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 suppress a decrease in operation efficiency of autonomous movable bodies even if a car allocated to calling is changed or the like.SOLUTION: A cooperative control device 200 comprises a call registration request unit 241 transmits a boarding floor entrance call registration request to an elevator control device 100 in response to a vehicle allocation request from an autonomous movable body 20. The elevator control device 100 registers the entrance call to the boarding floor according to the entrance call registration request, and allocates a car 10 for the registered entrance call. The call registration request unit 241 transmits, to the elevator control device 100, a car call registration request with the boarding floor being set to be a destination floor for the car 10 allocated to the boarding call. The elevator control device 100 registers a car request to the destination floor in response to the car call registration request.SELECTED DRAWING: Figure 1

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] A known technology for coordinated control of elevators and autonomous moving bodies such as robots involves sending a call from the robot to an elevator control system, assigning an elevator car to the call, transmitting the car number information of the assigned car to the robot control system, and controlling the elevator so that the assigned car moves to the floor indicated by the call (the floor where the robot is located) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-019590 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology shown in Patent Document 1, when the car assigned to the registered call is changed by the request from the autonomous mobile body, or when the registered call is canceled by the request from the autonomous mobile body, the autonomous mobile body cannot board the notified car. In this case, the autonomous mobile body continues to wait for the notified car until a timeout occurs, that is, until a preset waiting time has elapsed, for example, and the operating efficiency of the autonomous mobile body decreases.

[0005] The present disclosure has been made to solve such problems, and has an objective to provide an elevator cooperation control device, an elevator system, an elevator cooperation control method, and an elevator cooperation control program that can suppress a decrease in the operating efficiency of an autonomous mobile body even when a car assigned to a call registered by a request from the autonomous mobile body is changed or a call registered by a request from the autonomous mobile body is canceled. [Means for solving the problem]

[0006] The elevator linkage control device according to the present disclosure is an elevator linkage control device that is arranged to be able to communicate with an elevator control device that controls an elevator car, and includes a call registration request unit that transmits a platform call registration request for a boarding floor to the elevator control device in response to a dispatch request from an autonomous mobile body, and the elevator control device registers a platform call for the boarding floor in response to the platform call registration request and dispatches the car for the registered platform call, and the call registration request unit transmits a car call registration request to the elevator control device, with the boarding floor as a destination floor, for the car dispatched in response to the platform call, and the elevator control device registers a car call for the destination floor in response to the car call registration request.

[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 multiple 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 an autonomous mobile body, 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 multiple cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call, the notification unit notifies the autonomous mobile body of the assigned car information transmitted from the elevator control device, and when the elevator control device changes the car assigned to the hall call, the elevator control device further transmits assignment change information, and the notification unit further notifies the autonomous mobile body of the assignment change information transmitted from the elevator control device.

[0008] Alternatively, an elevator linkage control device according to the present disclosure is an elevator linkage control device provided to be able to communicate with an elevator control device that controls multiple 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 an autonomous mobile body, 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 multiple cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call, the notification unit notifies the autonomous mobile body of the assigned car information transmitted from the elevator control device, and when the elevator control device changes an operation mode of the car assigned to the hall call, the elevator control device further transmits an operation mode change notification, and the notification unit further notifies the autonomous mobile body of the operation mode change notification transmitted from the elevator control device.

[0009] An elevator system according to the present disclosure includes any one of the elevator linkage control devices described above, the elevator control device, and the autonomous moving body.

[0010] The elevator linkage control method according to the present disclosure is an elevator linkage control method executed by a computer of an elevator linkage control device that is arranged to be able to communicate with an elevator control device that controls an elevator car, and includes a first call registration request step of sending a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from an autonomous mobile body, and a second call registration request step, wherein the elevator control device registers a hall call for the boarding floor in response to the hall call registration request and dispatches the car to the registered hall call, and the second call registration request step sends a car call registration request to the elevator control device, with the boarding floor as a destination floor, for the car dispatched to the hall call, and the elevator control device registers a car call for the destination floor in response to the car call registration request.

