Elevator control device, elevator control system, and program

Abstract

To provide an elevator control device that shortens getting on / off time of an autonomous mobile vehicle after a door opens.SOLUTION: An elevator control device according to an embodiment comprises a reception unit that receives a destination floor call and current positions of one or more autonomous mobile vehicles from the one or more autonomous mobile vehicles, an autonomous mobile vehicle-specific driving control unit that executes autonomous mobile vehicle-specific driving for letting the one or more autonomous mobile vehicles only get on a car and driving the same, a determination unit that when the reception unit receives the one or more destination floor calls during the execution of the autonomous mobile vehicle-specific driving, determines a getting off order of the one or more autonomous mobile vehicles on the basis of the one or more destination floors and the current positions of the one or more autonomous mobile vehicles while the car is moving up and down in a state where the car door is in a close state, and determines locations of the one or more autonomous mobile vehicles, in the car, getting on the car in the determined getting off order, and a transmission unit that transmits, to the one or more autonomous mobile vehicles, instructions of movement to the determined locations.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an elevator control device, an elevator control system, and a program.

Background Art

[0002] When an autonomous mobile body such as a robot rides in an elevator car to operate the elevator, a technique of performing dedicated operation for the autonomous mobile body by allowing only the autonomous mobile body to ride without allowing a human user to ride in the car has been conventionally known. In such dedicated operation for the autonomous mobile body, by transporting the autonomous mobile bodies together at once, it is possible to improve the convenience of the user, the operation efficiency of the elevator, and cost reduction compared to normal operation in which the autonomous mobile body and the user ride together.

[0003] In the case of such dedicated operation for the autonomous mobile body, the waiting time of the user can be reduced by shortening the boarding and alighting time of the autonomous mobile body in the elevator car.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the prior art, it took a long time to board at an intermediate floor on the way to the destination floor of the autonomous mobile body, and it was difficult to shorten the boarding and alighting time of the autonomous mobile body in the elevator car.

Means for Solving the Problems

[0006] The elevator control device according to the embodiment is an elevator control device that is connected to a plurality of autonomous mobile bodies that can board an elevator via a network and controls the elevator. The elevator control device receives, from one or a plurality of autonomous mobile bodies, a destination floor call, which is an instruction to move a car, in which the autonomous mobile body or a user can board, to a desired destination floor, and the current position of each of the one or a plurality of autonomous mobile bodies. The elevator control device includes a dedicated operation control unit for autonomous mobile bodies that executes a dedicated operation for autonomous mobile bodies in which only the one or a plurality of autonomous mobile bodies board the car and are operated. During the execution of the dedicated operation for autonomous mobile bodies, when the receiving unit receives the one or a plurality of destination floor calls, while the door of the car is in a closed state and the car is moving up and down, based on the one or a plurality of destination floors and the current position of each of the one or a plurality of autonomous mobile bodies, a getting-off order of the one or a plurality of autonomous mobile bodies is determined, and a determination unit determines the arrangement of the one or a plurality of autonomous mobile bodies boarding the car in the car according to the determined getting-off order. The elevator control device further includes a transmission unit that transmits a movement instruction to the determined arrangement to each of the one or a plurality of autonomous mobile bodies.

Brief Description of the Drawings

[0007]

Figure 1

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MODE FOR CARRYING OUT THE INVENTION

[0008] Hereinafter, embodiments will be described in detail with reference to the drawings. (Embodiment) Figure 1 is a diagram showing an example of the overall configuration of an elevator control system 1 according to the first embodiment. As shown in Figure 1, the elevator control system 1 of the present embodiment mainly includes a control panel 100, a destination floor call device 200, a landing call device 300, and a plurality of robots 500. The elevator controlled by the elevator control system 1 includes a car 50, a drive device (not shown), a counterweight (not shown), a rope (not shown), and the like. Here, the robot 500 is an example of an autonomous mobile body.

[0009] The car 50 moves up and down in a hoistway (not shown) and transports users who have boarded the car 50 at the landing provided on each floor to other floors. The car 50 and the counterweight are connected by a rope. The rope is spanned over a drive device. The drive device is, for example, a hoisting machine or the like, and by driving the drive device, the car 50 can be run up and down in the hoistway.

[0010] Next, the destination floor call device 200 will be described. The destination floor calling device 200 is installed in the car 50 and is connected to the operation panel 210 provided on the inner wall surface of the car 50 and the control panel 100 by wire or wirelessly. The destination floor calling device 200 is a device that controls each part of the operation panel 210, accepts a destination floor call by the user, and processes the user's operation.

[0011] Here, the destination floor call is an operation performed by a user in the car 50 to direct the car 50 to a desired destination floor. The destination floor call includes the destination floor. In this embodiment, the destination floor call can also be transmitted by the robot 500.

[0012] The operation panel 210 accepts various operations from the user and notifies the car 50 of various information. The operation panel 210 is provided with push buttons (not shown) for specifying the destination floor and opening and closing the door of the car 50, non-contact sensors (not shown), a speaker 211, a display unit 212 such as a liquid crystal display, and the like.

[0013] In addition, a human presence sensor 220, a camera 230, and a lighting device 240 are connected to the destination floor calling device 200 by wire or wirelessly. The human presence sensor 220, the camera 230, and the lighting device 240 are all installed in the upper part or the like inside the car 50.

[0014] The human presence sensor 220 detects a user inside the car 50 and a user in the landing when the door of the car 50 is open, and sends a detection signal to the destination floor calling device 200. The camera 230 images the inside of the car 50 and the landing when the door of the car 50 is open, and sends the captured image to the destination floor calling device 200. The lighting device 240 is a device that lights up to illuminate the inside of the car 50 according to an instruction from the destination floor calling device 200.

[0015] The destination floor calling device 200 includes a communication unit 201 and a control unit 202. The communication unit 201 controls communication with the control panel 100. The control unit 202 receives a destination floor call designated by a user via a push button or a non-contact sensor from the operation panel 210, and transmits the destination floor call to the control panel 100 via the communication unit 201.

[0016] In the destination floor call device 200, the control unit 202 receives a detection signal from the human presence sensor 320 and a captured image from the camera 230, and transmits the detection signal and the captured image to the control panel 100 via the communication unit 201. Further, the communication unit 201 receives an instruction from the control panel 100, and the control unit 202 controls the lighting device 240 to turn on or off according to the instruction.

