Autonomous mobile body control system, autonomous mobile body control method, and autonomous mobile body control program product

Abstract

Provided is an autonomous mobile body control system, an autonomous mobile body control method, and an autonomous mobile body control program product. Failure of an autonomous mobile body to get on and off an elevator car is assisted in being avoided. The autonomous mobile body control system is provided with: a measurement unit (31) that measures the height of a step between the floor of a car (4) of an elevator and the floor of a landing at which the car (4) stops; a communication unit that, in the case where the autonomous mobile body (1) moves between the landing and the car (4), transmits information on the height of the step measured by the measurement unit (31); a calculation unit that performs a calculation based on the information on the height of the step transmitted by the communication unit; and a movement control unit that controls movement of the autonomous mobile body (1) between the landing and the car (4) based on the result of the calculation by the calculation unit.

Description

Technical Field

[0001] This disclosure relates to an autonomous mobile body control system, an autonomous mobile body control method, and an autonomous mobile body control program. Background Technology

[0002] Patent Document 1 discloses an autonomous vehicle mobility system that utilizes elevators installed in buildings as an autonomous mobile body.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-18645 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] When the elevator car stops at a floor, a step sometimes forms between the floor of the car and the floor of the floor. In the conventional system described in Patent Document 1, there is a problem that the autonomous moving body cannot cross the aforementioned step, causing it to fail to ascend or descend the elevator.

[0008] This disclosure is intended to address the aforementioned problems. The purpose of this disclosure is to assist in preventing the failure of autonomous moving bodies to ascend or descend relative to the elevator car.

[0009] means for solving problems

[0010] The autonomous mobile body control system disclosed herein includes: a measuring unit that measures the height of a step between the floor of an elevator car and the floor of a landing where the car is stopped; a communication unit that transmits information about the step height measured by the measuring unit when the autonomous mobile body moves between the landing and the car; a calculation unit that performs calculations based on the step height information transmitted by the communication unit; and a movement control unit that controls the movement of the autonomous mobile body between the landing and the car based on the calculation results of the calculation unit.

[0011] In the autonomous mobile body control method disclosed herein, a computer or computer system performs the following processing: measuring the height of a step between the floor of an elevator car and the floor of the landing where the car is stopped; transmitting information about the measured step height while the autonomous mobile body moves between the landing and the car; performing calculations based on the transmitted step height information; and controlling the movement of the autonomous mobile body between the landing and the car based on the result of the calculations based on the step height information.

[0012] The autonomous mobile body control program disclosed herein enables a computer or computer system to perform the following processes: determining the height of the step between the floor of an elevator car and the floor of the landing where the car is stopped; transmitting information about the measured step height while the autonomous mobile body moves between the landing and the car; performing calculations based on the transmitted step height information; and controlling the movement of the autonomous mobile body between the landing and the car based on the result of the calculations based on the step height information.

[0013] The effects of the invention

[0014] According to this disclosure, it is possible to help avoid failures in the movement of autonomous moving bodies relative to the elevator car when ascending or descending. Attached Figure Description

[0015] Figure 1 This is a diagram showing an outline of the overall structure of the autonomous mobile body control system according to Embodiment 1.

[0016] Figure 2 This is a block diagram illustrating the structure of the autonomous mobile body control system according to Embodiment 1.

[0017] Figure 3 This is a diagram illustrating an example of the hardware structure of the main components of the autonomous mobile body control system according to Embodiment 1.

[0018] Figure 4 This is a flowchart illustrating an example of the motion processing of the autonomous mobile body control system according to Embodiment 1.

[0019] Figure 5 This is a flowchart illustrating a variation of the autonomous mobile body control system of Embodiment 1.

[0020] Explanation of reference numerals in the attached figures

[0021] 1 Autonomous moving body, 2 Elevator linkage system, 3 Elevator control device, 4 Car, 5 Floor, 6 Repeater, 11 Speed ​​calculation unit, 12 Passenger and alighting control unit, 21 Autonomous moving body communication unit, 22 Elevator communication unit, 23 Storage unit, 24 Processing unit, 31 Measurement unit, 100a Processor, 100b Memory, 200 Dedicated hardware. Detailed Implementation

[0022] The embodiments will now be described with reference to the accompanying drawings. In the drawings, the same or equivalent parts are labeled with the same reference numerals. In this disclosure, repeated descriptions have been appropriately simplified or omitted. Furthermore, this disclosure is not limited to the embodiments and variations thereof shown below. Any structural elements described in the following embodiments and variations can be freely combined, modified, or omitted without departing from the spirit of this disclosure.