[0011] Alternatively, an elevator coordination control method according to the present disclosure is an elevator coordination control method executed by a computer of an elevator coordination control device arranged to be able to communicate with an elevator control device that controls multiple 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 an autonomous moving body, a first notification step, and a second 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 the multiple cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call, the first notification step notifies the autonomous moving body of the assigned car information transmitted from the elevator control device, and when the elevator control device changes the car assigned to the hall call, the elevator control device further transmits assignment change information, and the second notification step notifies the autonomous moving body of the assignment change information transmitted from the elevator control device.

[0012] Alternatively, an elevator coordination control method according to the present disclosure is an elevator coordination control method executed by a computer of an elevator coordination control device that is arranged to be able to communicate with an elevator control device that controls multiple elevator cars, and includes a call registration request step of sending a hall call registration request for a boarding floor to the elevator control device in response to a dispatch request from an autonomous moving body, a first notification step, and a second 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 the multiple cars to the registered hall call, and transmits assigned car information that identifies the car assigned to the hall call, the first notification step notifies the autonomous moving body of the assigned car information transmitted from the elevator control device, the elevator control device further transmits an operation mode change notification when the elevator control device changes an operation mode of the car assigned to the hall call, and the second notification step notifies the autonomous moving body of the operation mode change notification transmitted from the elevator control device.

[0013] 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

[0014] The elevator linkage control device, elevator system, elevator linkage control method, and elevator linkage control program disclosed herein have the advantage of being able to suppress a decrease in the operating efficiency of the autonomous mobile body even when the car assigned to a registered call is changed at the request of the autonomous mobile body, or when the registered call is canceled at the request of the autonomous mobile body. [Brief description of the drawings]

[0015] [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] FIG. 4 is a flow chart showing an example of the operation of the elevator system according to the first embodiment. [Diagram 5] FIG. 4 is a flowchart showing an example of the operation of the first modified example of the elevator system according to the first embodiment. [Figure 6] FIG. 4 is a block diagram showing a configuration of an elevator control device in a second modified example of the elevator system according to the first embodiment. [Figure 7] FIG. 11 is a flow chart showing an example of the operation of the second modified example of the elevator system according to the first embodiment. [Figure 8] 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

[0016] 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.

[0017] Embodiment 1 A first embodiment of the present disclosure will be described with reference to Figs. 1 to 8. Fig. 1 is a block diagram showing an overall configuration of an elevator system equipped with an elevator cooperation control device. Fig. 2 is a block diagram showing a configuration of an elevator control device equipped in the elevator system. Fig. 3 is a block diagram showing a configuration of an elevator cooperation control device equipped in the elevator system. Fig. 4 is a flow diagram showing an example of the operation of the elevator system. Fig. 5 is a flow diagram showing an example of the operation of a first modified example of the elevator system. Fig. 6 is a block diagram showing a configuration of an elevator control device in a second modified example of the elevator system. Fig. 7 is a flow diagram showing an example of the operation of the second modified example of the elevator system. Fig. 8 is a diagram showing an example of a configuration for realizing the functions of the elevator cooperation control device and the elevator control device.

[0018] As shown in Fig. 1, the elevator system according to this embodiment includes an elevator control device 100, a cooperative control device 200, and an autonomous moving body 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.

[0019] A building in which an elevator is installed is provided with a number of elevator shafts (not shown) equal to the number of cars 10. The cars 10 are arranged in the elevator shafts 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 number of autonomous moving bodies 20 is not limited to one, and may be two or more. The cars 10 rise and fall in the elevator shafts, and transport one or both of the passengers and the autonomous moving bodies 20 inside the cars 10 between multiple floors of the building.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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. The call registration request unit 241 transmits a hall call registration request for a boarding floor to the elevator control device 100 in response to a dispatch request from the autonomous mobile body 20. More specifically, the autonomous mobile body 20 transmits a dispatch request signal to the cooperative control device 200. The dispatch request signal includes information about the boarding floor. The boarding floor is a floor at which the autonomous mobile body 20 boards the car 10.

[0035] 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. Then, the elevator communication unit 220 transmits the hall call registration request signal to the elevator control device 100.

[0036] 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. Then, the car allocation unit 130 determines an allocated car for the registered hall call. In this manner, in response to a dispatch request from the autonomous mobile body 20, a hall call for the boarding floor is registered, and a car 10 is dispatched. The dispatched car 10 is the aforementioned allocated car for the hall call registered in response to the dispatch request, in other words, it is also the aforementioned response car for the hall call registered in response to the dispatch request.