[0017] Next, the landing call device 300 will be described. The landing call device 300 is installed at the landing and is connected to the operation panel 310 provided on the wall surface of the landing and the control panel 100 by wire or wirelessly. Here, the landing is a place where users and robots 500 wait for the arrival of the car 50 on each floor. The landing call device 300 is a device that controls each part of the operation panel 310, receives the destination direction by the user, and processes the user's operation.

[0018] Here, the landing call is an operation performed by a user at the landing to make the car 50 going in either the up or down direction arrive at that landing. The landing call includes the destination direction and the floor where the landing call is made. The landing call may also be referred to as a car call.

[0019] The operation panel 310 receives various operations from the user and notifies various information at the landing. The operation panel 310 is provided with a push button (not shown) for designating either the up or down direction, a non-contact sensor (not shown), a speaker 311, a display unit 312 such as a liquid crystal display, etc.

[0020] The landing call device 300 includes a communication unit 301 and a control unit 302. The communication unit 301 controls communication with the control panel 100. The control unit 302 receives a landing call designated by the user from the operation panel 310 using a push button or a non-contact sensor, and transmits the landing call to the control panel 100 via the communication unit 301.

[0021] Next, the control panel 100 will be described. The control panel 100 controls the entire elevator. The control panel 100 is connected to the drive device by wire or wirelessly so that various signals can be exchanged. Also, the control panel 100 is connected to the destination floor call device 200 installed in the car 50 so that various signals can be exchanged. Further, the control panel 100 is connected to the landing call device 300 installed at the landing by wire or wirelessly so that various signals can be exchanged. The control panel 100 receives the destination floor call and the landing call, and controls the drive device based on the destination floor, the floor where the landing call was made, and the destination direction, thereby controlling the ascent and descent of the car 50. Also, the control panel 100 is connected to a plurality of robots 500 by wireless communication.

[0022] As shown in FIG. 1, the control panel 100 mainly includes a communication unit 101, a registration unit 102, a robot dedicated operation control unit 103, a normal operation control unit 104, a control unit 105, a notification unit 106, and a robot control unit 150.

[0023] The communication unit 101 controls communication with the landing call device 300 and the destination floor call device 200. For example, the communication unit 101 receives a landing call from the landing call device 300 and a destination floor call from the destination floor call device 200.

[0024] The robot dedicated operation control unit 103 controls a robot dedicated operation in which the user does not board the car 50, but only the robot 500 boards the car 50 to perform the elevator operation. Here, the robot dedicated operation is an example of an autonomous mobile body dedicated operation. In addition, when the dedicated robot operation control unit 103 has not received the detection signal of the human presence sensor 220 from the destination floor call device 200 and has not detected a user inside the car 50, it executes dedicated robot operation.

[0025] The normal operation control unit 104 controls the normal operation in which the elevator operates with the robot 500 and the user riding in the car 50 together.

[0026] The registration unit 102 registers the destination floor call received from the destination floor call device 200 and the landing call received from the landing call device 300, enabling the car 50 to move up and down based on the destination floor call and the landing call. Also, when the communication unit 101 receives a landing call during the execution of dedicated robot operation, the registration unit 102 invalidates the landing call without registering it.

[0027] In addition, the registration unit 102 registers one or more destination floor calls that have the same destination direction as the moving direction of the car 50, based on one or more destination floor calls received from each of the plurality of robots 500 by the wireless communication unit 151 described later and the current positions of each of the one or more robots 500.

[0028] In addition, the registration unit 102 determines the destination direction in which the car 50 moves as the destination direction in which the number of destination floor calls with the same destination direction is equal to or greater than a predetermined threshold, and registers the destination floor call with the determined destination direction.

[0029] In addition, when there are a plurality of destination directions in which the number of destination floor calls with the same destination direction is equal to or greater than a predetermined threshold, the registration unit 102 determines the destination direction with the larger number of destination floor calls as the destination direction in which the car 50 moves.

[0030] The control unit 105 performs various controls of the elevator. For example, the control unit 105 receives the destination floor call and the landing call, and controls the drive device based on the destination floor, the floor where the landing call was made, and the destination direction, to control the up and down movement of the car 50.

[0031] When the dedicated robot operation control unit 103 shifts to the dedicated robot operation, the notification unit 106 instructs the communication unit 101 to notify that the shift to the dedicated robot operation is in progress inside the car 50 and at the landing, and to transmit the notification to the destination floor calling device 200 and the landing calling device 300.

[0032] Also, in the present embodiment, when the car 50 has its door open at the landing, if the communication unit 101 receives a detection signal from the human sensor 220 in the destination floor calling device 200 during the dedicated robot operation indicating that a user has been detected at the landing, the control unit 105 instructs the communication unit 101 to transmit an instruction to turn off the lighting device 240 inside the car 50 to the destination floor calling device 200 via the communication unit 101.

[0033] Also, when the communication unit 101 receives a detection signal from the human sensor 220 in the destination floor calling device 200 during the dedicated robot operation indicating that a user has been detected inside the car 50, the notification unit 106 instructs the communication unit 101 to transmit an instruction to notify of guiding disembarkation inside the car 50 to the destination floor calling device 200 and the landing calling device 300.

[0034] Also, after the door of the car 50 is opened, when the communication unit 101 receives a detection signal from the human sensor 220 in the destination floor calling device 200 indicating that a user has been detected inside the car 50, the notification unit 106 instructs the communication unit 101 to transmit an instruction to notify an alarm inside the car 50 to the destination floor calling device 200 and the landing calling device 300.

[0035] By receiving the instructions for various notifications as described above at the destination floor calling device 200 and the landing calling device 300, various notifications and alarms are output by the speakers 211, 311 and the display units 212, 312 of the operation panels 210, 310 inside the car 50 and at the landing.

[0036] The robot control unit 150 controls the robot 500. As shown in FIG. 1, the robot control unit 150 mainly includes a wireless communication unit 151, a determination unit 152, and an instruction unit 153. The wireless communication unit 151 controls wireless communication with each of the plurality of robots 500. For example, the wireless communication unit 151 receives information on the destination floor call and the current position of the robot 500 from each of the plurality of robots 500.

