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

Abstract

To enable equipment with which an autonomous mobile body communicates. to grasp a state that the autonomous mobile body has get off the car of an elevator on a floor other than the destination floor.SOLUTION: A control device 6 manages operation of a car 5. When a getting-off determination unit 35 determines that an autonomous mobile body 4 has got off the car 5 on a floor other than a destination floor Fd, a getting-off notification unit 36 transmits, to an interlocking device 3, a wrong floor getting-off notice. When a door 7 of the car 5 with the autonomous mobile body 4 on board, opens on the destination floor Fd, a getting-on / off request unit 17 transmits, to the autonomous mobile body 4, a getting-off request. When receiving the wrong floor getting-off notice before the getting-on / off request unit 17 transmits a getting-off request, a getting-off determination unit 19 determines that the autonomous mobile body 4 has got off the car 5 on the floor other than the destination floor Fd.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Patent Document 1 describes an elevator system. The elevator system described in Patent Document 1 includes a robot, a robot server, and an elevator car. The robot server communicates with the robot. The robot can ride in the car and move to a desired floor. [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 an elevator system equipped with an autonomous mobile object, when the autonomous mobile object is in the car and travels to a destination floor, the autonomous mobile object may get off the car at a floor other than the destination floor. In a conventional system, when the autonomous mobile object gets off the car at a floor other than the destination floor, the device that communicates with the autonomous mobile object cannot know this.

[0005] The present disclosure has been made to solve the above-mentioned problems. An object of the present disclosure is to provide an elevator system that can recognize, in a device that communicates with an autonomous moving body, that the autonomous moving body has exited the car at a floor other than the destination floor. Another object of the present disclosure is to provide an interlocking device, a control method for the interlocking 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 the car, and an interlocking device that communicates with the autonomous mobile body and the control device. The autonomous mobile body includes a first alighting determination unit that determines whether or not a passenger has alighted from the car at a floor other than the first destination floor when the car is heading to a first destination floor, and an alighting notification unit that transmits a different floor alighting notification to the interlocking device when the first alighting determination unit determines that a passenger has alighted from the car at a floor other than the first destination floor. The interlocking device includes an alighting request unit that transmits an alighting request to the autonomous mobile body when a door of the car carrying the autonomous mobile body opens at the first destination floor, and a second alighting determination unit that determines that the autonomous mobile body has alighted from the car at a floor other than the first destination floor when the alighting request unit receives the different floor alighting notification before transmitting the alighting request.

[0007] The interlocking device according to the present disclosure is an interlocking device capable of communicating with an autonomous moving body and a control device that manages the operation of a car. The interlocking device includes an alighting request unit that transmits an alighting request to the autonomous moving body when a door of a car carrying the autonomous moving body heading for a first destination floor opens at the first destination floor, and an identification unit that identifies the floor at which the autonomous moving body alighted from the car when the alighting request unit receives a different floor alighting notification indicating that the autonomous moving body heading for the first destination floor in the car alighted from the car at a floor other than the first destination floor before transmitting the alighting request.

[0008] A control method for an interlocking device according to the present disclosure is a control method for an interlocking device capable of communicating with an autonomous moving body and a control device that manages the operation of a car. The control method includes an alighting request step of transmitting an alighting request to the autonomous moving body when a door of a car carrying the autonomous moving body heading for a first destination floor opens at the first destination floor, and a specifying step of specifying the floor at which the autonomous moving body has alighted from the car when a different floor alighting notification indicating that the autonomous moving body has alighted from the car at a floor other than the first destination floor is received from the autonomous moving body heading for the first destination floor in the car before the alighting request is transmitted in the alighting request step.

[0009] The program of the present disclosure is a program for causing an autonomous moving body, a control device that manages the operation of a cage, and a computer capable of communication to execute an alighting request process that sends a disembarking request to the autonomous moving body when the door of the cage carrying the autonomous moving body heading for a first destination floor opens at the first destination floor, and an identification process that identifies the floor at which the autonomous moving body has disembarked when a different floor alighting notification is received from the autonomous moving body heading for the first destination floor in the cage, indicating that the autonomous moving body has disembarked at a floor other than the first destination floor, before the alighting request is sent in the alighting request process. Effect of the Invention

[0010] According to the present disclosure, in a device that communicates with an autonomous moving body, it becomes possible to know that the autonomous moving body has exited the car at a floor other than the destination floor. [Brief description of the drawings]

[0011] [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] 13 is a flowchart showing an example of the operation of the relay device. [Figure 4] 10 is a flowchart showing another example of the operation of the interlocking device. [Diagram 5] 10 is a flowchart showing an example of the operation of an autonomous moving body. [Figure 6] 10 is a flowchart showing another example of the operation of the interlocking device. [Figure 7] 10 is a flowchart showing another example of the operation of the interlocking device. [Figure 8] 10 is a flowchart showing another example of the operation of the control device. [Figure 9] FIG. 2 illustrates an example of hardware resources of an interlocking device. [Figure 10] FIG. 13 is a diagram illustrating another example of hardware resources of the interlocking device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 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.

