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

Abstract

To reduce a burden on a manager even when an autonomous mobile body fails to get off an elevator in an elevator system.SOLUTION: An elevator system 1 comprises an autonomous mobile body 4, a control device 6, a first determination unit 17, a stop request unit 18, and a call request unit 14. When the first determination unit 17 determines that the autonomous mobile body 4 has failed to get off a car 5 on a destination floor Fd, the stop request unit 18 transmits a getting-off stop request to the autonomous mobile body 4. Upon receiving, as a response to the getting-off stop request, a re-getting-off request from the autonomous mobile body 4, the call request unit 14 transmits, to the control device 6, a call registration request for getting off from the car 5 on 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. In the system described in Patent Document 1, an autonomous moving object moves in an elevator car. If the autonomous moving object cannot get off the car, an interlocking device requests the autonomous moving object to stop. In addition, the interlocking device requests the manager of the autonomous moving object to rescue the autonomous moving object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 250409 Summary of the Invention [Problem to be solved by the invention]

[0004] In the system described in Patent Document 1, if an autonomous moving object becomes unable to get off the car, a manager must rescue the autonomous moving object. The manager must then move the autonomous moving object to its original destination floor, which places a heavy burden on the manager, which is a problem.

[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 reduce the burden on the manager even if an autonomous moving object fails to disembark. Another object of the present disclosure is to provide an interlocking device, an interlocking device control method, and a program for realizing such a function in an elevator system. [Means for solving the problem]

[0006] An elevator system according to the present disclosure includes an autonomous moving body, a control device that manages the operation of a car, a first determination unit that determines whether or not the autonomous moving body traveling in the car toward a first destination floor has failed to get off the car at the first destination floor, a cancellation request unit that transmits a disembarkation cancellation request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor, and a call request unit that transmits a call registration request to get off the car at the first destination floor to the control device when a re-alighting request is received from the autonomous moving body in response to the alighting cancellation request. When the autonomous moving body receives the alighting cancellation request, it cancels the operation to get off the car and transmits the re-alighting request.

[0007] The elevator system according to the present disclosure includes an autonomous moving body, a control device that manages the operation of a car, a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the car has failed to get off the car at the first destination floor, a cancellation request unit that transmits a disembarking cancellation request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor, a second determination unit that determines whether or not the autonomous moving body is in the car, and a call request unit that transmits a call registration request to get off the car at the first destination floor to the control device when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car. When the autonomous moving body receives the disembarking cancellation request, it cancels the operation to get off the car.

[0008] 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 an elevator car. The interlocking device includes a first determination unit that determines whether an autonomous moving body traveling in a car toward a first destination floor fails to get off the car at the first destination floor, a cancellation request unit that transmits a disembarkation cancellation request to the autonomous moving body when the first determination unit determines that the autonomous moving body fails to get off the car at the first destination floor, and a call request unit that transmits a call registration request to get off the car at the first destination floor to the control device when a re-alighting request is received from the autonomous moving body in response to the alighting cancellation request. The interlocking device causes the autonomous moving body that has received the alighting cancellation request to cancel the operation to get off the car and to transmit the re-alighting request.

[0009] 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 an elevator car. The interlocking device includes a first determination unit that determines whether or not an autonomous moving body traveling in a car toward a first destination floor fails to get off the car at the first destination floor, a stop request unit that transmits a disembarking stop request to the autonomous moving body when the first determination unit determines that the autonomous moving body fails to get off the car at the first destination floor, a second determination unit that determines whether or not the autonomous moving body is in the car, and a call request unit that transmits a call registration request to get off the car at the first destination floor to the control device when the first determination unit determines that the autonomous moving body fails to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car. The interlocking device causes the autonomous moving body that has received the disembarking stop request to stop the operation to get off the car.

[0010] The 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 an elevator car. The control method includes a first determination step of determining whether or not an autonomous moving body heading toward a first destination floor in a car has failed to get off the car at the first destination floor, a stop request step of transmitting a disembarkation cancellation request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor, and a call request step of transmitting a call registration request for getting off the car at the first destination floor to the control device when a re-alighting request is received from the autonomous moving body as a response to the alighting cancellation request. The control method causes the autonomous moving body that has received the alighting cancellation request to stop the operation for getting off the car and to transmit the re-alighting request.

[0011] The control method of the interlocking device according to the present disclosure is a control method of an interlocking device capable of communication with an autonomous moving body and a control device that manages the operation of an elevator car. The control method includes a first determination step of determining whether or not an autonomous moving body heading toward a first destination floor in a car has failed to get off the car at the first destination floor, a stop request step of transmitting a disembarking stop request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor, a second determination step of determining whether or not the autonomous moving body is in the car, and a call request step of transmitting a call registration request to get off the car at the first destination floor to the control device when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined in the second determination step that the autonomous moving body is in the car. The autonomous moving body that has received the disembarking stop request is caused to stop the operation to get off the car.

[0012] The program of the present disclosure causes an autonomous moving body, a control device that manages the operation of an elevator car, and a communicable computer to execute a first determination process for determining whether an autonomous moving body heading in a car to a first destination floor has failed to get off the car at the first destination floor, an abort request process for sending a disembarkation abort request to the autonomous moving body when the first determination process determines that the autonomous moving body has failed to get off the car at the first destination floor, and a call request process for sending a call registration request to the control device to get off the car at the first destination floor when a re-alight request is received from the autonomous moving body in response to the alighting abort request, and causes the autonomous moving body that receives the alighting abort request to abort the operation to get off the car and send the re-alight request.