[0037] When the wireless communication unit 151 receives one or more destination floor calls from the robot 500 during the execution of the dedicated robot operation, the determination unit 152 determines, while the door of the car 50 is in the closed state and the car 50 is moving up and down, the getting-off order of one or more robots 500 based on one or more destination floors and the current positions of the respective robots 500, and determines the arrangement within the car 50 of one or more robots 500 that are riding in the car 50 in the determined getting-off order.

[0038] Specifically, the determination unit 152 determines the getting-off order of the robots 500 on each floor based on the destination floors in the one or more destination floor calls registered in the registration unit 102 and the current positions of the respective robots 500.

[0039] The determination unit 152 determines whether the landing floor is a floor where both getting-off and getting-on occur based on the registered destination floor call. When the landing floor is a floor where both getting-off and getting-on occur, the determination unit 152 secures an area where the robot 500 getting off can get off in front of the door of the car 50 at the landing, and determines the arrangement of one or more robots 500 in the getting-off order.

[0040] Also, when the landing floor is a floor where only getting-off occurs, the determination unit 152 determines the arrangement of one or more robots 500 in the getting-off order in front of the door of the car 50 at the landing.

[0041] After the robot 500 gets on the car 50 and if a rearrangement is to be made, the determination unit 152 determines whether the robot 500 in the car 50 will get off at the next floor based on the destination floor call. When it is determined that the robot 500 in the car 50 will get off at the next floor, the arrangement of one or more robots 500 in the car 50 is determined in the rearrangement order at the time of getting off.

[0042] Here, the rearrangement order at the time of getting off is the order in which the arrangement of one or more robots 500 in the car 50 is set as the getting-off order starting from in front of the door of the car 50.

[0043] Figs. 2 and 3 are diagrams showing an example of the rearrangement order at the time of getting off in the embodiment. Fig. 2 shows the case of the type where the door opens left and right, and Fig. 3 shows an example of the case where the door opens in a sliding manner. Also, both Figs. 2 and 3 show examples of 3, 8, and 15 robots 500. Numerical values indicate the getting-off order. As shown in Figs. 2 and 3, in the rearrangement order at the time of getting off, the robots 500 are arranged in the getting-off order starting from in front of the door.

[0044] Returning to Fig. 1, after the robot 500 gets on the car 50 and if a rearrangement is to be made, the determination unit 152 determines the arrangement of one or more robots 500 in the car 50 in the rearrangement order at the time of getting on when it is determined that the robot 500 in the car will not get off at the next floor. Here, the rearrangement order at the time of getting on is the order in which the arrangement of one or more robots 500 in the car 50 is set as the getting-off order in front of the door of the car 50 while securing an area where the getting-on robot 500 can get on.

[0045] Figs. 4 and 5 are diagrams showing an example of the rearrangement order at the time of getting on in the embodiment. Fig. 4 shows the case of the type where the door opens left and right, and Fig. 5 shows an example of the case where the door opens in a sliding manner. Also, both Figs. 4 and 5 show examples of 3, 8, and 15 robots 500. Numerical values indicate the getting-off order. As shown in Figs. 4 and 5, in the rearrangement order at the time of getting on, after leaving a getting-on space in front of the door, the robots 500 are arranged in the getting-off order.

[0046] Returning to FIG. 1, more specifically, the determination unit 152 determines that the one or more robots 500 move in a circular motion along the outer periphery within the car 50 of the one or more robots 500 so that the arrangement within the car is in the order of getting off.

[0047] FIG. 6 is a schematic diagram showing an example of the circular movement of the robot 500 in the embodiment. As shown in FIG. 6, the plurality of robots 500 move in a circular motion along the outer periphery within the car 50.

[0048] Returning to FIG. 1, if the arrangement of the one or more robots 500 that will get off next within the car 50 is not arranged in the order of getting off along the outer periphery, the determination unit 152 temporarily retreats the robot 500 whose getting-off order needs to be changed to the central position of the car 50, continuously moves the robot 500 at the insertion destination on the outer periphery in a circular motion along the outer periphery, and moves the robot 500 at the central position to the empty area on the outer periphery. Then, the determination unit 152 makes the circular movement so that the leading robot 500 that will get off next is arranged at the highest-ranked position in the rearrangement order at the time of boarding or getting off.

[0049] FIG. 7 is a diagram showing an example of the rearrangement of the plurality of robots 500 in the embodiment. When the robot 500 gets on the car 50, as described above, it is determined that the rearrangement arrangement of the plurality of robots 500 is in the order of getting off. Then, the robot 500 that has received the movement instruction in the arrangement moves in a circular motion sequentially clockwise along the outer periphery within the car 50, and the rearrangement is performed.

[0050] Further, when the determination unit 152 determines that the moving distance to the destination floor where the car 50 will stop next based on the destination floor call is less than a predetermined number of floors, the determination unit 152 only performs the circular movement along the outer periphery for the arrangement of the robot 500 with the highest rank in the getting-off order and determines the arrangement. Here, the running of the car 50 when the moving distance is less than the predetermined number of floors may be referred to as a short run.

[0051] The instruction unit 153 transmits, via the wireless communication unit 151, movement instructions including boarding instructions and alighting instructions, etc., and movement instructions to the arrangements determined by the determination unit 152, to each of the plurality of robots 500. The instruction unit 153 and the wireless communication unit 151 are an example of a transmission unit. Further, the wireless communication unit 151 is an example of a reception unit.

[0052] Next, the robot 500 will be described. As shown in FIG. 1, each of the plurality of robots 500 according to the present embodiment mainly includes a wireless communication unit 501, a destination floor request unit 502, a position detection unit 503, and a travel control unit 504.

[0053] The wireless communication unit 501 controls wireless communication with the control panel 100. The wireless communication unit 501 of the present embodiment receives a movement instruction in which the arrangement within the car 50 is specified from the control panel 100. The wireless communication unit 501 is an example of a second reception unit. The position detection unit 503 acquires the current position. The position detection unit 503 is configured by, for example, GPS or the like.

[0054] The destination floor request unit 502 transmits, via the wireless communication unit 501, a destination floor call designating the destination floor and the current position acquired by the position detection unit 503 to the control panel 100.

[0055] Based on the movement instruction received by the wireless communication unit 501, the travel control unit 504 drives and controls a drive motor (not shown) to make its own robot 500 travel. Specifically, the travel control unit 504 performs travel control so that its own robot 500 moves to the arrangement location within the car 50 designated by the movement instruction.