[0037] 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.

[0038] In this embodiment, when the call registration request unit 241 of the cooperative control device 200 receives the assigned car information, the call registration request unit 241 transmits to the elevator control device 100 a car call registration request with the boarding floor as the destination floor for the car 10 specified by the assigned car information, i.e., the car 10 dispatched in response to the dispatch request from the autonomous moving body 20. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the call registration request unit 241 generates a car call registration request signal with the boarding floor indicated by the above-mentioned dispatch request signal as the destination floor. The elevator communication unit 220 transmits the car call registration request signal to the elevator control device 100. Then, when the elevator control device 100 receives the car call registration request signal, the car call registration unit 120 registers a car call for the destination floor indicated by the car call registration request signal for the assigned car, i.e., the car 10 dispatched in response to the dispatch request from the autonomous moving body 20.

[0039] 3, the processing unit 240 of the cooperative control device 200 further includes a notification unit 242. The notification unit 242 notifies the autonomous mobile body 20 of the assigned car information transmitted from the elevator control device 100. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the notification unit 242 causes the autonomous mobile body communication unit 210 to transmit the assigned car information to the autonomous mobile body 20. In addition, the assigned car information received by the elevator communication unit 220 is stored in the memory unit 230 of the cooperative control device 200.

[0040] Next, an example of the operation of the elevator system configured as above will be described with reference to Fig. 4. First, in step S10, the autonomous mobile body 20 transmits a dispatch request signal to the cooperative control device 200. In the following step S11, when the autonomous mobile body 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. Then, the elevator communication unit 220 transmits the hall call registration request signal to the elevator control device 100. After step S11, the elevator system next performs the process of step S12.

[0041] In step S12, 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. Then, 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.

[0042] In the next step S13, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the storage unit 230 stores the received assigned car information. In addition, the notification unit 242 causes the autonomous mobile communication unit 210 to transmit the assigned car information to the autonomous mobile body 20. Then, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the call registration request unit 241 generates a car call registration request signal with the boarding floor indicated by the above-mentioned dispatch request signal as the destination floor. The elevator communication unit 220 transmits the car call registration request signal to the elevator control device 100. When the elevator control device 100 receives the car call registration request signal, the car call registration unit 120 registers a car call to the destination floor indicated by the car call registration request signal to the assigned car, that is, the car 10 dispatched in response to the dispatch request from the autonomous mobile body 20. After step S13, the elevator system next performs the process of step S14.

[0043] In step S14, when the elevator control device 100 changes the assigned car to the hall call registered in response to the dispatch request of the autonomous mobile body 20, for example, in response to a change in the operating status of the car 10, the elevator system then performs the process of step S15. In step S15, the car 10 after the assignment change is dispatched to the hall call registered in response to the dispatch request of the autonomous mobile body 20. On the other hand, the assigned car notified to the autonomous mobile body 20 in step S13, i.e., the car 10 before the assignment change, is also dispatched to the boarding floor in response to the car call registered in step S13. Therefore, in step S16, the autonomous mobile body 20 can board the assigned car, i.e., the car 10 after the assignment change. Also, in step S14, even if the elevator control device 100 does not change the assigned car to the hall call registered in response to the dispatch request of the autonomous mobile body 20, the process reaches step S16, and the autonomous mobile body 20 can board the car 10.

[0044] According to the elevator system equipped with the cooperative control device 200 configured as described above, even if the car 10 assigned to the hall call registered by the request from the autonomous mobile body 20 is changed, by registering a car call with the boarding floor of the autonomous mobile body 20 as the destination floor, the car 10 initially assigned to the hall call registered by the request from the autonomous mobile body 20 can be dispatched to the boarding floor of the autonomous mobile body 20. Therefore, the autonomous mobile body 20 can board the car 10 notified by the cooperative control device 200, and it is possible to suppress a decrease in the operating efficiency of the autonomous mobile body 20.

