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

Abstract

To provide an elevator cooperative control device and others that can utilize a car having therein an autonomous movable body having failed to get off, for transportation of another autonomous movable body, thereby can suppress decrease in transport efficiency of the autonomous movable bodies, and thereby can assist efficient operation of the autonomous movable bodies.SOLUTION: A cooperative control device comprises: a call registration request unit configured to transmit a boarding floor entrance call registration request to an elevator control device in response to a vehicle allocation request from each of a plurality of autonomous movable bodies; a detection unit; and a notification unit. When a first autonomous movable body, among the plurality of autonomous movable bodies, does not get off from a car at a floor to get off, the detection unit detects a failure of the first autonomous movable body in getting off from the car. When a car identified by entrance call car information which is registered by a second autonomous movable body, among the plurality of autonomous movable bodies, different from the first autonomous movable body, is same as the car in which the failure of the first autonomous movable body in getting off is detected by the detection unit, the notification unit notifies the second autonomous movable body, of the presence of an autonomous movable body other than the second autonomous movable body in the car.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] In a technology for coordinated control of elevators and autonomous moving bodies such as autonomous vehicles, if disembarkation completion information from the elevator body (cage) sent from the autonomous vehicle (autonomous moving body) cannot be obtained within a certain period of time, the coordination system is known to set the elevator system so that the autonomous vehicle cannot use the elevator system in a state in which there is a possibility of a malfunction in the elevator system (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-017498 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology disclosed in Patent Document 1, the car in which the autonomous moving object that failed to disembark is located cannot be used by other autonomous moving objects, which reduces the efficiency of transporting the autonomous moving object by the elevator.

[0005] The present disclosure has been made to solve such problems. Its purpose is to provide an elevator cooperation control device, an elevator system, an elevator cooperation control method, and an elevator cooperation control program that can utilize the car in which the autonomous mobile object that failed to disembark is located to transport other autonomous mobile objects without stopping the operation of the car, and can suppress a decrease in the efficiency of transporting the autonomous mobile object by the elevator. [Means for solving the problem]

[0006] The elevator cooperation control device according to the present disclosure is an elevator cooperation control device provided to be capable of communicating with an elevator control device that controls an elevator car, and includes a call registration request unit that transmits a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies, a detection unit, and a notification unit, and the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, dispatches the car for the registered hall call, and transmits car information that identifies the car dispatched for the hall call. The detection unit detects a failure of a first autonomous moving body among the plurality of autonomous moving bodies to disembark from the cage when the first autonomous moving body does not disembark from the cage at the disembarking floor, and the notification unit notifies the second autonomous moving body that there is an autonomous moving body other than the second autonomous moving body in the cage when the cage identified by the cage information of the hall call registered by a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies is the same as the cage in which the detection unit detected the failure of the first autonomous moving body to disembark.

[0007] Alternatively, an elevator cooperation control device according to the present disclosure is an elevator cooperation control device provided to be capable of communicating with an elevator control device that controls a plurality of elevator cars, and includes a call registration request unit that transmits a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies, a detection unit, and a notification unit, wherein the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, assigns the car from among the plurality of cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call, and the detection unit transmits assigned car information to the plurality of autonomous moving bodies. When a first autonomous moving body among the plurality of autonomous moving bodies fails to disembark from the car at the disembarking floor, the notification unit detects a failure of the first autonomous moving body to disembark from the car, and when a dispatch request is received from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, the notification unit requests the second autonomous moving body to respond as to whether or not it will board a disembarkation-failed car, which is the car in which the disembarkation failure of the first autonomous moving body was detected by the detection unit, and when the second autonomous moving body responds that it will board the disembarkation-failed car, the elevator control device assigns a car from among the plurality of cars including the disembarkation-failed car to the hall call due to the dispatch request of the second autonomous moving body.

[0008] An elevator system according to the present disclosure includes any one of the elevator linkage control devices described above, the elevator control device, and a plurality of the autonomous moving bodies.

[0009] The elevator cooperative control method according to the present disclosure is an elevator cooperative control method executed by a computer of an elevator cooperative control device that is provided to be able to communicate with an elevator control device that controls elevator cars, and includes a call registration request step of transmitting a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies, a detection step, and a notification step, wherein the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, dispatches the car for the registered hall call, and notifies the elevator control device of the dispatched hall call. The detection step transmits car information identifying the car, and when a first autonomous moving body among the plurality of autonomous moving bodies does not disembark from the car at a disembarking floor, the detection step detects a failure of the first autonomous moving body to disembark from the car, and when the car identified by the car information of the hall call registered by a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies is the same as the car in which the disembarking failure of the first autonomous moving body was detected in the detection step, the notification step notifies the second autonomous moving body that there is an autonomous moving body other than the second autonomous moving body in the car.

[0010] Alternatively, an elevator cooperation control method according to the present disclosure is an elevator cooperation control method executed by a computer of an elevator cooperation control device provided to be able to communicate with an elevator control device that controls elevator cars, the method including a call registration request step of transmitting a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies, a detection step, and a notification step, wherein the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, assigns the car from among a plurality of cars to the registered hall call, transmits assigned car information that identifies the car assigned to the hall call, and transmits assigned car information to the elevator control device in response to the detection step. The step detects a failure of a first autonomous moving body to disembark from the car when the first autonomous moving body among the plurality of autonomous moving bodies does not disembark from the car at the disembarking floor, and the notification step, when a dispatch request is made from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, requests the second autonomous moving body to respond as to whether or not it will board the disembarkation failed car, which is the car in which the disembarkation failure of the first autonomous moving body was detected in the detection step, and the elevator control device assigns a car from the plurality of cars including the disembarkation failed car to the hall call due to the dispatch request of the second autonomous moving body when the second autonomous moving body responds that it will board the disembarkation failed car.

[0011] The elevator linkage control program according to the present disclosure is for causing a computer of an elevator linkage control device to execute any one of the elevator linkage control methods described above. Effect of the Invention

[0012] The elevator linkage control device, elevator system, elevator linkage control method, and elevator linkage control program according to the present disclosure have been made to solve such problems. The purpose is to achieve an effect of making it possible to utilize the car in which the autonomous moving object that failed to disembark is in for transporting other autonomous moving objects without stopping the operation of the car, thereby suppressing a decrease in the efficiency of transporting the autonomous moving object by the elevator. [Brief description of the drawings]

[0013] [Figure 1] 1 is a block diagram showing an overall configuration of an elevator system including an elevator linkage control device according to a first embodiment. [Diagram 2] 1 is a block diagram showing a configuration of an elevator control device provided in an elevator system according to a first embodiment. [Diagram 3] 1 is a block diagram showing a configuration of an elevator linkage control device provided in the elevator system according to the first embodiment. [Figure 4] 4 is a flow chart showing an example of an operation of the elevator linkage control device according to the first embodiment. FIG. [Diagram 5] FIG. 2 is a diagram illustrating an example of the operation of the elevator system according to the first embodiment. [Figure 6] FIG. 4 is a flow chart showing an example of the operation of the first modified example of the elevator linkage control device according to the first embodiment. [Figure 7] 6 is a flowchart showing another example of the operation of the first modified example of the elevator linkage control device according to the first embodiment. FIG. [Figure 8] FIG. 4 is a block diagram showing a configuration of a second modified example of the elevator linkage control device according to the first embodiment. [Figure 9] FIG. 11 is a flow chart showing an example of the operation of the second modified example of the elevator linkage control device according to the first embodiment. [Figure 10] FIG. 11 is a flow chart showing an example of the operation of the second modified example of the elevator linkage control device according to the first embodiment. [Figure 11] FIG. 11 is a flow chart showing an example of the operation of the second modified example of the elevator linkage control device according to the first embodiment. [Figure 12] FIG. 13 is a flowchart showing an example of the operation of the third modified example of the elevator linkage control device according to the first embodiment. [Figure 13] 1 is a diagram showing an example of a configuration for implementing functions of an elevator cooperation control device and an elevator control device according to a first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] The embodiments for implementing the elevator linkage control device, elevator system, elevator linkage control method, and elevator linkage control program according to the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are given the same reference numerals, and duplicated descriptions are appropriately simplified or omitted. In the following description, for convenience, the positional relationship of each structure may be expressed based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and the embodiments may be freely combined, any component of each embodiment may be modified, or any component of each embodiment may be omitted, within the scope of the gist of the present disclosure.