[0056] Next, the elevator control process by the control panel 100 of the elevator control system 1 of the present embodiment configured as described above will be described. FIG. 8 is a flowchart showing an example of the procedure of the elevator control process according to the embodiment.

[0057] First, in the control panel 100, a dedicated robot operation start determination process for determining whether to start a dedicated robot operation is executed (S11). Here, the dedicated robot operation start determination process will be described. FIG. 9 is a flowchart showing an example of the procedure of the dedicated robot operation start determination process according to the embodiment.

[0058] First, in the control panel 100, the determination unit 152 determines whether the destination floor call has been received from the robot 500 by the wireless communication unit 151 (S41). If the destination floor call has not been received (S41: No), the process returns to the calling source.

[0059] If the wireless communication unit 151 receives the destination floor call in S41 (S41: Yes), the determination unit 152 obtains the direction of each destination floor call (that is, either the up or down direction in which the car 50 moves based on the destination floor call. The same applies hereinafter) from the destination floor call and the current position information of the robot 500 received together with the destination floor call (S42). Then, the determination unit 152 checks whether the door of the car 50 is in the closed state and whether there is another call registration (S43). This check is performed by checking the current state of the door and the presence or absence of call registration stored in a memory (not shown) or the like.

[0060] If the door of the car 50 is in the closed state and there is another call registration (S43: Yes), the determination unit 152 determines whether the number of destination floor calls in the same direction is greater than a predetermined threshold (S45). If the number of destination floor calls in the same direction is less than or equal to the predetermined threshold (S45: No), the process returns to S43.

[0061] On the other hand, if the number of destination floor calls in the same direction is greater than the predetermined threshold (S45: Yes), the notification unit 106 transmits an instruction to notify that the dedicated robot operation is in progress to the destination floor call device 200 and the landing call device 300 via the communication unit 101. Also, the registration unit 102 invalidates the landing call received by the communication unit 101 without registering it (S46).

[0062] Next, the determination unit 152 checks whether the door of the car 50 is in the closed state and whether there are other call registrations (S47). If the door of the car 50 is in the closed state and there are other call registrations (S47: Yes), this check is repeated. On the other hand, if the door of the car 50 is in the open state or there are no other call registrations (S47: No), the process proceeds to S48.

[0063] In S43, if the door of the car 50 is in the open state or there are no other call registrations (S43: No), the notification unit 106 transmits an instruction to notify that the robot - dedicated operation is in progress to the destination floor call device 200 and the landing call device 300 via the communication unit 101. Also, the registration unit 102 invalidates any landing calls received by the communication unit 101 without registering them (S44).

[0064] Then, in S48, the determination unit 152 detects the users in the car 50 by checking the number of detection signals of the human - presence sensor 220 received by the communication unit 101 from the destination floor call device 200 (S48). Then, the notification unit 106 determines whether the number of users in the car 50 is 0 based on the number of detection signals (S49). If the number of users in the car 50 is not 0, that is, if there are users in the car 50 (S49: No), the notification unit 106 transmits an instruction to notify the destination floor call device 200 and the landing call device 300 via the communication unit 101 to notify a getting - off guidance, which is a guidance to get off the car 50 (S50). Then, the process returns to S48.

[0065] If the number of users in the car 50 is 0, that is, if there are no users in the car 50 (S49: Yes), the robot - dedicated operation control unit 103 starts the robot - dedicated operation. Then, the notification unit 106 transmits an indication to indicate that the robot - dedicated operation is in progress to the destination floor call device 200 and the landing call device 300 via the communication unit 101. Also, the registration unit 102 invalidates any landing calls received by the communication unit 101 without registering them (S51).

[0066] Next, the determination unit 152 determines the driving direction of the car 50 in the direction with more destination floor calls (S52). Then, the process returns to the calling source.

[0067] Returning to FIG. 8, when the robot dedicated operation start determination process in S11 ends, the determination unit 152 determines whether or not it is in the robot dedicated operation (S12). If it is not in the robot dedicated operation (S12: No), the process proceeds to S27, and the determination unit 152 determines again whether or not it is in the robot dedicated operation (S27).

[0068] If it is in the robot dedicated operation in S12 (S12: Yes), the registration unit 102 registers the destination floor call in the direction that matches the driving direction of the car 50, and the determination unit 152 calculates the getting-off order of the target robots 500 with the same destination floor in the same direction at each landing based on the destination floor of the destination floor call (S13).

[0069] Next, the determination unit 152 determines whether the floor of the landing is the floor where getting-off and boarding occur based on the destination floor call (S14). If the floor of the landing is the floor where getting-off and boarding occur (S14: Yes), the determination unit 152 vacates a space in front of the door at the landing where the robot 500 getting off from the car 50 can get off, and determines the arrangement of the target robots 500 in the order of getting off in front of the car 50 (S16).

[0070] On the other hand, if in S14 the floor of the landing is not the floor where getting-off and boarding occur (S14: No), the determination unit 152 determines the arrangement of the target robots 500 in the order of getting off in front of the car 50 without vacating a space in front of the door at the landing (S15).

[0071] Next, the control unit 105 drives the car 50 to the boarding start floor of the target robot 500, and then opens the door of the car 50 (S17). Here, the boarding start floor is the lowest floor when the car 50 moves upward due to the destination floor call, and the highest floor when the car 50 moves downward due to the destination floor call.

[0072] Next, the instruction unit 153 instructs the target robot 500 via the wireless communication unit 151 to board the car 50 and move clockwise along the outer circumference after boarding (S18). Next, the control panel 100 executes interruption boarding prevention control processing (S19).

[0073] Here, the interruption boarding prevention control processing in S19 will be described. FIG. 10 is a flowchart showing an example of the procedure of the interruption boarding prevention control processing according to the embodiment.

[0074] The control unit 105 determines whether the communication unit 101 has received a detection signal from the human sensor 220 in the destination floor calling device 200 or whether the user has been detected at the boarding area based on the captured image from the camera 230 (S71). If the user is detected at the boarding area (S71: Yes), the control unit 105 transmits an instruction to turn off the lighting device 240 to the destination floor calling device 200 via the communication unit 101 and turns off the lights inside the car 50 (S72).

