Elevator system, control device, relay device, control method for control device, control method for relay device, and program

Abstract

To enable an elevator system to transmit appropriately, to the equipment with which an autonomous mobile body communicates, door information on opening and closing of the door of a car.SOLUTION: An elevator system 1 comprises an autonomous mobile body 4, a control device 6, and an interlocking device 3. The control device 6 manages operation of a car 5. The control device 6 comprises an information provision unit 42, a communication unit 41, and an operation control unit 45. The information provision unit 42 transmits, to the interlocking device 3 at a first interval, car information on operation of the car 5. When the car 5 having responded to a call registration request, reaches a getting-on floor Fr, the information provision unit 42 changes a transmission interval of the car information on the car 5, to a second interval shorter than the first interval.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an elevator system, a control device, a relay device, a control method for a control device, a control method for a relay device, and a program. [Background technology]

[0002] An elevator system is described in Patent Document 1. The elevator system described in Patent Document 1 includes a relay device. When the car in which the robot will ride is determined, information about the car is transmitted from the relay device to a robot server. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7231096 Summary of the Invention [Problem to be solved by the invention]

[0004] In elevator systems, car information is transmitted to a device with which the autonomous mobile unit communicates. Conventionally, the transmission interval of this information was long, which sometimes caused delays in control in the device. If a delay occurs in control in the device, the autonomous mobile unit will fail to get into the car.

[0005] The present disclosure has been made to solve the problems described above. An object of the present disclosure is to provide an elevator system that can appropriately transmit car information to a device with which an autonomous moving body communicates. Another object of the present disclosure is to provide a control device, a relay device, a control method for the control device, a control method for the relay device, and a program for realizing such a function in an elevator system. [Means for solving the problem]

[0006] The elevator system according to the present disclosure includes an autonomous mobile body, a control device that manages the operation of a first car, and an interlocking device that communicates with the autonomous mobile body and the control device. The control device includes an information providing unit that transmits car information related to the operation of the first car to the interlocking device at a first interval, a communication unit that receives a call registration request from the interlocking device for the autonomous mobile body to ride in the first car and move from a boarding floor to a destination floor, and an operation control unit that causes the first car to respond to the call registration request received by the communication unit. When the first car that responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

[0007] The elevator system according to the present disclosure includes an autonomous moving body, a control device that manages the operation of the plurality of cars, and an interlocking device that communicates with the autonomous moving body and the control device. The control device includes an information providing unit that transmits car information related to operation to the interlocking device at a first interval for each of the plurality of cars, a communication unit that receives from the interlocking device a call registration request for the autonomous moving body to move from a boarding floor to a destination floor in one of the plurality of cars, a determination unit that determines from among the plurality of cars a first car that responds to the call registration request received by the communication unit, and an operation control unit that causes the first car determined by the determination unit to respond to the call registration request. When the first car that responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

[0008] The elevator system according to the present disclosure includes an autonomous mobile body, a control device that manages the operation of multiple cars, an interlocking device that communicates with the autonomous mobile body, and a relay device that communicates with the interlocking device and the control device. The control device includes a first information providing unit that transmits car information related to operation for each of the multiple cars to the relay device, a communication unit that receives a call registration request from the interlocking device via the relay device for the autonomous mobile body to move from a boarding floor to a destination floor in one of the multiple cars, a determination unit that determines from among the multiple cars a first car that responds to the call registration request received by the communication unit, an operation control unit that causes the first car determined by the determination unit to respond to the call registration request, and an allocation notification unit that transmits an assigned car notification indicating the first car determined by the determination unit to the relay device. The relay device includes a second information providing unit that transmits car information of the first car to the interlocking device at a first interval when the assigned car notification is received, and changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor.

[0009] The control device according to the present disclosure is capable of communicating with an interlocking device that communicates with an autonomous moving body, and is a control device that manages the operation of a first car of an elevator. The control device includes an information providing unit that transmits car information related to the operation of the first car to the interlocking device at a first interval, a communication unit that receives a call registration request from the interlocking device for the autonomous moving body to get in the first car and move from a boarding floor to a destination floor, and an operation control unit that causes the first car to respond to the call registration request received by the communication unit. When the first car that responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

[0010] The relay device according to the present disclosure is a relay device capable of communicating with an interlocking device that communicates with an autonomous mobile body and a control device that manages the operation of multiple elevator cars. The relay device includes a communication unit that receives car information related to operation for each of the multiple cars from the control device, and an information providing unit that transmits car information of the first car to the interlocking device at a first interval when it receives from the control device an assigned car notification indicating a first car that responds to a call registration request for an autonomous mobile body to move from a boarding floor to a destination floor in one of the multiple cars. When the first car that responded to the call registration request arrives at the boarding floor, the information providing unit changes the transmission interval of the car information of the first car to a second interval that is shorter than the first interval.

[0011] A control method of a control device according to the present disclosure is a control method of a control device that is capable of communicating with an interlocking device that communicates with an autonomous moving body and that manages the operation of a first car of an elevator. The control method includes a first information providing step of transmitting car information related to the operation of the first car to the interlocking device at a first interval, a communication step of receiving from the interlocking device a call registration request for the autonomous moving body to get in the first car and move from a boarding floor to a destination floor, an operation control step of making the first car respond to the call registration request received in the communication step, and a second information providing step of changing the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor.

[0012] The control method of a relay device according to the present disclosure is a control method of a relay device capable of communicating with an interlocking device that communicates with an autonomous mobile body and a control device that manages the operation of multiple elevator cars. The control method includes a communication step of receiving car information related to operation for each of the multiple cars from the control device, a first information providing step of transmitting car information of the first car to the interlocking device at a first interval when an assigned car notification indicating a first car that responds to a call registration request for an autonomous mobile body to get in one of the multiple cars and move from a boarding floor to a destination floor is received from the control device, and a second information providing step of changing the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor.

[0013] The program disclosed herein is capable of communicating with an interlocking device that communicates with an autonomous moving body, and is configured to cause a computer that manages the operation of the first car of an elevator to execute the following: a first information providing process that transmits car information regarding the operation of the first car to the interlocking device at a first interval; a communication process that receives from the interlocking device a call registration request for the autonomous moving body to board the first car and move from the boarding floor to the destination floor; an operation control process that causes the first car to respond to the call registration request received in the communication process; and a second information providing process that changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor.

[0014] The program of the present disclosure is intended to cause a computer capable of communicating with an interlocking device that communicates with an autonomous moving body and a control device that manages the operation of multiple elevator cars to execute the following communication processing for receiving car information regarding the operation of each of the multiple cars from the control device: a first information providing processing for transmitting car information of the first car to the interlocking device at a first interval when an assigned car notification indicating a first car that responds to a call registration request for the autonomous moving body to travel from the boarding floor to the destination floor in one of the multiple cars is received from the control device; and a second information providing processing for changing the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor. Effect of the Invention

[0015] According to the present disclosure, in an elevator system, car information can be appropriately transmitted to a device with which an autonomous moving body communicates. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram showing an example of an elevator system in a first embodiment. [Diagram 2] 10 is a flowchart showing an example of the operation of the interlocking device. [Diagram 3] FIG. 2 is a sequence diagram showing an example of the overall operation of the elevator system. [Figure 4]4 is a flowchart showing an example of the operation of the control device. [Diagram 5] 10 is a flowchart showing another example of the operation of the interlocking device. [Figure 6] 11 is a flowchart showing an example of the operation of an autonomous moving body. [Figure 7] 10 is a flowchart showing another example of the operation of the interlocking device. [Figure 8] 13 is a flowchart showing an example of a process performed in S208. [Figure 9] FIG. 4 is a diagram showing another example of the elevator system in the first embodiment. [Figure 10] FIG. 2 is a sequence diagram showing an example of the overall operation of the elevator system. [Figure 11] 4 is a flowchart showing an example of the operation of the control device. [Figure 12] 13 is a flowchart showing an example of the operation of the relay device. [Figure 13] 13 is a flowchart showing another example of the operation of the relay device. [Figure 14] FIG. 2 is a diagram illustrating an example of hardware resources of a control device. [Figure 15] FIG. 13 is a diagram illustrating another example of hardware resources of a control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, a detailed description will be given with reference to the drawings. Duplicate descriptions will be appropriately simplified or omitted. In each drawing, the same reference numerals indicate the same or corresponding parts.