[0015] Embodiment 1 A first embodiment of the present disclosure will be described with reference to Figs. 1 to 13. Fig. 1 is a block diagram showing an overall configuration of an elevator system including an elevator cooperation control device. Fig. 2 is a block diagram showing a configuration of an elevator control device included in the elevator system. Fig. 3 is a block diagram showing a configuration of an elevator cooperation control device included in the elevator system. Fig. 4 is a flow diagram showing an example of an operation of the elevator cooperation control device. Fig. 5 is a diagram explaining an example of an operation of the elevator system. Fig. 6 is a flow diagram showing an example of an operation of a first modified example of the elevator cooperation control device. Fig. 7 is a flow diagram showing another example of an operation of the first modified example of the elevator cooperation control device. Fig. 8 is a block diagram showing a configuration of a second modified example of the elevator cooperation control device. Figs. 9 to 11 are each a flow diagram showing an example of an operation of the second modified example of the elevator cooperation control device. Fig. 12 is a flow diagram showing an example of an operation of a third modified example of the elevator cooperation control device. Fig. 13 is a diagram showing an example of a configuration for realizing the functions of the elevator cooperation control device and the elevator control device.

[0016] As shown in Fig. 1, the elevator system according to this embodiment includes an elevator control device 100, a cooperative control device 200, and a plurality of autonomous moving bodies 20. The elevator control device 100 controls an elevator. The elevator controlled by the elevator control device 100 has one or more cars. In the example shown in the figure, the elevator is provided with two cars. However, the number of cars 10 that the elevator has is not limited to two.

[0017] A building in which an elevator is installed is provided with hoistways (not shown) in the same number as the number of cars 10. The cars 10 are arranged in the hoistways so that they can rise and fall freely. Passengers and autonomous moving bodies 20 can get on and off the cars 10. The autonomous moving bodies 20 are, for example, mobile robots, and can move autonomously. The cars 10 rise and fall in the hoistways, and transport one or both of the passengers and the autonomous moving bodies 20 that are on board the cars 10 between multiple floors of the building.

[0018] A platform call button (not shown) is provided at each floor platform where the car 10 can stop. The platform call button is for passengers to register a platform call. By operating the platform call button, a passenger can register a platform call to call the car 10 in the desired travel direction to that floor. In addition, a destination floor button (not shown) is provided inside the car 10. The destination floor button is provided, for example, on an in-car operation panel (not shown) provided inside the car 10. The destination floor button is for passengers to register a car call. By operating the destination floor button when a passenger is aboard the car 10, a car call with the desired floor as the destination can be registered.

[0019] The elevator control device 100 controls the overall operation of the elevator, including the operation of the elevator car 10. In the configuration example described here, the elevator control device 100 performs group management to comprehensively manage a plurality of cars 10 as a group. Note that the elevator control device 100 does not have to perform group management. Also, when there is only one car 10, group management is not performed. Next, the configuration of the elevator control device 100 according to this embodiment will be described with reference to FIG. 2. As shown in FIG. 2, the elevator control device 100 includes a hall call registration unit 110, a car call registration unit 120, a car allocation unit 130, and a car control unit 140.

[0020] The elevator control device 100 is connected to be able to communicate with the hall call buttons on each floor. When a passenger operates a hall call button, a call registration request signal is output from the operated hall call button. The call registration request signal output from the hall call button is input to the elevator control device 100. The hall call registration unit 110 of the elevator control device 100 registers a hall call for the floor where the hall call button that is the output source of the input call registration request signal is installed.

[0021] When a passenger aboard the car 10 operates a destination floor button inside the car 10, a call registration request signal is output from the car operation panel on which the operated destination floor button is provided. The call registration request signal output from the car operation panel is input to the elevator control device 100. The car call registration unit 120 of the elevator control device 100 registers a car call for the destination floor indicated by the input call registration request signal.

[0022] The car allocation unit 130 determines which car 10 to allocate to a registered hall call from among a plurality of cars 10. The determination of the car 10 to allocate to a hall call is performed, for example, as follows. First, the car allocation unit 130 calculates an allocation evaluation value for each car 10 based on the operating state of each car 10. This allocation evaluation value is calculated using, for example, the waiting time until the car 10 that responded to the registered hall call arrives, the load of the car 10, etc. Then, the car allocation unit 130 compares the calculated allocation evaluation values ​​of each car 10, and determines the car 10 with the largest allocation evaluation value as the car 10 to allocate to the hall call. In this manner, the car allocation unit 130 allocates cars 10 to hall calls.

[0023] In the present disclosure, the car 10 assigned by the car allocation unit 130 to a hall call is also referred to as an "assigned car." Also, the car 10 that responds to a hall call is also referred to as a "responding car." The assigned car is also a responding car. As described above, the elevator control device 100 does not need to perform group management. When group management is not performed, the elevator control device 100 does not need to include the car allocation unit 130. When the elevator control device 100 does not include the car allocation unit 130, when a hall call is registered, the elevator control device 100 determines a responding car for the hall call. In this case, the elevator control device 100 determines, for example, the car 10 that is closest to the registered floor of the hall call among the currently waiting cars 10 as the responding car.

[0024] The car control unit 140 controls the operation of each of the multiple cars 10. One car control unit 140 is provided corresponding to each of the multiple cars 10. That is, the same number of car control units 140 are provided as the number of cars 10. The car control units 140 control the running of the corresponding cars 10. For example, when the car allocation unit 130 determines the car 10 to be assigned to a hall call, the car control unit 140 that controls the car 10 runs the car 10 to the floor where the hall call is registered in order to respond to the registered hall call. In addition, when a destination floor button in the car 10 is operated to register a car call, the car control unit 140 that controls the car 10 runs the car 10 to the destination floor indicated by the car call in order to respond to the registered car call.

[0025] The cooperation control device 200 according to this embodiment is for controlling the operation of the autonomous mobile body 20 moving in a building in which an elevator is installed in cooperation with the operation of the elevator. The cooperation control device 200 is provided so as to be able to communicate with the elevator control device 100. In the example shown in FIG. 1, the cooperation control device 200 is connected so as to be able to communicate with the elevator control device 100 via a repeater 300. The repeater 300 repeats communication between the cooperation control device 200 and the elevator control device 100. However, the cooperation control device 200 and the elevator control device 100 may be able to communicate directly with each other without providing the repeater 300.

[0026] 1, the cooperative control device 200 includes an autonomous mobile body communication unit 210, an elevator communication unit 220, a storage unit 230, a processing unit 240, and a door opening / closing control unit 250. The autonomous mobile body communication unit 210 communicates between the cooperative control device 200 and the autonomous mobile body 20. The communication between the cooperative control device 200 and the autonomous mobile body 20 is mainly performed wirelessly. The autonomous mobile body communication unit 210 transmits data, signals, etc. to the autonomous mobile body 20 mainly in response to instructions from the processing unit 240. In addition, the autonomous mobile body communication unit 210 receives data, signals, etc. transmitted from the autonomous mobile body 20 and sends them to the processing unit 240, etc.