[0075] Next, the control unit 105 determines whether the communication unit 101 has received a detection signal from the human sensor 220 in the destination floor calling device 200 or whether the boarding of the user into the car 50 has been detected based on the captured image from the camera 230 (S73). If the boarding of the user into the car 50 is detected (S73: Yes), the control unit 105 transmits an instruction to sound the full car buzzer as an alarm to the destination floor calling device 200 and the landing calling device 300 via the communication unit 101 to the speakers 211 and 311 (S74). As a result, the full car buzzer is output from the speakers 211 and 311 of the destination floor calling device 200 and the landing calling device 300.

[0076] Next, the control unit 105 determines whether the communication unit 101 has received a detection signal from the human sensor 220 in the destination floor call device 200, or whether it has detected the alighting of a user from within the car 50 based on the captured image from the camera 230 (S75). If it has detected the alighting of a user from within the car 50 (S75: Yes), the control unit 105 transmits an instruction via the communication unit 101 to stop the output of the buzzer as an alarm to the destination floor call device 200 and the landing call device 300 (S76). As a result, the full car buzzer output from the speakers 211, 311 of the destination floor call device 200 and the landing call device 300 stops.

[0077] Next, the control unit 105 determines whether the communication unit 101 has received a detection signal from the human sensor 220 in the destination floor call device 200, or whether the boarding and alighting of a user in the car 50 has been completed based on the captured image from the camera 230 (S77).

[0078] Here, if no user is detected at the landing in S71 (S71: No), if no user boarding in the car 50 is detected in S73 (S73: No), or if no user alighting from within the car 50 is detected in S75 (S75: No), the control unit 105 also determines in S77 whether the boarding and alighting of the robot 500 has been completed.

[0079] If the boarding and alighting of a user in the car 50 has not been completed (S77: No), the process returns to S71, and the control panel 100 executes the processes from S71 to S77. If the boarding and alighting of a user in the car 50 has been completed (S77: Yes), the control unit 105 transmits an instruction via the communication unit 101 to turn off the lighting device 240 in the destination floor call device 200 to turn off the inside of the car 50, and also sets the door to the closed state (S78). Then, the process returns to the calling source.

[0080] Returning to FIG. 8, when the interrupt boarding prevention control process of S19 is completed, the control panel 100 executes the car interior rearrangement control process (S20).

[0081] Next, the car interior rearrangement control process of S20 will be described. FIG. 11 is a flowchart showing an example of the procedure of the car interior rearrangement control process according to the embodiment.

[0082] First, the determination unit 512 determines whether the robot 500 will get off at the next stop floor of the car 50 based on the destination floor call (S91). If the robot 500 does not get off at the next stop floor (S91: No), since the robot 500 will stop to get on at the next floor, the determination unit 152 applies the rearrangement order at the time of boarding to leave a space for boarding in front of the above-described door (S93). On the other hand, if the robot 500 gets off at the next stop floor (S91: Yes), the determination unit 152 applies the rearrangement order at the time of getting off that does not leave a space in front of the above-described door (S92).

[0083] Next, the determination unit 152 determines whether the robots 500 that will get off next are arranged in the getting-off order (that is, the priority order) from the captured image of the camera 230 received from the destination floor calling device 200, etc. (S94). If the robots 500 that will get off next are arranged in the getting-off order (S94: Yes), the determination unit 152 determines whether the robots 500 that will get off next after the next are arranged in the getting-off order (that is, the priority order) from the captured image of the camera 230 received from the destination floor calling device 200, etc. (S97). If the robots 500 that will get off next after the next are arranged in the getting-off order (S97: Yes), the process returns to the calling source.

[0084] If the robots 500 that will get off next after the next are not arranged in the getting-off order (S97: No), the determination unit 152 determines whether the moving distance of the car 50 is less than a predetermined number of floors (S98). If the moving distance of the car 50 is less than a predetermined number of floors (S98: Yes), the process returns to the calling source.

[0085] On the other hand, when the moving distance of the car 50 is equal to or more than a predetermined number of floors (S98: No), the determination unit 152 executes the following sorting process (S99). (1) The determination unit 152 temporarily retreats the robot 500 whose disembarkation order is to be changed from among the robots 500 that are not arranged in the disembarkation order along the outer peripheral part to the central position of the car 50. Next, (2) the determination unit 152 continuously moves the robots 500 arranged clockwise in front of the area of the outer peripheral part where the retreated robot 500 is to be inserted in a circular motion along the outer peripheral part. Next, (3) the determination unit 152 moves the robot 500 at the central position to the vacant area of the outer peripheral part. Then, (4) the determination unit 152 causes a circular motion so that the leading robot 500 to disembark next is arranged at the highest order position in the sorting order at the time of boarding or the sorting order at the time of disembarkation. After the execution of such a sorting process, the process returns to the calling source.

[0086] If the robot 500 to disembark next in S94 is not arranged in the disembarkation order (S94: No), the determination unit 152 determines whether the moving distance of the car 50 is less than a predetermined number of floors, that is, whether it is a short run (S95). If the moving distance of the car 50 is equal to or more than a predetermined number of floors (S95: No), the process proceeds to S99, and the determination unit 152 executes the above-described sorting process (S99).

[0087] If the moving distance of the car 50 is less than a predetermined number of floors in S95, that is, in the case of a short run (S95: Yes), the determination unit 152 determines the arrangement so that only the highest order position in the sorting order at the time of boarding or the sorting order at the time of disembarkation is matched by moving the robot 500 to the outer periphery. Then, it returns to the calling source.

[0088] Returning to FIG. 8, when the car interior rearrangement control process in S20 is completed, the control unit 105 drives the car 50 to the next floor, and then opens the door (S21). Then, the control unit 105 determines whether the floor where the car has stopped due to a destination floor call or the like is the disembarkation floor of the robot 500 (S22). If it is not the disembarkation floor (S22: No), the process proceeds to S18, and the control panel 100 repeatedly executes the processes from S18 to S22.

[0089] On the other hand, if it is the disembarkation floor (S22: Yes), the instruction unit 153 transmits a disembarkation instruction to the robot 500 in the car 50 via the wireless communication unit 151, and the registration unit 102 clears the destination floor call (S23). Then, the control panel 100 executes the interrupt boarding prevention control process of FIG. 10 (S24).

[0090] Next, the control unit 105 determines whether the current floor is the last destination floor in the driving direction (sS25). If the current floor is not yet the last destination floor in the driving direction (S25: No), the process proceeds to S18, and the control panel 100 repeatedly executes the processes from S18 to S25.

