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 registered calling is cancelled, and thereby can assist efficient operation of the autonomous movable bodies.SOLUTION: A cooperative control device 200 comprises a call registration request unit 241 transmits, to an elevator control device 100, a boarding floor entrance call registration request and a getting-off floor car call registration request 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 in response to the entrance call registration request; registers a car call to the getting-off floor with respect to a response car being a car responding to the entrance call in response to the car call registration request; and when preset cancellation conditions are met, cancels the car call; and when the car call registered in the response car is cancelled, transmits a car call cancellation notice. When receiving the car call cancellation notice, the call registration request unit 241 transmits, to the elevator control device 100, a re-registration request for a car call to the getting-off floor.SELECTED DRAWING: Figure 4

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 a registered call is cancelled by a request from the autonomous mobile body, the autonomous mobile body cannot get off at the target floor. In this case, the autonomous mobile body will continue to ride in the car until a timeout occurs, i.e., until a preset waiting time has elapsed, which reduces the operating efficiency of the autonomous mobile body.

[0005] The present disclosure has been made to solve such problems. An object of the present disclosure is 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 registered call is canceled by a request from the autonomous mobile body. [Means for solving the problem]

[0006] The 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 an elevator car, and includes a call registration request unit that transmits a hall call registration request for a boarding floor and a car call registration request for a disembarking floor to the elevator control device in response to a dispatch request from an autonomous mobile body, wherein the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, registers a car call for the disembarking floor in a responding car that is the car that responds to the hall call in response to the car call registration request, cancels the car call when a preset cancellation condition is satisfied, and transmits a car call cancellation notice when the car call registered in the responding car is canceled, and when the call registration request unit receives the car call cancellation notice, transmits a re-registration request for the car call for the disembarking floor to the elevator control device, and the elevator control device re-registers the car call for the disembarking floor in the responding car in response to the re-registration request.

[0007] Alternatively, the elevator cooperation control device according to the present disclosure is an elevator cooperation control device provided to be capable of communicating with an elevator control device that controls an elevator car, and includes a call registration request unit that transmits a hall call registration request for a boarding floor and a car call registration request for a disembarking floor to the elevator control device in response to a dispatch request from an autonomous mobile body, and the elevator control device registers a hall call for the boarding floor in response to the hall call registration request, registers a car call for the disembarking floor for a responding car that responds to the hall call in response to the car call registration request, and cancels the car call when a preset cancellation condition is satisfied. the cancellation condition includes a first condition and a second condition, the first condition being that a car call having a destination floor that is in the opposite direction to the direction of travel of the car is registered, and the second condition being a preset condition including at least that the car is stopping, the elevator control device cancels the car call having a destination floor that is in the opposite direction to the direction of travel of the car when the cancellation condition is satisfied, and transmits a condition satisfaction notification when the second condition is satisfied, and the call registration request unit transmits a re-registration request for the car call to the disembarkation floor to the elevator control device when the condition satisfaction notification is received.

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

[0009] The elevator cooperative control method according to the present disclosure is an elevator cooperative control method executed by a computer of an elevator cooperative control device provided to be capable of communicating with an elevator control device that controls elevator cars, and includes a first call registration request step and a second call registration request step of transmitting a hall call registration request for a boarding floor and a car call registration request for a disembarking floor to the elevator control device in response to a dispatch request from an autonomous mobile body, and the elevator control device registers a hall call for the boarding floor in response to the hall call registration request and In response, a car call for the disembarking floor is registered in a responding car, which is the car that responds to the hall call, the car call is canceled when a preset cancellation condition is met, and a car call cancellation notice is sent when the car call registered in the responding car is canceled, and the second call registration request step sends a re-registration request for the car call for the disembarking floor to the elevator control device when the car call cancellation notice is received, and the elevator control device re-registers the car call for the disembarking floor in the responding car in response to the re-registration request.

[0010] Alternatively, an elevator cooperation control method according to the present disclosure is an elevator cooperation control method executed by a computer of an elevator cooperation control device provided to be able to communicate with an elevator control device that controls elevator cars, the method including: a first call registration request step of transmitting a hall call registration request for a boarding floor and a car call registration request for a disembarking floor to the elevator control device in response to a dispatch request from an autonomous moving 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, registers a car call for the disembarking floor for a responding car that responds to the hall call in response to the car call registration request, and performs a preset handling. The car call is cancelled when a cancellation condition is met, the cancellation condition including a first condition and a second condition, the first condition being that a car call having a destination floor that is in the opposite direction to the direction of travel of the car is registered, and the second condition being a preset condition including at least that the car stops, the elevator control device cancels the car call having a destination floor that is in the opposite direction to the direction of travel of the car when the cancellation condition is met, and sends a condition fulfillment notification when the second condition is met, and the second call registration request step sends a re-registration request for the car call to the disembarkation floor to the elevator control device when the condition fulfillment notification is received.