[0018] Embodiment 1 FIG. 1 is a diagram showing an example of an elevator system 1 in the first embodiment. The elevator system 1 includes an elevator device 2, an interlocking device 3, and an autonomous moving body 4. The elevator device 2 includes a car 5, and a control device 6. The elevator system 1 may include a plurality of autonomous moving bodies 4. The elevator device 2 may include a plurality of cars 5. In the following, an example in which the elevator device 2 includes two cars 5 will be described.

[0019] Each elevator car 5 stops at multiple floors in a building. A user can get on the car 5 and travel to a desired floor. Each car 5 has a door 7. A control device 6 manages the operation of each car 5. When the elevator device 2 has multiple cars 5, the control device 6 may manage the multiple cars 5 as a group.

[0020] The autonomous moving body 4 can move autonomously within a building. As an example, the autonomous moving body 4 is a cleaning robot. The autonomous moving body 4 may be a security robot. The autonomous moving body 4 may be a robot for transporting luggage. The autonomous moving body 4 may be a robot that performs other roles within a building. The autonomous moving body 4 can ride in a cage 5 and move to a desired floor.

[0021] In the elevator system 1, the autonomous moving body 4 can move in the car 5 together with a user. For example, the autonomous moving body 4 may get into the car 5 in which a user is riding. The user may get into the car 5 in which the autonomous moving body 4 is riding. The elevator system 1 may include a car 5 dedicated to the autonomous moving body 4 and a car 5 dedicated to the user. As another example, the elevator device 2 may include only a car 5 dedicated to the autonomous moving body 4.

[0022] The interlocking device 3 is capable of bidirectional communication with the control device 6. The interlocking device 3 is capable of bidirectional communication with the autonomous moving body 4. If a device for managing the autonomous moving body 4 is provided separately from the autonomous moving body 4, the interlocking device 3 may communicate with the autonomous moving body 4 via that device. In the elevator system 1, basically, the autonomous moving body 4 does not communicate directly with the control device 6. The interlocking device 3 mediates between the autonomous moving body 4 and the control device 6.

[0023] The interlocking device 3 includes a memory unit 10, a communication unit 11, a communication unit 12, a recording unit 13, a call request unit 14, The device includes a second door determination unit 15, a door request unit 16, and an entry / exit request unit 17.

[0024] The communication unit 11 is a function for communicating with the autonomous moving body 4. The communication unit 12 is a function for communicating with the control device 6. The call request unit 14 is a function for requesting the control device 6 to register a call. The door request unit 16 is a function for making requests to the control device 6 to open and close the door 7, etc. The boarding and alighting request unit 17 is a function for requesting boarding and alighting from the autonomous moving body 4. Specifically, the boarding and alighting request unit 17 is provided with a function of a boarding request unit for requesting boarding the autonomous moving body 4 and a function of alighting request unit for requesting alighting from the autonomous moving body 4. In other words, the boarding request unit is a part of the function of the boarding and alighting request unit 17.

[0025] The functions of the interlocking device 3 can be realized by a so-called computer. As an example, the functions of the interlocking device 3 are realized by a cloud server. The functions of the interlocking device 3 may be realized by a server in the building in which the elevator device 2 is installed.

[0026] The autonomous moving object 4 includes a communication unit 31, an information providing unit 32, and an operation control unit 33.

[0027] The communication unit 31 is a function for communicating with the interlocking device 3. The information provision unit 32 is a function for acquiring information related to the autonomous moving body 4 and providing it to the outside. Hereinafter, this information is also referred to as moving body information. As an example, the moving body information includes information indicating the position coordinates, orientation, current floor, remaining charge, status, operation, etc. of the autonomous moving body 4. The above states include, for example, moving, waiting, charging, waiting at an elevator hall, elevator boarding operation, inside the elevator, elevator disembarking operation, etc. Examples of moving body information are not limited to the above.

[0028] The operation control unit 33 is a function for controlling the operation of the autonomous moving body 4. For example, the operation control unit 33 controls a driving machine (not shown), thereby causing the autonomous moving body 4 to move. The functions of the autonomous moving body 4 can be realized by a so-called computer.

[0029] The control device 6 includes a communication unit 41, an information providing unit 42, a determination unit 43, an allocation notification unit 44, an operation control unit 45, and a first door determination unit 46.

[0030] The communication unit 41 is a function for communicating with the interlocking device 3. The information providing unit 42 is a function for acquiring information on the operation of the car 5 and providing it to the outside. Hereinafter, the information is also referred to as car information. The information providing unit 42 acquires car information for each car 5 provided in the elevator device 2 and provides it to the outside. As an example, the car information includes information indicating the position of the car 5 and the state of the car 5. The state of the car 5 includes, for example, stopped, moving upward, and moving downward. Furthermore, the car information includes information on the opening and closing of the door 7. Hereinafter, the information is also referred to as door information. The door information includes, for example, fully closed, opening operation, fully open, closing operation, and the like. Examples of the car information are not limited to the above.

[0031] The operation control unit 45 controls the operation of the elevator device 2. For example, the operation control unit 45 controls the movement of the car 5. The operation control unit 45 controls the opening and closing of the door 7. The functions of the control device 6 can be realized by a so-called computer.

[0032] The operation of the elevator system 1 will be described in detail below with reference to Fig. 2 to Fig. 8. Fig. 2 is a flowchart showing an example of the operation of the interlocking device 3.

[0033] The interlocking device 3 determines whether or not moving body information has been received from the autonomous moving body 4 (S101). In the autonomous moving body 4, the moving body information acquired by the information providing unit 32 is periodically transmitted from the communication unit 31 to the interlocking device 3. The autonomous moving body 4 may transmit moving body information every time the contents of the moving body information are changed. The moving body information from the autonomous moving body 4 is received by the communication unit 11 in the interlocking device 3. When the communication unit 11 receives the moving body information, the result of S101 is determined as Yes.

[0034] If the result of S101 is Yes, the recording unit 13 records the moving body information received by the communication unit 11 in the storage unit 10 (S102). As a result, the moving body information is accumulated in the storage unit 10. The interlocking device 3 can identify the latest state of the autonomous moving body 4 based on the moving body information stored in the storage unit 10. Furthermore, the interlocking device 3 can identify the latest position of the autonomous moving body 4 based on the moving body information stored in the storage unit 10.

[0035] Next, an operation of the autonomous moving body 4 when it moves in the car 5 will be described. Fig. 3 is a sequence diagram showing an example of the overall operation of the elevator system 1. Fig. 4 is a flowchart showing an example of the operation of the control device 6.

[0036] In the control device 6, the information providing unit 42 transmits car information of each car 5 to the interlocking device 3 at a specific period (S201). The car information transmitted by the information providing unit 42 includes door information. Basically, the information providing unit 42 transmits car information for each of the multiple cars 5 provided in the elevator device 2 to the interlocking device 3 at a first interval. The first interval is set in advance. Note that the processing of S201 is not limited to when the autonomous moving body 4 moves in the car 5. For example, the processing of S201 is always performed before the autonomous moving body 4 gets into the car 5.

[0037] FIG. 5 is a flowchart showing another example of the operation of the interlocking device 3.

[0038] In the interlocking device 3, it is determined whether or not car information has been received from the control device 6 (S301). The car information from the control device 6 is received by the communication unit 12 in the interlocking device 3. When the communication unit 12 receives the car information, it is determined as Yes in S301.

[0039] If the result of S301 is Yes, the recording unit 13 records the car information received by the communication unit 12 in the memory unit 10 (S302). As a result, car information including door information is accumulated in the memory unit 10. The interlocking device 3 can identify the latest position and status of the car 5 based on the car information stored in the memory unit 10. The interlocking device 3 can identify the latest status of the door 7 based on the car information stored in the memory unit 10.

[0040] 6 is a flowchart showing an example of the operation of the autonomous moving body 4. When the autonomous moving body 4 needs to move in the car 5, it moves to an elevator hall. Then, the autonomous moving body 4 transmits a call request from the communication unit 31 to the interlocking device 3 (S401).

[0041] 7 is a flowchart showing another operation example of the interlocking device 3. In the interlocking device 3, it is determined whether or not a call request has been received from the autonomous moving body 4 (S501). When the communication unit 11 receives the call request transmitted from the autonomous moving body 4 in S401, it is determined as Yes in S501.