[0013] 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, an autonomous moving body 4, and a relay device 8. 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] The interlocking device 3 is capable of bidirectional communication with the control device 6 via the relay device 8. 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 acts as an intermediary between the autonomous moving body 4 and the control device 6.

[0018] The relay device 8 mediates between the interlocking device 3 and the control device 6. The relay device 8 is capable of two-way communication with the control device 6. The relay device 8 is capable of two-way communication with the interlocking device 3. Note that the elevator system 1 does not need to include the relay device 8. If the elevator system 1 does not include the relay device 8, the interlocking device 3 communicates directly with the control device 6.

[0019] 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, a reception processing unit 15, a door request unit 16, a boarding / alighting request unit 17, a door determination unit 18, an alighting determination unit 19, an identification unit 20, and a floor notification unit 21.

[0020] 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 relay device 8. The call request unit 14 is a function for requesting the control device 6 to register a call via the relay device 8. The door request unit 16 is a function for making a request to the control device 6 to open and close the door 7 via the relay device 8. 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 includes 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. That is, the alighting request unit is a part of the function of the boarding and alighting request unit 17.

[0021] 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.

[0022] The autonomous moving body 4 includes a communication unit 31, an information providing unit 32, an operation control unit 33, a vehicle dispatch request unit 34, a vehicle disembarking determination unit 35, and a vehicle disembarking notification unit 36.

[0023] 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 about 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, 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.

[0024] 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.

[0025] The control device 6 includes a communication unit 41, an information providing unit 42, a determination unit 43, an allocation notification unit 44, and an operation control unit 45.

[0026] The communication unit 41 is a function for communicating with the relay device 8. The information providing unit 42 is a function for acquiring information about the car 5 and providing it to the outside. Hereinafter, the information is also referred to as car information. The information providing unit 42 can acquire car information about each car 5 provided in the elevator device 2 and provide 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 regarding 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.

[0027] 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.

[0028] The relay device 8 includes a storage unit 50, a communication unit 51, a communication unit 52, a recording unit 53, and an information providing unit .

[0029] 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 providing the car information stored in the memory unit 50 to the outside. The information providing unit 54 may provide the car information of a specific car 5 to the outside, or may provide the car information of all cars 5 to the outside.

[0030] 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.

[0031] 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.

[0032] In the interlocking device 3, it is determined whether or not moving body information has been received from the autonomous moving body 4 (S101). In the autonomous moving body 4, the information providing unit 32 transmits the moving body information from the communication unit 31 to the interlocking device 3 at a specific period. The autonomous moving body 4 may transmit the moving body information every time the content of the moving body information is 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.

[0033] 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.

[0034] FIG. 3 is a flowchart showing an example of the operation of the relay device 8.

[0035] The relay device 8 determines whether or not car information has been received from the control device 6 (S201). In the control device 6, 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 relay device 8 at a specific period. The control device 6 may transmit car information every time the contents of the car information are changed. The communication unit 51 in the relay device 8 receives the car information from the control device 6. When the communication unit 51 receives the car information, a determination of Yes is made in S201.

[0036] If the result of S201 is Yes, the recording unit 53 records the car information received by the communication unit 51 in the storage unit 50 (S202). As a result, the storage unit 50 accumulates the car information of each car 5 provided in the elevator device 2.

[0037] FIG. 4 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 relay device 8 (S301). In the relay device 8, under certain conditions, the information providing unit 54 transmits the car information stored in the memory unit 50 from the communication unit 52 to the interlocking device 3. As an example, the information providing unit 54 transmits the latest car information stored in the memory unit 50 for each of the multiple cars 5 provided in the elevator device 2 to the interlocking device 3 at a specific period. As another example, the information providing unit 54 transmits the latest car information stored in the memory unit 50 for the car 5 that responds to the call registration request to the interlocking device 3 at a specific period. The car information may be transmitted from the relay device 8 every time the contents of the car information are changed. The car information from the relay device 8 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] When it is determined as Yes in S301, the recording unit 13 records the car information received by the communication unit 12 in the storage unit 10 (S302). As a result, the storage unit 10 accumulates the car information.