[0013] The program of the present disclosure causes an autonomous moving body, a control device that manages the operation of an elevator car, and a communicable computer to execute a first determination process for determining whether or not an autonomous moving body heading to a first destination floor in a car has failed to get off the car at the first destination floor, an abort request process for sending a disembarkation abort request to the autonomous moving body if the first determination process determines that the autonomous moving body has failed to get off the car at the first destination floor, a second determination process for determining whether or not the autonomous moving body is in the car, and a call request process for sending a call registration request to the control device to get off the car at the first destination floor if the first determination process determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination process determines that the autonomous moving body is in the car, and causes the autonomous moving body that receives the disembarkation abort request to abort the operation to get off the car. Effect of the Invention

[0014] According to the present disclosure, in an elevator system, the burden on the manager can be reduced even if an autonomous moving object fails to disembark. [Brief description of the drawings]

[0015] [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] 10 is a flowchart showing another example of the operation of the interlocking device. [Figure 4] FIG. 2 is a sequence diagram showing an example of the overall operation of the elevator system. [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] 4 is a flowchart showing an example of the operation of the control device. [Figure 9] 10 is a flowchart showing another example of the operation of the interlocking device. [Figure 10] FIG. 2 illustrates an example of hardware resources of an interlocking device. [Figure 11] FIG. 13 is a diagram illustrating another example of hardware resources of the interlocking device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] 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.

[0017] Embodiment 1 FIG. 1 is a diagram showing an example of an elevator system 1 according to a first embodiment. The elevator system 1 includes an elevator device 2, an interlocking device 3, and an autonomous moving body 4. The elevator device 2 includes a car 5, and a control device 6. The elevator system 1 may include a plurality of autonomous moving bodies 4. The elevator device 2 may include a plurality of cars 5.

[0018] The elevator car 5 stops at multiple floors in a building. A user can get on the car 5 and travel to a desired floor. The car 5 is equipped with a door 7. The control device 6 manages the operation of the car 5. When the elevator device 2 is equipped with multiple cars 5, the control device 6 may manage the multiple cars 5 as a group.

[0019] 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.

[0020] 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.

[0021] The interlocking device 3 is capable of bidirectional communication with the control device 6. The interlocking device 3 is capable of bidirectional communication with the autonomous moving body 4. If a device for managing the autonomous moving body 4 is provided separately from the autonomous moving body 4, the interlocking device 3 may communicate with the autonomous moving body 4 via that device. In the elevator system 1, basically, the autonomous moving body 4 does not communicate directly with the control device 6. The interlocking device 3 mediates between the autonomous moving body 4 and the control device 6.

[0022] 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 boarding / alighting request unit 15, a door request unit 16, a first judgment unit 17, a stop request unit 18, and a second judgment unit 19.

[0023] The communication unit 11 is a function for communicating with the autonomous moving body 4. The communication unit 12 is a function for communicating with the control device 6. The call request unit 14 is a function for requesting the control device 6 to register a call. The boarding and alighting request unit 15 is a function for requesting boarding and alighting from the autonomous moving body 4. Specifically, the boarding and alighting request unit 15 has a function of a boarding request unit for requesting boarding the autonomous moving body 4 and a function of alighting request unit for requesting alighting from the autonomous moving body 4. In other words, the alighting request unit is a part of the function of the boarding and alighting request unit 15. The door request unit 16 is a function for requesting the control device 6 to open and close the door 7.

[0024] 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.

[0025] The autonomous moving object 4 includes a communication unit 31, an information acquisition unit 32, and an operation control unit 33.

[0026] The communication unit 31 is a function for communicating with the interlocking device 3. The information acquisition unit 32 is a function for acquiring information related to the autonomous moving body 4. Hereinafter, this information is also referred to as moving body information. As an example, the moving body information includes information indicating position coordinates, orientation, current floor, remaining charge, status, operation, etc. The above statuses 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.

[0027] The operation control unit 33 is a function for controlling the operation. For example, the operation control unit 33 controls a driving machine (not shown), thereby moving the autonomous moving body 4. The functions of the autonomous moving body 4 can be realized by a so-called computer.

[0028] The control device 6 includes a communication unit 41, an information acquisition unit 42, a decision unit 43, and an operation control unit 44.

[0029] The communication unit 41 is a function for communicating with the interlocking device 3. The information acquisition unit 42 is a function for acquiring information related to the elevator device 2. Hereinafter, this information is also referred to as elevator information. As an example, the elevator information includes information indicating the position of the car 5, the state of the car 5, the state of the door 7, and the like. The state of the car 5 includes, for example, stopped, moving upward, and moving downward. The state of the door 7 includes, for example, fully closed, opening operation, fully open, closing operation, and the like. Examples of elevator information are not limited to the above.

[0030] The operation control unit 44 controls the operation of the elevator device 2. For example, the operation control unit 44 controls the movement of the car 5. The operation control unit 44 controls the opening and closing of the door 7. The functions of the control device 6 can be realized by a so-called computer.

[0031] 2 to 8, the operation of the elevator system 1 will be described in detail below. FIG. 2 is a flowchart showing an example of the operation of the interlocking device 3.

[0032] The interlocking device 3 determines whether or not moving body information has been received from the autonomous moving body 4 (S101). In the autonomous moving body 4, the moving body information acquired by the information acquisition unit 32 is periodically transmitted from the communication unit 31 to the interlocking device 3. The autonomous moving body 4 may transmit moving body information every time the 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 another example of the operation of the interlocking device 3.