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

[0012] The elevator linkage control device, elevator system, elevator linkage control method, and elevator linkage control program disclosed herein have the advantage of being able to suppress a decrease in the operating efficiency of the autonomous moving body even if a registered call is canceled due to a request from the autonomous moving body. [Brief description of the drawings]

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

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

[0015] Embodiment 1 A first embodiment of the present disclosure will be described with reference to Figs. 1 to 12. 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 cooperation control device. Each of Figs. 5 and 6 is a diagram explaining an example of the operation of the elevator system. Each of Figs. 7 to 9 is a diagram explaining an example of car call cancellation in the elevator system. Fig. 10 is a flow diagram showing an example of the operation of a first modified example of the elevator cooperation control device. Fig. 11 is a diagram explaining an example of the operation of the first modified example of the elevator system. Fig. 12 is a diagram showing an example of a configuration for realizing the functions of the elevator cooperation control device and the elevator control device.

[0016] As shown in Fig. 1, the elevator system according to this embodiment includes an elevator control device 100, a cooperative control device 200, and 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.

[0017] 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.

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

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

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

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

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

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

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

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

[0026] As shown in FIG. 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 with 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 an instruction from the processing unit 240. The autonomous mobile body communication unit 210 also receives data, signals, etc. transmitted from the autonomous mobile body 20 and sends them to the processing unit 240, etc. Note that a dedicated mobile body control device (not shown) for controlling the autonomous mobile body 20 may be provided between the autonomous mobile body communication unit 210 of the cooperative control device 200 and the autonomous mobile body 20. In this case, the communication between the cooperative control device 200 and the autonomous mobile body 20 is performed via a mobile body control device (not shown).

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

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

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

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

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

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

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

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

[0035] The elevator control device 100 according to this embodiment further includes a car call cancellation unit 150 and a call cancellation notification unit 160, as shown in Fig. 2. The car call cancellation unit 150 cancels a registered car call when a preset cancellation condition is met. The cancellation condition is, for example, that a preset car call cancellation operation is performed on an operating panel in the car 10. Specific examples of car call cancellation operations include the following:

[0036] Press the floor button you want to cancel twice in succession within the preset time. Press the floor button you want to cancel three times in succession within the preset time. Press (long press) the destination floor button you want to cancel for longer than the preset time. With the door of car 10 open, press and hold the door open button and then press the destination floor button you want to cancel.

[0037] Another example of a cancellation condition is the cancellation of a so-called rear call. A rear call is a car call whose destination is a floor in the opposite direction to the traveling direction of the car 10. In this case, the cancellation condition includes a first condition and a second condition. The first condition and the second condition are each preset conditions. The cancellation condition is met when both the first condition and the second condition are met simultaneously. The first condition is that a car call has been registered whose destination is a floor in the opposite direction to the traveling direction of the car 10.

[0038] The second condition includes at least the stopping of the car 10. Examples of the second condition include the following.

[0039] - Car 10 has stopped. The car 10 stops and starts opening the door of the car 10. The cage 10 stops, and the door of the cage 10 opens and is fully open. After the car 10 stops and the door of the car 10 opens, the door starts to close. The car 10 stops, and after the door of the car 10 opens, the door closes and is fully closed. After the car 10 stops and the door of the car 10 is opened and closed, the car 10 goes into a standby state.

[0040] As described above, when both the first condition and the second condition are satisfied at the same time, the cancellation condition is satisfied. When this cancellation condition is satisfied, the car call cancellation unit 150 cancels the registration of the rear call, that is, the car call having a destination floor in the opposite direction to the traveling direction of the car 10.

[0041] The call cancellation notification unit 160 transmits a car call cancellation notification when the car call cancellation unit 150 cancels the registration of a car call. Particularly in this embodiment, the call cancellation notification unit 160 transmits a car call cancellation notification signal to the cooperation control device 200 when the car call cancellation unit 150 cancels a car call registered in response to a car call registration request transmitted from the cooperation control device 200. Here, the car call registered in response to a car call registration request transmitted from the cooperation control device 200 may be rephrased as a car call registered in a responding car.