[0042] When S501 is determined as Yes, the call request unit 14 transmits a call registration request to the control device 6 in response to the call request received by the communication unit 11 in S501 (S502). This call registration request includes information on the boarding floor Fr and the destination floor Fd. The boarding floor Fr is a floor where the autonomous moving body 4 gets on the car 5. The destination floor Fd is a floor where the autonomous moving body 4 gets off the car 5. That is, this call registration request is a request to the control device 6 for the autonomous moving body 4 to get on any of the cars 5 and move from the boarding floor Fr to the destination floor Fd. Note that, in this example, the any of the cars 5 is one of the multiple cars 5 equipped in the elevator device 2, and if the elevator device 2 has only one car 5, it is that car 5. The boarding floor Fr may also be identified from information indicating the current floor included in the moving body information, for example.

[0043] The control device 6 determines whether or not a call registration request has been received from the interlocking device 3 (S202). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 in S502, the determination in S202 is Yes.

[0044] If S202 is judged as Yes, the determination unit 43 determines a car 5 that will respond to the call registration request received by the communication unit 41 in S202 (S203). If the elevator apparatus 2 has multiple cars 5 as in this example, the determination unit 43 assigns the call registration request to one of the multiple cars 5 and causes it to respond. Hereinafter, the car 5 that responds to the call registration request is also referred to as the assigned car 5. If the elevator apparatus 2 has only one car 5, that car 5 is the assigned car 5 and responds to the call registration request.

[0045] When the determination unit 43 determines the assigned car 5 in S203, the allocation notification unit 44 transmits an assigned car notification from the communication unit 41 to the interlocking device 3 (S204). The assigned car notification includes information indicating the assigned car 5 determined by the determination unit 43.

[0046] When the interlocking device 3 transmits a call registration request in S502, it is determined whether or not an assigned car notice has been received from the control device 6 in response thereto (S503). When the communication unit 12 receives the assigned car notice transmitted from the control device 6 in S204, it is determined as Yes in S503. When it is determined as Yes in S503, the assigned car notice is transmitted from the communication unit 11 to the autonomous moving body 4 (S504).

[0047] In addition, in the autonomous moving body 4, the communication unit 31 receives the assigned car notification transmitted from the interlocking device 3 in S504. When the elevator device 2 is equipped with a plurality of cars 5, the operation control unit 33 may perform preparations for getting on the assigned car 5. For example, the operation control unit 33 controls the drive machine to move the autonomous moving body 4 in front of a door for getting on the assigned car 5.

[0048] In the control device 6, when the determination unit 43 determines the assigned car 5 in S203, the operation control unit 45 causes the assigned car 5 to respond to the call registration request. Specifically, in response to the call registration request, the operation control unit 45 moves the assigned car 5 to the boarding floor Fr (S205). When the operation control unit 45 stops the assigned car 5 at the boarding floor Fr, it opens the door 7 of the assigned car 5.

[0049] The information providing unit 42 of the control device 6 has a function of shortening the interval at which car information of the assigned car 5 is transmitted to the interlocking device 3 when the assigned car 5 that responded to the call registration request arrives at the boarding floor Fr. Specifically, the information providing unit 42 changes the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 from the first interval to the second interval. The second interval is shorter than the first interval. Note that, for cars 5 other than the assigned car 5, the transmission interval of car information remains the first interval and is not changed.

[0050] In order to realize such a function, the control device 6 judges whether or not a first switching condition is satisfied (S206). The first switching condition is a condition for switching the transmission interval of the car information from the first interval to the second interval. The first switching condition is set in advance.

[0051] As an example, when the door 7 of the assigned cage 5 starts to open at the boarding floor Fr, the first switching condition is met. Therefore, in S206, the first door determination unit 46 determines whether the door 7 of the assigned cage 5 that responded to the call registration request starts to open at the boarding floor Fr. When the first door determination unit 46 determines that the door 7 of the assigned cage 5 that responded to the call registration request starts to open at the boarding floor Fr, the first switching condition is met. That is, Yes is determined in S206. When Yes is determined in S206, the information provision unit 42 changes the transmission interval of the cage information of the assigned cage 5 to the interlocking device 3 from the first interval to the second interval (S207). That is, after Yes is determined in S206, the cage information of the assigned cage 5 is transmitted to the interlocking device 3 at the second interval.

[0052] As another example, the first switching condition may be satisfied by the assigned car 5 stopping at the boarding floor Fr.

[0053] As shown in FIG. 5, in the interlocking device 3, the car information received by the communication unit 12 is stored in the storage unit 10.

[0054] Furthermore, in the interlocking device 3, when the assigned car notification is received in S503, the second door determination unit 15 determines whether or not the door 7 of the assigned car 5 that responded to the call registration request is open at the boarding floor Fr (S505). For example, the determination in S505 is made based on the car information stored in the storage unit 10. When the second door determination unit 15 determines that the door 7 of the assigned car 5 is open at the boarding floor Fr, the determination in S505 is Yes.

[0055] If it is determined as Yes in S505, the door request unit 16 transmits a door open continuation request to the control device 6 (S506). The door open continuation request is a request for extending the open time of the door 7 of the assigned car 5 for the autonomous moving body 4.

[0056] Also, if it is determined as Yes in S505, the boarding / alighting request unit 17 transmits a boarding request to the autonomous moving body 4 (S507). The boarding request includes information indicating that boarding the assigned car 5 is permitted.

[0057] When the autonomous mobile body 4 transmits a call request in S401, it is determined whether or not a boarding request has been received from the interlocking device 3 in response thereto (S402). When the communication unit 31 receives the boarding request transmitted from the interlocking device 3 in S507, it is determined as Yes in S402. When it is determined as Yes in S402, the autonomous mobile body 4 starts an operation for boarding the assigned car 5, and boards the assigned car 5 (S403). That is, the operation control unit 33 controls the drive machine, so that the autonomous mobile body 4 moves from the landing of the boarding floor Fr to inside the assigned car 5. When the autonomous mobile body 4 boards the assigned car 5, a boarding completion notification is transmitted from the communication unit 31 to the interlocking device 3 (S404).

[0058] When the interlocking device 3 transmits a boarding request in S507, it determines whether or not a boarding completion notification has been received from the autonomous moving body 4 in response thereto (S508). When the communication unit 11 receives the boarding completion notification transmitted from the autonomous moving body 4 in S404, it determines Yes in S508. When it determines Yes in S508, the door request unit 16 transmits a door open continuation end request to the control device 6 to close the door 7 of the assigned car 5 (S509).

[0059] As described above, in the control device 6, when the operation control unit 45 stops the assigned car 5 at the boarding floor Fr, it opens the door 7 of the assigned car 5. After that, the control device 6 determines whether or not the closing operation start condition is satisfied (S208). The closing operation start condition is a condition for starting the closing operation of the door 7 of the assigned car 5. The closing operation start condition is set in advance.

[0060] Fig. 8 is a flowchart showing an example of the processing performed in S208. When the door 7 of the assigned car 5 is fully opened, the control device 6 judges whether or not a time T1 has elapsed since the door 7 of the assigned car 5 was fully opened (S601). The time T1 is set in advance. The time T1 is an arbitrary time. As an example, the time T1 is 4 seconds. If the time T1 has not elapsed since the door 7 of the assigned car 5 was fully opened, the judgment in S601 is No.

[0061] If the determination in S601 is No, it is determined whether or not a door open continuation request has been received from the interlocking device 3 (S602). If the communication unit 41 receives the door open continuation request transmitted from the interlocking device 3 in S506, the determination in S602 is Yes. On the other hand, if the time T1 has elapsed without receiving a door open continuation request from the interlocking device 3, the determination in S601 is Yes. If the determination in S601 is Yes, the closing operation start condition is established (S606). That is, the determination in S208 is Yes.

[0062] If a request to keep the door open is received from the interlocking device 3 before the time T1 has elapsed, a Yes is determined in S602. If a Yes is determined in S602, the open time of the door 7 of the assigned car 5 is extended (S603). That is, when the operation control unit 45 receives a request to keep the door open, it continues to open the door 7 of the assigned car 5 even after the time T1 has elapsed.