[0035] In the interlocking device 3, it is determined whether or not elevator information has been received from the control device 6 (S201). In the control device 6, the elevator information acquired by the information acquisition unit 42 is periodically transmitted from the communication unit 41 to the interlocking device 3. The elevator information may be transmitted from the control device 6 every time the contents of the elevator information are changed. The elevator information from the control device 6 is received by the communication unit 12 in the interlocking device 3. When the communication unit 12 receives the elevator information, the result of S201 is determined as Yes.

[0036] If the result of S201 is Yes, the recording unit 13 records the elevator information received by the communication unit 12 in the memory unit 10 (S202). As a result, the elevator information is accumulated in the memory unit 10. The interlocking device 3 can identify the latest position and status of the car 5 based on the elevator information stored in the memory unit 10. Furthermore, the interlocking device 3 can identify the latest status of the door 7 based on the elevator information stored in the memory unit 10.

[0037] Next, an operation of the autonomous moving body 4 when it moves in the car 5 will be described. Fig. 4 is a sequence diagram showing an example of the overall operation of the elevator system 1. Fig. 5 is a flowchart showing an example of the operation of the autonomous moving body 4. When it is necessary for the autonomous moving body 4 to move in the car 5, the autonomous moving body 4 transmits a call request from the communication unit 31 (S301).

[0038] 6 and 7 are flowcharts showing another example of the operation of the interlocking device 3. Fig. 6 and Fig. 7 show a series of operations. In the interlocking device 3, it is determined whether or not a call request has been received from the autonomous moving body 4 (S401). When the communication unit 11 receives the call request transmitted from the autonomous moving body 4 in S301, it is determined as Yes in S401.

[0039] If S401 is determined to be Yes, the call request unit 14 transmits a call registration request to the control device 6 in response to the call request received by the communication unit 11 in S401 (S402). This call registration 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 gets on to the car 5. The destination floor Fd is the floor where the autonomous moving body 4 gets off from the car 5.

[0040] 8 is a flowchart showing an example of the operation of the control device 6. The control device 6 judges whether or not a call registration request has been received from the interlocking device 3 (S501). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 in S402, the result of S501 is determined as Yes.

[0041] If the determination in S501 is Yes, the determination unit 43 determines a car 5 that will respond to the call registration request received by the communication unit 41 in S501 (S502). If the elevator device 2 is equipped with multiple cars 5 as shown in FIG. 1, 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. When the determination unit 43 determines the assigned car 5 in S502, an assigned car notification is transmitted from the communication unit 41 to the interlocking device 3 (S503). The assigned car notification includes information on the assigned car 5 determined by the determination unit 43.

[0042] When the interlocking device 3 transmits a call registration request in S402, it is determined whether or not an assigned car notice has been received from the control device 6 in response thereto (S403). When the communication unit 12 receives the assigned car notice transmitted from the control device 6 in S503, it is determined as Yes in S403. When it is determined as Yes in S403, the assigned car notice is transmitted from the communication unit 11 to the autonomous moving body 4 (S404).

[0043] In addition, in the autonomous moving body 4, the communication unit 31 receives the assigned car notification transmitted from the interlocking device 3 in S404. 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.

[0044] In the control device 6, when the determination unit 43 determines the assigned cage 5 in S502, the operation control unit 44 causes the assigned cage 5 to respond to the call registration request (S504). Specifically, the operation control unit 44 moves the assigned cage 5 to the boarding floor Fr. When the operation control unit 44 stops the assigned cage 5 at the boarding floor Fr, it opens the door 7 of the assigned cage 5. When the door 7 of the assigned cage 5 is opened at the boarding floor Fr, a door open notification is transmitted from the communication unit 41 to the interlocking device 3 (S505). The door open notification includes information indicating that the door 7 of the assigned cage 5 is open at the boarding floor Fr.

[0045] When the interlocking device 3 transmits a call registration request in S402, it determines whether or not a door open notification of the boarding floor Fr has been received (S405). When the communication unit 12 receives the door open notification transmitted from the control device 6 in S505, it determines Yes in S405. When it determines Yes in S405, the boarding / alighting request unit 15 transmits a boarding request to the autonomous moving body 4 (S406). The boarding request includes information indicating that boarding the assigned car 5 is permitted.

[0046] When the autonomous mobile body 4 transmits a call request in S301, it is determined whether or not a boarding request has been received from the interlocking device 3 in response thereto (S302). When the communication unit 31 receives the boarding request transmitted from the interlocking device 3 in S406, it is determined as Yes in S302. When it is determined as Yes in S302, the autonomous mobile body 4 boards the assigned car 5 (S303). That is, the operation control unit 33 controls the drive machine, so that the autonomous mobile body 4 moves from the landing of the boarding floor Fr to inside the assigned car 5. When the autonomous mobile body 4 boards the assigned car 5, a boarding completion notification is transmitted from the communication unit 31 to the interlocking device 3 (S304).

[0047] When the interlocking device 3 transmits a boarding request in S406, it is determined whether or not a boarding completion notification has been received from the autonomous moving body 4 in response thereto (S407). When the communication unit 11 receives the boarding completion notification transmitted from the autonomous moving body 4 in S304, it is determined as Yes in S407. When it is determined as Yes in S407, the door request unit 16 transmits a door close request to the control device 6 to close the door 7 of the assigned car 5 (S408).

[0048] When the control device 6 transmits the door open notification in S505, it determines whether or not a door close request has been received in response from the interlocking device 3 (S506). When the communication unit 41 receives the door close request transmitted from the interlocking device 3 in S408, it determines Yes in S506. When it determines Yes in S506, the operation control unit 44 moves the assigned car 5 to the destination floor Fd (S507).