[0040] When the elevator system 1 does not include the relay device 8, it is preferable that the car information of each car 5 provided in the elevator device 2 is provided from the control device 6 to the interlocking device 3.

[0041] Next, an operation of the autonomous moving body 4 when it moves while riding in the car 5 will be described. FIG 5 is a flowchart showing an example of the operation of the autonomous moving body 4.

[0042] When the autonomous moving body 4 needs to travel in the car 5, it moves to the elevator landing. Then, the dispatch request unit 34 transmits a dispatch request from the communication unit 31 to the interlocking device 3 (S401). The dispatch request is a request from the autonomous moving body 4 to travel in the car 5. The dispatch request includes information on the boarding floor Fr and the destination floor Fd. The boarding floor Fr is the floor where the autonomous moving body 4 boards the car 5. The destination floor Fd is the floor where the autonomous moving body 4 gets off the car 5. As an example, the boarding floor Fr is the first floor and the destination floor Fd is the fifth floor.

[0043] Figures 6 and 7 are flow charts showing another example of the operation of the interlocking device 3. Figures 6 and 7 show a series of operation flows.

[0044] The interlocking device 3 determines whether or not a vehicle dispatch request has been received from the autonomous moving body 4 (S501). When the communication unit 11 receives the vehicle dispatch request transmitted from the autonomous moving body 4 in S401, the result of S501 is determined as Yes.

[0045] If S501 is determined to be Yes, the reception processing unit 15 performs reception processing for the dispatch request received by the communication unit 11 in S501 (S502). As a result, for example, the identification information of the autonomous moving body 4 and information indicating the boarding floor Fr and the destination floor Fd are stored in the storage unit 10 in association with each other.

[0046] Also, if S501 is determined to be Yes, the call request unit 14 transmits a call registration request corresponding to the dispatch request received by the communication unit 11 in S501 to the control device 6 via the relay device 8 (S503). The call registration request is a request to the control device 6 to register a hall call and a destination call. The call registration request includes information on the boarding floor Fr and the destination floor Fd.

[0047] Specifically, in S503, the call request unit 14 transmits a call registration request to the relay device 8. In the relay device 8, when the communication unit 52 receives the call registration request transmitted from the interlocking device 3 in S503, the communication unit 51 transfers the call registration request to the control device 6.

[0048] FIG. 8 is a flowchart showing another example of the operation of the control device 6.

[0049] The control device 6 judges whether or not a call registration request has been received from the relay device 8 (S601). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 via the relay device 8 in S503, the result of S601 is determined as Yes.

[0050] If S601 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 S601 (S602). 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.

[0051] When the determination unit 43 determines the assigned car 5 in S602, the allocation notification unit 44 transmits an assigned car notification from the communication unit 41 to the interlocking device 3 via the relay device 8 (S603). The assigned car notification includes information indicating the assigned car 5 determined by the determination unit 43. Specifically, the allocation notification unit 44 transmits the assigned car notification to the relay device 8 in S603. In the relay device 8, when the communication unit 51 receives the assigned car notification transmitted from the control device 6 in S603, the communication unit 52 transfers the assigned car notification to the interlocking device 3.

[0052] When the interlocking device 3 transmits a call registration request in S503, it is determined whether or not an assigned car notification from the control device 6 is received from the relay device 8 as a response thereto (S504). When the communication unit 12 receives the assigned car notification transmitted from the control device 6 in S603, it is determined as Yes in S504.

[0053] If the result of S504 is Yes, the reception processing unit 15 performs reception processing for the assigned car notification received by the communication unit 12 in S504 (S505). As a result, for example, information indicating the assigned car 5 is stored in the storage unit 10 in association with the identification information of the autonomous moving body 4 and information indicating the boarding floor Fr and the destination floor Fd.

[0054] Moreover, if the result of the determination in S504 is Yes, the assigned car notification is transmitted from the communication unit 11 to the autonomous moving body 4 (S506).

[0055] In addition, in the autonomous moving body 4, the communication unit 31 receives the assigned car notification transmitted from the interlocking device 3 in S506. 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.

[0056] In the control device 6, when the determination unit 43 determines the assigned car 5 in S602, the operation control unit 45 causes the assigned car 5 to respond to the call registration request. Specifically, the operation control unit 45 moves the assigned car 5 to the boarding floor Fr. 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 (S604).