[0063] Specifically, if the determination in S602 is Yes, the control device 6 determines whether or not a time T2 has elapsed since the request to keep the door open was received (S604). The time T2 is set in advance. The time T2 is an arbitrary time. As an example, the time T2 is 3 minutes. If the time T2 has not elapsed since the request to keep the door open was received, the determination in S604 is No.

[0064] If the result of S604 is No, then it is determined whether or not a door open continuation end request has been received from the interlocking device 3 (S605). If the communication unit 41 receives the door open continuation end request transmitted from the interlocking device 3 in S509 before the time T2 has elapsed, the result of S605 is Yes. If the result of S605 is Yes, the closing operation start condition is established (S606).

[0065] On the other hand, if the time T2 has elapsed without receiving a door open continuation end request from the interlocking device 3, then a "Yes" determination is made in S604, and the closing operation start condition is established (S606).

[0066] In the control device 6, when the result of S208 is Yes, the operation control section 45 starts to close the door 7 of the assigned car 5 (S209).

[0067] The information providing unit 42 of the control device 6 has a function of restoring the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 when the assigned car 5 carrying the autonomous moving body 4 departs from the boarding floor Fr toward the destination floor Fd. Specifically, the information providing unit 42 changes the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 from the second interval to the first interval.

[0068] In order to realize such a function, the control device 6 judges whether or not a second switching condition is satisfied (S210). The second switching condition is a condition for switching the transmission interval of the car information from the second interval to the first interval. The second switching condition is set in advance.

[0069] As an example, when the door 7 of the assigned cage 5 is completely closed at the boarding floor Fr, the second switching condition is met. Therefore, in S210, the first door determination unit 46 determines whether or not the door 7 of the assigned cage 5 carrying the autonomous moving body 4 is completely closed at the boarding floor Fr. When the first door determination unit 46 determines that the door 7 of the assigned cage 5 carrying the autonomous moving body 4 is completely closed at the boarding floor Fr, the second switching condition is met. That is, Yes is determined in S210. When Yes is determined in S210, the information provision unit 42 changes the transmission interval of the cage information of the assigned cage 5 to the interlocking device 3 from the second interval to the first interval (S211).

[0070] That is, after a Yes determination is made in S206, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the second interval until a Yes determination is made in S210. After a Yes determination is made in S210, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the first interval.

[0071] As another example, the second switching condition may be satisfied when the assigned car 5 starts moving toward the destination floor Fd. As another example, the second switching condition may be satisfied when the communication unit 41 receives a door open continuation end request.

[0072] After the door 7 of the assigned cage 5 is fully closed, the operation control unit 45 moves the assigned cage 5 to the destination floor Fd (S212). As described above, when the assigned cage 5 that departs from the boarding floor Fr carrying the autonomous moving body 4 arrives at the destination floor Fd, the information providing unit 42 may change the interval at which the cage information of the assigned cage 5 is transmitted to the interlocking device 3 from the first interval to the second interval. For example, when the first door determining unit 46 determines that the door 7 of the assigned cage 5 that departs from the boarding floor Fr carrying the autonomous moving body 4 begins to open at the destination floor Fd, the transmission interval of the cage information may be changed to the second interval. When the assigned cage 5 that has unloaded the autonomous moving body 4 departs from the destination floor Fd toward another floor, the information providing unit 42 may change the interval at which the cage information of the assigned cage 5 is transmitted to the interlocking device 3 from the second interval to the first interval.

[0073] In the example shown in the present embodiment, the information providing unit 42 basically transmits the car information of the assigned car 5 to the interlocking device 3 at a first interval. Then, when the assigned car 5 that responded to the call registration request arrives at the boarding floor Fr, the information providing unit 42 changes the transmission interval of the car information of the assigned car 5 from the first interval to a second interval. The second interval is shorter than the first interval. Therefore, the car information of the assigned car 5 is transmitted to the interlocking device 3 at a shorter cycle. With this elevator system 1, the door information of the assigned car 5 can be appropriately transmitted to the interlocking device 3 with which the autonomous moving body 4 communicates.

[0074] That is, the interlocking device 3 can grasp the state of the assigned car 5 and the state of the door 7 in real time. This can prevent a situation in which the control based on the car information in the interlocking device 3 is delayed. For example, if the transmission of the request to continue opening the doors is delayed, the closing operation of the door 7 will start before the autonomous moving body 4 gets on the assigned car 5. With this elevator system 1, it can also be prevented that the autonomous moving body 4 cannot be operated efficiently due to a boarding failure or the like.

[0075] Other functions that can be adopted by the elevator system 1 are described below. If possible, the elevator system 1 may adopt a combination of the following functions. In the example shown below, only the differences from the above-mentioned example are described in detail. Explanations of the same points as the above-mentioned example are omitted.

[0076] Fig. 9 is a diagram showing another example of the elevator system 1 in the embodiment 1. In the example shown in Fig. 9, the elevator system 1 further includes a relay device 8 in addition to the elevator device 2, the interlocking device 3, and the autonomous moving body 4. Also in the example shown in Fig. 9, the elevator device 2 may include one car 5 or multiple cars 5.

[0077] In the example shown in FIG. 9, the control device 6 communicates with the interlocking device 3 via the relay device 8. That is, the relay device 8 is capable of bidirectional communication with the control device 6. The relay device 8 is capable of bidirectional communication with the interlocking device 3. The interlocking device 3 is capable of bidirectional communication with the autonomous moving body 4. The control device 6 does not communicate directly with the interlocking device 3.

[0078] In this example, the communication unit 12 of the interlocking device 3 communicates with the relay device 8. The call request unit 14 requests the control device 6 to register a call via the relay device 8. The door request unit 16 requests the control device 6 to open and close the door 7, etc. via the relay device 8. In addition, the communication unit 41 of the control device 6 communicates with the relay device 8. That is, the communication unit 41 receives a call registration request from the call request unit 14 and various requests from the door request unit 16 from the interlocking device 3 via the relay device 8. The allocation notification unit 44 transmits an allocated car notification from the communication unit 41 to the interlocking device 3 via the relay device 8.

[0079] The relay device 8 includes a storage unit 50 , a communication unit 51 , a communication unit 52 , a recording unit 53 , an information providing unit 54 , and a third door determination unit 55 .

[0080] The communication unit 51 is a function for communicating with the control device 6. The communication unit 52 is a function for communicating with the interlocking device 3. The information providing unit 54 is a function for acquiring car information for a specific car 5 from the storage unit 50 and providing the information to the outside.

[0081] The functions of the relay device 8 can be realized by a so-called computer. As an example, the functions of the relay device 8 are realized by a server in a building in which the elevator device 2 is installed. The functions of the interlocking device 3 may be realized by a cloud server.

[0082] Fig. 10 is a sequence diagram showing an example of the overall operation of the elevator system 1. Fig. 11 is a flowchart showing an example of the operation of the control device 6.

[0083] In the control device 6, the information providing unit 42 transmits car information of each car 5 to the relay device 8 at a specific period. For example, the information providing unit 42 transmits car information including door information for each of the multiple cars 5 provided in the elevator device 2 to the interlocking device 3 at a third interval (S701). The third interval is set in advance. As an example, the third interval is an interval shorter than the second interval. The third interval may be the same interval as the second interval. The process of transmitting the car information of each car 5 to the relay device 8 is basically performed constantly.

[0084] FIG. 12 is a flowchart showing an example of the operation of the relay device 8.

[0085] In the relay device 8, it is determined whether or not car information has been received from the control device 6 (S801). The car information from the control device 6 is received by the communication unit 51 in the relay device 8. When the communication unit 51 receives the car information, it is determined as Yes in S801.

[0086] If the result of S801 is Yes, the recording unit 53 records the car information received by the communication unit 51 in the storage unit 50 (S802). As a result, the storage unit 50 accumulates the car information of each car 5 provided in the elevator device 2. The car information includes door information.

[0087] 9 and 10, the interlocking device 3 performs the same operation as that shown in Fig. 7. The autonomous moving body 4 performs the same operation as that shown in Fig. 6. For example, the interlocking device 3 determines whether or not a call request has been received from the autonomous moving body 4 (S501). In response to the call request received by the communication unit 11 in S501, the call request unit 14 transmits a call registration request to the relay device 8 (S502).