[0027] The elevator communication unit 220 communicates between the cooperation control device 200 and the elevators. The communication between the cooperation control device 200 and the elevators may be performed wirelessly or wired. The elevator communication unit 220 transmits data, signals, etc. to the elevators mainly in response to instructions from the processing unit 240. The elevator communication unit 220 also receives data, signals, etc. transmitted from the elevators and sends them to the processing unit 240, etc.

[0028] The storage unit 230 stores various data related to the cooperative control between the elevator and the autonomous moving body 20 by the cooperative control device 200. The processing unit 240 performs information processing required for the cooperative control between the elevator and the autonomous moving body 20 by the cooperative control device 200.

[0029] The door opening / closing control unit 250 is for controlling the opening and closing of the door of the car 10 when the autonomous moving body 20 gets on or off the car 10. When the autonomous moving body 20 gets on or off the car 10, the door opening / closing control unit 250 first generates a door opening request signal for the car 10. Then, the elevator communication unit 220 transmits the door opening request signal to the elevator control device 100. When the elevator control device 100 receives the door opening request signal, the car control unit 140 that controls the car 10 opens the door of the car 10.

[0030] When an autonomous mobile body 20 gets on or off a car 10 with its door open, the autonomous mobile body 20 transmits a boarding completion signal or a disembarking completion signal to the coordinated control device 200. When the autonomous mobile body communication unit 210 of the coordinated control device 200 receives the boarding completion signal or the disembarking completion signal, the door opening / closing control unit 250 generates a door closing request signal for the car 10. The elevator communication unit 220 transmits the door closing request signal to the elevator control device 100. Then, when the elevator control device 100 receives the door closing request signal, the car control unit 140 that controls the car 10 closes the door of the car 10.

[0031] The cooperative control device 200 does not have to include the door opening / closing control unit 250. In this case, the car control unit 140 of the elevator control device 100 opens and closes the door of the car 10 for the autonomous moving body 20 in the same manner as for a normal human passenger. The autonomous moving body 20 grasps the open / closed state of the door of the car 10 by, for example, a camera or the like mounted on the autonomous moving body 20, and gets on and off the car 10.

[0032] As shown in Fig. 3, the processing unit 240 of the cooperative control device 200 according to this embodiment includes a call registration request unit 241. In response to a dispatch request from the autonomous mobile body 20, the call registration request unit 241 transmits a hall call registration request for a boarding floor and a car call registration request for a disembarking floor to the elevator control device 100. More specifically, the autonomous mobile body 20 transmits a dispatch request signal to the cooperative control device 200. The dispatch request signal includes information on the boarding floor and the disembarking floor. The boarding floor is a floor at which the autonomous mobile body 20 boards the car 10. The disembarking floor is a floor at which the autonomous mobile body 20 disembarks from the car 10.

[0033] When the autonomous mobile communication unit 210 of the cooperative control device 200 receives the dispatch request signal, the call registration request unit 241 of the processing unit 240 generates a hall call registration request signal for the boarding floor indicated by the received dispatch request signal and a car call registration request signal for the disembarking floor indicated by the received dispatch request signal. Then, the elevator communication unit 220 transmits the hall call registration request signal and the car call registration request signal to the elevator control device 100.

[0034] When the elevator control device 100 receives the hall call registration request signal and the car call registration request signal, first, the hall call registration unit 110 registers a hall call for the boarding floor indicated by the hall call registration request signal. The car allocation unit 130 determines an assigned car for the registered hall call. Then, the car call registration unit 120 registers a car call for the destination floor indicated by the car call registration request signal in the assigned car. In this way, in response to a dispatch request from the autonomous moving body 20, a hall call for the boarding floor and a car call for the disembarking floor are registered, and a car 10 is dispatched.

[0035] The elevator control device 100 according to this embodiment further includes an assigned car information transmission unit 150, as shown in FIG. 2. When the car allocation unit 130 determines the car 10 to be allocated to the hall call, the assigned car information transmission unit 150 transmits the assigned car information to the cooperative control device 200. The assigned car information is information that identifies the car 10 that is allocated to the registered hall call. In particular, in this embodiment, the assigned car information transmission unit 150 transmits assigned car information that identifies the car 10 that is allocated to the hall call registered in response to the hall call registration request transmitted from the cooperative control device 200. The car 10 that is allocated to the hall call registered in response to the hall call registration request transmitted from the cooperative control device 200 is, in other words, the car 10 that is allocated in response to the dispatch request from the autonomous moving body 20.

[0036] The processing unit 240 of the cooperative control device 200 further includes a disembarkation failure detection unit 242, as shown in FIG. 3. When any of the autonomous moving bodies 20 does not disembark from the car 10 at the disembarking floor, the disembarkation failure detection unit 242 detects a disembarkation failure of the autonomous moving body 20 from the car 10. In the present disclosure, the autonomous moving body 20 for which a disembarkation failure is detected is also referred to as a first autonomous moving body 21. In addition, an autonomous moving body 20 different from the autonomous moving body 20 for which a disembarkation failure is detected is also referred to as a second autonomous moving body 22. When the disembarkation failure detection unit 242 detects a disembarkation failure of the autonomous moving body 20, information for identifying the autonomous moving body 20 for which a disembarkation failure has been detected and information for identifying the car 10 in which the autonomous moving body 20 is riding are stored in the memory unit 230 of the cooperative control device 200.

[0037] As described above, when the autonomous mobile body 20 disembarks from the car 10, the autonomous mobile body 20 transmits a disembarking completion signal to the cooperative control device 200. For example, if the autonomous mobile body communication unit 210 of the cooperative control device 200 does not receive a disembarking completion signal from the autonomous mobile body 20 even after a preset certain time has elapsed after the car 10 opens the door at the disembarking floor, the disembarking failure detection unit 242 detects a disembarking failure of the autonomous mobile body 20.

[0038] As another example, when the autonomous mobile body communication unit 210 of the cooperative control device 200 does not receive a disembarking completion signal from the autonomous mobile body 20 even if the car 10 closes its door after opening the door at the disembarking floor, the disembarking failure detection unit 242 may detect a disembarking failure of the autonomous mobile body 20. Furthermore, for example, when the autonomous mobile body 20 that is attempting to disembark from the car 10 detects an abnormality, an obstacle, or the like in itself and determines that the situation does not allow disembarking, a disembarking failure signal may be transmitted to the cooperative control device 200. In this case, when the autonomous mobile body communication unit 210 of the cooperative control device 200 receives a disembarking failure signal from the autonomous mobile body 20, the disembarking failure detection unit 242 detects a disembarking failure of the autonomous mobile body 20.

[0039] 3, the processing unit 240 of the cooperative control device 200 further includes a notification unit 243. The notification unit 243 notifies an autonomous moving body 20 other than the first autonomous moving body 21 in which a disembarking failure has been detected, i.e., the second autonomous moving body 22, that the first autonomous moving body 21 in which a disembarking failure has been detected is riding in the car 10.

[0040] When the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information of the hall call registered by the second autonomous moving body 22, the processing unit 240 determines whether or not the car 10 specified by the assigned car information of the hall call registered by the second autonomous moving body 22, i.e., the car 10 to be allocated to the second autonomous moving body 22, is the same as the car 10 in which the first autonomous moving body 21 that has failed to disembark is riding, stored in the storage unit 230, i.e., the car 10 in which the disembarkation failure of the first autonomous moving body 21 has been detected by the disembarkation failure detection unit 242. Then, when the car 10 to be allocated to the second autonomous moving body 22 is the same as the car 10 in which the disembarkation failure of the first autonomous moving body 21 has been detected, the notification unit 243 notifies the second autonomous moving body 22 that there is an autonomous moving body 20 other than the second autonomous moving body 22, for example, that the first autonomous moving body 21 is present in the car 10. This notification is transmitted from the autonomous mobile body communication unit 210 of the cooperation control device 200 to the second autonomous mobile body 22.