[0049] Specifically, the operation control unit 44 closes the door 7 of the assigned car 5 at the boarding floor Fr. Next, the operation control unit 44 causes the assigned car 5 to respond to the call registration request and moves the assigned car 5 to the destination floor Fd. When the operation control unit 44 stops the assigned car 5 at the destination floor Fd, it opens the door 7 of the assigned car 5. As the door 7 of the assigned car 5 is opened at the destination floor Fd, a door open notification is sent from the communication unit 41 to the interlocking device 3 (S508). The door open notification includes information indicating that the door 7 of the assigned car 5 is open at the destination floor Fd.

[0050] When the interlocking device 3 transmits a door close request in S408, it is determined whether or not a door open notification for the destination floor Fd has been received (S409). When the communication unit 12 receives the door open notification transmitted from the control device 6 in S508, it is determined as Yes in S409. When it is determined as Yes in S409, the boarding / alighting request unit 15 transmits a disembarking request to the autonomous moving body 4 (S410). The disembarking request includes information indicating that disembarking from the assigned car 5 is permitted.

[0051] When the autonomous moving body 4 transmits a boarding completion notification in S304, it is determined whether or not an alighting request has been received from the interlocking device 3 in response thereto (S305). When the communication unit 31 receives the alighting request transmitted from the interlocking device 3 in S410, it is determined as Yes in S305. When it is determined as Yes in S305, the autonomous moving body 4 starts the alighting operation to alight from the assigned car 5 (S306). That is, the operation control unit 33 controls the drive machine, so that the autonomous moving body 4 starts moving from the assigned car 5 to the hall of the destination floor Fd.

[0052] If S305 is determined as Yes, the autonomous mobile body 4 determines whether disembarking, i.e., moving from the assigned car 5 to the platform at the destination floor Fd, has been successful (S307). If the autonomous mobile body 4 can move to the platform at the destination floor Fd, S307 is determined as Yes. If S307 is determined as Yes, a disembarking completion notification is transmitted from the communication unit 31 to the interlocking device 3 (S308). The disembarking completion notification includes information indicating that the autonomous mobile body 4 has disembarked from the assigned car 5 at the destination floor Fd.

[0053] On the other hand, if the autonomous moving body 4 cannot move to the landing of the destination floor Fd, the result of S307 is No. As an example, consider a case where the autonomous moving body 4 receives a disembarking request when the autonomous moving body 4 is riding in the assigned car 5 together with a user. If the user stands between the autonomous moving body 4 and the entrance / exit, the autonomous moving body 4, having detected that the user is on the path, stops the disembarking operation. In such a case, even if the autonomous moving body 4 receives a disembarking request, it cannot disembark from the assigned car 5, and the result of S307 is No. If the result of S307 is No, the autonomous moving body 4 determines whether or not a disembarking cancellation request has been received from the interlocking device 3 (S309).

[0054] In the interlocking device 3, when the disembarking request is transmitted in S410, the first determination unit 17 determines whether or not the autonomous moving body 4 has failed to disembark from the assigned car 5 at the destination floor Fd.

[0055] As an example, the first determination unit 17 determines whether or not a disembarking completion notification has been received from the autonomous moving body 4 (S411). When the communication unit 11 receives the disembarking completion notification transmitted from the autonomous moving body 4 in S308, the result of S411 is determined as Yes. That is, the first determination unit 17 does not determine that the autonomous moving body 4 has failed to disembark from the assigned car 5 at the destination floor Fd. When the result of S411 is determined as Yes, the door request unit 16 transmits a door close request to the control device 6 (S412).

[0056] On the other hand, if the communication unit 11 does not receive a disembarking completion notification from the autonomous moving body 4, it is determined as No in S411. If it is determined as No in S411, the first determination unit 17 determines whether or not a certain time has elapsed since the door open notification was received in S409 (S413). The certain time is set in advance. If the certain time has elapsed without receiving a disembarking completion notification from the autonomous moving body 4, the first determination unit 17 determines that the autonomous moving body 4 has failed to disembark from the assigned car 5 at the destination floor Fd. That is, it is determined as Yes in S413. If it is determined as Yes in S413, the cancellation request unit 18 transmits a disembarking cancellation request to the autonomous moving body 4 (S414). Note that the first determination unit 17 may determine the failure of disembarking by another method.

[0057] In the autonomous mobile body 4, when the communication unit 31 receives the disembarking cancellation request transmitted from the interlocking device 3 in S414, Yes is determined in S309. When Yes is determined in S309, the autonomous mobile body 4 cancels the disembarking operation to disembark from the assigned car 5 (S310). When the disembarking operation is canceled in S310, a disembarking cancellation completion notification is transmitted from the communication unit 31 to the interlocking device 3 (S311). The disembarking cancellation completion notification includes information indicating that the autonomous mobile body 4 has stopped moving to the hall at the destination floor Fd.

[0058] When the interlocking device 3 transmits the alighting cancellation request in S414, it is determined whether or not a alighting cancellation completion notification has been received from the autonomous moving body 4 in response thereto (S415). When the communication unit 11 receives the alighting cancellation completion notification transmitted from the autonomous moving body 4 in S311, it is determined as Yes in S415. When it is determined as Yes in S415, the door request unit 16 transmits a door close request to the control device 6 to close the door 7 of the assigned car 5 (S416).

[0059] When the control device 6 transmits a door open notification in S508, it determines whether or not a door close request has been received from the interlocking device 3 (S509). When the communication unit 41 receives the door close request transmitted from the interlocking device 3 in S412, it determines Yes in S509. Also, when the communication unit 41 receives the door close request transmitted from the interlocking device 3 in S416, it determines Yes in S509. When it determines Yes in S509, the operation control unit 44 closes the door 7 of the assigned car 5 (S510).