[0023] Implementation method 1.

[0024] Figure 1 This diagram shows a general outline of the overall structure of the autonomous mobile body control system according to Embodiment 1. The autonomous mobile body control system of this embodiment is a system for controlling the movement of an autonomous mobile body 1 moving within a building. The autonomous mobile body 1 can utilize an elevator installed in the building. The elevator that the autonomous mobile body 1 can utilize is, for example, composed of an elevator control device 3, a car 4, and landings 5. The elevator control device 3 is a device that controls the lifting and lowering movement of the elevator car 4.

[0025] like Figure 1 As shown, the autonomous mobile body control system can be configured to include an elevator linkage system 2 that links the autonomous mobile body 1 with an elevator. As an example, the elevator control device 3 communicates with the elevator linkage system 2 via a repeater 6. Furthermore, as... Figure 1 As shown, the elevator linkage system 2 communicates with the autonomous moving body 1. The elevator linkage system 2 enables the autonomous moving body 1 to be linked with the elevator through communication with both the autonomous moving body 1 and the elevator control device 3.

[0026] Furthermore, communication between the elevator linkage system 2 and the elevator control device 3 can also be conducted without the repeater 6. Additionally, the autonomous mobile body control system of this disclosure may not necessarily include the elevator linkage system 2. The autonomous mobile body 1 and the elevator can also communicate directly without the elevator linkage system 2 or the repeater 6.

[0027] like Figure 1 As shown, a step sometimes occurs between the floor of the car 4 and the floor of the landing 5 where the car 4 stops. To reduce the probability of the autonomous moving body 1 failing to ascend or descend relative to the car 4 due to this step, the autonomous moving body control system of this embodiment controls the movement of the autonomous moving body 1. Hereinafter, the autonomous moving body control system of this embodiment will be described in more detail with reference to the accompanying drawings.

[0028] Figure 2 This is a block diagram illustrating the structure of the autonomous mobile body control system according to Embodiment 1. The autonomous mobile body control system of this embodiment includes a measuring unit 31, which measures the height of the step between the floor of the elevator car 4 and the floor of the landing 5 where the car 4 stops. As an example, the measuring unit 31 is installed in the elevator control device 3. Alternatively, the measuring unit 31 may be installed externally to the elevator control device 3. For example, the device having the function of the measuring unit 31 can be installed separately from the elevator control device 3, and the autonomous mobile body 1 can also have the function of the measuring unit 31.

[0029] The autonomous mobile body control system of this embodiment includes an autonomous mobile body communication unit 21 for communicating with the autonomous mobile body 1 and an elevator communication unit 22 for communicating with the elevator. The elevator communication unit 22 receives information from the elevator control device 3 about the height of the step between the floor of the car 4 and the floor of the landing 5 where the car 4 is stopped, as measured by the measuring unit 31. The autonomous mobile body communication unit 21 transmits the step height information received by the elevator control device 3 to the autonomous mobile body 1.

[0030] Autonomous mobile communication unit 21 and elevator communication unit 22, for example, Figure 2 The elevator linkage system 2 is configured as shown. The elevator linkage system 2 includes, for example, a storage unit 23 and a processing unit 24. Information received by the elevator communication unit 22 is processed by the processing unit 24 and stored in the storage unit 23. The information stored in the storage unit 23 is processed by the processing unit 24 and transmitted via the autonomous mobile body communication unit 21.

[0031] The autonomous moving body communication unit 21, elevator communication unit 22, storage unit 23, and processing unit 24 constituting the elevator linkage system 2 constitute an example of the communication unit of this disclosure. When the autonomous moving body 1 moves between the landing 5 and the car 4, the communication unit of this disclosure transmits information about the height of the step measured by the measuring unit 31.

[0032] The elevator linkage system 2 may consist of one or more servers, computers, or computer systems. At least a portion of the functionality of the elevator linkage system 2 may be located either inside or outside the building where the elevator is installed. At least a portion of the functionality of the elevator linkage system 2 may also be installed using processing or storage resources on cloud services.

