Elevator system and elevator autonomous movable body coordination system

Abstract

To shorten a boarding time of an autonomous movable body to a car by efficiently coordinating with the autonomous movable body.SOLUTION: An elevator system comprises: a communication unit provided in a car of an elevator so as to be able to communicate with an autonomous movable body which can autonomously move; and a detection unit provided in the car so as to be able to detect a boarding state in the car. While the autonomous movable body is waiting at a landing of the elevator, the detection unit detects the boarding state in the car, and when the car arrives at the landing and a door is opened, transmits information about the boarding state obtained from a detecting result of the detection unit to the autonomous movable body in the waiting state.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] An embodiment of the present invention relates to an elevator system and an elevator autonomous mobile body cooperation system. [Background technology]

[0002] In recent years, in elevator systems, autonomous mobile bodies such as robots are moved to different floors within a building to perform various tasks.

[0003] For example, in the technology of Patent Document 1, the autonomous moving body is controlled by different control modules when it is outside the elevator car and when it is inside the elevator car, allowing the autonomous moving body to automatically enter and exit the elevator. In addition, in the technology of Patent Document 2, the number of passengers that can board the elevator is calculated from images from a camera installed inside the elevator car, and a guide robot informs users at the platform whether they can board the elevator or not.

[0004] Here, when the autonomous mobile body gets into the car, after the car arrives at the platform and opens its door, the autonomous mobile body, for example, moves to a predetermined boarding position in the car while grasping the situation inside the car with a sensor, etc. For this reason, it may take time for the autonomous mobile body to get into the car.

[0005] Therefore, in the technology of Patent Document 3, an autonomous mobile body communicates with an elevator communication unit installed at the boarding area or inside the car, obtains a list of floors where the user plans to board and disembark from the car, and determines whether or not the user can board the car.

[0006] In addition, in the technology of Patent Document 4, when an autonomous mobile body makes a call for a platform, the elevator system takes an image of the inside of the car to determine whether there is a boarding space for the autonomous mobile body. If there is a boarding space, the elevator system transmits a boarding permission signal to the autonomous mobile body. On the other hand, if there is no boarding space or if there is another boarding call on a floor within the movement section of the autonomous mobile body, after a certain time has passed, the elevator system switches to an operation that can only be used by the autonomous mobile body. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent Publication No. 2021-080102 [Patent Document 2] JP 2019-051999 A [Patent Document 3] Patent Publication No. 2022-024765 [Patent Document 4] JP 2020-011805 A Summary of the Invention [Problem to be solved by the invention]

[0008] However, in the technology of Patent Document 3, it is necessary to install a communication device capable of communicating with the autonomous moving body inside and outside the elevator car, and to communicate according to the position of the autonomous moving body. This may result in high costs for the elevator system. In addition, since the boarding permission is determined based on a list of floors where the user plans to board and disembark, it is difficult to accurately determine the boarding permission when, for example, a user is carrying large luggage.

[0009] In addition, in the technology of Patent Document 4, the elevator system determines whether or not there are other hall calls in addition to determining whether boarding is possible, which makes the processing complicated. Also, when there is no boarding space or when there is a call from another hall, it determines that the autonomous moving body is ready to board after a certain time has elapsed, so there are doubts about the accuracy of determining whether or not there is free space in the car.

[0010] Furthermore, in the technology of Patent Document 4, captured images of the inside of the car are not transmitted to the autonomous moving body. Therefore, in the technology of Patent Document 4, the autonomous moving body itself cannot make a determination before the start of movement, and it is difficult for the autonomous moving body to consistently make a determination of whether or not boarding is possible from before the start of movement until boarding is completed.

[0011] The problem that this embodiment aims to solve is to provide an elevator system and an elevator-autonomous mobile body coordination system that can efficiently coordinate with an autonomous mobile body and shorten the time required for boarding the car of the autonomous mobile body. [Means for solving the problem]

[0012] An elevator system of an embodiment includes a communication unit provided in an elevator car capable of communicating with an autonomous moving body that can move autonomously, and a detection unit provided in the car capable of detecting the passenger status inside the car. When the autonomous moving body is waiting to board at the elevator platform, the detection unit detects the passenger status inside the car, and when the car arrives at the platform and opens the doors, the communication unit transmits information on the passenger status obtained from the detection result of the detection unit to the autonomous moving body waiting to board. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram illustrating an example of an overall configuration of an elevator / robot cooperation system according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram illustrating an example of a detailed configuration of the elevator system according to the embodiment. [Diagram 3] FIG. 3 is a schematic diagram illustrating an example of a detailed configuration of a server in a robot cloud according to an embodiment. [Figure 4] FIG. 4 is a schematic diagram illustrating an example of a detailed configuration of the robot according to the embodiment. [Diagram 5] FIG. 5 is a schematic diagram illustrating a cooperative operation between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 6] FIG. 6 is a schematic diagram illustrating a cooperative operation between an elevator system and a robot in the elevator / robot cooperative system according to the embodiment. [Figure 7]FIG. 7 is a schematic diagram illustrating a cooperative operation between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 8] FIG. 8 is a schematic diagram illustrating a cooperative operation between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 9] FIG. 9 is a schematic diagram illustrating a cooperative operation between an elevator system and a robot in an elevator / robot cooperative system according to an embodiment. [Figure 10] FIG. 10 is a flow diagram illustrating an example of a procedure of a cooperation process between an elevator system and a robot by the elevator / robot cooperation system according to the embodiment. [Figure 11] FIG. 11 is a flow diagram illustrating an example of a procedure of a cooperation process between an elevator system and a robot by the elevator / robot cooperation system according to the embodiment. [Figure 12] FIG. 12 is a flow chart showing an example of a procedure of a cooperation process between an elevator system and a robot in the elevator / robot cooperation system according to the first modification of the embodiment. [Figure 13] FIG. 13 is a schematic diagram showing an example of a configuration of an elevator system according to the second modification of the embodiment. As shown in FIG. [Figure 14] FIG. 14 is a schematic diagram illustrating a cooperative operation between an elevator system and a robot in an elevator / robot cooperative system according to the third modification of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] (Overall configuration of elevator / robot cooperation system) FIG. 1 is a diagram illustrating an example of an overall configuration of an elevator / robot cooperation system 1 according to an embodiment.

[0015] 1, an elevator / robot cooperation system 1 of the embodiment includes an elevator system 2, a robot cloud 300, and a robot 500. Note that the elevator / robot cooperation system 1 may include a plurality of robots 500.