[0060] In the autonomous moving body 4, when the disembarking operation is cancelled in S310 and a disembarking cancellation completion notification is transmitted in S311, a re-disembarking request is transmitted from the communication unit 31 to the interlocking device 3 (S312). The re-disembarking request may be transmitted after a door close request is transmitted in S416.

[0061] When the interlocking device 3 transmits a disembarking cancellation request in S414, it is determined whether or not a re-disembarking request has been received from the autonomous moving body 4 in response thereto (S417). When the communication unit 11 receives the re-disembarking request transmitted from the autonomous moving body 4 in S312, it is determined as Yes in S417. When it is determined as Yes in S417, the second determination unit 19 determines whether or not the autonomous moving body 4 is in the assigned car 5 (S418). The determination in S418 is made based on, for example, the latest moving body information stored in the memory unit 10.

[0062] When the second judgment unit 19 judges that the autonomous moving body 4 is in the assigned car 5, Yes is judged in S418. When Yes is judged in S418, the call request unit 14 transmits to the control device 6 a call registration request for the autonomous moving body 4 to get off the assigned car 5 at the destination floor Fd, that is, the same destination floor as the destination floor included in the call registration request transmitted in S402 (S419). This call registration request corresponds to a call generated by operating the operation panel in the assigned car 5, that is, a so-called car call. In other words, the car 5 that responds to this call registration request is the car 5 that responded to the call registration request transmitted in S402. When No is judged in S418, the call registration request is not transmitted.

[0063] It should be noted that the determination in S418 does not have to be performed by the interlocking device 3. For example, a determination equivalent to the determination in S418 may be performed by the autonomous moving object 4.

[0064] After S510, the control device 6 judges whether or not a call registration request corresponding to a car call has been received from the interlocking device 3 (S511). When the communication unit 41 receives the call registration request transmitted from the interlocking device 3 in S419, the result of S511 is judged as Yes. When the result of S511 is judged as Yes, the process returns to S507. That is, the operation control unit 44 moves the assigned car 5 to the destination floor Fd and opens the door 7.

[0065] As a result, in the interlocking device 3, the communication unit 12 receives the door open notification transmitted from the control device 6 in S508 (Yes in S420). If it is determined to be Yes in S420, the boarding / alighting request unit 15 transmits an alighting request to the autonomous moving body 4 (S410). The autonomous moving body 4 that has received this alighting request starts the alighting operation (S306), and if the autonomous moving body 4 is able to alight from the assigned car 5, a alighting completion notification is transmitted to the interlocking device 3 (S308).

[0066] In the above example, if the answer is Yes in S511, the control device 6 may notify the interlocking device 3 of the cage call registration result before the processing of S507 is performed, and the notification may be forwarded from the interlocking device 3 to the autonomous mobile body 4.

[0067] In the example shown in this embodiment, the first determination unit 17 determines whether or not the autonomous moving body 4 heading to the destination floor Fd in the assigned car 5 has failed to get off the assigned car 5 at the destination floor Fd. When the first determination unit 17 determines that the autonomous moving body 4 has failed to get off the assigned car 5 at the destination floor Fd, the abort request unit 18 transmits a disembarkation abort request to the autonomous moving body 4. Then, when the call request unit 14 receives a re-disembarkation request from the autonomous moving body 4 as a response to the disembarkation abort request, it transmits a call registration request to the control device 6 for the autonomous moving body 4 to get off the assigned car 5 at the destination floor Fd.

[0068] With this elevator system 1, even if the autonomous moving body 4 fails to disembark once, a call registration request is made in response to a re-disembarking request from the autonomous moving body 4, and the autonomous moving body 4 can disembark from the assigned car 5 at the destination floor Fd. Even if the autonomous moving body 4 fails to disembark, there is no need for the manager to go rescue the autonomous moving body 4. This reduces the burden on the manager.

[0069] Other functions that can be adopted by the elevator system 1 are described below. If possible, the elevator system 1 may adopt a combination of the following functions. In the example shown below, only the differences from the above-mentioned example are described in detail. Explanations of the same points as the above-mentioned example are omitted.

[0070] In the above example, when the call request unit 14 receives a re-alighting request from the autonomous moving body 4 as a response to the alighting cancellation request, the call request unit 14 transmits a call registration request for the autonomous moving body 4 to alight from the assigned car 5 at the destination floor Fd to the control device 6. However, even if a re-alighting request is not received from the autonomous moving body 4, the interlocking device 3 can determine that the autonomous moving body 4 was unable to alight from the assigned car 5 at the destination floor Fd and that the autonomous moving body 4 is in the assigned car 5.

[0071] When the first judgment unit 17 judges that the autonomous mobile body 4 has failed to get off the assigned car 5 at the destination floor Fd, Yes is judged in S413. When the second judgment unit 19 judges that the autonomous mobile body 4 is in the assigned car 5, Yes is judged in S418. When Yes is judged in S413 and Yes is judged in S418, the call request unit 14 may transmit a call registration request for the autonomous mobile body 4 to get off the assigned car 5 at the destination floor Fd to the control device 6 in S419. In this case, the interlocking device 3 does not need to perform the process shown in S417 of FIG. 7. The autonomous mobile body 4 does not need to perform the process shown in S312 of FIG. 5.

[0072] 9 is a flow chart showing another example of the operation of the interlocking device 3. When the interlocking device 3 performs the operation flow shown in FIG.