[0041] According to the elevator system equipped with the cooperative control device 200 configured as described above, the second autonomous moving body 22 can recognize that there is an autonomous moving body 20 other than the second autonomous moving body 22 in the car 10 before getting on the car 10, for example, the first autonomous moving body 21 that has failed to get off. Therefore, on the premise that there is an autonomous moving body 20 other than the second autonomous moving body 22, the second autonomous moving body 22 can determine whether or not to get on the car 10. Therefore, it is possible to utilize the car 10 in which there is an autonomous moving body 20 other than the second autonomous moving body 22, for example, the car 10 in which there is an autonomous moving body 20 that has failed to get off, for transporting other autonomous moving bodies 20 without stopping the operation of the car 10, and the decrease in the efficiency of transporting the autonomous moving body 20 by the elevator can be suppressed.

[0042] The notification unit 243 may request the second autonomous moving body 22 to respond as to whether or not to board the car 10 in which the disembarking failure of the first autonomous moving body 21 has been detected by the disembarking failure detection unit 242. In response to this request, when the second autonomous moving body 22 responds that it will board the car 10 in which the disembarking failure of the first autonomous moving body 21 has been detected, the cooperation control device 200 starts communication for the second autonomous moving body 22 to board the car 10.

[0043] Next, an operation example of the cooperation control device 200 configured as above will be described with reference to Fig. 4. When the first autonomous mobile body 21 fails to disembark from the car 10 (step S10), the first autonomous mobile body 21 transmits a disembarkation impossible signal to the cooperation control device 200. Then, the autonomous mobile body communication unit 210 of the cooperation control device 200 receives the disembarkation impossible signal from the first autonomous mobile body 21, and the disembarkation failure detection unit 242 detects the disembarkation failure of the first autonomous mobile body 21. In the following step S11, information for identifying the autonomous mobile body 20 that has failed to disembark and information for identifying the car 10 in which the autonomous mobile body 20 is riding are stored in the storage unit 230 of the cooperation control device 200. After step S11, the cooperation control device 200 next performs the process of step S12.

[0044] In step S12, the processing unit 240 of the cooperation control device 200 determines whether or not the autonomous mobile body communication unit 210 of the cooperation control device 200 has received a vehicle dispatch request signal from the second autonomous mobile body 22. If the vehicle dispatch request signal has not been received from the second autonomous mobile body 22, the series of operations ends. On the other hand, if the vehicle dispatch request signal has been received from the second autonomous mobile body 22, the cooperation control device 200 next performs the process of step S13.

[0045] In step S13, the call registration request unit 241 transmits a hall call registration request signal for the boarding floor indicated by the received dispatch request signal to the elevator control device 100. When the elevator control device 100 receives the hall call registration request signal, the hall call registration unit 110 registers a hall call for the boarding floor indicated by the hall call registration request signal. The car allocation unit 130 determines an allocated car for the registered hall call. Then, the allocated car information transmission unit 150 transmits the allocated car information to the cooperation control device 200. After step S13, the cooperation control device 200 next performs the process of step S14.

[0046] In step S14, the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information of the hall call registered by the second autonomous moving body 22. Then, the processing unit 240 determines whether or not the car 10 to be allocated to the second autonomous moving body 22 is the same as the car 10 from which the first autonomous moving body 21 failed to disembark, which is stored in the storage unit 230. If the car 10 to be allocated to the second autonomous moving body 22 is not the same as the car 10 from which the first autonomous moving body 21 failed to disembark, the series of operations ends. On the other hand, if the car 10 to be allocated to the second autonomous moving body 22 is the same as the car 10 from which the first autonomous moving body 21 failed to disembark, the cooperative control device 200 next performs the process of step S15.

[0047] In step S15, the processing unit 240 communicates with the second autonomous moving body 22 to confirm the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark. That is, the notification unit 243 notifies the second autonomous moving body 22 that the first autonomous moving body 21, whose disembarkation failure has been detected, is riding in the car 10 to be dispatched. In addition, at this time, the notification unit 243 requests the second autonomous moving body 22 to respond as to whether or not to ride in the car 10 from which the first autonomous moving body 21 failed to disembark. In the following step S16, the processing unit 240 confirms the response content of the second autonomous moving body 22 and determines whether or not the second autonomous moving body 22 has the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark. If the second autonomous moving body 22 does not have the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark, the series of operations is terminated. On the other hand, if the second autonomous moving body 22 has an intention to use the car 10 from which the first autonomous moving body 21 failed to disembark, the cooperation control device 200 then performs the process of step S17.

[0048] In step S17, the cooperative control device 200 starts communication for the second autonomous moving body 22 to board the car 10. When the processing of step S17 is completed, a series of operations ends. Note that FIG. 5 shows an example of the operation of the entire elevator system in this case.

[0049] The cooperative control device 200 may transmit information regarding the situation in the car 10 in which the disembarking failure of the first autonomous moving body 21 is detected to the second autonomous moving body 22. In this case, the first autonomous moving body 21 transmits a status notification to the cooperative control device 200. The status notification is, for example, a notification including information on the specifications of the first autonomous moving body 21, the state of the first autonomous moving body 21, the situation around the first autonomous moving body 21 (obstacles in the car 10, etc.). The cooperative control device 200 transmits, to the second autonomous moving body 22, an image of a camera capturing the inside of the car 10, information on the status notification transmitted from the first autonomous moving body 21, etc., as information regarding the situation in the car 10 in which the disembarking failure of the first autonomous moving body 21 is detected. In this way, information for determining whether or not to board the car 10 can be provided to the second autonomous moving body 22.

[0050] Next, a first modified example of the elevator system according to this embodiment will be described. In this first modified example, when a dispatch request is received from a second autonomous moving body 22 different from the first autonomous moving body 21 that has failed to disembark from the car 10, the notification unit 243 requests the second autonomous moving body to respond as to whether or not to board the disembarkation failed car. Here, the disembarkation failed car is the car 10 in which the disembarkation failure detection unit 242 has detected that the first autonomous moving body 21 has failed to disembark.

[0051] When the second autonomous moving body 22 responds that it will not board the disembarkation failed car, the cooperative control device 200 transmits an allocation target exclusion notification for the disembarkation failed car to the elevator control device 100 via the elevator communication unit 220. When the elevator control device 100 receives the allocation target exclusion notification, the car allocation unit 130 excludes the disembarkation failed car from the allocation target for the hall call due to the dispatch request of the second autonomous moving body 22. On the other hand, when the second autonomous moving body 22 responds that it will board the disembarkation failed car, the cooperative control device 200 does not transmit the allocation target exclusion notification to the elevator control device 100. Therefore, the car allocation unit 130 of the elevator control device 100 assigns a car 10 from among the multiple cars 10 including the disembarkation failed car to the hall call due to the dispatch request of the second autonomous moving body 22.

[0052] Next, an operation example of the cooperation control device 200 in the first modified example configured as above will be described with reference to Fig. 6. When the first autonomous mobile body 21 fails to disembark from the car 10 (step S20), the first autonomous mobile body 21 transmits a disembarkation impossible signal to the cooperation control device 200. Then, the autonomous mobile body communication unit 210 of the cooperation control device 200 receives the disembarkation impossible signal from the first autonomous mobile body 21, and the disembarkation failure detection unit 242 detects the disembarkation failure of the first autonomous mobile body 21. In the following step S21, information for identifying the autonomous mobile body 20 that has failed to disembark and information for identifying the car 10 in which the autonomous mobile body 20 is riding are stored in the storage unit 230 of the cooperation control device 200. After step S21, the cooperation control device 200 next performs the process of step S22.