[0042] In this embodiment, when the call registration request unit 241 of the cooperative control device 200 receives a car call cancellation notification, it transmits a re-registration request of the car call for the disembarking floor to the elevator control device 100. That is, when the elevator communication unit 220 of the cooperative control device 200 receives a car call cancellation notification signal, the call registration request unit 241 generates a re-registration request signal of the car call for the disembarking floor indicated by the above-mentioned dispatch request signal. Then, the elevator communication unit 220 transmits the re-registration request signal to the elevator control device 100. When the elevator control device 100 receives the re-registration request signal, the car call registration unit 120 re-registers the car call for the destination floor indicated by the re-registration request signal to the assigned car, i.e., the responding car.

[0043] Next, an example of the operation of the cooperation control device 200 configured as above will be described with reference to Fig. 4. When the cooperation control device 200 receives a dispatch request from the autonomous mobile body 20, first, in step S101, it transmits a hall call registration request for the boarding floor to the elevator control device 100. In the following step S102, the cooperation control device 200 waits for a notification of the arrival of the car 10 at the boarding floor and a notification of the completion of door opening of the car 10 from the elevator control device 100. Then, when the cooperation control device 200 receives the arrival notification and the door opening completion notification from the elevator control device 100, it next performs the process of step S103.

[0044] In step S103, the coordination control device 200 transmits a door open continuation notification to the elevator control device 100. In the following step S104, the coordination control device 200 transmits an instruction to the autonomous moving body 20 to board the car 10. In the following step S105, the coordination control device 200 waits for the autonomous moving body 20 to complete boarding into the car 10. Then, when boarding of the autonomous moving body 20 into the car 10 is completed, the coordination control device 20 then performs processing of step S106.

[0045] In step S106, the cooperation control device 200 transmits a door closing notification to the elevator control device 100. In the following step S107, the cooperation control device 200 waits for a door closing completion notification from the elevator control device 100. Then, upon receiving the door closing completion notification from the elevator control device 100, the cooperation control device 200 next performs the process of step S108.

[0046] In step S108, the cooperation control device 200 transmits a car call request to the disembarking floor of the autonomous moving body 20 to the elevator control device 100. In the following step S109, the cooperation control device 200 waits for a notification from the elevator control device 100. When the cooperation control device 200 receives a car call cancellation notification from the elevator control device 100, the cooperation control device 200 returns to the processing of step S108 and requests re-registration of a car call to the disembarking floor of the autonomous moving body 20. On the other hand, when the cooperation control device 200 receives a notification from the elevator control device 100 that the car 10 has arrived at the disembarking floor and the door has opened, the cooperation control device 200 next performs the processing of step S110.

[0047] In step S110, the coordination control device 200 transmits a door open continuation notification to the elevator control device 100. In the following step S111, the coordination control device 200 transmits an instruction to the autonomous moving body 20 to disembark from the car 10. In the following step S112, the coordination control device 200 waits for the autonomous moving body 20 to complete disembarking from the car 10. Then, when disembarking of the autonomous moving body 20 from the car 10 is completed, the coordination control device 200 next performs processing of step S113.

[0048] In step S113, the cooperation control device 200 transmits a dispatch completion notification to the autonomous moving body 20. In the following step S114, the cooperation control device 200 transmits a door closing notification to the elevator control device 100. When the processing of step S114 is completed, the series of operations ends.

[0049] Fig. 5 shows an example of the operation of the entire elevator system when the coordinated control device 200 receives a car call cancellation notice from the elevator control device 100 in step S109. Fig. 6 shows an example of the operation of the entire elevator system when the coordinated control device 200 does not receive a car call cancellation notice from the elevator control device 100 in step S109 but receives a notice that the car 10 has arrived at the disembarking floor and the door has opened.

[0050] Next, Fig. 7 to Fig. 9 show an example of a case where a car call due to a dispatch request of the autonomous mobile body 20 is cancelled. In the example shown in Fig. 7, the autonomous mobile body 20 boards the car 10 at the first floor, which is the boarding floor, and a car call with the tenth floor, which is the disembarking floor, as the destination floor is registered in the car 10. Here, it is assumed that a person boards the car 10 while the car 10 is running from the first floor to the fifth floor, and the person registers a car call with the fifth floor as the destination floor. Then, the person cancels the car call with the tenth floor, which is not the person's destination floor, by operating the operation panel in the car. In this case, the car 10 stops at the fifth floor, and does not run to the tenth floor, which is the disembarking floor of the autonomous mobile body 20 that is boarded. Then, the autonomous moving body 20 will remain in the car 10 and continue to wait for the car 10 to move to the destination floor, for example, until a timeout occurs, i.e., until a preset waiting time has elapsed, which will reduce the operating efficiency of the autonomous moving body 20.