[0091] If the current floor is the last destination floor in the driving direction (S25: Yes), the control panel 100 executes the robot dedicated operation end determination process (S26).

[0092] Here, the robot dedicated operation end determination process in S26 will be described. FIG. 12 is a flowchart showing an example of the procedure of the robot dedicated operation end determination process according to the embodiment.

[0093] First, the registration unit 102 determines whether there is still a destination floor call (S111). If there is a destination floor call (S111: Yes), the robot dedicated operation control unit 103 determines whether the elapsed time of the robot dedicated operation is greater than a predetermined threshold value (S112).

[0094] If the elapsed time of the dedicated robot operation is equal to or less than a predetermined threshold (S112: No), the dedicated robot operation control unit 103 determines the direction for each destination floor call from the information on the current position of the robot 500 and the destination floor calls (S113). Then, the dedicated robot operation control unit 103 determines the driving direction of the car 50 in the direction with the larger number of destination floor calls (S114).

[0095] Next, the dedicated robot operation control unit 103 continues the dedicated robot operation. The control unit 105 transmits an instruction to display during the dedicated robot operation to the destination floor call device 200 and the landing call device 300 via the communication unit 101, and the registration unit 102 does not register the destination floor calls and the landing calls and invalidates them (S115). Then, the process returns to the calling source.

[0096] If there is no destination floor call in S111 (S111: No), or if the elapsed time of the dedicated robot operation is greater than a predetermined threshold in S112 (S112: Yes), the dedicated robot operation control unit 103 ends the dedicated robot operation. The control unit 105 transmits an instruction to cancel the display during the dedicated robot operation to the destination floor call device 200 and the landing call device 300 via the communication unit 101, and the registration unit 102 registers the destination floor calls and the landing calls (S116). Then, the process returns to the calling source.

[0097] Returning to FIG. 8, when the dedicated robot operation end determination process in S26 is completed, the control unit 105 determines whether or not the dedicated robot operation is being executed (S27). If the dedicated robot operation is being executed (S27: Yes), the process proceeds to S13, and the control panel 100 repeatedly executes the processes from S13 to S27. On the other hand, if the dedicated robot operation is not being executed (S27: No), the process ends.

[0098] Thus, in this embodiment, the control panel 100 includes a wireless communication unit 151 that receives a destination floor call and the current position of each of one or more robots 500 from the one or more robots 500, a dedicated robot operation control unit 103 that executes a dedicated robot operation for driving only the one or more robots 500 to board the car 50, and when the wireless communication unit 151 receives one or more destination floor calls during the execution of the dedicated robot operation, while the door of the car 50 is closed and the car 50 is moving up and down, based on the one or more destination floors and the current position of each of the one or more robots 500, determines the getting-off order of the one or more robots 500, and a determination unit 152 that determines the arrangement within the car 50 of the one or more robots 500 boarding the car in the determined getting-off order, and an instruction unit 153 that transmits a movement instruction to the arrangement determined by the determination unit 152 to each of the one or more robots 500 via the wireless communication unit 151.

[0099] Therefore, according to this embodiment, since it is possible to efficiently rearrange the arrangement within the car of the robot 500 while the door of the car 50 is moving with the door closed, it is possible to shorten the boarding and alighting time of the robot 500 after the door is opened.

[0100] In addition, the control panel 100 according to this embodiment includes a registration unit 102 that registers one or more destination floor calls that are in the same destination direction as the moving direction of the car 50 from the one or more destination floor calls received by the wireless communication unit 151 and the current position of each of the one or more robots 500, and the determination unit 152 determines the getting-off order of the robots 500 on each floor based on the destination floors in the one or more destination floor calls registered by the registration unit 102 and the current position of each of the one or more robots 500.

[0101] Therefore, according to this embodiment, by registering the destination floor call in the same direction as the moving direction of the car 50 and executing the dedicated robot operation, it is possible to efficiently rearrange the robots 500 in the car while the door of the car 50 is moving in the closed state, so that it is possible to shorten the boarding and alighting time of the robot 500 after the door is opened.

[0102] Also, in the control panel 100 according to this embodiment, the determination unit 152 determines whether the robot 500 in the car will get off at the next floor based on the destination floor call. When it is determined that the robot 500 in the car 50 will get off at the next floor, the arrangement of one or more robots 500 in the car 50 is determined in the order of getting off from the front of the door.

[0103] Therefore, in this embodiment, when the robot 500 gets off the car 50 at the next floor, the arrangement of one or more robots 500 in the car 50 is determined in the order of getting off from the front of the door. Thus, it is possible to shorten the boarding and alighting time of the robot 500 after the door is opened while smoothly performing the getting-off operation.

[0104] Also, in the control panel 100 according to this embodiment, when the determination unit 152 determines that the robot 500 in the car 50 will not get off at the next floor, the arrangement of one or more robots 500 in the car 50 is determined in the order of getting off in the area in front of the door of the car 50 where the boarding robot 500 can board.

[0105] Therefore, in this embodiment, when the robot 500 boards the car 50 at the next floor, the arrangement of one or more robots 500 in the car 50 is determined in the order of getting off in the area in front of the door of the car 50 where the boarding robot 500 can board. Thus, it is possible to shorten the boarding and alighting time of the robot 500 after the door is opened while smoothly boarding the robot 500.

[0106] In addition, in the control panel 100 according to the present embodiment, the determination unit 152 determines that one or more robots 500 move in a circular motion along the outer peripheral portion within the car 50 of the one or more robots 500 so that the arrangement within the car 50 is in the order of getting off.

[0107] Therefore, in the present embodiment, by moving in a circular motion within the car 50 of the robot 500, the arrangement of the robot 500 can be smoothly changed, so that it is possible to shorten the boarding and alighting time of the robot 500 after the door is opened.

[0108] In addition, in the control panel 100 according to the present embodiment, when the arrangement of one or more robots 500 to get off next within the car 50 is not in the alighting order, the determination unit 152 retreats the robot 500 whose alighting order needs to be changed to the central position of the car 50, continuously moves the interrupt destination robot 500 in a circular motion along the outer peripheral portion, and moves the robot 500 at the central position to the empty area of the outer peripheral portion.

