Elevator control system, elevator control method, and elevator control program

Abstract

To move an autonomous mobile body without interfering with the boarding of general users.SOLUTION: An elevator control system of the present disclosure comprises call registration means for registering person hall calls, which are elevator hall calls from users, and mobile body hall calls, which are elevator hall calls from autonomous mobile bodies, getting-on / off control means for controlling the autonomous mobile bodies to get on / off an elevator car, and prediction means for predicting, for each floor within a getting-on section from a getting-on floor of the mobile body hall call to a destination floor, the sum of the weights of all users who have made person hall calls that include that floor in their getting-on section as a person weight predicted value. If the sum of the maximum person weight predicted value for each floor and the weight of the autonomous mobile body that has made the mobile body hall call is smaller than a reference weight, the getting-on / off control means determines that it is possible for the autonomous mobile body to get on the car.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to an elevator control system, an elevator control method, and an elevator control program. [Background technology]

[0002] Patent Document 1 describes a control method that is used when an autonomously mobile robot boards an elevator and travels to a destination floor, and a passenger calls from a hall during the journey. This control process determines whether the passenger can board by having the robot disembark, based on the total load of the car and the robot load. If it is determined that this is possible, the car stops at the hall and the robot is allowed to disembark. On the other hand, if it is determined that this is not possible, the car is allowed to pass through the hall. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-064076 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional elevator operation control, if the load on the car increases due to the entry of an autonomous mobile object, even if a user subsequently calls for a hall, if the car is full at that hall, the car will pass through the hall. This may result in reduced user convenience. In this regard, Patent Document 1 describes a case where a user can board the car by having the robot exit the car. However, in the control of Patent Document 1, the robot exits first, and then the user enters the car. Therefore, there remains a risk of reduced user convenience, such as an increase in the user's travel time.

[0005] The present disclosure has been made to solve the above problems, and provides an elevator control system that enables the movement of an autonomous moving body without interfering with the boarding of general users. [Means for solving the problem]

[0006] The elevator control system of the present disclosure comprises a call registration means for registering person hall calls, which are elevator hall calls from users, and mobile body hall calls, which are elevator hall calls from autonomous mobile bodies; a boarding / alighting control means for controlling the autonomous mobile bodies to board and alight from the elevator car; and a prediction means for predicting, for each floor within a boarding section from the boarding floor of the mobile body hall call to the destination floor, the sum of the weights of all users who have made person hall calls that include that floor in their boarding section as a person weight predicted value, and the boarding / alighting control means determines that it is possible for a person to board the car of the autonomous mobile body if the sum of the maximum person weight predicted value for each floor and the weight of the autonomous mobile body that has made the mobile body hall call is smaller than a reference weight.

[0007] The elevator control system of the present disclosure includes, when a person hall call, which is an elevator hall call from a user, and a mobile body hall call, which is an elevator hall call from an autonomous mobile body, are registered, a process in which the control device calculates, for each floor within the boarding section from the boarding floor of the mobile body hall call to the destination floor, the sum of the weights of all users who have made person hall calls that include that floor within the boarding section as a person weight predicted value, and a process in which, if the sum of the maximum person weight predicted value for each floor and the weight of the autonomous mobile body that made the mobile body hall call is smaller than the reference weight, the control device determines that it is possible for the user to board the car of the autonomous mobile body.

[0008] The elevator control program of the present disclosure, when a person hall call, which is an elevator hall call from a user, and a mobile body hall call, which is an elevator hall call from an autonomous mobile body, are registered, causes the control device to perform the following processes: for each floor within the boarding section from the boarding floor of the mobile body hall call to the destination floor, calculate the sum of the weights of all users who have made person hall calls that include that floor within the boarding section as a person weight predicted value; and, if the sum of the maximum person weight predicted value for each floor and the weight of the autonomous mobile body that made the mobile body hall call is smaller than the reference weight, determine that it is possible for the user to board the car of the autonomous mobile body. [Effects of the Invention]

[0009] By determining whether an autonomous moving body can board based on the total weight of users on each floor within the boarding section of the autonomous moving body, it is possible to prevent situations in which users are unable to board due to the autonomous moving body having boarded the elevator, thereby improving elevator service for users. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram illustrating a configuration example of an elevator and its surroundings according to a first embodiment of the present disclosure. FIG. [Figure 2] FIG. 2 is a block diagram illustrating a configuration example of a control device according to an embodiment of the present disclosure. [Figure 3] 3 is a diagram illustrating an example of registration information of a user and an autonomous moving body stored in a storage unit of the control device according to the first embodiment of the present disclosure. FIG. [Figure 4] 10 is a diagram showing the predicted weight of the car at each floor and the boarding and alighting status of users and autonomous moving bodies when boarding and alighting control for the autonomous moving body is applied by a control device according to an embodiment of the present disclosure. FIG. [Figure 5] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 6] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 7] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 8] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 9] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 10] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals, and the description thereof will be simplified or omitted.