[0051] In the example shown in FIG. 8, the autonomous moving body 20 boards the car 10 at the first floor, which is the boarding floor, and a car call with the fifth floor, which is the disembarking floor, as the destination floor is registered in the car 10. Here, assume that a person boards the car while the car is traveling from the first floor to the fifth floor, and the person registers a car call with the tenth floor as the destination floor. Then, the person cancels the car call with the fifth floor, which is not the person's destination floor, by operating the operation panel in the car. In this case, the car 10 passes the fifth floor and travels to the tenth floor, and the autonomous moving body 20 riding in the car cannot disembark at the fifth floor, which is the disembarking floor. Then, when the car 10 arrives at the tenth floor, the state shown in FIG. 9 is reached, and the car 10 waits at the tenth floor. Then, the autonomous moving body 20 will remain in the car 10 and continue to wait for the car 10 to move to the destination floor, for example, until a timeout occurs, i.e., until a preset waiting time has elapsed, which will reduce the operating efficiency of the autonomous moving body 20.

[0052] According to the elevator system including the cooperative control device 200 configured as described above, when the car call registered in response to the dispatch request of the autonomous mobile body 20 is cancelled, the elevator control device 100 transmits a car call cancellation notification to the cooperative control device 200. Then, when the call registration request unit 241 of the cooperative control device 200 receives the car call cancellation notification, it transmits a car call re-registration request for the disembarking floor to the elevator control device 100. When the elevator control device 100 receives the re-registration request signal, the car call registration unit 120 re-registers the car call for the destination floor indicated by the re-registration request signal to the assigned car, i.e., the responding car. Therefore, when the car call registered in response to the dispatch request of the autonomous mobile body 20 is cancelled, it is possible to re-register the car call with the disembarking floor of the autonomous mobile body 20 as the destination floor, and the autonomous mobile body 20 can be disembarked at the desired destination floor. Therefore, it is possible to suppress a decrease in the operating efficiency of the autonomous mobile body 20.

[0053] Next, a modified example of the elevator system according to this embodiment will be described. In this modified example, the car call canceling unit 150 of the elevator control device 100 cancels the car call when both the first and second cancellation conditions described above are satisfied. In other words, it cancels the so-called rear call. Here, as described above, the first condition is that a car call is registered with a destination floor that is in the opposite direction to the direction of travel of the car 10. The second condition is a preset condition that at least includes the car 10 stopping. Then, the call cancellation notifying unit 160 transmits a condition satisfaction notification signal to the cooperation control device 200 when at least the second cancellation condition is satisfied.

[0054] In this modification, when the call registration request unit 241 of the cooperative control device 200 receives a condition establishment notification, it transmits a re-registration request for a car call for the disembarking floor to the elevator control device 100. That is, when the elevator communication unit 220 of the cooperative control device 200 receives a condition establishment notification signal, the call registration request unit 241 generates a re-registration request signal for a car call for the disembarking floor indicated by the above-mentioned dispatch request signal. Then, the elevator communication unit 220 transmits the re-registration request signal to the elevator control device 100. When the elevator control device 100 receives the re-registration request signal, the car call registration unit 120 checks whether or not a car call for the destination floor indicated by the re-registration request signal is registered in the assigned car. Then, if a car call for the destination floor indicated by the re-registration request signal is not registered in the assigned car, the car call registration unit 120 re-registers the car call for the destination floor indicated by the re-registration request signal in the assigned car.

[0055] Next, an example of the operation of the cooperation control device 200 configured as above will be described with reference to Fig. 10. When the cooperation control device 200 receives a dispatch request from the autonomous mobile body 20, first, in step S201, it transmits a hall call registration request for the boarding floor to the elevator control device 100. In the following step S202, the cooperation control device 200 waits for a notification of the arrival of the car 10 at the boarding floor and a notification of the completion of door opening of the car 10 from the elevator control device 100. Then, when the cooperation control device 200 receives the arrival notification and the door opening completion notification from the elevator control device 100, it next performs the process of step S203.