[0016] The elevator system 2 includes a car 50, a control panel 100, a controller 150, and an elevator cloud 200. The elevator system 2 may include a plurality of cars 50, in which case the control panel 100 and the controller 150 are also provided for each of the cars 50. A configuration including the control panel 100, the controller 150, and the elevator cloud 200 may be referred to as an elevator control system 2B.

[0017] An elevator system 2 of the embodiment is installed in a building 3 having a plurality of floors, such as an office building or an apartment building. More specifically, the elevator system 2 includes a car 50, a control panel 100, and a controller 150 in a hoistway 30 provided in the building 3. In addition, a rope for driving the car 50, a hoist, a counterweight, and the like are provided in the hoistway 30.

[0018] The car 50 is provided with an imaging unit 51 that takes pictures of the inside of the car 50, a communication unit 52 that can communicate with the robot 500, and a door 53 that opens and closes at the landing, and can accommodate not only elevator users but also the robot 500. The car 50 is configured to be able to transport users and the robot 500 between different floors by ascending and descending in the elevator shaft 30.

[0019] The control panel 100 is connected wirelessly or by wire to an imaging unit 51, a communication unit 52, a door 53, and the like provided in the car 50, and controls each unit of the car 50 to operate the car 50. The control panel 100 is also connected wirelessly or by wire to a controller 150.

[0020] The controller 150 is connected to the server 210 in the elevator cloud 200 via a network. As a result, the controller 150 controls communication between the control panel 100 and the server 210, and mediates various signals between the control panel 100 and the server 210. In this way, the controller 150 is an intermediary device having an interface function for mediating signals between the control panel 100 and the server 210, and a hub function.

[0021] The elevator cloud 200 is a computer system located on a cloud, including a server 210, etc. The elevator cloud 200 may include one or more computers having physical components such as a central processing unit (CPU), a read only memory (ROM), and a random access memory (RAM).

[0022] The server 210 instructs the control panel 100 to perform various controls on each part of the car 50, and receives various requests and various data from the control panel 100. These exchanges between the server 210 and the control panel 100 are performed via the controller 150. The server 210 is also connected to a server 310 of the robot cloud 300 via a network.

[0023] The robot cloud 300 is a computer system located on a cloud, including a server 310, etc. The robot cloud 300 may include one or more computers having physical components such as a CPU, a ROM, and a RAM.

[0024] The server 310 receives various requests and various data from the server 210 of the elevator cloud 200. The server 310 is connected to the robot 500 in the building 3 via a network, and transmits various instructions to the robot 500. In addition, the server 310 makes a hall call to the server 210 of the elevator cloud 200 when moving the robot 500 to a different floor.

[0025] A platform call is an operation for calling a car 50 at a platform on a specific floor, and in the case of general users, the platform call is made, for example, by using a platform call button (not shown) provided at the platform.

[0026] In this way, in the elevator / robot collaboration system 1, the servers 210, 310 provided in the elevator cloud 200 and the robot cloud 300, respectively, are connected via a network, making it possible to control the elevator system 2 and the robot 500 in collaboration with each other.

[0027] The elevator / robot cooperation system 1 is an example of an elevator autonomous mobile object cooperation system that cooperates with a robot 500 as an autonomous mobile object. The server 310 in the robot cloud 300 is an example of a management server that manages the robot 500.

[0028] The robot 500 as an autonomous mobile body autonomously moves within the building 3 while receiving instructions from the server 310, and performs various tasks within the building 3, such as deliveries or cleaning.

[0029] (Example of the components of an elevator / robot cooperation system) Next, a detailed configuration example of the elevator system 2, the server 310 in the robot cloud 300, and the robot 500 included in the elevator / robot cooperation system 1 will be described with reference to FIGS.

[0030] FIG. 2 is a schematic diagram showing an example of a detailed configuration of the elevator system 2 according to the embodiment.

[0031] As shown in FIG. 2, the elevator system 2 includes a car 50, a rope 6, a counterweight 7 attached to the rope 6, and a hoist 8 for winding up the rope 6, in a hoistway 30 (see FIG. 1).

[0032] The car 50 is connected to the counterweight 7 via a rope 6. The rope 6 is fed by driving a hoist 8, so that the car 50 moves up and down in the hoistway 30 while balancing with the counterweight 7.

[0033] An imaging unit 51, a communication unit 52, and a memory unit 55 are provided within the elevator car 50, and a door 53 is provided on the front side of the elevator car 50, i.e., on the boarding / alighting side.

[0034] The imaging unit 51 is provided, for example, near the ceiling of one corner of the car 50, and is configured to be able to capture substantially the entire interior of the car 50. The imaging unit 51 may be a surveillance camera that monitors the interior of the car 50. The image of the interior of the car 50 captured by the imaging unit 51 is transmitted to the storage unit 55 wirelessly or via a wired connection and stored therein.

[0035] In this way, by capturing an image of the inside of the elevator car 50 with the imaging unit 51, it is possible to detect the riding conditions inside the elevator car 50, such as the number of users in the elevator car 50, the degree of congestion including the users' baggage, etc. The imaging unit 51 is an example of a detection unit that detects the riding conditions inside the elevator car 50.

[0036] The communication unit 52 is provided near the door 53, for example, on a pillar (front side panel) of the car 50, and is configured to be capable of communicating with the robot 500. More specifically, the communication unit 52 is capable of communicating with the robot 500 at the platform when the car 50 has its door open, using a short-range wireless communication technology such as Bluetooth (registered trademark).

[0037] The communication unit 52 is connected to the storage unit 55 wirelessly or by wire, and acquires an image of the inside of the car 50 stored in the storage unit 55 and transmits it to the robot 500 waiting to board the car 50 at a boarding point, for example. The communication unit 52 and the storage unit 55 may be configured integrally.

[0038] A control panel 100 included in the elevator control system 2B includes a control unit 101, a transmission / reception unit 102, and a storage unit 109. The control panel 100 is an example of an elevator control device.

[0039] The control unit 101 is a hardware processor such as a CPU. The control unit 101 reads out and executes a control program or the like from the storage unit 109 to control the operation of the car 50 and cooperate with the robot 500. Cooperation between the control panel 100 and the robot 500 is performed, for example, via the controller 150, the elevator cloud 200, and the above-mentioned robot cloud 300 (see FIG. 1), or via the above-mentioned communication unit 52 provided in the car 50.

[0040] The transmitting / receiving unit 102 is made up of a communication device having a predetermined communication protocol, and performs processing for transmitting and receiving information between the control board 100 and the controller 150 .

[0041] The storage unit 109 is, for example, a storage medium (memory device) such as a ROM or a RAM, etc. In the storage unit 109, control parameters and control programs used for various functions of the control panel 100 are stored.