[0033] Furthermore, as described above, the autonomous mobile body 1 and the elevator can also communicate without going through the elevator linkage system 2. At least a portion of the functions of the elevator linkage system 2, i.e., the functions of the communication unit of this disclosure, can also be located outside the elevator linkage system 2, for example, located on the autonomous mobile body 1 or the elevator control device 3.

[0034] The autonomous mobile body control system of this embodiment includes a speed calculation unit 11 and a ride control unit 12. The speed calculation unit 11 is an example of a calculation unit that performs calculations based on information about the height of the steps sent by the communication unit. The ride control unit 12 is an example of a movement control unit that controls the movement of the autonomous mobile body 1 based on the calculation results of the calculation unit.

[0035] Speed ​​calculation unit 11 and passenger / departure control unit 12, for example, Figure 2The autonomous mobile body 1 is configured as shown. For example, the speed calculation unit 11 calculates the moving speed or output of the autonomous mobile body 1 based on the step height information received from the autonomous mobile body communication unit 21, enabling the autonomous mobile body 1 to traverse steps. The boarding / alighting control unit 12 controls the boarding / alighting operation of the autonomous mobile body 1 relative to the car 4 based on the calculation results of the speed calculation unit 11. This reduces the probability of the autonomous mobile body 1 failing to board or alight relative to the car 4 due to steps.

[0036] Furthermore, at least a portion of the functions of the speed calculation unit 11 and the passenger / deceleration control unit 12, i.e., the calculation unit and the movement control unit of this disclosure, can also be provided externally to the autonomous mobile body 1. For example, the device having the functions of the speed calculation unit 11 and the passenger / deceleration control unit 12 can be provided externally separately from the autonomous mobile body 1, or the functions of the speed calculation unit 11 and the passenger / deceleration control unit 12 can be integrated into the elevator linkage system 2. At least a portion of the functions of the speed calculation unit 11 and the passenger / deceleration control unit 12 can also be installed using processing or storage resources on cloud services.

[0037] Figure 3 This diagram illustrates an example of the hardware structure of the main components of the autonomous mobile body control system according to Embodiment 1. The functions of the communication unit, arithmetic unit, and motion control unit constituting the autonomous mobile body control system can also be implemented by a processing circuit. The processing circuit includes at least one processor 100a and at least one memory 100b. The processing circuit may also include at least one dedicated hardware 200, either together with or replacing the processor 100a and memory 100b. The processing circuit is, for example, mounted on a device or apparatus constituting the autonomous mobile body control system.

[0038] When the processing circuit includes a processor 100a and a memory 100b, the functions of the autonomous mobile body control system are implemented through software, firmware, or a combination of software and firmware. At least one of the software and firmware is described in the form of a program. This program is stored in the memory 100b. The processor 100a implements the functions of the autonomous mobile body control system by reading and executing the program stored in the memory 100b. The program implementing the functions of the autonomous mobile body control system can also be a software package containing multiple software applications applied to multiple computers, etc.

[0039] The processor 100a is also called a CPU (Central Processing Unit), processing device, arithmetic device, microprocessor, microcomputer, or DSP. The memory 100b is composed of, for example, non-volatile or volatile semiconductor memories such as RAM, ROM, flash memory, EPROM, and EEPROM.

[0040] When the processing circuit has dedicated hardware 200, the processing circuit is implemented, for example, by a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC, an FPGA, or a combination thereof.

[0041] Each function of the autonomous mobile body control system can be implemented by a separate processing circuit. Alternatively, each function of the autonomous mobile body control system can also be implemented uniformly by the processing circuit. For each function of the autonomous mobile body control system, some can be implemented by dedicated hardware 200, and others by software or firmware. In this way, the processing circuit implements the functions of the autonomous mobile body control system through dedicated hardware 200, software, firmware, or a combination thereof.

[0042] Figure 4 This is a flowchart illustrating an example of the motion processing of the autonomous mobile body control system according to Embodiment 1. Figure 4 The flowchart consists of elevator call registration, elevator ride, and elevator disembarkation processes.

[0043] In the elevator call registration process, firstly, in order to utilize the elevator car 4, the autonomous mobile body 1 notifies the elevator linkage system 2 of the floor 5 where it wishes to take the elevator (step S101). The elevator linkage system 2 receives the floor call registration notification from the autonomous mobile body 1 through the autonomous mobile body communication unit 21, and notifies the elevator control device 3 of the floor call registration through the elevator communication unit 22 (step S102). Based on the received floor call registration information, the elevator control device 3 allocates the elevator car 4 to which the autonomous mobile body 1 will take, and notifies the elevator linkage system 2 of the information of the elevator car 4 (step S103).