[0057] In the interlocking device 3, when the assigned car notification is received in S504, the door determination unit 18 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 (S507). As an example, the determination in S507 is made based on the car information stored in the memory unit 10. The determination in S507 may also be made based on a specific notification from the control device 6. When the door determination unit 18 determines that the door 7 of the assigned car 5 is open at the boarding floor Fr, a Yes is determined in S507.

[0058] If the result of S507 is Yes, the boarding / alighting request unit 17 transmits a boarding request to the autonomous moving body 4 (S508). The boarding request includes information indicating that boarding the assigned car 5 is permitted.

[0059] When the autonomous mobile body 4 transmits a dispatch 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 S508, 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 boarding platform 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).

[0060] When the interlocking device 3 transmits a boarding request in S508, it is determined whether or not a boarding completion notification has been received from the autonomous moving body 4 in response thereto (S509). When the communication unit 11 receives the boarding completion notification transmitted from the autonomous moving body 4 in S404, the result of the determination in S509 is Yes. When the result of the determination in S509 is Yes, the door request unit 16 transmits a door close request from the communication unit 12 to the control device 6 via the relay device 8 in order to close the door 7 of the assigned car 5 (S510). Specifically, the door request unit 16 transmits the door close request to the relay device 8 in S510. When the communication unit 52 of the relay device 8 receives the door close request transmitted from the interlocking device 3 in S510, the communication unit 51 transfers the door close request to the control device 6.

[0061] When the door 7 of the assigned car 5 is opened at the boarding floor Fr, the control device 6 determines whether or not a door close request from the interlocking device 3 has been received from the relay device 8 (S605). When the communication unit 41 receives the door close request transmitted from the interlocking device 3 via the relay device 8 in S510, the result is determined as Yes in S605. When the result is determined as Yes in S605, the operation control unit 45 causes the assigned car 5 to respond to the call registration request. Specifically, the operation control unit 45 closes the door 7 of the assigned car 5. When the door 7 of the assigned car 5 is closed, the operation control unit 45 moves the assigned car 5 to the destination floor Fd (S606).

[0062] In the interlocking device 3, when the door close request is transmitted in S510, the door determination unit 18 determines whether or not the door 7 of the assigned car 5 carrying the autonomous moving body 4 is open at the destination floor Fd (S511).

[0063] When the autonomous moving body 4 gets on the assigned car 5 in S403, and the assigned car 5 departs for the destination floor Fd in S606, if there is nothing thereafter, the operation control unit 45 stops the assigned car 5 at the destination floor Fd and opens the door 7 of the assigned car 5 (S607). As a result, the door determination unit 18 of the interlocking device 3 determines that the door 7 of the assigned car 5 carrying the autonomous moving body 4 has opened at the destination floor Fd. That is, the determination in S511 is Yes.

[0064] When it is determined as Yes in S511, the boarding / alighting request unit 17 transmits an alighting request to the autonomous moving body 4 (S512). The alighting request includes information indicating that alighting from the assigned car 5 is permitted.

[0065] When the autonomous mobile body 4 transmits a boarding completion notification in S404, it is determined whether or not an alighting request has been received from the interlocking device 3 in response thereto (S405). When the communication unit 31 receives the alighting request transmitted from the interlocking device 3 in S512, it is determined as Yes in S405. When it is determined as Yes in S405, the autonomous mobile body 4 starts the alighting operation to alight from the assigned car 5, and alights from the assigned car 5 (S406). That is, the operation control unit 33 controls the drive machine, so that the autonomous mobile body 4 moves from the assigned car 5 to the landing of the destination floor Fd. When the autonomous mobile body 4 alights from the assigned car 5, a alighting completion notification is transmitted from the communication unit 31 to the interlocking device 3 (S407).

[0066] When the interlocking device 3 transmits the alighting request in S512, it is determined whether or not a alighting completion notification has been received from the autonomous moving body 4 in response thereto (S513). When the communication unit 11 receives the alighting completion notification transmitted from the autonomous moving body 4 in S407, it is determined as Yes in S513. When it is determined as Yes in S513, the door request unit 16 transmits a door close request from the communication unit 12 to the control device 6 via the relay device 8 in order to close the door 7 of the assigned car 5 (S514). Note that when it is determined as Yes in S513, the information recorded in the reception process of S502 and the reception process of S505 may be deleted from the storage unit 10.