[0042] The controller 150 included in the elevator control system 2B includes a control unit 151, a transmission / reception unit 152, and a storage unit 159.

[0043] The control unit 151 is a hardware processor such as a CPU, and mainly controls the operation of the transmission / reception unit 152 .

[0044] The transceiver 152 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the control panel 100 and the controller 150, and communication processing between the controller 150 and the server 210 in the elevator cloud 200. For example, when the transceiver 152 receives an operation signal transmitted from the control panel 100, it transmits the operation signal to the server 210 in the elevator cloud 200.

[0045] The storage unit 159 is, for example, a storage medium such as a ROM or a RAM, etc. In the storage unit 159, control parameters and control programs used for various functions of the controller 150 are stored.

[0046] As described above, the elevator cloud 200 included in the elevator control system 2B includes the server 210. The server 210 includes a control unit 211, a transmission / reception unit 212, and a storage unit 219.

[0047] The control unit 211 is a hardware processor such as a CPU. The control unit 211 performs overall management of the elevator system 2 and cooperation with the server 310 in the robot cloud 300 by reading and executing a control program, etc. from the storage unit 219. As an example of such cooperation, the control unit 211 receives a hall call to a hall where the robot 500 is waiting from the server 310 in the robot cloud 300. The hall call is further transmitted from the control unit 211 to the car 50 via the controller 150, and a response is made by the car 50.

[0048] The transmitter / receiver 212 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the server 210 and the controller 150, and communication processing between the server 210 and the server 310 in the robot cloud 300.

[0049] The storage unit 219 is, for example, a storage medium (memory device) such as a ROM or a RAM, etc. In the storage unit 219, control parameters and control programs used for various functions of the server 210 are stored.

[0050] 3 is a schematic diagram showing an example of a detailed configuration of a server 310 in the robot cloud 300 according to an embodiment. As shown in FIG. 3, the server 310 in the robot cloud 300 includes a control unit 311, a transmission / reception unit 312, and a storage unit 319.

[0051] The control unit 311 is a hardware processor such as a CPU. The control unit 311 controls various processes related to the robot 500 and various processes related to cooperation with the elevator system. More specifically, the control unit 311 comprehensively manages and controls the robot 500, and causes the robot 500 to move autonomously within the building 3 and perform tasks such as delivery or cleaning.

[0052] The movement of the robot 500 within the building 3 also includes movement between different floors using the car 50 of the elevator system 2. When it becomes necessary for the robot 500 to move between different floors, the control unit 311 moves the robot 500 to the landing of the current floor and transmits a landing call to the server 210 in the elevator cloud 200.

[0053] The transmission / reception unit 312 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the server 310 and the server 210 in the elevator cloud 200, and communication processing between the server 310 and the robot 500.

[0054] The storage unit 319 is, for example, a storage medium (memory device) such as a ROM or a RAM, etc. In the storage unit 319, control parameters and control programs used for various functions of the server 310 are stored.

[0055] 4 is a schematic diagram showing an example of a detailed configuration of a robot 500 according to an embodiment. As shown in FIG. 4, the robot 500 includes a control unit 501, a transmitting / receiving unit 502, a communication unit 503, a driving unit 504, various sensors 505, and a storage unit 509.

[0056] The control unit 501 is a hardware processor such as a CPU. The control unit 501 reads and executes a control program, etc., from the storage unit 509, thereby executing various operations in the building 3. At this time, the control unit 501 follows instructions from the server 310 in the robot cloud 300 and receives feedback from various sensors 505 to execute various operations.

[0057] The transmitting / receiving unit 502 is composed of a communication device having a predetermined communication protocol, and performs communication processing between the robot 500 and the server 310 in the robot cloud 300 .

[0058] The communication unit 503 is configured to be capable of communicating with the communication unit 52 using the same type of short-range wireless communication technology as the communication unit 52 in the car 50 described above, such as Bluetooth (registered trademark). As described above, when the robot 500 is at a boarding area, for example, the communication with the communication unit 52 can be performed when the car 50 that has arrived at that floor has its door open.

[0059] The driving unit 504 is a crawler, a wheel, or another mechanism, and the driving unit 504 drives the robot 500 to move. Note that the driving unit 504 is not limited to the above.

[0060] The various sensors 505 are configured to be capable of detecting the state of the robot 500 itself and its surroundings, and may include, for example, at least one of an infrared sensor, an acceleration sensor, a camera, etc. Note that the various sensors 505 are not limited to those listed above.

[0061] (Coordination of elevator / robot systems) Next, a cooperative operation between the elevator system 2 and the robot 500 in the elevator / robot cooperative system 1 of the embodiment will be described with reference to FIGS.

[0062] 5 to 9 are schematic diagrams sequentially illustrating cooperative operations between the elevator system 2 and the robot 500 in the elevator / robot cooperative system 1 according to the embodiment.

[0063] As shown in FIG. 5, when it becomes necessary to move the robot 500 to another floor in the building 3, the server 310 in the robot cloud 300 moves the robot 500 to the boarding area of ​​the current floor and sends a boarding area call to the server 210 in the elevator cloud 200.

[0064] The hall call information transmitted from the server 310 is further transmitted from the server 210 in the elevator cloud 200 to the control panel 100 via the controller 150. At this time, if the elevator system 2 has a plurality of cars 50, the server 210 in the elevator cloud 200 assigns an appropriate car 50 based on the operation status of each car 50, and transmits the hall call information to the control panel 100 that controls the car 50.

[0065] When the control panel 100 receives the information of the platform call transmitted from the server 310, it causes the car 50 to respond to the platform call. That is, the control panel 100 causes the car 50 to head to the platform of the floor where the robot 500 is waiting to board the car 50. In addition, the control panel 100 causes the imaging unit 51 to capture an image of the inside of the car 50 and stores the image 51a in the memory unit 55 before the car 50 arrives at the platform of the destination floor.

[0066] As shown in Fig. 6, when the car 50 arrives at the platform of the floor where the robot 500 is waiting to board, the control panel 100 opens the door of the car 50. In conjunction with this, the door of the platform also opens. As a result, the door 53 of the car 50 and the platform door are opened, and the inside of the car 50 and the platform are connected, so that communication between the communication unit 52 and the robot 500 is possible using short-range wireless technology or the like.

[0067] After the door of the car 50 opens, the control panel 100 causes the communication unit 52 to communicate with the robot 500 at the platform and transmits the image 51a of the inside of the car 50 stored in the memory unit 55 to the robot 500. When the robot 500 receives the image 51a of the inside of the car 50 from the communication unit 52, the robot 500 analyzes the riding situation inside the car 50 based on the image 51a and determines whether or not it is possible to board the car 50. Such an analysis is performed using, for example, image processing technology or the like.