[0109] Therefore, in the present embodiment, since the arrangement of the robot 500 can be smoothly changed, it is possible to shorten the boarding and alighting time of the robot 500 after the door is opened.

[0110] In addition, in the control panel 100 according to the present embodiment, when the determination unit 152 determines based on the destination floor call that the distance from the current floor to the destination floor where the car 50 will stop next is smaller than a predetermined number of floors, only circular movement along the outer peripheral portion is performed for arranging the robot 500 with the highest rank in the alighting order to determine the arrangement.

[0111] Therefore, according to the present embodiment, when there is not enough time until the next stop floor, only the minimum rearrangement of aligning only the arrangement of the robot 500 with the highest rank in the alighting order is performed, so that the problem that the rearrangement is not completed even after the door is opened and conversely the boarding and alighting time of the robot 500 is extended can be avoided.

[0112] (Modification example) In the above embodiment, a movement instruction from the control panel 100 to the determined position of the robot 500 is transmitted, and the robot 500 moves according to this movement instruction. However, a movement lane may be drawn on the floor of the car 50, and the robot 500 may be configured to move by checking the lane. In this case, the movement instruction from the control panel 100 to the robot 500 can be simplified.

[0113] Also, in the above embodiment, the robot 500 detects its current position by the position detection unit 503. However, the control panel 100 may receive the captured image by the camera 230 of the car 50 and the detection signal of the human sensor 220, and the control panel 100 may be configured to assist the position detection by the position detection unit 503 by acquiring the current position of the robot 500 from the received captured image and detection signal. In this case, the accuracy of detecting the current position of the robot 500 can be improved.

[0114] In the above embodiment, the description is based on the premise that the sizes of the plurality of robots 500 are substantially the same. However, the present invention is not limited to this, and robots 500 with different sizes may be configured to ride in the car 50 together. In this way, when robots 500 with different sizes ride in the car 50 together, the control panel 100 may be configured to arrange them evenly in the car 50 as robots with the maximum size.

[0115] The control panel 100, the robot 500, the destination floor calling device 200, and the landing calling device 300 according to the above embodiment and the modification example have a hardware configuration including a control device such as a CPU, a storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an external storage device such as an HDD (Hard Disc Drive), an SSD (Solid State Drive), and a CD drive device.

[0116] The robot 500 according to the above-described embodiment and modification examples has a hardware configuration including a control device such as a CPU, a storage device such as a ROM and a RAM, an external storage device such as an HDD, an SSD, and a CD drive device, a display device such as a display device, and an input device such as an operation button.

[0117] The elevator control program executed by the control panel 100 according to the above-described embodiment and modification examples is provided by being pre-embedded in a ROM or the like.

[0118] The elevator control program executed by the control panel 100 according to the above-described embodiment and modification examples may be configured to be recorded and provided on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk) in an installable format or an executable format file.

[0119] Furthermore, the elevator control program executed by the control panel 100 according to the above-described embodiment and modification examples may be configured to be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network.

[0120] Also, the elevator control program executed by the control panel 100 according to the above-described embodiment and modification examples may be configured to be provided or distributed via a network such as the Internet.

[0121] The elevator control program executed by the control panel 100 according to the above-described embodiment and modification examples has a module configuration including each of the above-described functional units (communication unit 101, registration unit 102, robot dedicated operation control unit 103, normal operation control unit 104, control unit 105, notification unit 106, wireless communication unit 151, determination unit 152, instruction unit 153). As actual hardware, the CPU reads the elevator control program from the above ROM and executes it, so that each of the above units is loaded onto the main storage device, and each of the functional units is generated on the main storage device.

[0122] Although some embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

[0123] (Addendum) In the above elevator control device, The registration unit determines the destination direction in which the number of destination floor calls having the same destination direction is above a predetermined threshold as the destination direction in which the car moves, and registers the destination floor calls having the determined destination direction.

[0124] In the above elevator control device, When there are a plurality of destination directions in which the number of destination floor calls having the same destination direction is above a predetermined threshold, the registration unit determines the destination direction in which the number of destination floor calls is large as the destination direction in which the car moves.

[0125] In the above elevator control device, When a detection unit capable of detecting the presence of the user in the car or at the landing where the user or the autonomous mobile waits does not detect the user in the car, the dedicated operation control unit for the autonomous mobile further executes the dedicated operation for the autonomous mobile.

[0126] In the above elevator control device, When shifting to the dedicated operation for the autonomous mobile by the dedicated operation control unit for the autonomous mobile, the elevator control device further includes a notification unit that notifies that the shift to the dedicated operation for the autonomous mobile is in progress, in the car and at the landing.

[0127] In the above elevator control device, When the detection unit detects the user inside the car, the notification unit gives a notification inside the car to guide the user to get off.

[0128] In the above elevator control device, The receiving unit can further receive a landing call, which is an instruction for arriving the car designated for either the up or down destination direction at the landing where the user who wishes to board the car waits. During the execution of the dedicated operation for the autonomous mobile body, when the receiving unit receives the landing call, the registration unit invalidates the landing call.

[0129] In the above elevator control device, When the car door is open at the landing and the detection unit detects the user at the landing, the elevator control device further includes a control unit that turns off the lighting device capable of illuminating the inside of the car.

[0130] In the above elevator control device, After the car door is opened, when the detection unit detects the user inside the car, the notification unit gives an alarm inside the car.

Explanation of Signs

[0131] 1... Elevator control system, 50... Car, 100... Control panel, 101... Communication unit, 102... Registration unit, 103... Robot dedicated operation control unit, 104... Normal operation control unit, 105... Control unit, 106... Notification unit, 150... Robot control unit, 151... Wireless communication unit, 152... Decision unit, 153... Instruction unit, 500... Robot, 200... Destination floor call device, 220... Human presence sensor, 230... Camera, 240... Lighting device, 300... Landing call device, 501... Wireless communication unit, 502... Destination floor request unit, 503... Position detection unit, 504... Travel control unit.