[0067] When the door 7 of the assigned car 5 is opened at the destination floor Fd, the control device 6 determines whether or not a door close request from the interlocking device 3 has been received from the relay device 8 (S608). When the communication unit 41 receives the door close request transmitted from the interlocking device 3 via the relay device 8 in S514, the result of S608 is determined as Yes. When the result of S608 is determined as Yes, the operation control unit 45 closes the door 7 of the assigned car 5 (S609).

[0068] On the other hand, when the autonomous moving body 4 moves to the destination floor Fd in the assigned cage 5, the autonomous moving body 4 may be removed from the assigned cage 5 before the assigned cage 5 arrives at the destination floor Fd. For example, consider a case where the autonomous moving body 4 moves from the first floor to the fifth floor in the assigned cage 5. When a user gets into the assigned cage 5 in which the autonomous moving body 4 is riding on the third floor, if the assigned cage 5 does not have enough space for the user to get on, the autonomous moving body 4 will be forcibly removed from the assigned cage 5 by the user. For example, the user can push the autonomous moving body 4 out of the assigned cage 5. If the autonomous moving body 4 is provided with a get-off button, the user can remove the autonomous moving body 4 from the assigned cage 5 by pressing the get-off button.

[0069] When a user has large baggage, when the user gets into the assigned car 5 with a dolly or a stroller, or when a person needs to be transported in an emergency, the autonomous moving body 4 may be forcibly lowered by the user from the assigned car 5 at the third floor. When the elevator device 2 is installed in a hospital or the like, it is preferable that the autonomous moving body 4 is provided with the above-mentioned alighting button.

[0070] In preparation for such a situation, the autonomous moving body 4 is provided with an alighting determination unit 35 and an alighting notification unit 36. In addition, the interlocking device 3 is provided with an alighting determination unit 19, a specification unit 20, and a floor notification unit 21.

[0071] The alighting determination unit 35 has a function of determining whether or not the autonomous moving body 4 has alighted from the assigned car 5 at a floor other than the destination floor Fd when the autonomous moving body 4 heads toward the destination floor Fd. That is, when a boarding completion notification is transmitted in S404, the alighting determination unit 35 determines whether or not the autonomous moving body 4 has alighted from the assigned car 5 at a floor other than the destination floor Fd (S408). When the alighting determination unit 35 does not determine that the autonomous moving body 4 has alighted from the assigned car 5 at a floor other than the destination floor Fd and a alighting request is received from the interlocking device 3, the result of S405 is determined as Yes.

[0072] On the other hand, if the alighting determination unit 35 determines that the autonomous moving body 4 has alighted from the assigned car 5 at a floor other than the destination floor Fd before receiving the alighting request from the interlocking device 3, Yes is determined in S408. If Yes is determined in S408, the alighting notification unit 36 ​​transmits a different floor alighting notification from the communication unit 31 to the interlocking device 3 (S409). The different floor alighting notification includes information indicating that the autonomous moving body 4 has alighted from the assigned car 5 at a floor other than the destination floor Fd.

[0073] In order to realize the function of the disembarking determination unit 35, the autonomous moving body 4 may be provided with a sensor capable of detecting movement from inside the car 5 to the outside. As the sensor, the autonomous moving body 4 may be provided with a sensor that emits infrared rays or a camera that can capture an image of the surroundings.

[0074] As described above, in the interlocking device 3, when the door 7 of the assigned car 5 opens at the destination floor Fd, the boarding / alighting request unit 17 transmits an alighting request. On the other hand, after transmitting the door closing request at S510, if Yes is not determined at S511, the alighting determination unit 19 determines whether or not the autonomous moving body 4 has alighted from the assigned car 5 at a floor other than the destination floor Fd. Specifically, the alighting determination unit 19 determines whether or not a different floor alighting notification has been received from the autonomous moving body 4 (S515).

[0075] Before S511 is determined as Yes, that is, before the boarding / alighting request unit 17 transmits the alighting request in S512, when the communication unit 11 receives the other floor alighting notification transmitted from the autonomous moving body 4 in S409, the alighting determination unit 19 determines as Yes in S515. That is, the alighting determination unit 19 determines that the autonomous moving body 4 alights from the assigned car 5 at a floor other than the destination floor Fd.