[0012] Embodiment 1 Fig. 1 is a schematic diagram showing an example of the configuration of an elevator control system and its peripherals according to this embodiment. The elevator control system includes an elevator 15, a control device 100, autonomous moving bodies 10A-10D, mobile terminals 13A-13D carried by users 12A-12D, and an anchor 18. In the example of Fig. 1, a building has multiple floors, and an elevator 15 is arranged that can move vertically between the multiple floors.

[0013] A plurality of users and a plurality of autonomous moving bodies 10A-10D capable of autonomous travel pass through a plurality of floors in a building. In the example of Fig. 1, the plurality of autonomous moving bodies 10A-10D are located near the elevator 15 landings on each floor. When the movement route of the autonomous moving bodies 10A-10D includes movement by elevator 15, the autonomous moving bodies 10A-10D transmit a moving body landing call 11, which includes information on the landing floor and the destination floor, to the control device 100 from near the elevator 15 landing on the movement route.

[0014] In the example of FIG. 1, general users 12A to 12D are located near the landings of elevators 15 on multiple floors. Each of the users 12A to 12D carries a mobile terminal 13A to 13D. The mobile terminals 13A to 13D are, for example, a smartphone, a tablet, or a mobile phone. The current location of each of the users 12A to 12D is transmitted by the mobile terminal 13A to 13D. Instead of the mobile terminals 13A to 13D, the users may carry a tag or the like capable of transmitting their current location. When using the elevator 15, the users 12A to 12D input the destination floor into an operation panel (not shown) installed near the landing, for example, to transmit a person landing call 14 including information on the landing floor and the destination floor to the control device 100. Alternatively, the person landing call 14 may be automatically or manually transmitted from the mobile terminals 13A to 13D.

[0015] In the following, when there is no need to distinguish between the multiple autonomous moving bodies 10A to 10D, the multiple users 12A to 12D, and the multiple mobile terminals 13A to 13D, they will simply be referred to as the autonomous moving body 10, the user 12, and the mobile terminal 13.

[0016] The elevator 15 has a car 16 that moves up and down in a hoistway 15A. A weighing device 17 that measures the load inside the car 16 is installed in the car 16. Anchors 18 are installed on each floor, and the positions of the user 12 and the autonomous moving body 10 are determined by measuring the distance to the anchors 18. However, this is not limited to a configuration in which anchors 18 are installed, as long as the positions of the autonomous moving body 10 and the user 12 can be determined. Instead of the anchors 18, a camera may be installed and the positions of the autonomous moving body 10 and the user 12 may be determined by image analysis processing.

[0017] 2 is a block diagram showing an example of the configuration of a control device according to this embodiment. In this embodiment, the control device 100 controls the operation of the elevator 15, as well as controlling the entry and exit of passengers of the autonomous mobile body 10 into and from the car 16. Below, of the functions of the control device 100, those parts related to the entry and exit control of the autonomous mobile body 10 will be mainly described.

[0018] As shown in FIG. 2, the control device 100 includes a call registration means 1, a call registration means 2, a detection means 4, a measurement means 5, a storage means 6, a prediction means 7, and a boarding / alighting control means 8.

[0019] The call registration means 1 receives information on a mobile platform call 11 transmitted from an autonomous mobile body 10, and registers the mobile platform call 11. The call registration means 2 receives information on a person platform call 14 input by a user, and registers the person platform call.

[0020] The detection means 4 receives positioning information 3 of the user 12 and the autonomous moving body 10 measured by the anchor 18. The detection means 4 detects whether the user 12 and the autonomous moving body 10 have boarded or disembarked from the car 16 based on the input positioning information 3.

[0021] The measurement means 5 measures the weight of the users and autonomous moving bodies in the car 16. Information on the boarding and disembarking of the users 12 and autonomous moving bodies 10 detected by the detection means 4, and the output of the scale device 17 installed in the car 16 are input to the measurement means 5. The measurement means 5 calculates the total load in the car 16 based on the output of the scale device 17, and can measure the weight of each of the users 12 and autonomous moving bodies 10 riding in the car 16 based on the output change of the scale device 17 and the positioning information 3.