[0045] Next, a first modified example of the elevator system according to this embodiment will be described. In the elevator system according to this embodiment, the car allocation unit 130 of the elevator control device 100 may change the car allocated to the registered hall call, for example, in response to a change in the operating status of the car 10. In the first modified example, the allocated car information transmission unit 150 transmits allocation change information when the car allocated to the registered hall call is changed. In particular, when the car allocation unit 130 changes the car 10 allocated to the hall call registered in response to the dispatch request from the autonomous mobile body 20, the allocated car information transmission unit 150 transmits allocation change information to the cooperation control device 200.

[0046] In this case, the notification unit 242 notifies the autonomous mobile body 20 of the allocation change information transmitted from the elevator control device 100. That is, when the elevator communication unit 220 of the cooperation control device 200 receives the allocation change information, the notification unit 242 causes the autonomous mobile body communication unit 210 to transmit the allocation change information to the autonomous mobile body 20. In addition, the allocation change information received by the elevator communication unit 220 is stored in the storage unit 230 of the cooperation control device 200.

[0047] The allocation change information may include information specifying the changed car 10 allocated to the hall call registered in response to the dispatch request from the autonomous mobile body 20. In this case, the allocation change information may be the allocated car information described above. As described above, the allocated car information previously received by the cooperative control device 200 is stored in the storage unit 230. For this reason, for example, the processing unit 240 can determine whether the allocated car has been changed by comparing the currently received allocated car information with the allocated car information stored in the storage unit 230.

[0048] The autonomous mobile body 20 that has received the allocation change information may board the car 10 after the allocation change, which is specified by the allocation change information, or may board a car 10 other than the car 10 after the allocation change. When the autonomous mobile body 20 boards the car 10 after the allocation change, the call registration request unit 241 of the cooperative control device 200 may transmit a car call registration request to the elevator control device 100, with the boarding floor of the autonomous mobile body 20 as the destination floor, for the car 10 specified by the allocation change information. In this case, the call registration request unit 241 generates a car call registration request signal with the boarding floor indicated by the above-mentioned dispatch request signal as the destination floor. The elevator communication unit 220 transmits the car call registration request signal to the elevator control device 100. Then, when the elevator control device 100 receives the car call registration request signal, the car call registration unit 120 registers a car call for the destination floor indicated by the car call registration request signal for the car 10 after the allocation change. By doing this, the cage 10 after the allocation change can be reliably dispatched to the boarding floor of the autonomous moving body 20.

[0049] In addition, when the autonomous mobile body 20 gets on a car 10 other than the car 10 after the allocation change, the autonomous mobile body 20 may transmit to the cooperative control device 200 a dispatch request signal requesting dispatch of a car 10 other than the car 10 after the allocation change. In this case, when the cooperative control device 200 receives the dispatch request signal, the call registration request unit 241 of the cooperative control device 200 transmits to the elevator control device 100 a hall call registration request for the boarding floor of the autonomous mobile body 20 for a car 10 other than the car 10 specified by the allocation change information. Alternatively, the autonomous mobile body 20 may not transmit a dispatch request signal for the other car 10 to the cooperative control device 200, and the call registration request unit 241 of the cooperative control device 200 may transmit to the elevator control device 100 a hall call registration request for the boarding floor of the autonomous mobile body 20 for a car 10 other than the car 10 specified by the allocation change information.

[0050] Next, an example of the operation of the first modified example of the elevator system configured as above will be described with reference to Fig. 5. First, in step S20, the autonomous mobile body 20 transmits a dispatch request signal to the cooperative control device 200. In the following step S21, when the autonomous mobile body 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. Then, the elevator communication unit 220 transmits the hall call registration request signal to the elevator control device 100. After step S21, the elevator system next performs the process of step S22.

[0051] In step S22, 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. Then, 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.

[0052] In the following step S23, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the storage unit 230 stores the received assigned car information. In addition, the notification unit 242 causes the autonomous mobile body communication unit 210 to transmit the assigned car information to the autonomous mobile body 20. After step S23, the elevator system next performs the process of step S24.

[0053] In step S24, if the elevator control device 100 does not change the car assigned to the hall call registered in response to the dispatch request of the autonomous mobile body 20, the autonomous mobile body 20 can board the car 10 (step S25). On the other hand, if the elevator control device 100 changes the car assigned to the hall call registered in response to the dispatch request of the autonomous mobile body 20, the elevator system next performs the process of step S26.