[0076] If S515 is determined to be Yes, the identification unit 20 identifies the floor at which the autonomous moving body 4 disembarked from the assigned car 5 (S516). Hereinafter, this floor is also referred to as the disembarking floor. The disembarking floor is a floor other than the destination floor Fd. As an example, the identification unit 20 identifies as the disembarking floor the floor where the assigned car 5 was when the communication unit 11 received the different floor disembarking notification. The identification of the disembarking floor is performed, for example, based on the car information stored in the memory unit 10. The identification unit 20 may identify the disembarking floor by other methods.

[0077] When the alighting floor is identified in S516, the floor notification unit 21 transmits a alighting floor notification to the autonomous moving body 4 (S517). The alighting floor notification includes information indicating the alighting floor identified by the identification unit 20 in S516.

[0078] When the autonomous mobile body 4 transmits a different floor alighting notification in S409, it is determined whether or not a alighting floor notification has been received from the interlocking device 3 in response thereto (S410). When the communication unit 31 receives the alighting floor notification transmitted from the interlocking device 3 in S517, it is determined as Yes in S410. When it is determined as Yes in S410, the dispatch request unit 34 transmits to the interlocking device 3 a dispatch request for the autonomous mobile body 4 to move in the car 5 from the floor indicated by the alighting floor notification, that is, the alighting floor identified by the identification unit 20, to the destination floor Fd (S411). As a result, the autonomous mobile body 4 can get on the car 5 assigned to the dispatch request transmitted in S411 and move from the alighting floor to the destination floor Fd.

[0079] In the example shown in the present embodiment, when the alighting determination unit 19 receives a different floor alighting notification before the alighting request is transmitted in S512, it determines that the autonomous mobile body 4 riding in the assigned car 5 heading for the destination floor Fd has alighted from the assigned car 5 at a floor other than the destination floor Fd. In the elevator system 1, the interlocking device 3 with which the autonomous mobile body 4 communicates can determine that the autonomous mobile body 4 has alighted from the assigned car 5 at a floor other than the destination floor Fd. This makes it possible to notify the autonomous mobile body 4 of the alighting floor. Even if the autonomous mobile body 4 alights from the assigned car 5 at a floor other than the destination floor Fd, it is possible to generate a dispatch request to move from the alighting floor to the destination floor Fd.

[0080] With this elevator system 1, for example, a manager does not need to go to the hall on the third floor to rescue an autonomous moving body 4 that has been removed from an assigned car 5 on the third floor. For an autonomous moving body 4 that has been removed from an assigned car 5 on the third floor, a dispatch request for moving from the third floor to the fifth floor, which is the destination floor Fd, is automatically generated and transmitted. Therefore, it is possible to prevent delays or stagnation in the work of the autonomous moving body 4, and it is possible to operate the system efficiently.

[0081] Other functions that can be adopted by the elevator system 1 will be described below. In the example shown below, only the differences from the above-mentioned example will be described in detail. Explanations of the same points as the above-mentioned example will be omitted.

[0082] In the interlocking device 3, if it is determined as Yes in S515, it is not necessary to transmit a disembarking floor notification to the autonomous moving body 4 in S517. Information on the destination floor Fd is stored in the storage unit 10. Therefore, when the disembarking floor is identified by the identification unit 20 in S516, the call request unit 14 may transmit a call registration request for moving from the disembarking floor identified by the identification unit 20 to the destination floor Fd to the control device 6. In this case, in the interlocking device 3, after the call registration request is transmitted, the processing from S504 onwards is performed.

[0083] 9 is a diagram showing an example of hardware resources of the interlocking device 3. The interlocking device 3 includes, as hardware resources, a processing circuit 60 including a processor 61 and a memory 62. The processing circuit 60 may include multiple processors 61. The processing circuit 60 may include multiple memories 62.

[0084] In this embodiment, each unit indicated by the reference numerals 10 to 21 indicates a function possessed by the interlocking device 3. The function of the storage unit 10 is realized by a memory 62. The function of each unit indicated by the reference numerals 11 to 21 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 interlocking device 3 realizes the function of each unit indicated by the reference numerals 11 to 21 by executing the program stored in the memory 62 by a processor 61 (computer).

[0085] 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.

[0086] Fig. 10 is a diagram showing another example of the hardware resources of the interlocking device 3. In the example shown in Fig. 10, the interlocking device 3 includes a processing circuit 60 including a processor 61, a memory 62, and dedicated hardware 63. Fig. 10 shows an example in which some of the functions of the interlocking device 3 are realized by the dedicated hardware 63. All of the functions of the interlocking device 3 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.