[0044] The elevator linkage system 2 receives information about the car 4 assigned to the autonomous mobile body 1 via the elevator communication unit 22 and records it in the storage unit 23. Then, the elevator linkage system 2 notifies the autonomous mobile body 1 of the information about the car 4 assigned to the autonomous mobile body 1 via the autonomous mobile body communication unit 21 (step S104).

[0045] After the elevator call registration process in steps S101 to S104 described above, the elevator ride process is executed. When the car 4 assigned to the autonomous moving body 1 arrives at the landing, the measuring unit 31 measures the step height between the floor of the car 4 and the floor of the landing 5 where the car 4 is stopped. The step height information measured by the measuring unit 31, along with the arrival information of the car 4, is notified to the elevator linkage system 2 from the elevator control device 3 (step S201).

[0046] After receiving the step height information and arrival information, the elevator linkage system 2 compares the information on the car 4 assigned to the autonomous moving body 1 and the arrival information, which are recorded in the storage unit 23. If the comparison results are consistent, the system notifies the autonomous moving body 1 of the elevator request and the step height information (step S202).

[0047] The autonomous moving body 1 calculates the required moving speed or output for crossing the steps based on the received step height information using the speed calculation unit 11. The passenger / departure control unit 12 controls the movement of the autonomous moving body 1 based on the calculation result of the moving speed or output calculated by the speed calculation unit 11. As a result, the autonomous moving body 1 avoids boarding failure caused by insufficient speed or insufficient output and boardes the elevator into the car 4 (step 203).

[0048] After the elevator boarding process in steps S201 to S203 described above, the elevator disembarking process is executed. When the car 4 carried by the autonomous moving body 1 arrives at the next floor, the measuring unit 31 measures the height of the step between the floor of the car 4 and the floor of the landing 5 where the car 4 is stopped. The information on the step height measured by the measuring unit 31, along with the arrival information of the car 4, is notified to the elevator linkage system 2 from the elevator control device 3 (step S301).

[0049] After receiving the step height information and arrival information, the elevator linkage system 2 compares the information of the car 4 allocated to the autonomous moving body 1, which is recorded in the storage unit 23, with the arrival information. If the comparison results are consistent, the system notifies the autonomous moving body 1 of the request to descend the elevator and the step height information (step S302).

[0050] The autonomous mobile body 1 calculates the required movement speed or output for crossing the steps based on the received step height information using the speed calculation unit 11. The passenger / departure control unit 12 controls the movement of the autonomous mobile body 1 based on the calculation result of the movement speed or output calculated by the speed calculation unit 11. As a result, the autonomous mobile body 1 avoids failing to descend from the elevator car 4 due to insufficient speed or insufficient output (step S303).

[0051] also, Figure 5 This is a flowchart illustrating a variation of the autonomous mobile body control system according to Embodiment 1. The elevator call registration process in steps S401 to S404 is the same as the process in steps S101 to S104 described above, therefore, its description is omitted. Furthermore, steps S501 and S502 in the elevator riding process are the same as the process in steps S201 and S202 described above, therefore, their description is also omitted.

[0052] exist Figure 5In the modified example shown, during the elevator ride process, different processing is performed depending on whether the autonomous moving body 1 is carrying goods (step S503). In step S503, if it is determined that the autonomous moving body 1 is carrying goods, the autonomous moving body 1 calculates the conditions, such as movement speed or output, for crossing the steps without the goods falling, using the speed calculation unit 11. The ride control unit 12 controls the movement of the autonomous moving body 1 based on the calculation result of the speed calculation unit 11. As a result, the autonomous moving body 1 avoids elevator ride failure and also avoids the goods falling when crossing the steps, and rides the elevator into the car 4 (step S504). In step S503, if it is determined that the autonomous moving body 1 is not carrying goods, the same processing as step S203 described above is performed (step S505).