[0022] The storage means 6 stores a user management table that lists registration information such as the weight of registered users 12 and registered autonomous moving bodies 10. FIG. 3 is a diagram showing an example of the registration information of users and autonomous moving bodies stored in the storage means. As shown in FIG. 3, the storage means 6 stores the registration information of each of users 12A to 12D and autonomous moving bodies 10A to 10D moving within a building in a state that allows identification of which user 12 and autonomous moving body 10 the registration information belongs to. The registration information of the user 12 and the autonomous moving body 10 is registered in advance.

[0023] The registration information of the user 12 includes information on weight (body weight) and priority level. In the example of FIG. 3, the weights of the users 12A to 12D are 60 kg, 20 kg, 75 kg, and 45 kg, respectively. The priority level indicates the priority level to which the elevator 15 is assigned when a hall call is made to the elevator 15. The priority levels are, for example, indicated from Level 5 to Level 1 in descending order of priority, and in the example of FIG. 3, the priority level of all users 12 is set to Level 5, the highest. In addition, in the example of FIG. 3, the registration information of the user 12 also includes information on the attributes of the user 12. Here, the attributes include gender and information on whether the user is an adult or a child. However, the registration information of the user 12 does not necessarily include the attributes, and may also include information such as whether the user uses a wheelchair. Furthermore, the priority level may differ between users depending on, for example, the attributes.

[0024] The registration information of the autonomous moving body 10 may include information on weight, attributes, and priority level. In the example of FIG. 3, the autonomous moving bodies 10A to 10D have different weights, and the weights of the autonomous moving bodies 10A to 10D are 60 kg, 100 kg, 18 kg, and 15 kg, respectively. The attributes of the autonomous moving body 10 may include information on the use of the autonomous moving body 10, such as delivery, cleaning, serving food, and security. However, the registration information does not necessarily need to include attribute information. Also, for example, the priority level is set in advance according to the attributes of the autonomous moving body 10. The priority level is at least lower than all users, and in the example of FIG. 3, it is set to Level 4 or lower.

[0025] The prediction means 7 calculates a weight prediction value, which is the load inside the car 16 for each floor, based on the registration information of the users 12 and the autonomous mobile bodies 10 stored in the storage means 6, the person hall calls 14, and the mobile body hall calls 11. When calculating the weight prediction value, the prediction means 7 calculates the total weight of the users 12 among the load inside the car 16 for each floor as the person weight prediction value. Note that the weight prediction value and the person weight prediction value predicted by the prediction means 7 are values ​​calculated for each operation of the car 16 in the same direction.

[0026] The boarding and alighting control means 8 receives input of information on boarding and alighting of the users 12 and the autonomous mobile bodies 10 detected by the detection means 4, registration information on the users 12 and the autonomous mobile bodies 10 stored in the memory means 6, information such as predicted weight values ​​at each floor predicted by the prediction means 7, and information on person boarding hall calls 14 and mobile body boarding hall calls 11 from the call registration means 1 and 2.

[0027] Based on this input information, when an autonomous mobile body 10 makes a mobile body hall call 11, the boarding / alighting control means 8 extracts the maximum value of the weight prediction values ​​of each floor excluding the destination floor in the section from the boarding floor to the destination floor of the autonomous mobile body 10. Note that in the following, although the "boarding section" refers to the section from the boarding floor to the destination floor, the floors within the boarding section do not include the destination floor itself, which is the disembarking floor, but refer to the floors from the boarding floor to the floor immediately before the destination floor.

[0028] The boarding / disembarking control means 8 determines that the autonomous mobile body 10 is allowed to board the car 16 when the sum of the maximum value and the weight of the autonomous mobile body 10 is smaller than the reference weight, and determines that the autonomous mobile body 10 is not allowed to board the car 16 when the sum is larger. Note that the reference weight here is set, for example, to a weight that serves as a condition for the car 16 to pass when fully loaded. The reference weight that serves as a condition for the car 16 to pass when fully loaded is set, for example, to 80% of the load weight, which is the maximum weight that can actually be loaded into the car 16, and is a value that is stored in advance.

[0029] When the boarding / alighting control means 8 determines that the autonomous mobile body 10 is able to board, when the car 16 arrives at the boarding floor of the autonomous mobile body 10, after the user boarding the car 16 at that boarding floor has completed boarding, it transmits a boarding command to the autonomous mobile body 10 and causes the autonomous mobile body 10 to board the car 16. On the other hand, when the boarding / alighting control means 8 determines that the autonomous mobile body 10 is not able to board, it does not transmit a boarding command, and if there are no users 12 or other autonomous mobile bodies 10 available at that boarding floor, it allows the car 16 to pass through without stopping.