[0087] The hardware resources of the control device 6 are similar to the examples shown in FIG. 9 or FIG. 10. The control device 6 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 control device 6 realizes the functions of each part indicated by the reference numerals 41 to 45 by executing a program stored in the memory by a processor (computer). The control device 6 may include a processing circuit including a processor, a memory, and dedicated hardware as hardware resources. With respect to the control device 6, some or all of the functions of the device may be realized by dedicated hardware.

[0088] The hardware resources of the autonomous moving body 4 are similar to the examples shown in FIG. 9 or FIG. 10. 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 36 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.

[0089] The hardware resources of the relay device 8 are similar to those shown in FIG. 9 or FIG. 10. 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 54 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.

[0090] Below, examples of aspects that may be included in the present disclosure are set forth as appendices.

[0091] [Appendix 1] An autonomous moving body; A control device that manages the operation of the car; An interlocking device that communicates with the autonomous moving body and the control device; Equipped with The autonomous moving body is a first alighting determination unit that determines whether or not the car has been alighted at a floor other than the first destination floor when the car is heading to the first destination floor; an alighting notification unit that transmits a different floor alighting notification to the interlocking device when the first alighting determination unit determines that the passenger has alighted from the car at a floor other than the first destination floor; Equipped with The interlocking device is a disembarking request unit that transmits a disembarking request to the autonomous moving body when a door of the car carrying the autonomous moving body opens at the first destination floor; a second alighting determination unit that, when receiving the other floor alighting notification before the alighting request unit transmits the alighting request, determines that the autonomous moving body has alighted from the car at a floor other than the first destination floor; Elevator system equipped with [Appendix 2] The interlocking device is an identification unit that identifies the floor at which the autonomous moving object has disembarked when the second disembarkation determination unit determines that the autonomous moving object has disembarked from the car at a floor other than the first destination floor; a floor notification unit that transmits a disembarking floor notification indicating the floor identified by the identification unit to the autonomous moving body; Further comprising: 2. The elevator system according to claim 1, further comprising a dispatch request unit configured to transmit a dispatch request to the interlocking device for travelling in the car from the floor indicated by the disembarking floor notification to the first destination floor. [Appendix 3] The interlocking device is an identification unit that identifies the floor at which the autonomous moving object has disembarked when the second disembarkation determination unit determines that the autonomous moving object has disembarked from the car at a floor other than the first destination floor; a call request unit that transmits to the control device a call registration request for the autonomous moving body to move on the cage from the floor identified by the identification unit to the first destination floor; 2. The elevator system of claim 1, further comprising: [Appendix 4] 4. The elevator system according to claim 2, wherein the identification unit identifies a floor where the car was located when the different floor alighting notification was received as the floor where the autonomous moving object alighted from the car. [Appendix 5] The control device further includes a relay device that communicates with the interlocking device and the control device. 5. The elevator system according to claim 1, wherein the interlocking device communicates with the control device via the relay device. [Appendix 6] An autonomous moving body; A control device that manages the operation of the car; A communication-capable interlocking device, a disembarking request unit that transmits a disembarking request to the autonomous moving body when a door of the car carrying the autonomous moving body heading to a first destination floor opens at the first destination floor; an identification unit that, when receiving a different floor alighting notification indicating that the autonomous moving body has alighted from the car at a floor other than the first destination floor from the autonomous moving body heading toward the first destination floor in the car before the alighting request unit transmits the alighting request, identifies the floor at which the autonomous moving body has alighted from the car; A linkage device comprising: [Appendix 7] An autonomous moving body; A control device that manages the operation of the car; A method for controlling a communication-enabled interlocking device, comprising: a disembarking request step of transmitting a disembarking request to the autonomous moving body when a door of the car carrying the autonomous moving body heading to a first destination floor opens at the first destination floor; a step of identifying the floor at which the autonomous moving body has alighted from the car when receiving a different floor alighting notification indicating that the autonomous moving body has alighted from the car at a floor other than the first destination floor from the autonomous moving body traveling toward the first destination floor in the car before transmitting the alighting request in the alighting request step; A method for controlling an interlocking device comprising: [Appendix 8] An autonomous moving body; A control device that manages the operation of the car; A computer that can communicate with a disembarking request process that transmits a disembarking request to the autonomous moving body when a door of the car carrying the autonomous moving body heading to a first destination floor opens at the first destination floor; a process of identifying the floor at which the autonomous moving body has alighted from the car when receiving a different floor alighting notification indicating that the autonomous moving body has alighted from the car at a floor other than the first destination floor from the autonomous moving body traveling toward the first destination floor in the car before transmitting the alighting request in the alighting request process; A program for executing the above.