[0068] Thus, in the embodiment, the image of the inside of the car 50 captured by the imaging unit 51 is used as information indicating the riding status inside the car 50.

[0069] In the example of FIG. 6, it is assumed that the number of users 5 in the car 50 is not large and that the robot 500 can ride there.

[0070] As shown in Fig. 7, the robot 500 determines that it is possible to board the car 50, and starts moving to the car 50. During the movement to the car 50, the robot 500 safely travels while detecting the robot 500 itself and its surrounding conditions by various sensors 505 (see Fig. 4), and stops at a predetermined boarding position, for example, near a pillar (front side panel) inside the car 50.

[0071] After stopping the elevator car 50 at the platform with the door open for a predetermined time, the control panel 100 confirms, for example by sensors provided on the platform door and the door 53 of the elevator car 50, that there are no obstacles such as the robot 500 or users blocking the boarding and alighting entrance of the elevator car 50, and then closes the door of the elevator car 50 and moves the elevator car 50 sequentially to the destination floors of the robot 500 and users 5.

[0072] At this time, the above-mentioned predetermined time, i.e., the time for stopping the car 50 at the platform, may be determined based on, for example, the time required for the robot 500 to board the car 50. Even in this case, the control panel 100 appropriately adjusts the stopping time of the car 50 based on the detection results of sensors provided on the platform door, the door 53 of the car 50, etc.

[0073] With the above, the cooperative operation between the elevator system 2 and the robot 500 in the elevator / robot cooperative system 1 of the embodiment is completed.

[0074] On the other hand, there may be cases where the robot 500 determines that riding is not permitted based on the image captured by the imaging unit 51. Figures 8 and 9 show examples of such cases.

[0075] Fig. 8 shows a state where the series of processes shown in Fig. 6 above is completed and the communication unit 52 in the car 50 and the robot 500 are in communication with each other, similar to Fig. 7 above. As shown in Fig. 8, the communication unit 52 transmits an image 51b captured by the imaging unit 51 to the robot 500 by short-range wireless communication technology or the like, and the robot 500 determines whether or not to allow the user to board the car 50 based on the image 51b.

[0076] In the example of FIG. 8, it is assumed that the inside of the car 50 is crowded due to a large number of users 5 or the like.

[0077] As shown in Fig. 9, the robot 500 determines that it is not possible for the user to board the car 50. In this case, the robot 500 notifies the user that it will not board by communicating with the communication unit 52. The notification received by the communication unit 52 from the robot 500 is transmitted to the control panel 100, and the control panel 100 stops the car 50 at the platform with the door open for a period of time based on the notification, and then closes the door of the car 50 and moves the car 50 sequentially to the destination floors of other users.

[0078] By receiving the notification that the robot 500 will not board, the control panel 100 can set the stop time of the car 50 to, for example, a time shorter than the time when the robot 500 boards. However, even in this case, the stop time of the car 50 is appropriately adjusted based on the detection results of the sensors provided on the landing door, the door 53 of the car 50, etc.

[0079] In this manner, the cooperative operation between the elevator system 2 and the robot 500 in the elevator / robot cooperative system 1 of the embodiment in the case where the robot 500 has determined that boarding is not permitted is completed.

[0080] After this, the robot 500 continues to wait for boarding at the boarding area, and the processing from FIG. 6 is repeated by the robot cloud 300 and the servers 310, 210 in the elevator cloud 200, and the robot 500 attempts to board another elevator car 50.

[0081] Here, as described above, the elevator system 2 may have a plurality of cars 50.

[0082] In this case, when a platform call is made from the server 310 in the robot cloud 300, the server 210 in the elevator cloud 200 assigns a car 50 to respond to the platform call from among the multiple cars 50, and notifies the server 310 in the robot cloud 300 of the number of the assigned car 50. The server 310 further notifies the robot 500 waiting at the platform of the notified car 50 number. This allows the robot 500 to determine which car 50 to board from among the multiple cars 50.

[0083] Furthermore, when the robot 500 determines that boarding to the assigned car 50 is not possible, the server 210 in the elevator cloud 200 may receive a boarding denial notification via the communication unit 52 and the control panel 100, and reallocate another car 50 from among the multiple cars 50. In this case, the server 210 in the elevator cloud 200 can notify the robot 500 at the platform of the car number of the newly assigned car 50 via the control panel 100 and communication unit 52 corresponding to the car 50 that is no longer possible to board.

[0084] In addition, in order to notify the robot 500 at the landing of the newly assigned car number of the car 50, a method is also conceivable in which, for example, information about the car number is exchanged between the servers 210, 310 of the elevator cloud 200 and the robot cloud 300, and the server 310 in the robot cloud 300 notifies the robot 500. However, as described above, by notifying the robot 500 by, for example, communication with the communication unit 52, the processing in the elevator / robot cooperation system 1 is simplified, and the load on the internal processing can be reduced.

[0085] (Example of elevator / robot cooperation system processing) Next, a processing example by the elevator / robot cooperation system 1 of the embodiment will be described with reference to Fig. 10 and Fig. 11. Fig. 10 and Fig. 11 are flow diagrams showing an example of a procedure of cooperation processing between the elevator system 2 and the robot 500 by the elevator / robot cooperation system 1 according to the embodiment.

[0086] As shown in FIG. 10, when moving the robot 500 to a different floor, the server 310 in the robot cloud 300 sends a platform call to the server 210 in the elevator cloud 200 (step S101) and also instructs the robot 500 to move to the platform (step S102).

[0087] 10, the process of step S101 is shown to precede the process of step S102, but the difference in timing is for ease of viewing the drawing, and the processes of steps S101 and S102 are not necessarily performed in this order. That is, the process of step S102 may be performed prior to the process of step S101, or the processes of steps S101 and S102 may be performed in parallel.

[0088] The robot 500 moves to the boarding area of ​​the floor according to instructions from the server 310 in the robot cloud 300, and waits there after arriving at the boarding area (step S103).

[0089] When a hall call is received from the server 310 in the robot cloud 300, the server 210 in the elevator cloud 200 registers the hall call (step S104). The server 210 also transmits an instruction to assign a specific car 50 to the hall call to the corresponding control panel 100 via the corresponding controller 150 (steps S105 and S106).

[0090] When the corresponding car 50 is assigned to the hall call, the control panel 100 directs the car 50 to the hall of the waiting floor of the robot 500 and causes the car 50 to respond to the hall call (step S107). In addition, the control panel 100 instructs the imaging unit 51 provided in the car 50 to acquire the boarding status inside the car 50 (step S108).