[0054] In step S26, the assigned car information transmission unit 150 transmits assigned car information identifying the assigned car after the allocation change to the cooperative control device 200 as allocation change information. When the elevator communication unit 220 of the cooperative control device 200 receives the allocation change information, the processing unit 240 detects a change in the assigned car by comparing the assigned car information, which is the currently received allocation change information, with the assigned car information stored in the memory unit 230. Then, the notification unit 242 causes the autonomous mobile body communication unit 210 to transmit the allocation change information, i.e., the assigned car information after the change, to the autonomous mobile body 20. After step S26, the elevator system then performs processing of step S27.

[0055] In step S27, the autonomous moving body 20 that has received the allocation change information may get into the car 10 after the allocation change that is specified by the allocation change information, or may get into a car 10 other than the car 10 after the allocation change. When the autonomous moving body 20 gets into a car 10 other than the car 10 after the allocation change, the process returns to step S20 to continue.

[0056] According to the first modified example of the elevator system configured as described above, even if the car 10 assigned to the registered hall call is changed by a request from the autonomous mobile body 20, the autonomous mobile body 20 can board the car 10 after the assignment change or request the dispatch of another car 10 without continuing to wait for the original car 10 by notifying the autonomous mobile body 20 of the assignment change. Also, the cooperative control device 200 may request the dispatch of another car 10 instead of the autonomous mobile body 20. Therefore, the autonomous mobile body 20 can board the car 10 notified by the cooperative control device 200, and it is possible to suppress a decrease in the operating efficiency of the autonomous mobile body 20.

[0057] Next, a second modified example of the elevator system according to this embodiment will be described. In this second modified example, the elevator control device 100 further includes an operation mode change unit 160 and an operation mode information transmission unit 170, as shown in Fig. 6. The operation mode change unit 160 changes the operation mode of each car 10. The operation modes of the car 10 include, for example, a normal operation mode, a dedicated operation mode, a VIP operation mode, and an inspection operation mode. The normal operation mode is a normal operation mode. The dedicated operation mode is an operation mode in which the car operates directly to the target floor and does not stop at other floors.

[0058] The operation mode information transmission unit 170 transmits an operation mode change notification when the operation mode of the car 10 assigned to the registered hall call is changed. In particular, when the operation mode change unit 160 changes the operation mode of the car 10 assigned to the registered hall call in response to the dispatch request from the autonomous mobile body 20, the operation mode information transmission unit 170 transmits an operation mode change notification to the cooperative control device 200.

[0059] In the second modified example, the notification unit 242 of the cooperative control device 200 notifies the autonomous moving body 20 of the operation mode change notification transmitted from the elevator control device 100. That is, when the elevator communication unit 220 of the cooperative control device 200 receives the operation mode change notification, the notification unit 242 causes the autonomous moving body communication unit 210 to transmit the operation mode change notification to the autonomous moving body 20.

[0060] The autonomous moving body 20 that has received the operation mode change notification may transmit to the cooperative control device 200 a dispatch request signal requesting dispatch of a car 10 other than the car 10 whose operation mode has been changed. In this case, when the cooperative control device 200 receives the dispatch request signal, the call registration request unit 241 of the cooperative control device 200 transmits to the elevator control device 100 a hall call registration request for a car 10 other than the car 10 whose operation mode has been changed, to the boarding floor of the autonomous moving body 20.

[0061] Alternatively, the autonomous mobile body 20 may not transmit a dispatch request signal for another car 10 to the cooperative control device 200, and the call registration request unit 241 of the cooperative control device 200 may transmit a hall call registration request for the boarding floor of the autonomous mobile body 20 to the elevator control device 100 for the other car 10. In this case, the operation mode change notification may include information specifying the changed operation mode. The call registration request unit 241 checks the changed operation mode specified by the operation mode change notification received by the elevator communication unit 220. Then, if the changed operation mode is a dedicated operation mode or the like in which the hall call may be canceled, the call registration request unit 241 transmits a hall call registration request for the other car 10 to the elevator control device 100. On the other hand, if the changed operation mode is a normal operation mode or the like in which the hall call may not be canceled, the call registration request unit 241 does not transmit a hall call registration request for the other car 10 to the elevator control device 100. The storage unit 230 may store information about the driving mode specified by the driving mode change notification.

