseline density. The mobile body control unit causes the mobile body to standby in an area selected from the standby area candidates determined by the area determination unit.

2. The mobile body control system according to claim 1, wherein, The area determination unit estimates the user's movement path based on information related to the allocation status of the elevator car from the elevator control device to the destination floor and information related to the user's location, and further determines the standby area candidate based on the estimated user's movement path.

3. A mobile body control system, wherein, The mobile body control system has the following features: An elevator control device that controls the operation of the car and assigns the car to the destination floor called by the user. The mobile body control unit controls the movement of the mobile body, keeping it in standby area until the car the mobile body is supposed to ride in arrives. as well as The area determination unit estimates the user's movement path based on information related to the elevator control device's dispatching of the car to the destination floor and information related to the user's location. Based on the estimated user's movement path, it determines candidate waiting areas. The mobile body control unit causes the mobile body to standby in an area selected from the standby area candidates determined by the area determination unit.

4. The mobile body control system according to any one of claims 1 to 3, wherein, The mobile body control system further includes a path determination unit that determines candidate paths to the waiting area based on information related to the elevator control device's dispatching of the car to the destination floor and information related to the user's passing position, provided that the number of users passing through is below a preset baseline. The mobile body control unit causes the mobile body to move along a path selected from the path candidates determined by the path determination unit to an area selected from the standby area candidates determined by the area determination unit.

5. The mobile body control system according to claim 4, wherein, In the absence of a path candidate determined by the path determination unit, the mobile body control unit, while notifying the surrounding users that the mobile body is moving and its destination via a notification device provided on the mobile body, moves the mobile body to an area selected from the standby area candidates determined by the area determination unit.

6. The mobile body control system according to claim 2 or 3, wherein, Information relating to the location through which the user passes includes one or both of the information relating to the safety door through which the user passes and the information relating to the user registering the call panel for the destination floor.

7. The mobile body control system according to any one of claims 1 to 3, wherein, The mobile body control unit selects the area from the plurality of standby area candidates that is closest to the entrance / exit of the car the mobile body should take, and puts the mobile body into standby mode.

8. The mobile body control system according to any one of claims 1 to 3, wherein, The mobile body control unit puts the mobile body into standby mode by aligning the front side of the mobile body with the entrance / exit of the car the mobile body is to ride in.

9. The mobile body control system according to any one of claims 1 to 3, wherein, When the standby section of the mobile body is adjacent to a wall, the mobile body control unit puts the mobile body into standby mode by aligning the back side of the mobile body with the wall.

10. The mobile body control system according to any one of claims 1 to 3, wherein, The mobile control unit notifies the surrounding users that the mobile device is in standby mode via a notification device installed on the mobile device.

11. A method for controlling a moving body, wherein, The moving body control method includes the following steps: The elevator control procedure involves controlling the operation of the elevator car and assigning the car to the destination floor called by the user. The movement control step controls the movement of the mobile body, keeping it in a standby area until the car the mobile body is supposed to ride in arrives. as well as In the area determination step, based on information related to the allocation status of the elevator car to the destination floor during the elevator control step, candidates for standby areas are determined within the available standby area whose number of users per unit area is below a pre-set baseline density. In the movement control step, the movement is made to standby in an area selected from the standby area candidates determined by the area determination step.

12. A method for controlling a moving body, wherein, The moving body control method includes the following steps: The elevator control procedure involves controlling the operation of the elevator car and assigning the car to the destination floor called by the user. The movement control step controls the movement of the mobile body, keeping it in a standby area until the car the mobile body is supposed to ride in arrives. as well as The area determination step involves estimating the user's movement path based on information related to the elevator car allocation status during the elevator control steps and information related to the user's location. Based on the estimated user's movement path, candidate standby areas are determined. In the movement control step, the movement is made to standby in an area selected from the standby area candidates determined by the area determination step.

13. A program in which, This program is used to enable the computer of the mobile body control system to execute the mobile body control method as described in claim 11 or 12.

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