[0053] In step S22, the processing unit 240 of the cooperation control device 200 determines whether or not the autonomous mobile body communication unit 210 of the cooperation control device 200 has received a vehicle dispatch request signal from the second autonomous mobile body 22. If the vehicle dispatch request signal from the second autonomous mobile body 22 has not been received, the series of operations ends. On the other hand, if the vehicle dispatch request signal from the second autonomous mobile body 22 has been received, the cooperation control device 200 next performs the process of step S23.

[0054] In step S23, the second autonomous moving body 22 is communicated with to confirm the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark. That is, the notification unit 243 notifies the second autonomous moving body 22 that the first autonomous moving body 21 has failed to disembark from the car 10. At this time, the notification unit 243 requests the second autonomous moving body 22 to respond as to whether or not to board the car 10 from which the first autonomous moving body 21 failed to disembark. In the following step S24, the processing unit 240 confirms the response content of the second autonomous moving body 22 and determines whether or not the second autonomous moving body 22 has the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark. If the second autonomous moving body 22 does not have the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark, the cooperation control device 200 next performs the process of step S24.

[0055] In step S24, the cooperative control device 200 transmits an allocation target exclusion notification for the car where disembarkation has failed to the elevator control device 100 via the elevator communication unit 220. When the elevator control device 100 receives the allocation target exclusion notification, the car allocation unit 130 excludes the car where disembarkation has failed from the allocation targets for hall calls due to the dispatch request of the second autonomous mobile body 22. When the processing of step S24 is completed, the series of operations ends.

[0056] On the other hand, in step S23, if the second autonomous moving body 22 has the intention to use the car 10 in which the first autonomous moving body 21 has failed to disembark, the cooperation control device 200 next performs the process of step S25. In step S25, the cooperation control device 200 does not transmit an allocation target exclusion notification to the elevator control device 100. In this case, the cooperation control device 200 may transmit an allocation target notification to the elevator control device 100. The allocation target notification is a notification that the disembarkation failed car may be an allocation target for a hall call due to a dispatch request of the second autonomous moving body 22. When the elevator control device 100 receives the allocation target notification, the car allocation unit 130 allocates a car 10 from among the multiple cars 10 including the disembarkation failed car to a hall call due to a dispatch request of the second autonomous moving body 22. When the process of step S25 is completed, the series of operations ends.

[0057] FIG. 7 shows another example of the operation of the cooperation control device 200 in the first modified example. In FIG. 7, the steps with the same reference numerals as those in FIG. 6 have the same contents as those with the same reference numerals in FIG. 6, and therefore the description thereof will be omitted. In this example, after step S20, the cooperation control device 200 next performs the process of step S26. In step S26, the cooperation control device 200 communicates with the first autonomous mobile body 21 to confirm the situation and the response policy. In this communication, the first autonomous mobile body 21 transmits at least one of information related to the first autonomous mobile body 21, such as the specifications, state, and surrounding situation of the first autonomous mobile body 21, to the cooperation control device 200. After step S26, the cooperation control device 200 next performs the process of step S21.

[0058] The specifications of the first autonomous moving body 21 refer to, for example, the size, weight, and the like of the first autonomous moving body 21. Information on the size of the first autonomous moving body 21 can be used, for example, to determine the spatial margin for the second autonomous moving body 22 to ride with the first autonomous moving body 21. Information on the weight of the first autonomous moving body 21 can be used, for example, for an elevator system to determine the weight margin of the car 10. The state of the first autonomous moving body 21 refers, for example, to whether the first autonomous moving body 21 is movable or not, whether it is communicable or not, and the like. Information on whether the first autonomous moving body 21 is movable or not can be used, for example, to determine whether a boarding space can be made available for a passenger to ride with the first autonomous moving body 21. Information on whether the first autonomous moving body 21 is communicable or not can be used, for example, to determine whether at least one of information such as the specifications, state, and surrounding conditions of the first autonomous moving body 21 can be transmitted to another autonomous moving body 20 or the like. The situation around the first autonomous moving body 21 includes, for example, the situation of obstacles (objects that may hinder the movement of the second autonomous moving body 22, etc.) inside the cage 10 in which the first autonomous moving body 21 is located, whether there are passengers on board, the number of passengers, the attributes of the passengers, the status of the passengers, etc.

[0059] Also, in this example, when a dispatch request signal is received from the second autonomous moving body 22 in step S22, the cooperation control device 200 next performs processing of step S27. In step S27, the notification unit 243 communicates with the second autonomous moving body 22 to confirm the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark. That is, the notification unit 243 notifies the second autonomous moving body 22 that the first autonomous moving body 21 has failed to disembark from the car 10. At this time, the notification unit 243 transmits to the second autonomous moving body 22 information on the first autonomous moving body 21 acquired in step S26, for example, at least one of the specifications, state, and surrounding circumstances of the first autonomous moving body 21. In addition, the notification unit 243 requests the second autonomous moving body 22 to answer whether or not to board the car 10 from which the first autonomous moving body 21 failed to disembark. After step S27, the cooperation control device 200 then performs the process of step S24.

[0060] According to the first modified example of the elevator system configured as described above, the second autonomous moving body 22 is asked whether or not to board the alighting failure car, which is the car 10 in which the first autonomous moving body 21 that has failed to alight is located, and a hall call can be assigned to the alighting failure car. Therefore, it is possible to use the car 10 in which the autonomous moving body 20 that has failed to alight is located to transport other autonomous moving bodies 20 without stopping the operation, and it is possible to suppress a decrease in the transportation efficiency of the autonomous moving body 20 by the elevator. Furthermore, at this time, by providing information about the first autonomous moving body 21 to the second autonomous moving body 22, the second autonomous moving body 22 can use at least one of information about the first autonomous moving body 21, for example, information about the specifications, state, and surrounding situation (such as the situation inside the alighting failure car) of the first autonomous moving body 21, as a criterion for determining whether or not to board the alighting failure car, and it is possible to more appropriately determine whether or not to board.

[0061] Next, a second modified example of the elevator system according to this embodiment will be described. In this second modified example, the processing unit 240 of the cooperative control device 200 further includes an alighting-failed car travel instruction unit 244, as shown in Fig. 8. The alighting-failed car travel instruction unit 244 transmits a signal to the elevator control device 100 instructing the alighting-failed car to travel to the designated floor. More specifically, the alighting-failed car travel instruction unit 244 generates a travel instruction signal instructing the alighting-failed car to travel to the designated floor. Then, the elevator communication unit 220 transmits the travel instruction signal to the elevator control device 100.

[0062] When the elevator control device 100 receives the travel instruction signal, the car control unit 140 that controls the disembarkation failed car causes the disembarkation failed car to travel to the designated floor. The designated floor is a rescue floor where the first autonomous moving body 21 in the disembarkation failed car is rescued. The rescue floor may be set in advance, or may be set each time the travel instruction signal is transmitted. The rescue floor may be, for example, a floor where another autonomous moving body 20 that will rescue the first autonomous moving body 21, a maintenance worker, or the like is waiting.

[0063] In this case, the elevator manager or the like may be able to check the detection result by the alighting failure detection unit 242 on a terminal device or the like (not shown) communicably connected to the cooperative control device 200. The alighting failure car travel instruction unit 244 may transmit a travel instruction signal to the alighting failure car by operation of the elevator manager or the like. Furthermore, when the alighting failure car travels to the designated floor and rescue of the first autonomous moving body 21 is completed, the alighting failure detection state by the alighting failure detection unit 242 may be reset so that the alighting failure car can be restored to a normal state.

[0064] In addition, in this second modified example, the processing unit 240 of the cooperative control device 200 may further include a rescue request unit 245, as shown in Fig. 8. When the alighting failure detection unit 242 detects alighting failure of the first autonomous moving body 21 and the cooperative control device 200 does not receive the above-mentioned state notification from the first autonomous moving body 21, it is difficult to grasp the state of the first autonomous moving body 21. Therefore, in such a case, the rescue request unit 245 notifies a terminal device of the elevator manager or the like and requests a rescue.