[0053] Steps S601 and S602 in the descent process are the same as steps S301 and S302 described above, therefore their explanation is omitted. Figure 5 In the modified example shown, the escalator descent process is handled differently depending on whether the autonomous moving body 1 is carrying goods (step S603). In step S603, if it is determined that the autonomous moving body 1 is carrying goods, the autonomous moving body 1 calculates the conditions, such as movement speed or output, for crossing the steps without dropping goods using the speed calculation unit 11. The passenger / descending control unit 12 controls the movement of the autonomous moving body 1 based on the calculation result of the speed calculation unit 11. As a result, the autonomous moving body 1 avoids failing to descend the stairs and also avoids the goods falling when crossing the steps, thus descending from the car 4 (step S604). If it is determined in step S503 that the autonomous moving body 1 is not carrying goods, the same process as in step S303 is performed (step S605).

[0054] Whether the autonomous mobile body 1 is handling goods can be determined, for example, based on the detection results of the weight sensor equipped on the autonomous mobile body 1, or the shooting results of the camera installed on the floor 5 or the car 4. The determination unit for whether the autonomous mobile body 1 is handling goods can be installed on the autonomous mobile body 1, or at least part of its function can be installed outside the autonomous mobile body 1.

[0055] Next, a specific example will be described of the calculations performed by the speed calculation unit 11, which is an example of the calculation unit of this disclosure, and the actions performed based on the results of the calculations.

[0056] For example, the autonomous mobile body 1 is configured to have multiple driving modes, selecting the mode according to the driving conditions. As an example, the autonomous mobile body 1 has five driving modes: "most cautious," "cautious," "normal," "bold," and "most bold." However, the number of driving modes possessed by the autonomous mobile body 1 is not limited to this example. The autonomous mobile body 1 can also be configured to continuously adjust speed or driving output.

[0057] As an example, the "normal" mode is set to move at a speed slightly slower than human walking speed. For instance, the "normal" mode is set to travel at a speed of about 3 km / h when not carrying goods.

[0058] As an example, the "Bold" mode is set to move at a human walking speed. For instance, the "Bold" mode is set to travel at a speed of about 4 km / h when not carrying any goods.

[0059] As an example, the "most daring" mode is set to move at a speed slightly faster than human walking speed. For instance, the "most daring" mode is set to travel at a speed of 5 to 6 km / h when not carrying any goods.

[0060] As an example, the "Caution" mode is set to move at a slower speed than the "Normal" mode. Furthermore, the "Most Caution" mode is set to move at an even slower speed than the "Caution" mode. For example, the "Caution" mode is set to travel at approximately 2 km / h when not carrying any goods. The "Most Caution" mode is set to travel at approximately 1 km / h when not carrying any goods.

[0061] When the destination of the autonomous mobile body 1 is higher than the mobile source, the higher the step, the greater the speed or output calculated by the speed calculation unit 11. Alternatively, the speed calculation unit 11 can compare the height of the step with a threshold that serves as a reference to set the movement speed, output, or driving mode. For example, when the destination is 10 mm or more higher than the mobile source, the speed calculation unit 11 performs calculations in a "most aggressive" mode; when the destination is less than 10 mm higher than the mobile source, it performs calculations in either a "aggressive" mode or a "normal" mode.

[0062] Alternatively, if the speed calculation unit 11 is moving to a destination that is 10mm or more higher than the moving source, it may perform calculations in a "bold" mode if the goods are being transported, or in a "most bold" mode if the goods are not being transported.

[0063] For example, if the destination is more than 10mm higher than the source of movement, the speed calculation unit 11 may calculate in a "bold" mode to reduce speed when entering an enclosed space and in a "most bold" mode to increase speed when entering an open space. Alternatively, as in this example, the speed calculation unit 11 may calculate based on whether the autonomous moving body 1 is entering or exiting the elevator between the landing 5 and the car 4.

[0064] Furthermore, the speed calculation unit 11 can also perform calculations based on the congestion level of the destination of the autonomous mobile body 1. The congestion detection unit for detecting congestion level can be composed of, for example, a weight sensor of the car 4, a camera of the floor 5, and a camera of the car 4. For example, the speed calculation unit 11 can also perform calculations in a "bold" mode to reduce speed when the destination is congested (when the destination is crowded) and in a "boldest" mode to increase speed when the destination is quiet (when the destination is quiet).