[0062] Next, an example of the operation of the second modified example of the elevator system configured as above will be described with reference to Fig. 7. First, in step S30, the autonomous mobile body 20 transmits a dispatch request signal to the cooperative control device 200. In the following step S31, when the autonomous mobile body 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. Then, the elevator communication unit 220 transmits the hall call registration request signal to the elevator control device 100. After step S31, the elevator system next performs the process of step S32.

[0063] In step S32, 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. Then, 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.

[0064] In the following step S33, when the elevator communication unit 220 of the cooperative control device 200 receives the assigned car information, the storage unit 230 stores the received assigned car information. In addition, the notification unit 242 causes the autonomous mobile body communication unit 210 to transmit the assigned car information to the autonomous mobile body 20. After step S33, the elevator system then performs the process of step S34.

[0065] In step S34, if the elevator control device 100 does not change the operation mode of the car assigned to the hall call registered in response to the dispatch request of the autonomous mobile body 20, the autonomous mobile body 20 can board the car 10 (step S35). On the other hand, if the elevator control device 100 changes the operation mode of the car assigned to the hall call registered in response to the dispatch request of the autonomous mobile body 20, the elevator system next performs the process of step S36.

[0066] In step S36, the operation mode information transmission unit 170 transmits information specifying the changed operation mode as allocation change information to the cooperation control device 200 as an operation mode change notification. When the elevator communication unit 220 of the cooperation control device 200 receives the operation mode change notification, the processing unit 240 detects a change in the operation mode by comparing the operation mode specified by the currently received operation mode change notification with the operation mode stored in the storage unit 230. Then, the notification unit 242 causes the autonomous mobile body communication unit 210 to transmit the operation mode change notification to the autonomous mobile body 20. After step S36, the elevator system next performs the process of step S37.

[0067] In step S37, the autonomous moving body 20 that has received the operation mode change notification may return to step S30 and make a dispatch request for another car 10. Alternatively, the call registration request unit 241 of the cooperation control device 200 may transmit a hall call registration request for another car 10 to the elevator control device 100.

[0068] According to the second modified example of the elevator system configured as described above, even if the operation mode of the car 10 assigned to the registered hall call is changed by a request from the autonomous mobile body 20, the autonomous mobile body 20 can request the dispatch of another car 10 without continuing to wait for the original car 10 by notifying the autonomous mobile body 20 of the change in operation mode. Also, the cooperative control device 200 may request the dispatch of another car 10 instead of the autonomous mobile body 20. Therefore, the autonomous mobile body 20 can board the car 10 notified by the cooperative control device 200, and it is possible to suppress a decrease in the operating efficiency of the autonomous mobile body 20.

[0069] FIG. 8 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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 first call registration request step and a second call registration request step. In the first call registration request step, the cooperative control device 200 transmits a hall call registration request for the boarding floor to the elevator control device 100 in response to a dispatch request from the autonomous mobile body 20. The elevator control device 100 registers a hall call for the boarding floor in response to the hall call registration request, and dispatches a car 10 for the registered hall call. In the second call registration request step, the cooperative control device 200 transmits a car call registration request, with the boarding floor as the destination floor, to the elevator control device 100 for the car 10 dispatched in response to the hall call. Then, the elevator control device 100 registers a car call for the destination floor in response to the car call registration request.

[0074] Alternatively, as is clear from the above description, the elevator cooperative control method according to this embodiment may include at least a call registration request step, a first notification step, and a second 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 the autonomous mobile body 20. 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 a plurality of 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 parent device 0. In the first notification step, the cooperative control device 200 notifies the autonomous mobile body 20 of the assigned car information transmitted from the elevator control device 100. When the elevator control device 100 changes the car 10 assigned to the hall call, it transmits assignment change information to the cooperative control device 200. In the second notification step, the cooperation control device 200 notifies the autonomous moving body 20 of the allocation change information transmitted from the elevator control device 100.