[0030] Hereinafter, boarding and alighting control for the autonomous moving body 10 will be described in more detail with reference to Fig. 4. Fig. 4 is a diagram showing predicted changes in weight of the car at each floor and the boarding and alighting status of users and the autonomous moving body when boarding and alighting control for the autonomous moving body by the control device is applied. In the example of Fig. 4, 100% of the load weight of the car 16 is set to 250 kg, and the reference weight that is the full passenger passing condition is set to 200 kg, which is 80% of the load weight. The control device 100 controls boarding and alighting of the autonomous moving body 10 so that the car load does not exceed the reference weight of 200 kg.

[0031] In the example of Fig. 4, it is assumed that user 12A makes a person hall call for floors 1 to 8, user 12B makes a person hall call for floors 1 to 4, user 12C makes a person hall call for floors 3 to 10, and user 12D makes a person hall call for floors 5 to 11. It is also assumed that autonomous mobile body 10A makes a person hall call for floors 1 to 8, autonomous mobile body 10B makes a person hall call for floors 1 to 5, autonomous mobile body 10C makes a person hall call for floors 4 to 10, and autonomous mobile body 10D makes a person hall call for floors 5 to 11. It is assumed, however, that the person hall call by user 12C is registered after autonomous mobile body 10A boards car 16 and while the autonomous mobile body 10A is moving to the destination floor.

[0032] For example, the autonomous mobile body 10A weighs 60 kg and has a priority level of Level 3. The riding section of the autonomous mobile body 10A is from the first floor to the eighth floor. At the time when the autonomous mobile body 10A makes a mobile body hall call, the users who have made person hall calls for each of floors 1 to 7 within the riding section, which include that floor in the riding section, are users 12A and 12B on the first to third floors, user 12A on the fourth floor, and users 12A and 12D on the fifth to seventh floors. Therefore, the predicted person weight values ​​for users on each floor from the first to seventh floors are 80 kg on the first to third floors, 60 kg on the fourth floor, and 105 kg on the fifth to seventh floors, and the maximum predicted person weight value for the riding section from floors 1 to 7 is 105 kg.

[0033] Since the weight of the autonomous mobile body 10A is 60 kg, the predicted weight value for each floor from the first to seventh floors is a maximum of 165 kg, which is not expected to exceed the reference weight of 200 kg. Furthermore, although the autonomous mobile body 10B has registered mobile body calls for the first to fourth floors, the priority level of the autonomous mobile body 10B is lower than that of the autonomous mobile body 10A, and therefore its weight is not taken into consideration here. Therefore, the autonomous mobile body 10A is determined to be able to board, and a boarding command is issued when the car 16 arrives.

[0034] On the other hand, the autonomous moving body 10B weighs 100 kg and has a priority level of Lv1. The riding section of the autonomous moving body 10B is from the first to fifth floors. On each of the first to fourth floors within the riding section of the autonomous moving body 10B, the predicted weight value obtained by adding the weight of the autonomous moving body 10A, which has a higher priority level, to the predicted person weight value of the user 12 is 140 kg on the first to third floors. In this case, if the autonomous moving body 10B also rides, the predicted weight value will be 240 kg, which exceeds the reference weight of 200 kg. Therefore, it is determined that the autonomous moving body 10B cannot ride in the car 16 during this operation.

[0035] In the example of FIG. 4, after the autonomous moving body 10A boards the car 16, while the body is moving, a user 12C makes a passenger hall call from the third floor to the tenth floor. In this case, the predicted passenger weight values ​​for each of the third to ninth floors in the boarding section of the user 12C are recalculated to include the weight of the user 12C. In the example of FIG. 4, the recalculated results are 155 kg for the third floor, 135 kg for the fourth floor, 180 kg for the fifth to eighth floors, and 120 kg for the ninth floor. Since the maximum value of the predicted passenger weight value is equal to or less than the reference weight, it is determined that the user 12C can board the train.

[0036] On the other hand, as a result of the recalculation, the predicted weight value of the car 16, which is the sum of the predicted person weight values ​​on floors 1 to 7 within the riding section of the autonomous moving body 10A and the weight of the autonomous moving body 10A, 60 kg, exceeds the reference weight at the time of the third floor. Therefore, to give priority to the boarding of the user 12C, a disembarking command is sent to the autonomous moving body 10A on the third floor, and the autonomous moving body 10A disembarks on the third floor. As a result, the user 12C is able to board.