[0065] The speed calculation unit 11 can also perform calculations based on the elevation of the destination of the autonomous mobile body 1 relative to the mobile source. For example, when the destination is lower than the mobile source, the speed calculation unit 11 can perform calculations in a "cautious" mode or a "most cautious" mode to reduce the impact when descending a step. Alternatively, when the destination of the autonomous mobile body 1 is lower than the mobile source, the higher the step, the lower the speed calculation unit 11 will calculate the speed or output.

[0066] Furthermore, the speed calculation unit 11 can also perform calculations based on the weight of the cargo when the autonomous mobile body 1 is transporting goods. Alternatively, when the destination of the autonomous mobile body 1 is higher than the mobile source, the greater the weight of the cargo, the greater the speed calculation unit 11 will calculate the speed or output. Or, the speed calculation unit 11 can compare the weight of the cargo with a threshold value to set the movement speed, output, or driving mode. For example, when the destination is higher than the mobile source, if the cargo is 20 kg, the speed calculation unit 11 can perform calculations in a "boldest" mode with maximum output to increase driving force; if the cargo is 2 kg, it can perform calculations in a "bold" mode with sufficient driving force for cargo transport.

[0067] Alternatively, the measuring unit 31 can measure the width of the gap between the elevator door threshold, i.e., the gap between the floor of the landing 5 and the floor of the car 4. The function of measuring the gap width can be implemented by a device integrated with the measuring unit 31, or it can be implemented by a separate device. The communication unit of this disclosure can also transmit information about the gap width measured by the measuring unit 31 when the autonomous moving body 1 moves between the landing 5 and the car 4. The calculation unit of this disclosure can also perform calculations based on the gap width information transmitted by the communication unit. By taking into account the width of the elevator door threshold gap, the probability of the autonomous moving body 1 failing to ascend or descend relative to the car 4 can be further reduced. For example, when the gap width is large, it is preferable to control it by increasing the speed or output.

[0068] As shown above, the autonomous moving body control system of this embodiment is configured to control the movement of the autonomous moving body 1 by taking into account the height of the step between the floor of the elevator car 4 and the floor of the landing 5 where the car 4 stops. The height of the step between the floor of the car 4 and the floor of the landing 5 where the car 4 stops varies depending on the elevator's operating state. By measuring the step height and controlling the movement of the autonomous moving body 1 accordingly, the autonomous moving body control system can help avoid failures in getting on and off the elevator car 4. Furthermore, by reducing the failure rate of the autonomous moving body 1 getting on and off the elevator car 4, the elevator's stopping time can be reduced, thereby improving operating efficiency.

[0069] The various schemes disclosed herein will be uniformly recorded as appendices below.

[0070] (Postscript 1)

[0071] An autonomous mobile body control system, wherein,

[0072] The autonomous mobile body control system has the following features:

[0073] The measuring department measures the height of the step between the floor of the elevator car and the floor of the landing where the car is stopped.

[0074] The communication unit transmits information about the height of the step as measured by the measurement unit when the autonomous mobile body moves between the landing and the car.

[0075] The arithmetic unit performs calculations based on the information about the height of the step transmitted by the communication unit; and

[0076] The motion control unit controls the movement of the autonomous mobile body between the floor and the car based on the calculation results of the calculation unit.

[0077] (Postscript 2)

[0078] According to the autonomous mobile body control system described in Appendix 1, its characteristics are as follows:

[0079] The calculation unit performs calculations based on whether the autonomous mobile body is transporting goods.

[0080] (Note 3)

[0081] According to the autonomous mobile body control system described in Appendix 1 or 2, its characteristics are as follows:

[0082] The calculation unit performs calculations based on whether the autonomous moving body's movement between the landing and the elevator car is ascending or descending the elevator.

[0083] (Postscript 4)

[0084] The autonomous mobile body control system according to any one of Appendices 1 to 3 is characterized in that,

[0085] The calculation unit performs calculations based on the congestion level of the autonomous mobile body's destination.

[0086] (Note 5)

[0087] The autonomous mobile body control system according to any one of Appendices 1 to 4 is characterized in that,

[0088] The calculation unit performs calculations based on the altitude of the autonomous mobile body's destination relative to the mobile source.

[0089] (Note 6)

[0090] The autonomous mobile body control system according to any one of Appendices 1 to 5 is characterized in that,

[0091] The computing unit performs calculations based on the weight of the goods when the autonomous mobile body is transporting them.