[0073] Depending on the function of the elevator device 2, the car 5 may not respond to a car call with the floor where the car 5 is stopped as the destination floor. Therefore, in the example shown in Fig. 9, when S418 is judged as Yes, the third judgment unit 20 judges whether or not the floor where the assigned car 5 is currently located matches the destination floor Fd (S421). When the third judgment unit 20 judges that the current floor of the assigned car 5 does not match the destination floor Fd, the process shown in S419 is performed.

[0074] On the other hand, when the third determination unit 20 determines that the current floor of the assigned car 5 coincides with the destination floor Fd, the door request unit 16 transmits a door open request to open the door 7 of the assigned car 5 to the control device 6 (S422). After that, the process shown in S420 is performed. That is, by determining Yes in S421, the boarding / alighting request unit 15 transmits an alighting request to the autonomous moving body 4 (S410). In the autonomous moving body 4, by receiving the alighting request, an alighting operation to alight from the assigned car 5 is started (S306).

[0075] 9, the third determination unit 20 determines in S421 whether or not the current floor of the assigned car 5 matches the destination floor Fd on the condition that a re-alighting request has been received from the autonomous moving body 4. If the determination in S421 is No, a call registration request for the autonomous moving body 4 to alight from the assigned car 5 at the destination floor Fd is transmitted to the control device 6. On the other hand, if the determination in S421 is Yes, the call registration request is not transmitted, and a door open request is transmitted to the control device 6. In this example, it is possible to prevent a call registration request with the current floor of the assigned car 5 as the destination floor from being transmitted in S419.

[0076] 9 can also be applied to a case where a re-getting request is not transmitted from the autonomous moving body 4. In such a case, when S413 is judged as Yes and S418 is judged as Yes, the third judgment unit 20 may judge whether or not the current floor of the assigned car 5 coincides with the destination floor Fd (S421).

[0077] 10 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 50 including a processor 51 and a memory 52. ​​The processing circuit 50 may include multiple processors 51. The processing circuit 50 may include multiple memories 52.

[0078] In this embodiment, each unit indicated by the reference numerals 10 to 20 indicates a function possessed by the interlocking device 3. The function of the storage unit 10 is realized by a memory 52. ​​The function of each unit indicated by the reference numerals 11 to 20 can be realized by software written as a program, firmware, or a combination of software and firmware. The program is stored in the memory 52. ​​The interlocking device 3 realizes the function of each unit indicated by the reference numerals 11 to 20 by executing the program stored in the memory 52 by a processor 51 (computer).

[0079] The processor 51 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 52 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.

[0080] Fig. 11 is a diagram showing another example of hardware resources of the interlocking device 3. In the example shown in Fig. 11, the interlocking device 3 includes a processing circuit 50 including a processor 51, a memory 52, and dedicated hardware 53. Fig. 11 shows an example in which some of the functions of the interlocking device 3 are realized by the dedicated hardware 53. All of the functions of the interlocking device 3 may be realized by the dedicated hardware 53. As the dedicated hardware 53, 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.

[0081] The hardware resources of the autonomous moving body 4 are similar to the examples shown in FIG. 10 or FIG. 11. The autonomous moving body 4 includes a processing circuit including a processor and a memory as hardware resources. The autonomous moving body 4 realizes the functions of each unit indicated by the reference numerals 31 to 33 by executing a program stored in the memory by the processor (computer). The autonomous moving body 4 may include a processing circuit including a processor, 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.

[0082] The hardware resources of the control device 6 are similar to those shown in the examples of FIG. 10 or FIG. 11. The control device 6 includes a processing circuit including a processor and a memory as the hardware resources. The control device 6 realizes the functions of the parts indicated by the reference numerals 41 to 44 by executing a program stored in the memory by the processor (computer). The control device 6 may include a processing circuit including a processor, a memory, and dedicated hardware as the hardware resources. As for the control device 6, some or all of the functions of the device may be realized by dedicated hardware.

[0083] Below, examples of aspects that may be included in the present disclosure are set forth as appendices.