[0091] The car 50 heads toward the platform of the waiting floor of the robot 500 in accordance with the response instruction from the control panel 100 (step S109). Also, the imaging unit 51, in accordance with the instruction from the control panel 100, captures an image of the inside of the car 50 until the car 50 arrives at the platform of the waiting floor of the robot 500, and stores the image in the memory unit 55 (step S110).

[0092] When the car 50 arrives at the landing of the waiting floor of the robot 500, the control panel 100 issues an instruction to open the door of the car 50 (step S111), and also issues a communication instruction to the communication unit 52 (step S112).

[0093] As a result, the door 53 of the car 50 is opened in accordance with the instruction of the control panel 100 (step S113). After the door of the car 50 is opened, the communication unit 52 starts communication with the robot 500 at the platform in accordance with the instruction of the control panel 100. At this time, an image showing the riding status inside the car 50, which has been photographed by the imaging unit 51 and read by the communication unit 52 from the storage unit 55, is transmitted from the communication unit 52 to the robot 500 (step S114).

[0094] The robot 500 waiting to board at the platform acquires an image of the inside of the car 50 from the communication unit 52 in the car 50, and then determines whether or not boarding into the car 50 is possible based on the image (step S115).

[0095] The processing of steps S201 to S205 shown in FIG. 11 is performed when the robot 500 determines that it is possible to board the car 50.

[0096] 11, when it is determined that boarding the car 50 is possible based on the received image of the inside of the car 50 (step S201), the robot 500 moves to the car 50 and stops at a boarding position in the car 50 (step S202). During this time, the robot 500 moves safely to the car 50 while referring to the detection results by the various sensors 505.

[0097] After a predetermined time has elapsed, the control panel 100 issues an instruction to close the door of the car 50 and to move to the destination floor (step S203), and in accordance with these instructions, the door of the car 50 is closed (step S204), and the car 50 with the robot 500 inside begins to move toward the destination floor (step S205).

[0098] The processing of steps S301 to S307 shown in FIG. 11 is performed when the robot 500 determines that boarding the car 50 is not possible.

[0099] When it is determined that boarding the car 50 is not possible based on the received image of the inside of the car 50 (step S301), the robot 500 transmits a notification to the communication unit 52 in the car 50 to pass on boarding to the car 50 (step S302), and continues to wait at the platform (step S303). The communication unit 52 further transmits the notification from the robot 500 to the control panel 100 (step S304).

[0100] Note that steps S305 to S311 described below are processes performed when the elevator system 2 includes a plurality of cars 50.

[0101] When the control panel 100 receives a notification from the robot 500 via the communication unit 52, it transmits the notification to the server 210 in the elevator cloud 200 via the controller 150 (steps S305, S306). The server 210 in the elevator cloud 200 reassigns another car 50 from among the multiple cars 50 (step S307), and notifies the control panel 100 of the car number of the car 50 via the controller 150 of the car 50 determined to be unboardable (steps S308, S309).

[0102] When the control panel 100 is notified of the newly assigned car 50 number, it issues a communication instruction to the communication unit 52 regarding the car 50 number (step S310). The communication unit 52 communicates with the robot 500 at the platform in accordance with the instruction from the control panel 100, and notifies the robot 500 of the newly assigned car 50 number (step S311). This enables the robot 500 to determine the next car 50 to board.

[0103] Thereafter, the control panel 100 issues an instruction to close the doors of the elevator 50 and to move to the destination floor (step S312), for example, in a shorter time than when the robot 500 boards the elevator, and in accordance with these instructions, the doors of the elevator 50 are closed (step S313), and the elevator 50 starts moving toward the destination floors of other passengers without the robot 500 boarding (step S314).

[0104] With the above, the cooperation process between the elevator system 2 and the robot 500 by the elevator / robot cooperation system 1 of the embodiment is completed.

[0105] (Overview) In recent years, robots that move autonomously within a building and perform various tasks such as delivery or cleaning have been developed. In addition, a technology has been proposed in which a robot moves to different floors using an elevator in a building with multiple floors. When a robot moves using an elevator, for example, in the case of a security robot, which mainly uses the elevator at night, there are few cases in which the robot cannot get into the elevator car, and no particular problems have occurred. However, for robots whose main working hours are during the day, such as delivery robots or cleaning robots, there may be occasional cases in which the robot cannot get into the elevator car due to congestion in the elevator.

[0106] In addition, when getting into the car, after the car arrives at the landing and the door opens, the robot detects the passenger status in the car with various sensors, determines whether or not the passenger can get into the car, and then starts moving to the car. This may result in a long time from when the door opens until the robot gets into the car, which may reduce the operation efficiency of the elevator. In addition, even if the robot starts moving to the car, the passenger status in the car may become clearer as the robot moves, making it clear that the passenger cannot get into the car, and the boarding may be canceled. This may further reduce the operation efficiency of the elevator.

[0107] According to the elevator system 2 of the embodiment, when the robot 500 is waiting to board at an elevator hall, the imaging unit 51 captures an image of the inside of the car 50, and when the car 50 arrives at the hall and the door opens, the communication unit 52 transmits an image of the inside of the car 50 captured by the imaging unit 51 to the waiting robot 500. This makes it possible to efficiently cooperate with the robot 500 and shorten the time required for the robot 500 to board the car 50.

[0108] According to the elevator system 2 of the embodiment, when the control panel 100 receives a hall call indicating that the robot 500 is waiting to board at a hall from the server 310 in the robot cloud 300, the control panel 100 causes the car 50 to respond to the hall call from the server 310. In this way, by linking the elevator system 2 with the server 310 in the robot cloud 300, the robot 500 can be efficiently linked with the control panel 100, and the time required for the robot 500 to board the car 50 can be shortened.

[0109] According to the elevator system 2 of the embodiment, when the communication unit 52 determines that the robot 500 is not allowed to board, it receives a boarding denial notification from the robot 500, and when the boarding denial notification is transferred from the communication unit 52 to the control panel 100, the control panel 100 closes the door of the car 50 without waiting for the robot 500 to board the car 50. In this way, by receiving a notification from the robot 500 that it is not allowed to board, it is possible to shorten the time to stop the car 50 at the response floor.

[0110] According to the elevator system 2 of the embodiment, when the control panel 100 receives the boarding denial notification from the communication unit 52, before the door of the car 50 is closed, the control panel 100 notifies the robot 500 via the communication unit 52 of the car number of a car 50 different from the car 50 determined by the robot 500 at the landing site as a new car 50 to be boarded by the robot 500. This makes it possible to simply notify the robot 500 of the car 50 to be boarded next without going through complicated internal processing. This also makes it possible for the robot 500 to know the car 50 to be boarded next even when the elevator system 2 includes a plurality of cars 50.