[0075] Alternatively, as is clear from the above description, the elevator cooperative control method according to this embodiment may include at least a call registration request step, a first notification step, and a second 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 the autonomous mobile body 20. 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 a plurality of 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 first notification step, the cooperative control device 200 notifies the autonomous mobile body 20 of the assigned car information transmitted from the elevator control device 100. When the elevator control device 100 changes the operation mode of the car 10 assigned to the hall call, it transmits an operation mode change notification to the cooperative control device 200. In the second notification step, the cooperation control device 200 notifies the autonomous moving body 20 of the operation mode change notification transmitted from the elevator control device 100.

[0076] 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.

[0077] In addition, in the present disclosure, the respective embodiments may be combined in any manner without departing from the spirit of the present disclosure. [Explanation of symbols]

[0078] 1 processor 2. Memory 3. Dedicated Hardware 10 Basket 20 Autonomous Mobile Vehicles 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 160 Driving mode change section 170 Driving mode 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 Notification 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 a boarding floor to the elevator control device in response to a dispatch request from an autonomous mobile body, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, and dispatches the car to the registered hall call; the call registration request unit transmits, to the elevator control device, a car call registration request with the boarding floor as a destination floor for the car dispatched in response to the hall call; The elevator control device is an elevator cooperation control device that registers a car call for the destination floor in response to the car call registration request.

2. the elevator control device controls the plurality of cars, 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; a notification unit that notifies the autonomous moving body of the assigned car information transmitted from the elevator control device, The elevator cooperation control device according to claim 1 , wherein the call registration request unit transmits to the elevator control device a car call registration request for the car specified by the assigned car information, the car call registration request specifying the boarding floor as a destination floor.

3. 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 the autonomous mobile body; 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 notification unit notifies the autonomous moving body of the assigned car information transmitted from the elevator control device, the elevator control device further transmits assignment change information when changing the car assigned to the hall call; The notification unit is an elevator cooperation control device that further notifies the autonomous moving body of the allocation change information transmitted from the elevator control device.

4. The assignment change information includes information for identifying the car after the change assigned to the hall call, the call registration request unit transmits, to the elevator control device, a car call registration request with the boarding floor as a destination floor for the car specified by the allocation change information; The elevator cooperation control device according to claim 3, wherein the elevator control device registers a car call for the destination floor in response to the car call registration request.

5. The assignment change information includes information for identifying the car after the change assigned to the hall call, The elevator cooperation control device according to claim 3, wherein the call registration request unit transmits, to the elevator control device, a hall call registration request for the boarding floor for the car other than the car specified by the allocation change information.

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 the autonomous mobile body; 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 notification unit notifies the autonomous moving body of the assigned car information transmitted from the elevator control device, The elevator control device further transmits an operation mode change notification when an operation mode of the car assigned to the hall call is changed, The notification unit further notifies the autonomous moving body of the operation mode change notification transmitted from the elevator control device.

7. The elevator cooperation control device according to claim 6, wherein the call registration request unit transmits, when the operation mode change notification is transmitted from the elevator control device, to the elevator control device, a hall call registration request for the boarding floor for a car other than the car specified by the assigned car information.

8. An elevator linkage control device according to any one of claims 1 to 7, The elevator control device; The autonomous moving body.

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 first 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 an autonomous mobile body; A second call registration request step, the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, and dispatches the car to the registered hall call; the second call registration request step transmits, to the elevator control device, a car call registration request with the boarding floor as a destination floor for the car dispatched in response to the hall call; The elevator control device registers a car call for the destination floor in response to the car call registration request.

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 a plurality of elevator cars, 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 an autonomous mobile body; A first notification step; A second 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 first notification step notifies the autonomous moving body of the assigned car information transmitted from the elevator control device; the elevator control device further transmits assignment change information when changing the car assigned to the hall call; The second notification step is an elevator cooperation control method for notifying the autonomous moving body of the allocation change information transmitted from the elevator control device.

11. 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 a plurality of elevator cars, 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 an autonomous mobile body; A first notification step; A second 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 first notification step notifies the autonomous moving body of the assigned car information transmitted from the elevator control device; The elevator control device further transmits an operation mode change notification when an operation mode of the car assigned to the hall call is changed, The second notification step is an elevator cooperative control method in which the operation mode change notification transmitted from the elevator control device is notified to the autonomous moving body.

12. An elevator cooperation control program for causing a computer of the elevator cooperation control device to execute the elevator cooperation control method according to any one of claims 9 to 11.

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