[0084] [Appendix 1] An autonomous moving body; A control device that manages the operation of the car; a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor; a call request unit that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the car at the first destination floor; Equipped with An elevator system in which, when the autonomous mobile body receives the request to cancel disembarkation, it stops the operation to disembark from the car and transmits the request to disembark again. [Appendix 2] Further comprising a second determination unit that determines whether the autonomous moving body is in the car, The elevator system of claim 1, wherein when the call request unit receives the re-alight request from the autonomous moving body and the second determination unit determines that the autonomous moving body is in the car, the call request unit transmits the call registration request to the control device. [Appendix 3] a third determination unit that, upon receiving the re-alighting request, determines whether or not a current floor of the car coincides with the first destination floor; A door request unit; An alighting request unit; Further comprising: the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor; the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor; the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor; 3. The elevator system according to claim 1, wherein the autonomous moving body starts an operation to disembark from the car when the autonomous moving body receives the first disembarkation request. [Appendix 4] An autonomous moving body; A control device that manages the operation of the car; a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor; a second determination unit that determines whether the autonomous moving body is inside the car; a call request unit that transmits a call registration request to the control device to get off the car at the first destination floor when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car; Equipped with The elevator system wherein the autonomous moving body, upon receiving the request to cancel disembarkation, cancels the operation to disembark from the car. [Appendix 5] a third determination unit that, when it is determined by the first determination unit that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined by the second determination unit that the autonomous moving body is in the car, determines whether or not a current floor of the car coincides with the first destination floor; A door request unit; An alighting request unit; Further comprising: the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor; the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor; the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor; The elevator system of claim 4, wherein the autonomous moving body initiates an operation to disembark from the car upon receiving the first disembarkation request. [Appendix 6] 6. The elevator system of claim 1, wherein the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor when a disembarkation completion notification indicating that the autonomous moving body has disembarked from the car at the first destination floor is not received from the autonomous moving body within a predetermined time period after receiving a first door open notification from the control device indicating that the car door has opened at the first destination floor. [Appendix 7] A door request unit is further provided, When the autonomous moving body receives the alighting cancellation request and cancels the operation for alighting from the car, the autonomous moving body transmits a alighting cancellation completion notification; 7. The elevator system according to any one of claims 1 to 6, wherein the door request unit, upon receiving the disembarkation cancellation completion notification, sends a door closing request to the control device to close the car door. [Appendix 8] Further comprising an alighting request unit, when the control device causes the car to respond to the call registration request and opens the car door at the first destination floor, it transmits a second door open notification indicating that the car door has been opened at the first destination floor; the alighting request unit transmits a second alighting request to the autonomous moving object when the second door open notification is received; 8. The elevator system according to claim 1, wherein the autonomous moving body starts an operation to disembark from the car when the autonomous moving body receives the second disembarkation request. [Appendix 9] An autonomous moving body; A control device that manages the operation of the elevator car; A communication-capable interlocking device, a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor; a call request unit that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the car at the first destination floor; Equipped with An interlocking device that causes the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation to alight from the car and to transmit the alighting request again. [Appendix 10] An autonomous moving body; A control device that manages the operation of the elevator car; A communication-capable interlocking device, a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request unit that transmits an alighting abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to alight from the car at the first destination floor; a second determination unit that determines whether the autonomous moving body is inside the car; a call request unit that transmits a call registration request to the control device to get off the car at the first destination floor when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car; Equipped with An interlocking device that causes the autonomous moving body, which has received the disembarkation cancellation request, to cancel the operation to disembark from the car. [Appendix 11] An autonomous moving body; A control device that manages the operation of the elevator car; A method for controlling a communication-enabled interlocking device, comprising: a first determination step of determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request step of transmitting an abort request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor; a call request step of transmitting a call registration request to the control device when a re-alighting request is received from the autonomous moving body in response to the alighting cancellation request; Equipped with A control method for an interlocking device that causes the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation for alighting from the car and to transmit the alighting request again. [Appendix 12] An autonomous moving body; A control device that manages the operation of the elevator car; A method for controlling a communication-enabled interlocking device, comprising: a first determination step of determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request step of transmitting an abort request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor; a second determination step of determining whether the autonomous moving body is in the car; a call request step of transmitting a call registration request for getting off the car at the first destination floor to the control device when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined in the second determination step that the autonomous moving body is in the car; Equipped with A control method for an interlocking device that causes the autonomous moving body that has received the disembarking cancellation request to cancel the operation for disembarking from the car. [Appendix 13] An autonomous moving body; A control device that manages the operation of the elevator car; A computer that can communicate with a first determination process for determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request process for sending an abort request to the autonomous moving body when it is determined in the first determination process that the autonomous moving body has failed to get off the car at the first destination floor; a call request process that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the cage at the first destination floor; Run the command, A program for causing the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation for alighting from the car and to transmit the alighting request again. [Appendix 14] An autonomous moving body; A control device that manages the operation of the elevator car; A computer that can communicate with a first determination process for determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request process for sending an abort request to the autonomous moving body when it is determined in the first determination process that the autonomous moving body has failed to get off the car at the first destination floor; A second determination process for determining whether the autonomous moving body is in the car; a call request process for transmitting a call registration request for getting off the car at the first destination floor to the control device when the first determination process determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination process determines that the autonomous moving body is in the car; Run the command, A program for causing the autonomous moving body, which has received the alighting cancellation request, to cancel the operation for alighting from the car.

[0085] The matters described in Appendices 2-3 and 6-8 may be added to Appendices 9, 11, and 13, respectively. The matters described in Appendices 5-8 may be added to Appendices 10, 12, and 14, respectively. [Explanation of symbols]

[0086] REFERENCE SIGNS LIST 1 elevator system, 2 elevator device, 3 interlocking device, 4 autonomous mobile body, 5 car, 6 control device, 7 door, 10 memory unit, 11 communication unit, 12 communication unit, 13 recording unit, 14 call request unit, 15 boarding / alighting request unit, 16 door request unit, 17 first determination unit, 18 cancellation request unit, 19 second determination unit, 20 third determination unit, 31 communication unit, 32 information acquisition unit, 33 operation control unit, 41 communication unit, 42 information acquisition unit, 43 decision unit, 44 operation control unit, 50 processing circuit, 51 processor, 52 memory, 53 dedicated hardware

Claims

1. An autonomous moving body; A control device that manages the operation of the car; a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request unit that transmits a disembarkation abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor; a call request unit that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the car at the first destination floor; Equipped with An elevator system in which, when the autonomous mobile body receives the request to cancel disembarkation, it stops the operation to disembark from the car and transmits the request to disembark again.

2. A second determination unit that determines whether the autonomous moving body is in the car, 2. The elevator system according to claim 1, wherein when the call request unit receives the re-alight request from the autonomous moving body, and when the second determination unit determines that the autonomous moving body is in the car, the call request unit transmits the call registration request to the control device.

3. a third determination unit that, when receiving the re-alighting request, determines whether or not a current floor of the car coincides with the first destination floor; A door request unit; An alighting request unit; Further comprising: the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor; the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor; the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor; The elevator system according to claim 1 , wherein the autonomous moving body starts an operation for disembarking from the car when the autonomous moving body receives the first disembarking request.