[0111] According to the elevator system 2 of the embodiment, the communication unit 52 communicates with the robot 500 by short-range wireless communication. This allows easy communication with the robot 500 waiting at the elevator hall, and allows the robot 500 to quickly transmit an image required for determining whether or not the robot 500 can board the elevator.

[0112] According to the embodiment of the elevator / robot cooperation system 1, when the robot 500 receives an image of the inside of the car 50 captured by the imaging unit 51, the robot 500 determines whether or not it is possible to board the car 50 based on the image before starting to move toward the car 50.

[0113] This allows the passenger status inside the car 50 to be grasped and a decision made as to whether or not the robot 500 can board before starting to move to the car 50, thereby shortening the time required for the robot 500 to board the car 50.

[0114] Furthermore, since the image of the inside of the car 50 allows the passenger to grasp the state of the interior of the car 50 as a whole before starting to move, it is possible to prevent, for example, the passenger from canceling the boarding after starting to move to the car.

[0115] In the above embodiment, the imaging unit 51 captures an image of the inside of the car 50, and the communication unit 52 transmits the image to the robot 500. In this case, the imaging unit 51 may capture a plurality of images, and the communication unit 52 may transmit the images to the robot 500.

[0116] In the above embodiment, the imaging unit 51 is provided near the ceiling of the car 50. However, a plurality of imaging units 51 may be provided at different positions in the car 50. In this case, a plurality of images taken at different angles of view by the plurality of imaging units 51 may be transmitted to the robot 500. This allows the robot 500 to more easily and quickly determine whether or not a passenger can board the car.

[0117] In the above embodiment, the imaging unit 51 is provided in the elevator 50, and the image captured by the imaging unit 51 is used as information indicating the riding status in the elevator 50. However, the information indicating the riding status in the elevator 50 is not limited to the image captured by the imaging unit 51. For example, instead of or in addition to the image captured by the imaging unit 51, a detection result using LiDAR (Light Detection and Ranging) or the like may be used as information indicating the riding status in the elevator 50. For the LiDAR, any light such as near-infrared light, visible light, or ultraviolet light can be used.

[0118] In the above embodiment, the imaging unit 51 and the communication unit 52 are separate entities. However, the imaging unit 51 or a detection unit such as LiDAR and the communication unit 52 may be integrally configured. In this case, the integrated detection unit and communication unit 52 can detect substantially the entire interior of the car 50 to grasp the riding situation, and can be installed at a position in the car 50 where communication with the robot 500 at the platform can be performed from inside the car 50 with the door open.

[0119] (Variation 1) Next, an elevator / robot cooperation system according to a first modified example of the embodiment will be described with reference to Fig. 12. The elevator / robot cooperation system according to the first modified example is different from the above-described embodiment in that various notifications are sent from the robot to the communication unit.

[0120] Fig. 12 is a flow diagram showing an example of a procedure of a cooperation process between an elevator system and a robot 510 by an elevator / robot cooperation system according to the first modified example of the embodiment. In Fig. 12, the same reference numerals are used for the same configurations as those in the above-mentioned embodiment, and the description thereof may be omitted.

[0121] The processing of steps S401 to S409 shown in FIG. 12 is performed when the robot 510 determines that it is possible to board the car 50.

[0122] 12, when it is determined that boarding the car 50 is possible based on the received image of the inside of the car 50 (step S401), the robot 510 transmits a notification that the robot 510 is about to board the car 50 to the communication unit 52 in the car 50 (step S402). The communication unit 52 further transmits the notification from the robot 510 to the control panel 100 (step S403). This allows the control panel 100 to formulate an operation schedule for the car 50, such as calculating the stopping time of the car 50, in anticipation of the time required for the robot 510 to board.

[0123] The robot 510 moves to the car 50 and stops at a boarding position in the car 50 (step S404). After stopping at the boarding position, the robot 510 transmits a notification that boarding to the car 50 has been completed to the communication unit 52 (step S405).

[0124] The communication unit 52 further transmits the notification from the robot 510 to the control panel 100 (step S406). When the control panel 100 receives the notification from the robot 510 via the communication unit 52, it issues an instruction to close the door of the car 50 and an instruction to move to the destination floor (step S407), and in accordance with these instructions, the door of the car 50 is closed (step S408), and the car 50 starts moving toward the destination floor (step S409).

[0125] However, when the doors of the elevator car 50 are closed and the elevator car 50 starts moving, it is assumed that the stopping time of the elevator car 50 is appropriately adjusted based on the detection results of sensors installed on the landing door and the door 53 of the elevator car 50, etc.

[0126] The processing of steps S501 to S511 shown in FIG. 12 is performed when the boarding is canceled after the robot 510 starts moving to the car 50.

[0127] The processing from step S501 to step S504 is performed in the same manner as the processing from step S401 to step S404 described above. That is, the robot 510 determines that boarding is possible based on the image, transmits a boarding advance notice, and then starts moving to the car 50.

[0128] In the processing of step S504, while the robot 510 is moving toward the car 50 while receiving feedback from the various sensors 505, it is assumed that the various sensors 505 detect the inside of the car 50 and determine that boarding into the car 50 is not possible.

[0129] In this case, the robot 510 again performs a boarding disallowance determination (step S505), and transmits a boarding cancellation notice to the communication unit 52 (step S506). After that, the robot 510 continues to wait at the boarding area (step S507).

[0130] Here, for example, by determining in advance whether boarding is possible based on the boarding status in the elevator 50, it is possible to prevent boarding from being canceled after the robot 510 starts moving, as described above. However, such boarding cancellations may occur depending on the movement of users in the elevator 50, the number of new users who board at the platform where the robot 510 was waiting to board, and the like.

[0131] The communication unit 52 further transmits the notification from the robot 510 to the control panel 100 (step S508). When the control panel 100 receives the notification from the robot 510 via the communication unit 52, it issues an instruction to close the door of the car 50 and an instruction to move to the destination floor (step S509), and in accordance with these instructions, the door of the car 50 is closed (step S510), and the car 50 starts moving toward the destination floor without the robot 510 getting on (step S511).

[0132] However, when the doors of the elevator car 50 are closed and the elevator car 50 starts moving, it is assumed that the stopping time of the elevator car 50 is appropriately adjusted based on the detection results of sensors installed on the landing door and the door 53 of the elevator car 50, etc.

[0133] In addition, in the case where the elevator system has multiple cars 50, even in the first variant example, after the processing of step S508, before the door of the car 50 is closed, the processing of steps S305 to S311 shown in FIG. 11 of the above-mentioned embodiment may be performed to notify the robot 510 via the communication unit 52 of the car 50 that the robot 510 should next board.