[0056] In step S203, the coordination control device 200 transmits a door open continuation notification to the elevator control device 100. In the following step S204, the coordination control device 200 transmits an instruction to the autonomous moving body 20 to board the car 10. In the following step S205, the coordination control device 200 waits for the autonomous moving body 20 to complete boarding into the car 10. Then, when boarding of the autonomous moving body 20 into the car 10 is completed, the coordination control device 200 next performs processing of step S206.

[0057] In step S206, the cooperation control device 200 transmits a door closing notification to the elevator control device 100. In the following step S207, the cooperation control device 200 waits for a door closing completion notification from the elevator control device 100. Then, upon receiving the door closing completion notification from the elevator control device 100, the cooperation control device 200 next performs the process of step S208.

[0058] In step S208, the cooperation control device 200 transmits a car call request for the disembarking floor of the autonomous moving body 20 to the elevator control device 100. In the following step S209, the cooperation control device 200 waits for a notification from the elevator control device 100. When the cooperation control device 200 receives a condition satisfaction notification from the elevator control device 100, the cooperation control device 200 returns to the processing of step S208 and requests re-registration of a car call for the disembarking floor of the autonomous moving body 20. On the other hand, when the cooperation control device 200 receives a notification from the elevator control device 100 that the car 10 has arrived at the disembarking floor and the door has opened, the cooperation control device 200 next performs the processing of step S210.

[0059] In step S210, the coordination control device 200 transmits a door open continuation notification to the elevator control device 100. In the following step S211, the coordination control device 200 transmits an instruction to the autonomous moving body 20 to disembark from the car 10. In the following step S212, the coordination control device 200 waits for the autonomous moving body 20 to complete disembarking from the car 10. Then, when disembarking of the autonomous moving body 20 from the car 10 is completed, the coordination control device 200 next performs processing of step S213.

[0060] In step S213, the cooperation control device 200 transmits a dispatch completion notification to the autonomous mobile body 20. In the following step S214, the cooperation control device 200 transmits a door closing notification to the elevator control device 100. When the processing of step S214 is completed, a series of operations ends. Note that Fig. 11 shows an example of the operation of the entire elevator system when the cooperation control device 200 receives a condition satisfaction notification from the elevator control device 100 in step S209.

[0061] In the elevator system according to this embodiment, a car call is registered in response to a dispatch request of the autonomous mobile body 20, and if the car call is canceled by an operation of another passenger, for example, the car call can be re-registered. However, if a car call with the alighting floor as the destination floor is registered after the car 10 has passed the alighting floor of the autonomous mobile body 20, it becomes a so-called rear call, and if the condition for canceling the rear call is met, the car call of the autonomous mobile body 20 is canceled.

[0062] According to the modified example of the elevator system configured as above, when at least the second condition of the conditions for canceling the rear call is satisfied, the elevator control device 100 transmits a condition satisfaction notification to the cooperation control device 200. Then, when the call registration request unit 241 of the cooperation control device 200 receives the condition satisfaction notification, it transmits a car call re-registration request for the disembarking floor to the elevator control device 100. Therefore, when a car call registered in response to a dispatch request of the autonomous mobile body 20 is canceled, it is possible to re-register a car call with the disembarking floor of the autonomous mobile body 20 as the destination floor, and the autonomous mobile body 20 can be disembarked at the desired destination floor. Therefore, it is possible to suppress a decrease in the operating efficiency of the autonomous mobile body 20.

[0063] Moreover, as described above, the second condition is a preset condition that includes at least the car 10 stopping, and more specifically, is often a combination of the car 10 stopping and the open / closed state of the door of the car 10. Therefore, it is easy to determine whether or not the second condition is satisfied. Therefore, even if the first condition is not determined, if a car call of the autonomous moving body 20 is canceled, the car call can be re-registered by a simple determination process for the second condition.

[0064] FIG. 12 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 a boarding floor and a car call registration request for a disembarking 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, registers a car call for a disembarking floor for a responding car that is a car 10 that responds to the hall call in response to the car call registration request, cancels the car call when a preset cancellation condition is satisfied, and transmits a car call cancellation notice to the cooperative control device 200 when the car call registered in the responding car is canceled. In the second call registration request step, when the cooperative control device 200 receives the car call cancellation notification, the cooperative control device 200 transmits a car call re-registration request for the disembarking floor to the elevator control device 100. In response to the re-registration request, the elevator control device 100 re-registers the car call for the disembarking floor for the responding car.