[0092] (Note 7)

[0093] The autonomous mobile body control system according to any one of Appendices 1 to 6 is characterized in that,

[0094] The measuring unit measures the width of the gap between the floor of the landing and the floor of the car.

[0095] When the autonomous moving body moves between the landing and the car, the communication unit transmits information about the width of the gap measured by the measurement unit.

[0096] The calculation unit performs calculations based on the information about the width of the gap sent by the communication unit.

[0097] (Note 8)

[0098] The autonomous mobile body control system described in any one of Appendices 1 to 7 is characterized in that,

[0099] The autonomous mobile body control system includes an elevator linkage system that enables the autonomous mobile body to link with the elevator.

[0100] (Note 9)

[0101] An autonomous moving body control method, wherein,

[0102] The computer or computer system performs the following processing:

[0103] Measure the height of the step between the floor of the elevator car and the floor of the landing where the car is stopped;

[0104] When the autonomous mobile body moves between the landing and the car, it transmits information about the measured height of the step;

[0105] The calculation is performed based on the height information of the sent steps; and

[0106] The autonomous moving body is controlled to move between the landing and the car based on the result of the calculation obtained based on the information of the height of the step.

[0107] (Postscript 10)

[0108] An autonomous mobile body control program, wherein,

[0109] The autonomous mobile body control program causes the computer or computer system to perform the following processes:

[0110] Measure the height of the step between the floor of the elevator car and the floor of the landing where the car is stopped;

[0111] When the autonomous mobile body moves between the landing and the car, it transmits information about the measured height of the step;

[0112] The calculation is performed based on the height information of the sent steps; and

[0113] The autonomous moving body is controlled to move between the landing and the car based on the calculation results obtained from the information based on the height of the steps.

Claims

1. An autonomous mobile body control system, wherein, The autonomous mobile body control system has the following features: The measuring department measures the height of the step between the floor of the elevator car and the floor of the landing where the car is stopped. The communication unit transmits information about the height of the step as measured by the measurement unit when the autonomous mobile body moves between the landing and the car. The arithmetic unit performs calculations based on the information about the height of the step sent by the communication unit; as well as The motion control unit controls the movement of the autonomous mobile body between the floor and the car based on the calculation results of the calculation unit.

2. The autonomous mobile body control system according to claim 1, characterized in that, The calculation unit performs calculations based on whether the autonomous mobile body is transporting goods.

3. The autonomous mobile body control system according to claim 1, characterized in that, The calculation unit performs calculations based on whether the autonomous moving body's movement between the landing and the elevator car is ascending or descending the elevator.

4. The autonomous mobile body control system according to claim 1, characterized in that, The calculation unit performs calculations based on the congestion level of the autonomous mobile body's destination.

5. The autonomous mobile body control system according to claim 1, characterized in that, The calculation unit performs calculations based on the altitude of the autonomous mobile body's destination relative to the mobile source.

6. The autonomous mobile body control system according to claim 1, characterized in that, The computing unit performs calculations based on the weight of the goods when the autonomous mobile body is transporting them.

7. The autonomous mobile body control system according to claim 1, characterized in that, The measuring unit measures the width of the gap between the floor of the landing and the floor of the car. When the autonomous moving body moves between the landing and the car, the communication unit transmits information about the width of the gap measured by the measurement unit. The calculation unit performs calculations based on the information about the width of the gap sent by the communication unit.

8. The autonomous mobile body control system according to any one of claims 1 to 7, characterized in that, The autonomous mobile body control system includes an elevator linkage system that enables the autonomous mobile body to link with the elevator.

9. A method for controlling an autonomous moving body, wherein, The computer or computer system performs the following processing: Measure the height of the step between the floor of the elevator car and the floor of the landing where the car is stopped; When the autonomous mobile body moves between the landing and the car, it transmits information about the measured height of the step; The calculation is performed based on the height information of the sent steps; and The autonomous moving body is controlled to move between the landing and the car based on the result of the calculation obtained based on the information of the height of the step.

10. An autonomous mobile body control program product, comprising a program, wherein, The program causes the computer or computer system to perform the following processes: Measure the height of the step between the floor of the elevator car and the floor of the landing where the car is stopped; When the autonomous mobile body moves between the landing and the car, it transmits information about the measured height of the step; The calculation is performed based on the height information of the sent steps; and The autonomous moving body is controlled to move between the landing and the car based on the result of the calculation obtained based on the information of the height of the step.

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