[0134] This completes the cooperation process between the elevator system and the robot 510 by the elevator / robot cooperation system of the first modified example.

[0135] According to the elevator system of the first modification, the communication unit 52 receives a boarding completion notification from the robot 510, and the control panel 100 closes the car 50 when the boarding completion notification is transferred from the communication unit 52. This makes it possible to more precisely estimate the timing for closing the car 50 and starting the movement. This makes it possible to reduce unnecessary lost time and further improve the operation efficiency of the elevator.

[0136] According to the elevator / robot cooperation system of variant example 1, if the robot 510 determines, while moving to a boarding position in the car 50, by the various sensors 505 that it is not possible to board the car 50, the robot 510 cancels boarding the car 50, and when the robot 510 cancels boarding the car 50, the communication unit 52 receives a boarding cancellation notice from the robot 510, and the control panel 100 closes the door of the car 50 when the boarding cancellation notice is transferred from the communication unit 52.

[0137] This makes it possible to estimate more precisely the timing to close the car 50 and start moving even if the boarding of the robot 510 is canceled. This makes it possible to reduce unnecessary lost time and further improve the operation efficiency of the elevator.

[0138] (Variation 2) Next, an elevator system 21 according to a second modification of the embodiment will be described with reference to Fig. 13. The elevator system 21 according to the second modification differs from the above-described embodiment in that processed information is transmitted to the robot as information indicating the riding status in the car 50.

[0139] Fig. 13 is a schematic diagram showing an example of a configuration of an elevator system 21 according to Modification 2 of the embodiment. In Fig. 13, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof may be omitted.

[0140] 13, elevator system 21 of modification 2 includes, in car 50, analysis unit 56 connected wirelessly or by wire to communication unit 52 and memory unit 55. However, analysis unit 56 may be configured integrally with memory unit 55, and may also be configured integrally with communication unit 52. Other configurations of elevator system 21 of modification 2 are similar to those of elevator system 2 of the above-described embodiment.

[0141] In the above-described embodiment, the image captured by the imaging unit 51 or the detection result using LiDAR or the like is transmitted to the robot as is. The analysis unit 56 of the second modification processes such image data into a form that enables the robot to determine whether or not the user is allowed to board the vehicle. In FIG. 13, an example is described in which the analysis unit 56 processes the image captured by the imaging unit 51 into a spatial map.

[0142] As in the above-described embodiment, the imaging unit 51 captures an image of the inside of the car 50 while the car 50 is responding to a platform call from a server in the robot cloud, and stores the image in the memory unit 55. The analysis unit 56 processes the image stored in the memory unit 55 using image processing technology or the like, and generates, for example, a spatial map 56m inside the car 50. In the example of FIG. 13, the analysis unit 56 divides the image into meshes, extracts a plurality of feature points FP present at each intersection of the mesh, and digitizes the coordinates of these feature points FP.

[0143] Thus, in the example of Figure 13, the elevator system 21 of variant example 2 transmits a spatial map obtained by processing the image inside the elevator car 50 captured by the imaging unit 51 to the robot as information indicating the passenger status inside the elevator car 50.

[0144] However, the image analysis method and processing method by the analysis unit 56, and the form of the processed information are not limited to the above examples. However, it is preferable that the processed information is in a form that makes it easier for the robot to determine whether or not a person can ride. For example, in the above embodiment, when determining whether or not a person can ride, the robot 500 analyzes the image captured by the imaging unit 51 using image processing technology. By having the analysis unit 56 of the second modification process process the image into a form that is an analysis result obtained by such image processing technology, the load of the robot's process of determining whether or not a person can ride is reduced.

[0145] The elevator system 21 of the second modification further includes an analysis unit 56 that creates a spatial map of the inside of the car 50 from the image captured by the imaging unit 51 and generates information on the riding situation including the spatial map. This can shorten the time required for the robot to determine whether or not to allow the robot to ride the car 50, and can further shorten the time required for the robot to ride the car 50.

[0146] (Variation 3) Next, an elevator / robot cooperation system 12 according to a third modification of the embodiment will be described with reference to Fig. 14. The elevator / robot cooperation system 12 according to the third modification differs from the above-described embodiment in that notifications are made between a plurality of robots 520.

[0147] Fig. 14 is a schematic diagram illustrating a cooperative operation between the elevator system 22 and the robot 520 in the elevator / robot cooperative system 12 according to the third modified example of the embodiment. More specifically, Fig. 14 corresponds to Fig. 6 of the above-mentioned embodiment, and shows a state in which the car 50 that responded to the hall call from the server 310 in the robot cloud 300 has arrived at the hall where the robot 520 is waiting to board and has opened the door.

[0148] In FIG. 14, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof may be omitted.

[0149] 14, the elevator / robot cooperation system 12 of the third modification includes an elevator system 22, which includes an elevator control system 22B. The elevator control system 22B includes a control panel 120 that instructs the communication unit 52 to communicate with the robot 520b in the car 50 or the robot 520a at the landing. Other configurations of the elevator / robot cooperation system 12 of the third modification are similar to those of the elevator / robot cooperation system 1 of the above-described embodiment.

[0150] 14, it is assumed that a robot 520b is already in the car 50, in addition to the robot 520a waiting to board at the boarding area. The control panel 120 knows that the robot 520b is in the car 50 from the past history of boarding area calls from the server 310 in the robot cloud 300.

[0151] When a server 310 in the robot cloud 300 makes a call to the platform to allow a robot 520a waiting at a platform to board a car 50, the control panel 120 directs the car 50 to the platform where the robot 520a is located and causes the imaging unit 51 to photograph the inside of the car 50.

[0152] Furthermore, before the car 50 arrives at the platform, the control panel 120 instructs the communication unit 52 to send an image of the inside of the car 50 to the robot 520b in the car 50. The communication unit 52 communicates with the robot 520b in the car 50 using short-range wireless communication technology or the like, and transmits the image to the robot 520b.

[0153] When the car 50 arrives at the platform where the robot 520a is waiting to board and the door opens, the robots 520a and 520b communicate with each other using, for example, short-range wireless communication technology, and an image of the inside of the car 50 is transmitted from the robot 520b in the car 50 to the robot 520a at the platform. This allows the robot 520a to obtain an image of the inside of the car 50 and determine whether or not to allow boarding based on this image.

[0154] According to the elevator / robot cooperation system 12 of the third modification, when another robot 520b is in the car 50 that is to respond to a hall call from the server 310 in the robot cloud 300, the control panel 120 causes the imaging unit 51 to capture an image of the inside of the car 50 while moving the car 50 toward the hall, and causes the communication unit 52 to transmit the image to the other robot 520b in the car. This method also produces the same effect as the above-mentioned embodiment.