[0092] The matters set out in Appendices 2-5 or equivalent matters may be added to Appendices 6-8, respectively. [Explanation of symbols]

[0093] 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 reception processing unit, 16 door request unit, 17 boarding / alighting request unit, 18 door determination unit, 19 alighting determination unit, 20 identification unit, 21 floor notification unit, 31 communication unit, 32 information provision unit, 33 operation control unit, 34 dispatch request unit, 35 alighting determination unit, 36 alighting notification unit, 41 communication unit, 42 information provision unit, 43 determination unit, 44 allocation notification unit, 45 operation control unit, 50 memory unit, 51 communication unit, 52 communication unit, 53 recording unit, 54 information providing 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 car; An interlocking device that communicates with the autonomous moving body and the control device; Equipped with The autonomous moving body is a first alighting determination unit that determines whether or not a passenger alights from the car at a floor other than the first destination floor when the car is heading toward a first destination floor; an alighting notification unit that transmits a different floor alighting notification to the interlocking device when the first alighting determination unit determines that the passenger has alighted from the car at a floor other than the first destination floor; Equipped with The interlocking device is an alighting request unit that transmits a alighting request to the autonomous moving body when a door of the car carrying the autonomous moving body opens at the first destination floor; a second alighting determination unit that, when receiving the other floor alighting notification before the alighting request unit transmits the alighting request, determines that the autonomous moving body has alighted from the car at a floor other than the first destination floor; Equipped with an elevator system.

2. The interlocking device is an identification unit that identifies the floor at which the autonomous moving body has disembarked when the second disembarkation determination unit determines that the autonomous moving body has disembarked from the car at a floor other than the first destination floor; a floor notification unit that transmits a disembarking floor notification indicating the floor identified by the identification unit to the autonomous moving body; Further comprising:

2. The elevator system according to claim 1, wherein the autonomous mobile body further includes a dispatch request unit that transmits to the interlocking device a dispatch request for moving in the car from the floor indicated by the disembarking floor notification to the first destination floor.

3. The interlocking device is an identification unit that identifies the floor at which the autonomous moving body has disembarked when the second disembarkation determination unit determines that the autonomous moving body has disembarked from the car at a floor other than the first destination floor; a call request unit that transmits to the control device a call registration request for the autonomous moving body to move on the cage from the floor identified by the identification unit to the first destination floor; 10. The elevator system of claim 1, further comprising:

4. 4. The elevator system according to claim 2, wherein the identification unit is configured to identify a floor where the car was located when the different floor alighting notification was received as the floor where the autonomous moving object alighted from the car.

5. The control device further includes a relay device that communicates with the interlocking device and the control device. The elevator system according to any one of claims 1 to 3, wherein the interlocking device communicates with the control device via the relay device.

6. An autonomous moving body; A control device that manages the operation of the car; A communication-capable interlocking device, an alighting request unit that transmits a alighting request to the autonomous moving body when a door of the car carrying the autonomous moving body heading to a first destination floor opens at the first destination floor; a specification unit that specifies the floor at which the autonomous moving body has alighted from the car when receiving a different floor alighting notification indicating that the autonomous moving body has alighted from the car at a floor other than the first destination floor from the autonomous moving body traveling toward the first destination floor in the car before the alighting request unit transmits the alighting request; A linkage device comprising:

7. An autonomous moving body; A control device that manages the operation of the car; A method for controlling a communication-enabled interlocking device, comprising: a disembarking request step of transmitting a disembarking request to the autonomous moving body when a door of the car carrying the autonomous moving body heading to a first destination floor opens at the first destination floor; a step of identifying the floor at which the autonomous moving body has alighted from the car when receiving a different floor alighting notification indicating that the autonomous moving body has alighted from the car at a floor other than the first destination floor from the autonomous moving body traveling toward the first destination floor in the car before transmitting the alighting request in the alighting request step; A method for controlling an interlocking device comprising:

8. An autonomous moving body; A control device that manages the operation of the car; A computer that can communicate with a disembarking request process that transmits a disembarking request to the autonomous moving body when a door of the car carrying the autonomous moving body heading to a first destination floor opens at the first destination floor; a process of identifying the floor at which the autonomous moving body has alighted from the car when receiving a notification of alighting at another floor indicating that the autonomous moving body has alighted from the car at a floor other than the first destination floor from the autonomous moving body traveling toward the first destination floor in the car before transmitting the alighting request in the alighting request process; A program for executing the above.

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