Claims

1. An elevator control device that is connected to a plurality of autonomous mobile bodies that can board an elevator via a network and controls the elevator, a receiving unit that receives, from one or more autonomous mobile bodies, a destination floor call, which is an instruction to move a car, on which the autonomous mobile body or a user can board, to a desired destination floor, and the current position of each of the one or more autonomous mobile bodies, a dedicated autonomous mobile body operation control unit that executes a dedicated autonomous mobile body operation of boarding and driving only the one or more autonomous mobile bodies in the car, a determining unit that, when the receiving unit receives the one or more destination floor calls during the execution of the dedicated autonomous mobile body operation, determines the getting-off order of the one or more autonomous mobile bodies based on the one or more destination floors and the current position of each of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determines the arrangement of the one or more autonomous mobile bodies boarding in the car in the determined getting-off order, a transmitting unit that transmits a movement instruction to the arrangement determined by the determining unit to each of the one or more autonomous mobile bodies, An elevator control device comprising the above.

2. a registering unit that registers the one or more destination floor calls that are in the same destination direction as the moving direction of the car from the one or more destination floor calls received by the receiving unit and the current position of each of the one or more autonomous mobile bodies, The determining unit determines the getting-off order of the autonomous mobile bodies on each floor based on the destination floors in the one or more destination floor calls registered by the registering unit and the current position of each of the one or more autonomous mobile bodies. The elevator control device according to Claim 1.

3. The determining unit determines whether or not the autonomous mobile body in the car will get off at the next floor based on the destination floor call, and when it is determined that the autonomous mobile body in the car will get off at the next floor, determines the arrangement of the one or more autonomous mobile bodies in the car in the getting-off order in front of the door. The elevator control device according to Claim 2.

4. When the determination unit determines that the autonomous mobile body in the car will not get off at the next floor, the determination unit determines the arrangement of the one or more autonomous mobile bodies in the car in front of the door of the car so as to secure an area where the autonomous mobile body getting on can board, and determines it in the order of getting off. The elevator control device according to claim 3.

5. The determination unit determines that the one or more autonomous mobile bodies move in a circular motion along the outer peripheral part in the car so that the arrangement of the one or more autonomous mobile bodies in the car is in the order of getting off. The elevator control device according to claim 2.

6. When the arrangement of the one or more autonomous mobile bodies that will get off next in the car is not arranged in the order of getting off along the outer peripheral part, the determination unit temporarily retreats the autonomous mobile body whose order of getting off is to be changed to the central position of the car, continuously moves the autonomous mobile body at the interrupt destination of the outer peripheral part along the outer peripheral part, and moves the autonomous mobile body at the central position to the vacant area of the outer peripheral part. The elevator control device according to claim 5.

7. When the determination unit determines based on the destination floor call that the distance from the current floor of the car to the destination floor where the car will stop next is less than a predetermined number of floors, the determination unit only performs circular movement along the outer peripheral part for the arrangement of the autonomous mobile body with the highest rank in the order of getting off and determines the arrangement. The elevator control device according to claim 2.

8. An elevator control system including a plurality of autonomous mobile bodies that can board an elevator, and an elevator control device that is connected to the plurality of autonomous mobile bodies via a network and controls the elevator, Each of the plurality of autonomous mobile bodies A position detection unit that acquires the current position, A destination floor request unit that transmits a destination floor call, which is an instruction to move a car in which the autonomous mobile body or a user can board, to a desired destination floor, and the current position, to the elevator control device. The elevator control device A receiving unit that receives the destination floor call and the current position of each of the one or more autonomous mobile bodies from the one or more autonomous mobile bodies, An autonomous mobile body dedicated operation control unit that executes an autonomous mobile body dedicated operation of driving only the one or more autonomous mobile bodies on the car. During the execution of the dedicated operation for the self-driving vehicle, when the receiving unit receives the one or more destination floor calls, while the door of the car is in the closed state and the car is moving up and down, based on the one or more destination floors and the current positions of the respective self-driving vehicles, determining the getting-off order of the one or more self-driving vehicles, and determining the arrangement within the car of the one or more self-driving vehicles that are riding in the car in the determined getting-off order; a determination unit; a transmission unit that transmits a movement instruction to the determined arrangement to each of the one or more self-driving vehicles; each of the plurality of self-driving vehicles; a second receiving unit that receives the movement instruction from the elevator control device; a travel control unit that causes the self-driving vehicle to travel based on the received movement instruction; An elevator control system further comprising

9. An elevator control method executed by an elevator control system including a plurality of self-driving vehicles that can board an elevator, and an elevator control device that is connected to the plurality of self-driving vehicles via a network and controls the elevator, the method comprising: acquiring the current position; each of the plurality of self-driving vehicles transmitting to the elevator control device a destination floor call, which is an instruction for moving a car in which the self-driving vehicle or a user can board to a desired destination floor, and the current position; the elevator control device receiving the destination floor call and the current position of each of the one or more self-driving vehicles from the one or more self-driving vehicles; the elevator control device executing a dedicated operation for self-driving vehicles in which only the one or more self-driving vehicles are allowed to board the car and drive; During the execution of the dedicated operation for the self-driving vehicle, when the one or more destination floor calls are received, while the door of the car is in the closed state and the car is moving up and down, based on the one or more destination floors and the current positions of the respective self-driving vehicles, determining the getting-off order of the one or more self-driving vehicles, and determining the arrangement within the car of the one or more self-driving vehicles that are riding in the car in the determined getting-off order; the elevator control device transmitting a movement instruction to the determined arrangement to each of the one or more self-driving vehicles; Each of the plurality of autonomous mobile bodies receives the movement instruction from the elevator control device; Each of the plurality of autonomous mobile bodies runs the autonomous mobile body based on the received movement instruction; An elevator control method comprising:

10. A program for causing a computer of an elevator control device connected to a plurality of autonomous mobile bodies capable of boarding an elevator via a network to execute, the program comprising: Receiving, from one or more autonomous mobile bodies, a destination floor call, which is an instruction for moving a car, in which the autonomous mobile body or a user can board, to a desired destination floor, and the current position of each of the one or more autonomous mobile bodies; Executing an autonomous-mobile-body exclusive operation of boarding and driving only the one or more autonomous mobile bodies in the car; During the execution of the autonomous-mobile-body exclusive operation, when the one or more destination floor calls are received, while the door of the car is closed and the car is moving up and down, based on the one or more destination floors and the current position of each of the one or more autonomous mobile bodies, determining the getting-off order of the one or more autonomous mobile bodies, and determining the arrangement within the car of the one or more autonomous mobile bodies boarding the car in the determined getting-off order; Sending a movement instruction to the determined arrangement to each of the one or more autonomous mobile bodies; A program for causing the computer to execute.

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