[0155] In the above-mentioned third modification, the robots 520a and 520b communicate with each other to transmit and receive images of the inside of the car 50. However, the image may be transmitted to the robot 520 at the platform via the server 310 in the robot cloud 300.

[0156] That is, the robot 520b that has acquired the image from the communication unit 52 transmits the image to the server 310 in the robot cloud 300 via the network, for example, before the car 50 arrives at the platform. The server 310 transmits the image acquired from the robot 520b in the car 50 to the robot 520a at the platform via the network.

[0157] This method also enables the robot 520a to acquire images without waiting for the elevator 50 to arrive at the platform, which may further reduce the time required for the robot 520a to board the elevator compared to the method of communication between the robots 520a and 520b described above.

[0158] Therefore, the elevator / robot cooperation system 12 of variant example 3 may select either communication between the robots 520a, 520b or communication via the server 310 in the robot cloud 300, whichever is faster depending on the situation at the time, and have the robot 520a at the landing acquire an image of the inside of the car 50.

[0159] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0160] 1,12...elevator / robot collaboration system, 2,21,22...elevator system, 2B,22B...elevator control system, 50...car, 51...imaging unit, 52...communication unit, 53...door, 55...memory unit, 56...analysis unit, 100...control panel, 150...controller, 200...elevator cloud, 210,310...server, 300...robot cloud, 500,510,520a,520b...robot.

Claims

1. A communication unit provided in an elevator car so as to be capable of communicating with an autonomous moving body that can move autonomously; A detection unit provided in the elevator capable of detecting a riding state in the elevator, When the autonomous moving body is waiting to board an elevator at an elevator hall, The detection unit detects a riding state in the elevator car, When the elevator car arrives at the platform and opens the door, the communication unit transmits information on the riding status obtained from the detection result of the detection unit to the autonomous moving body waiting to board. Elevator system.

2. The autonomous moving body is When receiving the boarding status information, before starting to move to the car, determine whether or not boarding to the car is possible based on the information.

10. The elevator system of claim 1.

3. The communication unit, the detection unit, and the car are configured to be controllable, and the control panel is further provided which can communicate with a management server that manages the autonomous moving body; The control panel includes: When a platform call indicating that the autonomous moving body is waiting to board at the platform is acquired from the management server, the elevator is caused to respond to the platform call from the management server; While the elevator car is moving toward the platform, the detection unit detects the riding status, After the car that has arrived at the platform is opened, the information is transmitted by the communication unit.

10. The elevator system of claim 1.

4. The autonomous moving body is When receiving the boarding status information, it is determined whether or not boarding to the car is possible based on the information; The communication unit is When it is determined that the autonomous moving body is not rideable, a ride-unavailable notification is received from the autonomous moving body; The control panel includes: When the boarding denial notification is transferred from the communication unit, the door of the car is closed without waiting for the autonomous moving body to board the car.

4. The elevator system of claim 3.

5. The elevator includes a plurality of cars; The control panel includes: When the boarding refusal notification is transferred from the communication unit, before the door of the car is closed, the communication unit notifies the autonomous moving body of a car number other than the car determined by the autonomous moving body as being boarding refusal, as a new car to be boarded by the autonomous moving body.

5. The elevator system of claim 4.

6. The autonomous moving body is When receiving the boarding status information, it is determined whether or not boarding to the car is possible based on the information; If it is determined that the passenger is able to board the car, the passenger boards the car. The communication unit is receiving a ride completion notification from the autonomous moving body; The control panel includes: When the boarding completion notification is transferred from the communication unit, the door of the car is closed.

4. The elevator system of claim 3.

7. The autonomous moving body is Equipped with sensors that detect surrounding obstacles, Even if it is determined that boarding into the elevator is possible, if it is determined that boarding into the elevator is not possible based on the detection result of the sensor while moving to a boarding position in the elevator, boarding into the elevator is canceled, The communication unit is When the autonomous moving body cancels boarding the elevator, a boarding cancellation notice is received from the autonomous moving body; The control panel includes: When the boarding cancellation notification is transferred from the communication unit, the door of the car is closed without waiting for the autonomous moving body to board the car.

7. The elevator system of claim 6.

8. The communication unit is Communicating with the autonomous moving body via short-range wireless communication; 10. The elevator system of claim 1.

9. The detection unit is At least one of an imaging unit that captures an image of the inside of the elevator car and a distance measuring unit that irradiates light into the elevator car, 10. The elevator system of claim 1.

10. An analysis unit that creates a spatial map of the inside of the elevator car from the detection result of the detection unit and generates information on the riding situation including the spatial map, 10. The elevator system of claim 1.

11. An autonomous moving body capable of moving autonomously; A management server that manages the autonomous moving object; A communication unit provided in an elevator car so as to be able to communicate with the autonomous moving body; A detection unit provided in the car capable of detecting a riding state in the car; A control panel configured to be able to control the communication unit, the detection unit, and the elevator and capable of communicating with the management server, The control panel includes: When receiving from the management server a hall call indicating that the autonomous moving body is waiting to board at an elevator hall, the elevator car is caused to respond to the hall call from the management server; While the elevator car is moving toward the platform, the detection unit detects the riding status, After the door of the elevator that has arrived at the platform is opened, the communication unit transmits information about the riding status obtained from the detection result of the detection unit to the autonomous moving body that is waiting to board, The autonomous moving body is Upon receiving the information, before starting to move to the car, it is determined whether or not boarding to the car is possible based on the information. Elevator autonomous mobile unit coordination system.

12. The autonomous moving body is Equipped with sensors that detect surrounding obstacles, When it is determined that boarding into the elevator is possible, the passenger boards the elevator while monitoring the surroundings by the sensor. The elevator autonomous mobile body cooperation system according to claim 11.

13. The autonomous moving body is when it is determined that boarding into the car is not possible based on the detection result of the sensor while the vehicle is moving to a boarding position in the car, boarding into the car is canceled; The elevator autonomous mobile body cooperation system according to claim 12.

14. The control panel includes: When another autonomous moving body is riding in the car that is to respond to a hall call from the management server, while the car is heading toward the hall, the detection unit is made to detect the riding status, and the communication unit is made to transmit information about the riding status to the other autonomous moving body that is riding in the car, The autonomous moving body is When the elevator car arrives at the platform and opens its door, the communication unit is replaced with the communication unit, and the elevator car communicates with the other autonomous moving body to acquire information on the riding status. The elevator autonomous mobile body cooperation system according to claim 11.

Images