4. An autonomous moving body; A control device that manages the operation of the car; a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request unit that transmits a disembarkation abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor; a second determination unit that determines whether the autonomous moving body is inside the car; a call request unit that transmits a call registration request to the control device to get off the car at the first destination floor when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car; Equipped with The elevator system wherein the autonomous moving body, upon receiving the request to cancel disembarkation, cancels the operation to disembark from the car.

5. a third determination unit that, when it is determined by the first determination unit that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined by the second determination unit that the autonomous moving body is in the car, determines whether or not a current floor of the car coincides with the first destination floor; A door request unit; An alighting request unit; Further comprising: the call request unit transmits the call registration request to the control device when the third determination unit determines that the current floor of the car does not match the first destination floor; the door request unit transmits a door open request to the control device to open a door of the car when the third determination unit determines that the current floor of the car coincides with the first destination floor; the alighting request unit transmits a first alighting request to the autonomous moving body when the third determination unit determines that the current floor of the car coincides with the first destination floor; The elevator system according to claim 4 , wherein the autonomous moving body starts an operation for disembarking from the car when the autonomous moving body receives the first disembarking request.

6. 6. The elevator system according to claim 1, wherein the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor when a disembarkation completion notification indicating that the autonomous moving body has disembarked from the car at the first destination floor is not received from the autonomous moving body within a predetermined time period after receiving a first door open notification from the control device indicating that the door of the car has opened at the first destination floor.

7. A door request unit is further provided, When the autonomous moving body receives the alighting cancellation request and cancels the operation for alighting from the car, the autonomous moving body transmits a alighting cancellation completion notification; 6. The elevator system according to claim 1, wherein the door request unit transmits a door close request to the control device when the disembarkation cancellation completion notification is received.

8. Further comprising an alighting request unit, When the control device causes the car to respond to the call registration request and opens the car door at the first destination floor, the control device transmits a second door open notification indicating that the car door has been opened at the first destination floor; the alighting request unit transmits a second alighting request to the autonomous moving body upon receiving the second door open notification; The elevator system according to claim 1 , wherein the autonomous moving body starts an operation for disembarking from the car when the autonomous moving body receives the second disembarking request.

9. An autonomous moving body; A control device that manages the operation of the elevator car; A communication-capable interlocking device, a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request unit that transmits a disembarkation abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor; a call request unit that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the car at the first destination floor; Equipped with An interlocking device that causes the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation to alight from the car and to transmit the alighting request again.

10. An autonomous moving body; A control device that manages the operation of the elevator car; A communication-capable interlocking device, a first determination unit that determines whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request unit that transmits a disembarkation abort request to the autonomous moving body when the first determination unit determines that the autonomous moving body has failed to disembark from the car at the first destination floor; a second determination unit that determines whether the autonomous moving body is inside the car; a call request unit that transmits a call registration request to the control device to get off the car at the first destination floor when the first determination unit determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination unit determines that the autonomous moving body is in the car; Equipped with An interlocking device that causes the autonomous moving body, which has received the alighting cancellation request, to cancel the operation to alight from the car.

11. An autonomous moving body; A control device that manages the operation of the elevator car; A method for controlling a communication-enabled interlocking device, comprising: a first determination step of determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request step of transmitting an abort request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor; a call request step of transmitting a call registration request to the control device when a re-alighting request is received from the autonomous moving body in response to the alighting cancellation request; Equipped with A control method for an interlocking device that causes the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation for alighting from the car and to transmit the alighting request again.

12. An autonomous moving body; A control device that manages the operation of the elevator car; A method for controlling a communication-enabled interlocking device, comprising: a first determination step of determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request step of transmitting an abort request to the autonomous moving body when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor; a second determination step of determining whether the autonomous moving body is in the car; a call request step of transmitting a call registration request to the control device to get off the car at the first destination floor when it is determined in the first determination step that the autonomous moving body has failed to get off the car at the first destination floor and when it is determined in the second determination step that the autonomous moving body is in the car; Equipped with A control method for an interlocking device that causes the autonomous moving body that has received the disembarking cancellation request to cancel the operation for disembarking from the car.

13. An autonomous moving body; A control device that manages the operation of the elevator car; A computer that can communicate with a first determination process for determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request process for sending an abort request to the autonomous moving body when it is determined in the first determination process that the autonomous moving body has failed to get off the car at the first destination floor; a call request process that, when receiving a re-alighting request from the autonomous moving body in response to the alighting cancellation request, transmits a call registration request to the control device for alighting from the cage at the first destination floor; Run the command, A program for causing the autonomous mobile body, which has received the alighting cancellation request, to cancel the operation for alighting from the car and to transmit the alighting request again.

14. An autonomous moving body; A control device that manages the operation of the elevator car; A computer that can communicate with a first determination process for determining whether or not the autonomous moving body heading toward a first destination floor in the cage has failed to get off the cage at the first destination floor; an abort request process for sending an abort request to the autonomous moving body when it is determined in the first determination process that the autonomous moving body has failed to get off the car at the first destination floor; A second determination process for determining whether the autonomous moving body is in the car; a call request process for transmitting a call registration request for getting off the car at the first destination floor to the control device when the first determination process determines that the autonomous moving body has failed to get off the car at the first destination floor and the second determination process determines that the autonomous moving body is in the car; Run the command, A program for causing the autonomous moving body, which has received the alighting cancellation request, to cancel the operation for alighting from the car.

Images