[0065] Next, with reference to Fig. 9 to Fig. 11, an operation example of the cooperation control device 200 in the second modified example configured as above will be described. As shown in Fig. 9, when the first autonomous mobile body 21 fails to disembark from the car 10 (step S30), the first autonomous mobile body 21 transmits a disembarkation impossible signal to the cooperation control device 200. Then, the autonomous mobile body communication unit 210 of the cooperation control device 200 receives the disembarkation impossible signal from the first autonomous mobile body 21, and the disembarkation failure detection unit 242 detects the disembarkation failure of the first autonomous mobile body 21. In the following step S31, the cooperation control device 200 communicates with the first autonomous mobile body 21 to confirm the situation and the response policy. In this communication, the first autonomous mobile body 21 transmits information such as its own specifications, its own state, and its surrounding situation to the cooperation control device 200. After step S31, the cooperation control device 200 next performs the process of step S32.

[0066] In step S32, information identifying the first autonomous moving body 21 that failed to disembark and information identifying the car 10 in which the first autonomous moving body 21 was riding are stored in the storage unit 230 of the cooperative control device 200. Information on the specifications, state, surrounding conditions, etc. of the first autonomous moving body 21 transmitted from the first autonomous moving body 21 is also stored in the storage unit 230. After step S32, the cooperative control device 200 then performs processing of step S33.

[0067] In step S33, the cooperative control device 200 transmits to a terminal device or the like the detection result by the disembarking failure detection unit 242, information identifying the first autonomous moving body 21 that has failed to disembark and stored in the storage unit 230, information identifying the car 10 in which the first autonomous moving body 21 is riding, and information such as the specifications, state, and surrounding conditions of the first autonomous moving body 21. In the following step S34, the processing unit 240 determines whether or not there is a car 10 in which the autonomous moving body 20 has failed to disembark. If there is no car 10 in which the autonomous moving body 20 has failed to disembark, the series of operations ends. On the other hand, if there is a car 10 in which the autonomous moving body 20 has failed to disembark, the cooperative control device 200 next performs the process of step S35.

[0068] In step S35, the cooperative control device 200 enables the function of the alighting-failed car running instruction unit 244. This allows the elevator manager or the like to cause the alighting-failed car running instruction unit 244 to transmit a running instruction signal to the alighting-failed car, and to run the alighting-failed car to a designated floor. When the processing of step S35 is completed, the series of operations ends.

[0069] Next, as shown in FIG. 10, in step S40, if the elevator manager or the like can confirm that the state in which the first autonomous moving body 21 failed to disembark for the disembarkation-failed car has been resolved, the manager or the like resets the detection state of the disembarkation failure by the disembarkation failure detection unit 242 and cancels the disembarkation failure state for the car 10 (step S41).

[0070] 11, when the first autonomous mobile body 21 fails to disembark from the car 10 (step S50), the first autonomous mobile body 21 transmits an alighting failure signal to the coordinated control device 200. Then, the autonomous mobile body communication unit 210 of the coordinated control device 200 receives the alighting failure signal from the first autonomous mobile body 21, and the alighting failure detection unit 242 detects the alighting failure of the first autonomous mobile body 21. In the following step S51, the processing unit 240 determines whether the coordinated control device 200 has received the above-mentioned state notification transmitted from the first autonomous mobile body 21. If the coordinated control device 200 does not receive the state notification transmitted from the first autonomous mobile body 21, the coordinated control device 200 next performs the process of step S52, and the rescue request unit 245 notifies a terminal device of the elevator manager or the like and requests a rescue.

[0071] On the other hand, if the cooperation control device 200 receives a state notification transmitted from the first autonomous mobile body 21 in step S51, the cooperation control device 200 then performs processing of step S53. In step S53, the contents of the state notification transmitted from the first autonomous mobile body 21, that is, information such as the specifications, state, and surrounding circumstances of the first autonomous mobile body 21, are stored in the storage unit 230 of the cooperation control device 200. After steps S52 and S53, the cooperation control device 200 then performs processing of step S54.

[0072] In step S54, the fact that the first autonomous moving body 21 has failed to disembark, information identifying the first autonomous moving body 21 that has failed to disembark, and information identifying the car 10 in which the first autonomous moving body 21 is riding are stored in the storage unit 230. When the processing of step S54 is completed, the series of operations ends.

[0073] According to the second modification of the elevator system configured as above, the first autonomous moving body 21 that has failed to disembark from the car 10 can be quickly rescued, and the car 10 can be restored to a normal state. This makes it possible to suppress a decrease in the transportation efficiency of the autonomous moving body 20 due to a decrease in the utilization rate of the car 10 in which the autonomous moving body 20 that has failed to disembark is located.

[0074] Next, a third modified example of the elevator system according to this embodiment will be described. In this third modified example, when the second autonomous moving body 22 responds that it will board the car 10 in which the first autonomous moving body 21 that has failed to disembark is located, the notification unit 243 of the cooperative control device 200 notifies the first autonomous moving body 21 that the second autonomous moving body 22 will board the car in which the disembarkation has failed. This allows the first autonomous moving body 21 to move, if possible, so as not to impede the second autonomous moving body 22 from boarding or disembarking the car 10. At this time, the notification unit 243 may transmit a signal to the first autonomous moving body 21 to instruct an appropriate waiting position in the car 10. In addition, the notification unit 243 may transmit a signal to the second autonomous moving body 22 to instruct an appropriate waiting position in the car 10 based on the position of the first autonomous moving body 21 in the car 10, etc.

[0075] Next, an operation example of the cooperative control device 200 in the third modified example configured as above will be described with reference to FIG. 12. When the first autonomous mobile body 21 fails to disembark from the car 10 (step S60), the first autonomous mobile body 21 transmits a disembarkation impossible signal to the cooperative control device 200. Then, the autonomous mobile body communication unit 210 of the cooperative control device 200 receives the disembarkation impossible signal from the first autonomous mobile body 21, and the disembarkation failure detection unit 242 detects the disembarkation failure of the first autonomous mobile body 21. In the following step S61, the cooperative control device 200 communicates with the first autonomous mobile body 21 to confirm the situation and the response policy. In this communication, the first autonomous mobile body 21 transmits information such as its own specifications, its own state, and its surrounding situation to the cooperative control device 200. After step S61, the cooperative control device 200 next performs the process of step S62.

[0076] In step S62, the cooperative control device 200 communicates with the second autonomous moving body 22 to confirm the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark. That is, the notification unit 243 notifies the second autonomous moving body 22 that the first autonomous moving body 21 has failed to disembark from the car 10. At this time, the notification unit 243 requests the second autonomous moving body 22 to respond as to whether or not to board the car 10 from which the first autonomous moving body 21 failed to disembark. Then, the processing unit 240 confirms the response content of the second autonomous moving body 22 and determines whether or not the second autonomous moving body 22 has the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark. If the second autonomous moving body 22 has the intention to use the car 10 from which the first autonomous moving body 21 failed to disembark, the cooperative control device 200 next performs processing of step S63.

[0077] In step S63, the notification unit 243 notifies the first autonomous moving body 21 that the second autonomous moving body 22 will board the disembarkation failed car. In addition, the notification unit 243 transmits a signal to the first autonomous moving body 21 to instruct the first autonomous moving body 21 to an appropriate waiting position in the car 10. In the following step S64, the notification unit 243 transmits a signal to the second autonomous moving body 22 to instruct the second autonomous moving body 22 to an appropriate waiting position in the car 10. Note that the order of the processing of steps S63 and S64 does not matter. Also, these steps may be performed simultaneously in parallel. When the processing of steps S63 and S64 is completed, the series of operations ends.