[0069] Alternatively, 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 a boarding floor and a car call registration request for a disembarking 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, registers a car call for a disembarking floor for a responding car that is the car 10 that responds to the hall call in response to the car call registration request, and cancels the car call when a preset cancellation condition is satisfied. The cancellation condition includes a first condition and a second condition. The first condition is that a car call with a floor in the opposite direction to the traveling direction of the car 10 as a destination floor is registered. The second condition is a preset condition that includes at least that the car 10 stops. When the cancellation condition is met, the elevator control device 100 cancels the car call having as its destination a floor in the opposite direction to the traveling direction of the car 10, and when the second condition is met, it transmits a condition satisfaction notification to the cooperative control device 200. In the second call registration request step, when the cooperative control device 200 receives the condition satisfaction notification, it transmits a car call re-registration request for the disembarking floor to the elevator control device 100.

[0070] 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.

[0071] 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]

[0072] 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 Car call cancellation unit 160 Call Cancellation Notification Section 200 Linkage control device 210 Autonomous Mobile Communication Unit 220 Elevator Communication Unit 230 Storage section 240 Processing section 241 Call registration request section 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 and a car call registration request for a disembarking 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, registers a car call for the disembarking floor in a responding car which is the car that responds to the hall call in response to the car call registration request, cancels the car call when a preset cancellation condition is satisfied, and transmits a car call cancellation notice when the car call registered in the responding car is cancelled; the call registration request unit transmits, when receiving the car call cancellation notification, a car call re-registration request for the disembarking floor to the elevator control device; The elevator control device is an elevator cooperation control device that re-registers a car call to the disembarking floor for the responding car in response to the re-registration request.

2. 2. The elevator linkage control device according to claim 1, wherein the cancellation condition is that a preset car call cancellation operation is performed on an operation panel in the responding car.

3. The cancellation conditions include a first condition and a second condition, The first condition is that a car call is registered with a destination floor being a floor in the opposite direction to the traveling direction of the car, The second condition is a preset condition including at least that the car stops, 2. The elevator cooperation control device according to claim 1, wherein the elevator control device cancels the car call having a destination floor that is in a direction opposite to a traveling direction of the car when the cancellation condition is satisfied.

4. 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 and a car call registration request for a disembarking 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, registers a car call for the disembarking floor for a responding car that is the car that responds to the hall call in response to the car call registration request, and cancels the car call when a preset cancellation condition is established; The cancellation conditions include a first condition and a second condition, The first condition is that a car call is registered with a destination floor being a floor in the opposite direction to the traveling direction of the car, The second condition is a preset condition including at least that the car stops, the elevator control device cancels the car call having a destination floor in a direction opposite to a direction in which the car is moving when the cancellation condition is satisfied, and transmits a condition satisfaction notification when the second condition is satisfied; The call registration request unit transmits a re-registration request for the car call to the disembarking floor to the elevator control device when the call registration request unit receives the notification that the condition is satisfied.

5. An elevator linkage control device according to any one of claims 1 to 4, The elevator control device; The autonomous moving body.

6. 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 and a car call registration request for a disembarking floor to the elevator control device in response to a dispatch request from an autonomous moving 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, registers a car call for the disembarking floor in a responding car which is the car that responds to the hall call in response to the car call registration request, cancels the car call when a preset cancellation condition is satisfied, and transmits a car call cancellation notice when the car call registered in the responding car is cancelled; the second call registration request step, when receiving the car call cancellation notification, transmits a car call re-registration request for the disembarking floor to the elevator control device; The elevator control device re-registers the car call to the disembarking floor for the responding car in response to the re-registration request.

7. 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 and a car call registration request for a disembarking floor to the elevator control device in response to a dispatch request from an autonomous moving 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, registers a car call for the disembarking floor for a responding car that is the car that responds to the hall call in response to the car call registration request, and cancels the car call when a preset cancellation condition is established; The cancellation conditions include a first condition and a second condition, The first condition is that a car call is registered with a destination floor being a floor in the opposite direction to the traveling direction of the car, The second condition is a preset condition including at least that the car stops, the elevator control device cancels the car call having a destination floor in a direction opposite to a direction in which the car is moving when the cancellation condition is satisfied, and transmits a condition satisfaction notification when the second condition is satisfied; The second call registration request step is an elevator linkage control method for transmitting, when the condition establishment notification is received, a re-registration request for a car call to the disembarking floor to the elevator control device.

8. An elevator linkage control program for causing a computer of the elevator linkage control device to execute the elevator linkage control method according to claim 6 or 7.

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