[0088] 13 is a flowchart showing another operation example of the relay device 8. In the relay device 8, it is determined whether or not a call registration request has been received from the interlocking device 3 (S901). When the communication unit 52 receives the call registration request transmitted from the interlocking device 3 in S502, it is determined as Yes in S901.

[0089] If the result of S901 is Yes, the recording unit 53 records the information on the boarding floor Fr and the destination floor Fd included in the call registration request in the storage unit 50 (S902). In addition, the call registration request received by the communication unit 52 in S901 is transmitted from the communication unit 51 to the control device 6 (S903).

[0090] The processing shown in S702 to S704 in Fig. 11 is basically similar to the processing shown in S202 to S204 in Fig. 4. In the control device 6, when the communication unit 41 receives the call registration request transmitted from the relay device 8 in S903, the result of S702 is determined as Yes.

[0091] The determination unit 43 determines the car 5 that responds to the call registration request received by the communication unit 41 in S702 (S703). When the determination unit 43 determines the assigned car 5 in S703, the allocation notification unit 44 transmits an assigned car notification from the communication unit 41 to the relay device 8 (S704).

[0092] When the relay device 8 transmits a call registration request in S903, it determines whether or not an assigned car notification has been received from the control device 6 as a response thereto (S904). When the communication unit 51 receives the assigned car notification transmitted from the control device 6 in S704, it determines Yes in S904. When it determines Yes in S904, the recording unit 53 records the information of the assigned car 5 included in the assigned car notification in the storage unit 50 (S905). For example, the information of the boarding floor Fr and the destination floor Fd of the autonomous mobile body 4 is stored in the storage unit 50 in association with the information of the assigned car 5. In addition, the assigned car notification received by the communication unit 51 in S904 is transmitted from the communication unit 52 to the interlocking device 3 (S906).

[0093] In the example shown in Figures 9 and 10, the relay device 8 has the function of providing car information to the interlocking device 3. As described above, the memory unit 50 stores car information for each car 5. When the communication unit 51 receives an assigned car notification from the control device 6 in S904, the information providing unit 54 transmits the car information of the assigned car 5 to the interlocking device 3 at a first interval (S907). Note that the information providing unit 54 does not provide the car information to the interlocking device 3 until it is determined as Yes in S904. Even if it is determined as Yes in S904, the information providing unit 54 does not provide the car information of a car 5 other than the assigned car 5 to the interlocking device 3. The interlocking device 3 to which the car information has been provided performs the process shown in Figure 5.

[0094] In the interlocking device 3, when the communication unit 12 receives the assigned car notice transmitted from the relay device 8 in S906, the assigned car notice is transmitted from the communication unit 11 to the autonomous moving body 4 (S504).

[0095] In the control device 6, when the determination unit 43 determines the assigned car 5 in S703, the operation control unit 45 causes the assigned car 5 to respond to the call registration request. Specifically, in response to the call registration request, the operation control unit 45 moves the assigned car 5 to the boarding floor Fr (S705). When the operation control unit 45 stops the assigned car 5 at the boarding floor Fr, it opens the door 7 of the assigned car 5.

[0096] The information providing unit 54 of the relay device 8 has a function of shortening the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 when the assigned car 5 that responded to the call registration request arrives at the boarding floor Fr. Specifically, the information providing unit 54 changes the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 from the first interval to the second interval.

[0097] In order to realize such a function, in this example, a determination is made in the relay device 8 as to whether or not the first switching condition is met (S908).

[0098] As an example, when the door 7 of the assigned cage 5 starts to open at the boarding floor Fr, the first switching condition is established. Therefore, in S908, the third door determination unit 55 determines whether the door 7 of the assigned cage 5 that responded to the call registration request starts to open at the boarding floor Fr. When the third door determination unit 55 determines that the door 7 of the assigned cage 5 that responded to the call registration request starts to open at the boarding floor Fr, the first switching condition is established. That is, Yes is determined in S908. When Yes is determined in S908, the information provision unit 54 changes the transmission interval of the cage information of the assigned cage 5 to the interlocking device 3 from the first interval to the second interval (S909). That is, after Yes is determined in S908, the cage information of the assigned cage 5 is transmitted to the interlocking device 3 at the second interval.

[0099] The information providing unit 54 makes the judgment in S908 based on the car information stored in the memory unit 50. For example, when the current floor of the assigned car 5 is the boarding floor Fr and the traveling direction of the assigned car 5 is from the boarding floor Fr toward the destination floor Fd, if the state of the door 7 switches from fully closed to being in an opening operation, the first switching condition is met. The information providing unit 54 may stop sending the car information if the first switching condition is not met even after a certain time has elapsed since starting to send the car information in S907. The certain time is set in advance.

[0100] As another example, the first switching condition may be satisfied by the assigned car 5 stopping at the boarding floor Fr.

[0101] In the interlocking device 3, the second door determination unit 15 determines whether or not the door 7 of the assigned car 5 that responded to the call registration request is open at the boarding floor Fr (S505). If the determination in S505 is Yes, the door request unit 16 transmits a door open continuation request to the control device 6 via the relay device 8. That is, in S506, the door request unit 16 transmits the door open continuation request to the relay device 8. In the relay device 8, when the communication unit 52 receives the door open continuation request transmitted from the interlocking device 3 in S506, the door open continuation request is transmitted from the communication unit 51 to the control device 6.

[0102] Furthermore, if it is determined as Yes in S505, the boarding / exiting request unit 17 transmits a boarding request to the autonomous moving body 4 (S507). If the communication unit 11 receives a boarding completion notification from the autonomous moving body 4 as a response to the boarding request (Yes in S508), the door request unit 16 transmits a door open continuation end request to the control device 6 via the relay device 8. That is, the door request unit 16 transmits the door open continuation end request to the relay device 8 (S509). In the relay device 8, when the communication unit 52 receives the door open continuation end request transmitted from the interlocking device 3 in S509, the door open continuation end request is transmitted from the communication unit 51 to the control device 6.

[0103] The processes shown in S706 and S707 in Fig. 11 are basically the same as the processes shown in S208 and S209 in Fig. 4. When the operation control unit 45 of the control device 6 stops the assigned car 5 at the boarding floor Fr, it opens the door 7 of the assigned car 5. After that, the control device 6 determines whether or not a closing operation start condition is satisfied (S706). As an example, in S706, an operation similar to the operation shown in Fig. 8 is performed. If it is determined as Yes in S706, the operation control unit 45 starts closing the door 7 of the assigned car 5 (S707).

[0104] Furthermore, the information providing unit 54 of the relay device 8 has a function of restoring the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 when the assigned car 5 carrying the autonomous moving body 4 departs from the boarding floor Fr toward the destination floor Fd. Specifically, the information providing unit 54 changes the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 from the second interval to the first interval.

[0105] In order to realize such a function, the relay device 8 determines whether or not a second switching condition is met (S910).

[0106] As an example, when the door 7 of the assigned cage 5 is completely closed at the boarding floor Fr, the second switching condition is met. Therefore, in S910, the third door determination unit 55 determines whether or not the door 7 of the assigned cage 5 carrying the autonomous moving body 4 is completely closed at the boarding floor Fr. When the third door determination unit 55 determines that the door 7 of the assigned cage 5 carrying the autonomous moving body 4 is completely closed at the boarding floor Fr, the second switching condition is met. That is, Yes is determined in S910. When Yes is determined in S910, the information provision unit 54 changes the transmission interval of the cage information of the assigned cage 5 to the interlocking device 3 from the second interval to the first interval (S911).

[0107] That is, after a Yes determination is made in S908, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the second interval until a Yes determination is made in S910. After a Yes determination is made in S910, the car information of the assigned car 5 is transmitted to the interlocking device 3 at the first interval.

[0108] As another example, the second switching condition may be satisfied when the assigned car 5 starts moving toward the destination floor Fd. As another example, the second switching condition may be satisfied when the communication unit 51 receives a door open continuation end request.

[0109] After the door 7 of the assigned car 5 is fully closed, the operation control unit 45 moves the assigned car 5 to the destination floor Fd (S708).