[0078] According to the third modification of the elevator system configured as above, when an autonomous moving body 20 that has failed to disembark from a car 10 is in the car 10 and another autonomous moving body 20 gets on, interference between these autonomous moving bodies 20 can be suppressed, and smooth use can be supported. This promotes smooth use of the car 10 in which the autonomous moving body 20 that has failed to disembark is in, and suppresses a decrease in the transportation efficiency of the autonomous moving body 20.

[0079] FIG. 13 is a diagram showing an example of a configuration for realizing the respective functions of the cooperation control device 200 and the elevator control device 100 in this embodiment. The respective functions of the cooperation control device 200 and the elevator control device 100 are realized, for example, by a processing circuit. The processing circuit may include a processor 1 and a memory 2. The processing circuit may be dedicated hardware 3. A part of the processing circuit may be formed as the dedicated hardware 3, and the processing circuit may further include a processor 1 and a memory 2. In the example shown in the figure, a part of the processing circuit is formed as the dedicated hardware 3. Also, in the example shown in the figure, the processing circuit further includes a processor 1 and a memory 2.

[0080] The processing circuit, part of which is at least one dedicated hardware 3, may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these. When the processing circuit includes at least one processor 1 and at least one memory 2, the functions of the cooperative control device 200 and the elevator control device 100 are realized by software, firmware, or a combination of software and firmware.

[0081] The software and firmware are written as programs and stored in the memory 2. The processor 1 realizes the functions of each part by reading and executing the programs stored in the memory 2. The processor 1 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 2 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, or a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD.

[0082] In this way, the processing circuits of the coordination control device 200 and the elevator control device 100 can realize each function of the coordination control device 200 and the elevator control device 100 by hardware, software, firmware, or a combination of these. When the processing circuits of the coordination control device 200 and the elevator control device 100 each include at least a processor 1 and a memory 2, the processor 1 executes a program stored in the memory 2 in the coordination control device 200 and the elevator control device 100, and the hardware and software of the coordination control device 200 and the elevator control device 100 work together to realize the functions of each unit included in the coordination control device 200 and the elevator control device 100.

[0083] The elevator cooperative control method according to this embodiment is executed by a computer of the cooperative control device 200 that is provided so as to be able to communicate with the elevator control device 100. As is clear from the above description, the elevator cooperative control method according to this embodiment includes at least a call registration request step, a detection step, and a notification step. In the call registration request step, the cooperative control device 200 transmits a hall call registration request for a boarding floor to the elevator control device 100 in response to a dispatch request from each of the autonomous moving bodies 20, and the elevator control device 100 registers a hall call for a boarding floor in response to the hall call registration request, dispatches a car 10 for the registered hall call, and transmits car information identifying the car 10 dispatched to the hall call to the cooperative control device 200. In the detection step, the cooperative control device 200 detects a failure of disembarking from the car 10 of the first autonomous moving body 21 of the autonomous moving bodies 20 when the first autonomous moving body 21 does not disembark from the car 10 at the disembarking floor. In the notification step, when the car 10 identified by the car information of the hall call registered by a second autonomous mobile body 22 different from the first autonomous mobile body 21 among the multiple autonomous mobile bodies 20 is the same as the car in which the disembarkation failure of the first autonomous mobile body 21 was detected in the detection step, the coordinated control device 200 notifies the second autonomous mobile body 22 that an autonomous mobile body 20 other than the second autonomous mobile body 22 is present in the car 10.

[0084] Alternatively, as is clear from the above description, the elevator cooperative control method according to this embodiment includes at least a call registration request step, a detection step, and a notification step. In the call registration request step, the cooperative control device 200 transmits a hall call registration request for a boarding floor to the elevator control device 100 in response to a dispatch request from each of the autonomous mobile bodies. The elevator control device 100 registers a hall call for a boarding floor in response to the hall call registration request, assigns a car 10 from among the multiple cars 10 to the registered hall call, and transmits assigned car information that identifies the car 10 assigned to the hall call to the cooperative control device 200. In the detection step, the cooperative control device 200 detects a failure of a first autonomous mobile body 21 to alight from the car 10 when the first autonomous mobile body 21 of the autonomous mobile bodies 20 does not alight from the car 10 at a disembarking floor. In the notification step, when a dispatch request is received from a second autonomous moving body 22 different from the first autonomous moving body 21 among the multiple autonomous moving bodies 20, the cooperative control device 200 requests the second autonomous moving body 22 to respond as to whether or not to board the disembarkation failed car, which is the car 10 in which the disembarkation failure of the first autonomous moving body 21 was detected in the detection step. When the second autonomous moving body 22 responds that it will board the disembarkation failed car, the elevator control device assigns a car 10 from the multiple cars 10 including the disembarkation failed car to the hall call due to the dispatch request of the second autonomous moving body 22.

[0085] The elevator cooperative control program according to this embodiment is for causing the computer of the cooperative control device 200 to execute the above-mentioned elevator cooperative control method. Moreover, the storage medium according to this embodiment stores such an elevator cooperative control program.

[0086] In addition, in the present disclosure, the respective embodiments may be arbitrarily combined without departing from the spirit of the present disclosure. Examples of various aspects of the present disclosure are summarized below as appendices. (Appendix 1) An elevator linkage control device that is capable of communicating with an elevator control device that controls an elevator car, a call registration request unit that transmits a hall call registration request for the boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies; A detection unit; A notification unit, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, dispatches the car to the registered hall call, and transmits car information identifying the car dispatched to the hall call; the detection unit detects a failure of a first autonomous moving body among the plurality of autonomous moving bodies to disembark from the car when the first autonomous moving body does not disembark from the car at a disembarking floor; The notification unit is an elevator linkage control device that, when the car identified by the car information of the hall call registered by a second autonomous moving body different from the first autonomous moving body among the multiple autonomous moving bodies is the same as the car in which the detection unit detected a disembarkation failure of the first autonomous moving body, notifies the second autonomous moving body that there is an autonomous moving body other than the second autonomous moving body in the car. (Appendix 2) The elevator control device controls the plurality of cars, and assigns one of the plurality of cars to the registered hall call; 2. The elevator cooperation control device according to claim 1, wherein the car information is assigned car information that identifies the car assigned to the hall call. (Appendix 3) The elevator linkage control device according to claim 1 or 2, wherein the notification unit requests the second autonomous moving body to respond as to whether or not to board the car in which a disembarkation failure of the first autonomous moving body has been detected by the detection unit. (Appendix 4) 4. The elevator cooperation control device according to claim 1, wherein the notification unit notifies the second autonomous moving body of information about the first autonomous moving body. (Appendix 5) The elevator linkage control device according to claim 4, wherein the notification unit notifies the second autonomous moving body of at least one of a state, a specification, and a surrounding situation of the first autonomous moving body as information regarding the first autonomous moving body. (Appendix 6) An elevator linkage control device that is provided to be able to communicate with an elevator control device that controls multiple elevator cars, a call registration request unit that transmits a hall call registration request for the boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies; A detection unit; A notification unit, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, assigns one of the plurality of cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call; the detection unit detects a failure of a first autonomous moving body among the plurality of autonomous moving bodies to disembark from the car when the first autonomous moving body does not disembark from the car at a disembarking floor; the notification unit, when a dispatch request is received from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, requests the second autonomous moving body to respond as to whether or not to board an alighting failure car, which is the car in which alighting failure of the first autonomous moving body is detected by the detection unit, The elevator control device is an elevator cooperation control device that, when the second autonomous moving body responds that it will board the car in which disembarkation has failed, assigns a car from among the multiple cars including the car in which disembarkation has failed to occur to the hall call due to the dispatch request of the second autonomous moving body. (Appendix 7) 7. The elevator cooperation control device according to any one of Supplementary Note 1 to Supplementary Note 6, further comprising an alighting failure car running instruction unit that transmits a signal to the elevator control device to instruct the car, for which alighting failure of the first autonomous moving body has been detected by the detection unit, to run to a designated floor. (Appendix 8) An elevator linkage control device according to any one of Supplementary Note 1 to Supplementary Note 7; The elevator control device; An elevator system comprising: a plurality of the autonomous moving bodies. (Appendix 9) An elevator linkage control method executed by a computer of an elevator linkage control device provided to be able to communicate with an elevator control device that controls an elevator car, comprising: a call registration request step of transmitting a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies; A detection step; A notification step, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, dispatches the car to the registered hall call, and transmits car information identifying the car dispatched to the hall call; The detection step includes detecting a failure of a first autonomous moving body to disembark from the car when the first autonomous moving body among the plurality of autonomous moving bodies does not disembark from the car at a disembarking floor, The notification step is an elevator linkage control method in which, when the car identified by the car information of the hall call registered by a second autonomous mobile body different from the first autonomous mobile body among the multiple autonomous mobile bodies is the same as the car in which a disembarkation failure of the first autonomous mobile body was detected in the detection step, the second autonomous mobile body is notified that an autonomous mobile body other than the second autonomous mobile body is present in the car. (Appendix 10) An elevator linkage control method executed by a computer of an elevator linkage control device provided to be able to communicate with an elevator control device that controls an elevator car, comprising: a call registration request step of transmitting a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies; A detection step; A notification step, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, assigns one of the plurality of cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call; The detection step includes detecting a failure of a first autonomous moving body to disembark from the car when the first autonomous moving body among the plurality of autonomous moving bodies does not disembark from the car at a disembarking floor, The notification step, when a dispatch request is received from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, requests the second autonomous moving body to respond as to whether or not to board an alighting failure car, which is the car in which alighting failure of the first autonomous moving body is detected in the detection step, The elevator control device, when the second autonomous moving body responds that it will board the car in which disembarkation has failed, assigns a car from among the plurality of cars including the car in which disembarkation has failed to occur in response to the hall call due to the dispatch request of the second autonomous moving body, in the elevator linkage control method. (Appendix 11) An elevator cooperation control program for causing a computer of the elevator cooperation control device to execute the elevator cooperation control method according to claim 9 or 10. [Explanation of symbols]