[0110] Similar to the function when the assigned car 5 arrives at the boarding floor Fr, the information providing unit 54 may change the interval at which the car information of the assigned car 5 is transmitted to the interlocking device 3 from the first interval to the second interval when the assigned car 5 that departs from the boarding floor Fr carrying the autonomous moving body 4 arrives at the destination floor Fd. For example, when the third door determination unit 55 determines that the door 7 of the assigned car 5 that departs from the boarding floor Fr carrying the autonomous moving body 4 starts to open at the destination floor Fd, the transmission interval of the car information may be changed to the second interval.

[0111] The information providing unit 54 may stop transmitting the cage information of the assigned cage 5 when the third door determination unit 55 determines that the door 7 of the assigned cage 5 that dropped off the autonomous moving body 4 is fully closed at the destination floor Fd. In the relay device 8, when the third door determination unit 55 determines that the door 7 of the assigned cage 5 that dropped off the autonomous moving body 4 is fully closed at the destination floor Fd, the information of the boarding floor and the destination floor recorded in S902 and the information of the assigned cage 5 recorded in S905 may be deleted from the storage unit 50. The deletion of the information may be performed at another timing.

[0112] In this example, it is possible to reduce the amount of communication between the relay device 8 and the interlocking device 3. The relay device 8 is preferably installed in a building in which the elevator device 2 is provided.

[0113] In the above, an example has been described in which the open time of the door 7 of the assigned car 5 is extended by the control device 6 receiving the door open continuation request from the door request unit 16 of the interlocking device 3. As another example, if the elevator system 1 does not include the relay device 8, the control device 6 may perform additional processing to extend the open time of the door 7. For example, when the assigned car 5 stops at the boarding floor Fr in response to a call registration request from the autonomous moving body 4, in S601 of Fig. 8, it is determined whether or not the time (T1+T3) has elapsed. The time T3 is set in advance.

[0114] Similarly, if the elevator system 1 includes a relay device 8, an additional process for extending the open time of the door 7 may be performed in the relay device 8. For example, if the determination in S908 is Yes, a first door open continuation request may be transmitted from the relay device 8 to the control device 6.

[0115] 14 is a diagram showing an example of hardware resources of the control device 6. The control device 6 includes, as hardware resources, a processing circuit 60 including a processor 61 and a memory 62. The processing circuit 60 may include a plurality of processors 61. The processing circuit 60 may include a plurality of memories 62.

[0116] In this embodiment, the units denoted by the reference numerals 41 to 46 indicate functions possessed by the control device 6. The functions of the units denoted by the reference numerals 41 to 46 can be realized by software written as a program, firmware, or a combination of software and firmware. The program is stored in the memory 62. The control device 6 realizes the functions of the units denoted by the reference numerals 41 to 46 by executing the program stored in the memory 62 by the processor 61 (computer).

[0117] The processor 61 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 62 may be a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD. Examples of semiconductor memories that can be used include RAM, ROM, flash memory, EPROM, and EEPROM.

[0118] Fig. 15 is a diagram showing another example of hardware resources of the control device 6. In the example shown in Fig. 15, the control device 6 includes a processing circuit 60 including a processor 61, a memory 62, and dedicated hardware 63. Fig. 15 shows an example in which some of the functions of the control device 6 are realized by the dedicated hardware 63. All of the functions of the control device 6 may be realized by the dedicated hardware 63. As the dedicated hardware 63, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these can be adopted.

[0119] The hardware resources of the interlocking device 3 are similar to the examples shown in FIG. 14 or FIG. 15. The interlocking device 3 includes a processing circuit including a processor and a memory as a hardware resource. The processing circuit may include multiple processors. The processing circuit may include multiple memories. The function of the storage unit 10 is realized by the memory. The interlocking device 3 realizes the functions of each unit shown by the reference numerals 11 to 17 by executing a program stored in the memory by a processor (computer). The interlocking device 3 may include a processing circuit including a processor, memory, and dedicated hardware as a hardware resource. As for the interlocking device 3, some or all of the functions of the device may be realized by dedicated hardware.

[0120] The hardware resources of the autonomous moving body 4 are similar to the examples shown in FIG. 14 or FIG. 15. The autonomous moving body 4 includes a processing circuit including a processor and a memory as hardware resources. The processing circuit may include multiple processors. The processing circuit may include multiple memories. The autonomous moving body 4 realizes the functions of each unit shown by the reference numerals 31 to 33 by executing a program stored in the memory by a processor (computer). The autonomous moving body 4 may include a processing circuit including a processor, a memory, and dedicated hardware as hardware resources. As for the autonomous moving body 4, some or all of the functions of the device may be realized by dedicated hardware.

[0121] The hardware resources of the relay device 8 are similar to those shown in FIG. 14 or FIG. 15. The relay device 8 includes a processing circuit including a processor and a memory as the hardware resources. The processing circuit may include multiple processors. The processing circuit may include multiple memories. The function of the storage unit 50 is realized by the memory. The relay device 8 realizes the functions of each unit indicated by the reference numerals 51 to 55 by executing a program stored in the memory by a processor (computer). The relay device 8 may include a processing circuit including a processor, a memory, and dedicated hardware as the hardware resources. As for the relay device 8, some or all of the functions of the device may be realized by dedicated hardware.

[0122] Below, examples of aspects that may be included in the present disclosure are set forth as appendices.

[0123] [Appendix 1] An autonomous moving body; A control device that manages the operation of the first car; An interlocking device that communicates with the autonomous moving body and the control device; Equipped with The control device includes: an information providing unit that transmits car information related to the operation of the first car to the interlocking device at a first interval; a communication unit that receives, from the interlocking device, a call registration request for the autonomous moving body to get on the first car and move from the boarding floor to a destination floor; an operation control unit that causes the first car to respond to the call registration request received by the communication unit; Equipped with The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor. [Appendix 2] An autonomous moving body; A control device that manages the operation of a plurality of cars; An interlocking device that communicates with the autonomous moving body and the control device; Equipped with The control device includes: an information providing unit that transmits car information related to operation of each of the plurality of cars to the interlocking device at a first interval; a communication unit that receives, from the interlocking device, a call registration request for the autonomous moving body to get on one of the plurality of cars and move from a boarding floor to a destination floor; A determination unit that determines a first car that responds to the call registration request received by the communication unit from among the plurality of cars; an operation control unit that causes the first car determined by the determination unit to respond to the call registration request; Equipped with The information providing unit changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor. [Appendix 3] The control device further includes a first door determination unit that determines whether or not a door of the first car in response to the call registration request has started to open at the boarding floor, 3. The elevator system according to claim 1, wherein the information providing unit changes a transmission interval of the car information of the first car to the second interval when the first door determination unit determines that the door of the first car has started to open at the boarding floor. [Appendix 4] The interlocking device is a second door determination unit that determines whether or not the door of the first car in response to the call registration request is opened at the boarding floor; a door request unit that transmits a door open continuation request to the control device when the second door determination unit determines that the door of the first car has been opened at the boarding floor; a boarding request unit that transmits a boarding request to the autonomous moving body when it is determined by the second door determination unit that the door of the first car has been opened at the boarding floor; Equipped with When the autonomous moving body receives the boarding request, the autonomous moving body starts an operation for boarding the first car, and when the autonomous moving body boards the first car, the autonomous moving body transmits a boarding completion notification to the interlocking device; When the door request unit receives the boarding completion notification, the door request unit transmits a door open continuation end request to the control device, The operation control unit includes: When the door open continuation request is received, the door of the first car is continued to be opened; 4. The elevator system of claim 1, wherein the door of the first car is closed when a first time has elapsed since the request to continue opening the door was received and when a request to end the request to continue opening the door is received before the first time has elapsed. [Appendix 5] 5. The elevator system according to claim 1, wherein the information providing unit changes a transmission interval of the cage information of the first cage to the first interval when the first cage carrying the autonomous moving body departs from the boarding floor toward the destination floor. [Appendix 6] The control device further includes a first door determination unit that determines whether or not a door of the first car carrying the autonomous moving body is fully closed at the boarding floor, The elevator system described in Appendix 5, wherein the information providing unit changes a transmission interval of the car information of the first car to the first interval when the first door determination unit determines that the door of the first car is fully closed at the boarding floor. [Appendix 7] 7. The elevator system according to claim 5 or 6, wherein the information providing unit changes a transmission interval of the cage information of the first cage to the second interval when the first cage, which departs from the boarding floor carrying the autonomous moving body, arrives at the destination floor. [Appendix 8] An autonomous moving body; A control device that manages the operation of a plurality of cars; An interlocking device that communicates with the autonomous moving body; A relay device that communicates with the interlocking device and the control device; Equipped with The control device includes: A first information providing unit that transmits car information related to operation of each of the plurality of cars to the relay device; a communication unit that receives, from the interlocking device via the relay device, a call registration request for the autonomous moving body to get on one of the plurality of cages and move from a boarding floor to a destination floor; A determination unit that determines a first car that responds to the call registration request received by the communication unit from among the plurality of cars; an operation control unit that causes the first car determined by the determination unit to respond to the call registration request; an allocation notification unit that transmits an assigned car notification indicating the first car determined by the determination unit to the relay device; Equipped with The elevator system is equipped with a second information providing unit that, upon receiving the assigned car notification, transmits car information of the first car to the interlocking device at a first interval, and changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor. [Appendix 9] The relay device further includes a third door determination unit that determines whether or not a door of the first car in response to the call registration request has started to open at the boarding floor, The elevator system described in Appendix 8, wherein the second information providing unit changes a transmission interval of the car information of the first car to the second interval when the third door determination unit determines that the door of the first car has started to open at the boarding floor. [Appendix 10] The interlocking device is a second door determination unit that determines whether or not the door of the first car in response to the call registration request is opened at the boarding floor; a door request unit that transmits a door open continuation request to the control device via the relay device when the second door determination unit determines that the door of the first car has been opened at the boarding floor; a boarding request unit that transmits a boarding request to the autonomous moving body when it is determined by the second door determination unit that the door of the first car has been opened at the boarding floor; Equipped with When the autonomous moving body receives the boarding request, the autonomous moving body starts an operation for boarding the first car, and when the autonomous moving body boards the first car, the autonomous moving body transmits a boarding completion notification to the interlocking device; When the door request unit receives the boarding completion notification, the door request unit transmits a door open continuation end request to the control device via the relay device, The operation control unit includes: When the door open continuation request is received, the door of the first car is continued to be opened; 10. The elevator system of claim 8, wherein the door of the first car is closed when a first time has elapsed since the request to continue opening the door was received and when a request to end the request to continue opening the door is received before the first time has elapsed. [Appendix 11] 11. The elevator system of any one of Appendix 8 to Appendix 10, wherein the second information providing unit changes a transmission interval of the cage information of the first cage to the first interval when the first cage carrying the autonomous moving body departs from the boarding floor toward the destination floor. [Appendix 12] The relay device further includes a third door determination unit that determines whether or not a door of the first car carrying the autonomous moving body is fully closed at the boarding floor, The elevator system described in Appendix 11, wherein the second information providing unit changes a transmission interval of the car information of the first car to the first interval when the third door determination unit determines that the door of the first car is fully closed at the boarding floor. [Appendix 13] 13. The elevator system according to claim 11, wherein the second information providing unit changes a transmission interval of the cage information of the first cage to the second interval when the first cage, which departs from the boarding floor carrying the autonomous moving body, arrives at the destination floor. [Appendix 14] A control device capable of communicating with an interlocking device that communicates with an autonomous moving body and that manages the operation of a first car of an elevator, an information providing unit that transmits car information related to the operation of the first car to the interlocking device at a first interval; a communication unit that receives, from the interlocking device, a call registration request for the autonomous moving body to get on the first car and move from the boarding floor to a destination floor; an operation control unit that causes the first car to respond to the call registration request received by the communication unit; Equipped with The information providing unit is a control device that changes the transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage that responded to the call registration request arrives at the boarding floor. [Appendix 15] A relay device capable of communicating with an interlocking device that communicates with an autonomous moving body and a control device that manages the operation of multiple elevator cars, A communication unit that receives car information related to operation from the control device for each of the plurality of cars; an information providing unit that, when receiving from the control device an assigned car notification indicating a first car in response to a call registration request for the autonomous moving body to move from a boarding floor to a destination floor in one of the plurality of cars, transmits car information of the first car to the interlocking device at a first interval; Equipped with The information providing unit is a relay device that changes the transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage that responded to the call registration request arrives at the boarding floor. [Appendix 16] A control method for a control device that is capable of communicating with an interlocking device that communicates with an autonomous moving body and that manages the operation of a first car of an elevator, comprising: a first information providing step of transmitting car information relating to the operation of the first car to the interlocking device at a first interval; a communication step of receiving, from the interlocking device, a call registration request for the autonomous moving body to get on the first car and move from the boarding floor to a destination floor; an operation control step of causing the first car to respond to the call registration request received in the communication step; a second information providing step of changing a transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage responding to the call registration request arrives at the boarding floor; A control method for a control device comprising the above-mentioned. [Appendix 17] A method for controlling a relay device capable of communicating with an interlocking device that communicates with an autonomous moving body and a control device that manages the operation of multiple elevator cars, comprising: a communication step of receiving car information related to operation from the control device for each of the plurality of cars; a first information providing step of transmitting car information of the first car to the interlocking device at a first interval when the autonomous moving body receives from the control device an assigned car notification indicating a first car in response to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars; a second information providing step of changing a transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage responding to the call registration request arrives at the boarding floor; A method for controlling a relay device comprising the steps of: [Appendix 18] A computer that can communicate with an interlocking device that communicates with the autonomous moving body and that manages the operation of a first car of the elevator, a first information providing process for transmitting car information related to the operation of the first car to the interlocking device at a first interval; A communication process of receiving, from the interlocking device, a call registration request for the autonomous moving body to get on the first car and move from the boarding floor to a destination floor; an operation control process for causing the first car to respond to the call registration request received in the communication process; a second information providing process for changing a transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage responding to the call registration request arrives at the boarding floor; A program for executing the above. [Appendix 19] A computer capable of communicating with an interlocking device that communicates with the autonomous moving body and a control device that manages the operation of multiple elevator cars, A communication process for receiving car information related to operation from the control device for each of the plurality of cars; a first information providing process for transmitting car information of the first car to the interlocking device at a first interval when the autonomous moving body receives from the control device an assigned car notification indicating a first car in response to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars; a second information providing process for changing a transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage responding to the call registration request arrives at the boarding floor; A program for executing the above.

[0124] The matters set out in Appendices 3-7 or equivalent matters may be added to Appendices 14, 16 and 18, respectively. The matters set out in Appendices 9-13 or equivalent matters may be added to Appendices 15, 17 and 19, respectively. [Explanation of symbols]

[0125] 1 elevator system, 2 elevator device, 3 interlocking device, 4 autonomous mobile body, 5 car, 6 control device, 7 door, 8 relay device, 10 memory unit, 11 communication unit, 12 communication unit, 13 recording unit, 14 call request unit, 15 second door determination unit, 16 door request unit, 17 boarding / alighting request unit, 31 communication unit, 32 information provision unit, 33 operation control unit, 41 communication unit, 42 information provision unit, 43 determination unit, 44 allocation notification unit, 45 operation control unit, 46 first door determination unit, 50 memory unit, 51 communication unit, 52 communication unit, 53 recording unit, 54 information provision unit, 55 third door determination unit, 60 processing circuit, 61 processor, 62 memory, 63 Dedicated Hardware

Claims

1. An autonomous moving body; A control device that manages the operation of the first car; An interlocking device that communicates with the autonomous moving body and the control device; Equipped with The control device includes: an information providing unit that transmits car information related to the operation of the first car to the interlocking device at a first interval; a communication unit that receives, from the interlocking device, a call registration request for the autonomous moving body to get on the first car and move from the boarding floor to a destination floor; an operation control unit that causes the first car to respond to the call registration request received by the communication unit; Equipped with The information providing unit changes the transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage that responded to the call registration request arrives at the boarding floor.

2. An autonomous moving body; A control device that manages the operation of a plurality of cars; An interlocking device that communicates with the autonomous moving body and the control device; Equipped with The control device includes: an information providing unit that transmits car information related to operation of each of the plurality of cars to the interlocking device at a first interval; a communication unit that receives, from the interlocking device, a call registration request for the autonomous moving body to get on one of the plurality of cars and move from a boarding floor to a destination floor; A determination unit that determines a first car that responds to the call registration request received by the communication unit from among the plurality of cars; an operation control unit that causes the first car determined by the determination unit to respond to the call registration request; Equipped with The information providing unit changes the transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage that responded to the call registration request arrives at the boarding floor.