[0087] 1 processor 2. Memory 3. Dedicated Hardware 10 Basket 20 Autonomous Mobile Vehicles 21 First autonomous mobile unit 22 Second autonomous mobile unit 100 Elevator control device 110 Platform call registration unit 120 Car call registration unit 130 Cage Allocation Department 140 Cage control unit 150 Allocated cage information transmission unit 200 Linkage control device 210 Autonomous Mobile Communication Unit 220 Elevator Communication Unit 230 Storage section 240 Processing section 241 Call registration request section 242 Failure to get off detection unit 243 Notification Department 244 Failed to get off car running instruction unit 245 Rescue Request Department 250 Door opening / closing control unit 300 Repeater

Claims

1. An elevator linkage control device that is capable of communicating with an elevator control device that controls an elevator car, a call registration request unit that transmits a hall call registration request for the boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies; A detection unit; A notification unit, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, dispatches the car to the registered hall call, and transmits car information identifying the car dispatched to the hall call; the detection unit detects a failure of a first autonomous moving body among the plurality of autonomous moving bodies to disembark from the car when the first autonomous moving body does not disembark from the car at a disembarking floor; The notification unit is an elevator linkage control device that, when the car identified by the car information of the hall call registered by a second autonomous mobile body different from the first autonomous mobile body among the multiple autonomous mobile bodies is the same as the car in which the detection unit detected a disembarkation failure of the first autonomous mobile body, notifies the second autonomous mobile body that there is an autonomous mobile body other than the second autonomous mobile body in the car.

2. The elevator control device controls the plurality of cars, and assigns one of the plurality of cars to the registered hall call; The elevator cooperation control device according to claim 1 , wherein the car information is assigned car information that identifies the car assigned to the hall call.

3. The elevator linkage control device according to claim 1 , wherein the notification unit requests the second autonomous moving body to respond as to whether or not to board the car in which a disembarkation failure of the first autonomous moving body has been detected by the detection unit.

4. The elevator cooperation control device according to claim 1 , wherein the notification unit notifies the second autonomous moving body of information related to the first autonomous moving body.

5. The elevator linkage control device according to claim 4 , wherein the notification unit notifies the second autonomous moving body of at least one of a state, a specification, and a surrounding situation of the first autonomous moving body as the information regarding the first autonomous moving body.

6. An elevator linkage control device that is provided to be able to communicate with an elevator control device that controls multiple elevator cars, a call registration request unit that transmits a hall call registration request for the boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies; A detection unit; A notification unit, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, assigns one of the plurality of cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call; the detection unit detects a failure of a first autonomous moving body among the plurality of autonomous moving bodies to disembark from the car when the first autonomous moving body does not disembark from the car at a disembarking floor; the notification unit, when a dispatch request is received from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, requests the second autonomous moving body to respond as to whether or not to board an alighting failure car, which is the car in which alighting failure of the first autonomous moving body is detected by the detection unit, The elevator control device is an elevator linkage control device that, when the second autonomous mobile body responds that it will board the car in which disembarkation has failed, assigns a car from among the multiple cars including the car in which disembarkation has failed to occur to the hall call due to the dispatch request of the second autonomous mobile body.

7. 7. The elevator cooperation control device according to claim 1, further comprising a disembarkation failure car running instruction unit that transmits a signal to the elevator control device instructing the car, in which a disembarkation failure of the first autonomous moving body is detected by the detection unit, to run to a designated floor.

8. An elevator linkage control device according to any one of claims 1 to 6, The elevator control device; An elevator system comprising: a plurality of the autonomous moving bodies.

9. An elevator linkage control method executed by a computer of an elevator linkage control device provided to be able to communicate with an elevator control device that controls an elevator car, comprising: a call registration request step of transmitting a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies; A detection step; A notification step, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, dispatches the car to the registered hall call, and transmits car information identifying the car dispatched to the hall call; The detection step includes detecting a failure of a first autonomous moving body among the plurality of autonomous moving bodies to disembark from the car when the first autonomous moving body does not disembark from the car at a disembarking floor, The notification step is an elevator linkage control method in which, when the car identified by the car information of the hall call registered by a second autonomous mobile body different from the first autonomous mobile body among the multiple autonomous mobile bodies is the same as the car in which a disembarkation failure of the first autonomous mobile body was detected in the detection step, the second autonomous mobile body is notified that an autonomous mobile body other than the second autonomous mobile body is present in the car.

10. An elevator linkage control method executed by a computer of an elevator linkage control device provided to be able to communicate with an elevator control device that controls an elevator car, comprising: a call registration request step of transmitting a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from each of a plurality of autonomous moving bodies; A detection step; A notification step, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, assigns one of the plurality of cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call; The detection step includes detecting a failure of a first autonomous moving body among the plurality of autonomous moving bodies to disembark from the car when the first autonomous moving body does not disembark from the car at a disembarking floor, The notification step, when a dispatch request is received from a second autonomous moving body different from the first autonomous moving body among the plurality of autonomous moving bodies, requests the second autonomous moving body to respond as to whether or not to board an alighting failure car, which is the car in which alighting failure of the first autonomous moving body is detected in the detection step, The elevator control device, when the second autonomous mobile body responds that it will board the car in which disembarkation has failed, assigns a car from among the multiple cars including the car in which disembarkation has failed to occur in response to the hall call due to the dispatch request of the second autonomous mobile body.

11. An elevator cooperation control program for causing a computer of the elevator cooperation control device to execute the elevator cooperation control method according to claim 9 or 10.

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