3. The control device further includes a first door determination unit that determines whether or not a door of the first car in response to the call registration request has started to open at the boarding floor, 3. The elevator system according to claim 1, wherein the information providing unit changes a transmission interval of the car information of the first car to the second interval when the first door determination unit determines that the door of the first car has started to open at the boarding floor.

4. The interlocking device is a second door determination unit that determines whether or not the door of the first car in response to the call registration request is opened at the boarding floor; a door request unit that transmits a door open continuation request to the control device when the second door determination unit determines that the door of the first car has been opened at the boarding floor; a boarding request unit that transmits a boarding request to the autonomous moving body when it is determined by the second door determination unit that the door of the first car has been opened at the boarding floor; Equipped with When the autonomous moving body receives the boarding request, the autonomous moving body starts an operation for boarding the first car, and when the autonomous moving body boards the first car, the autonomous moving body transmits a boarding completion notification to the interlocking device; When the door request unit receives the boarding completion notification, the door request unit transmits a door open continuation end request to the control device, The operation control unit includes: When the door open continuation request is received, the door of the first car is continued to be open; 3. The elevator system according to claim 1, wherein the door of the first car is closed when a first time has elapsed since the request to continue opening the door was received and when the request to end the request to continue opening the door is received before the first time has elapsed.

5. 3. The elevator system according to claim 1, wherein the information providing unit changes a transmission interval of the cage information of the first cage to the first interval when the first cage carrying the autonomous moving body departs from the boarding floor toward the destination floor.

6. The control device further includes a first door determination unit that determines whether or not a door of the first car carrying the autonomous moving body is fully closed at the boarding floor, 6. The elevator system according to claim 5, wherein the information providing unit changes a transmission interval of the car information of the first car to the first interval when the first door determination unit determines that the door of the first car is fully closed at the boarding floor.

7. 6. The elevator system according to claim 5, wherein the information providing unit changes a transmission interval of the cage information of the first cage to the second interval when the first cage, which departs from the boarding floor with the autonomous moving body on board, arrives at the destination floor.

8. An autonomous moving body; A control device that manages the operation of a plurality of cars; An interlocking device that communicates with the autonomous moving body; A relay device that communicates with the interlocking device and the control device; Equipped with The control device includes: A first information providing unit that transmits car information related to operation of each of the plurality of cars to the relay device; a communication unit that receives, from the interlocking device via the relay device, a call registration request for the autonomous moving body to get on one of the plurality of cars and move from a boarding floor to a destination floor; A determination unit that determines a first car that responds to the call registration request received by the communication unit from among the plurality of cars; an operation control unit that causes the first car determined by the determination unit to respond to the call registration request; an allocation notification unit that transmits an allocation car notification indicating the first car determined by the determination unit to the relay device; Equipped with The elevator system includes a second information providing unit that, upon receiving the assigned car notification, transmits car information of the first car to the interlocking device at a first interval, and changes the transmission interval of the car information of the first car to a second interval shorter than the first interval when the first car that responded to the call registration request arrives at the boarding floor.

9. The relay device further includes a third door determination unit that determines whether or not a door of the first car in response to the call registration request has started to open at the boarding floor, 9. The elevator system according to claim 8, wherein the second information providing unit changes a transmission interval of the car information of the first car to the second interval when the third door determination unit determines that the door of the first car has started to open at the boarding floor.

10. The interlocking device is a second door determination unit that determines whether or not the door of the first car in response to the call registration request is opened at the boarding floor; a door request unit that transmits a door open continuation request to the control device via the relay device when the second door determination unit determines that the door of the first car is opened at the boarding floor; a boarding request unit that transmits a boarding request to the autonomous moving body when it is determined by the second door determination unit that the door of the first car has been opened at the boarding floor; Equipped with When the autonomous moving body receives the boarding request, the autonomous moving body starts an operation for boarding the first car, and when the autonomous moving body boards the first car, the autonomous moving body transmits a boarding completion notification to the interlocking device; When the door request unit receives the boarding completion notification, the door request unit transmits a door open continuation end request to the control device via the relay device, The operation control unit includes: When the door open continuation request is received, the door of the first car is continued to be open; 10. The elevator system according to claim 8, wherein the door of the first car is closed when a first time has elapsed since the request to continue opening the door was received and when a request to end the request to continue opening the door is received before the first time has elapsed.

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

12. The relay device further includes a third door determination unit that determines whether or not a door of the first car carrying the autonomous moving body is fully closed at the boarding floor, 12. The elevator system according to claim 11, wherein the second information providing unit changes a transmission interval of the car information of the first car to the first interval when the third door determination unit determines that the door of the first car is fully closed at the boarding floor.

13. 13. The elevator system according to claim 11 or 12, wherein the second information providing unit changes a transmission interval of the car information of the first car to the second interval when the first car, which has departed from the boarding floor with the autonomous moving body on board, arrives at the destination floor.

14. A control device capable of communicating with an interlocking device that communicates with an autonomous moving body and that manages operation of a first car of an elevator, an information providing unit that transmits car information related to the operation of the first car to the interlocking device at a first interval; a communication unit that receives, from the interlocking device, a call registration request for the autonomous moving body to get on the first car and move from the boarding floor to a destination floor; an operation control unit that causes the first car to respond to the call registration request received by the communication unit; Equipped with The information providing unit is a control device that changes the transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage that responded to the call registration request arrives at the boarding floor.

15. A relay device capable of communicating with an interlocking device that communicates with an autonomous moving body and a control device that manages the operation of multiple elevator cars, A communication unit that receives car information related to operation from the control device for each of the plurality of cars; an information providing unit that, when receiving from the control device an assigned car notification indicating a first car in response to a call registration request for the autonomous mobile body to move from a boarding floor to a destination floor in one of the plurality of cars, transmits car information of the first car to the interlocking device at a first interval; Equipped with The information providing unit is a relay device that changes the transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage that responded to the call registration request arrives at the boarding floor.

16. A control method for a control device that is capable of communicating with an interlocking device that communicates with an autonomous moving body and that manages operation of a first car of an elevator, comprising: a first information providing step of transmitting car information relating to an operation of the first car to the interlocking device at a first interval; a communication step of receiving, from the interlocking device, a call registration request for the autonomous moving body to get on the first car and move from the boarding floor to a destination floor; an operation control step of causing the first car to respond to the call registration request received in the communication step; a second information providing step of changing a transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage responding to the call registration request arrives at the boarding floor; A control method for a control device comprising the above-mentioned.

17. A method for controlling a relay device capable of communicating with an interlocking device that communicates with an autonomous moving body and a control device that manages the operation of multiple elevator cars, comprising: a communication step of receiving car information related to operation from the control device for each of the plurality of cars; a first information providing step of transmitting car information of the first car to the interlocking device at a first interval when the autonomous mobile body receives from the control device an assigned car notification indicating a first car in response to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars; a second information providing step of changing a transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage responding to the call registration request arrives at the boarding floor; A method for controlling a relay device comprising the steps of:

18. A computer capable of communicating with an interlocking device that communicates with the autonomous moving body and that manages the operation of a first car of the elevator, a first information providing process for transmitting car information related to an operation of the first car to the interlocking device at a first interval; A communication process of receiving, from the interlocking device, a call registration request for the autonomous moving body to get on the first car and move from the boarding floor to a destination floor; an operation control process for causing the first car to respond to the call registration request received in the communication process; a second information providing process for changing a transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage responds to the call registration request and arrives at the boarding floor; A program for executing the above.

19. A computer capable of communicating with an interlocking device that communicates with the autonomous moving body and a control device that manages the operation of multiple elevator cars, A communication process for receiving car information related to operation from the control device for each of the plurality of cars; a first information providing process for transmitting car information of the first car to the interlocking device at a first interval when the autonomous mobile body receives from the control device an assigned car notification indicating a first car in response to a call registration request for moving from a boarding floor to a destination floor in one of the plurality of cars; a second information providing process for changing a transmission interval of the cage information of the first cage to a second interval shorter than the first interval when the first cage responds to the call registration request and arrives at the boarding floor; A program for executing the above.

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