[0037] Furthermore, the autonomous mobile body 10C weighs 18 kg and has a priority level of Level 2. The predicted person weight values ​​of the user 12 on floors 4 to 9 within the riding section of the autonomous mobile body 10C are 135 kg on floor 4, 180 kg on floors 5 to 7, and 120 kg on floors 8 and 9. Even when the weight of the autonomous mobile body 10C is added to these values, the predicted weight values ​​at each floor are all less than 200 kg. However, the autonomous mobile body 10D, which has a higher priority level, is making mobile body hall calls from the boarding floor 5 to the destination floor 11. Therefore, the predicted weight values ​​for each floor, including the weight of the autonomous mobile body 10D on floors 5 to 10 within the riding section of the autonomous mobile body 10D, are 213 kg on floors 5 to 7, exceeding the reference weight. In this case, the boarding / disembarking control means 8 sends a disembarking command to the autonomous mobile body 10C on floor 5, where the predicted weight value exceeds the reference weight.

[0038] Since the autonomous moving body 10C gets off on the fifth floor, the predicted weight values ​​including the weight of the autonomous moving body 10D on each of floors 5 to 10 in the riding section of the autonomous moving body 10D are 195 kg on floors 4 to 8, 135 kg on floor 9, and 60 kg on floor 10. Therefore, it is determined that the autonomous moving body 10D can board the car, and a boarding command is sent to the autonomous moving body 10D.

[0039] Figures 5 to 10 are flowcharts showing an example of boarding and alighting control executed by the control device according to this embodiment. In the boarding and alighting control processing of Figures 5 to 10, when it is necessary to make a particular distinction in the explanation, the object currently being calculated will be indicated by adding "target" to it, such as "target autonomous moving body 10," "target floor," or "target user 12."

[0040] Figure 5 shows an example of a control operation for calculating a predicted person weight value among the car loads on each floor. The process in Figure 5 is a process that is repeatedly executed at a predetermined control interval while the elevator is in service, and is performed for each run of the car 16 in the same direction, and is repeatedly executed as a process for that run until the car 16 starts running for that run. The process in Figure 5 is also repeatedly executed for each run in the opposite direction to that run.

[0041] In the example of Fig. 5, first, in step S1, it is determined whether a new registration or cancellation of a passenger hall call has occurred. If it is determined in step S1 that no new registration or cancellation has occurred, the current process is terminated.

[0042] If it is determined in step S1 that a new registration or cancellation of a people hall call has been detected, the process then proceeds to step S2, where a loop of steps S2 to S6 is performed for the number of service floors at which the elevator stops. Specifically, if the direction of the newly registered or canceled people hall call is an uphill direction, a loop of steps S2 to S6 is performed for each floor from the bottom floor to the top floor, and if the direction is a downhill direction, a loop of steps S2 to S6 is performed for each floor from the top floor to the bottom floor.

[0043] In this loop process, first, in step S3, it is determined whether the target floor currently being calculated is included in the boarding section of the newly registered or canceled passenger hall call. If it is determined in step S3 that the target floor is not within the boarding section, the process proceeds to step S5, where the next floor is predicted.

[0044] On the other hand, in step S3, if the target floor is within the boarding section, the weight of the user who made the newly registered or canceled hall call (also referred to as "target weight") is obtained from the storage means 6. Then, if it is a new hall call, the target weight is added to the currently stored predicted person weight value for the target floor. On the other hand, if it is a cancellation of a hall call registration, the target weight is subtracted from the current predicted person weight value for the target floor. The result of the addition or subtraction is stored in the storage means 6 as the predicted person weight value for the target floor. The predicted person weight value is initially zero, and is updated sequentially as the control process of Figure 5 is repeated.

[0045] Thereafter, the process proceeds to step S5, and steps S2 to S5 are repeated until the loop process for each floor up to the top floor or the bottom floor is completed, and after the loop process is completed, the current process is terminated.

[0046] Fig. 6 shows an example of a control operation when determining whether or not an autonomous moving body is permitted to board the car. The control process in Fig. 6 is a process that is repeatedly executed at predetermined control intervals while the elevator is in service, and is executed for each run of the car 16 in the same direction, and is repeatedly executed as a process for that run until the car 16 starts running for that run. The process in Fig. 6 is also repeatedly executed for each run in the opposite direction to that run.

[0047] In the example of Fig. 6, first, in step S10, it is determined whether or not a new mobile platform call has been registered. If it is determined in step S10 that a new mobile platform call has not been registered, the current process is terminated.

[0048] If it is determined in step S10 that a new mobile platform call has been registered, then the process proceeds to step S12, and a loop of steps S12 to S20 is performed for each autonomous mobile body 10 for which a mobile platform call has currently been registered for the car 16, in order from highest priority level to lowest.

[0049] When the process proceeds to step S13, a loop process of steps S13 to S15 is executed for each floor in the boarding section of the mobile body hall call of the target autonomous mobile body 10, from the boarding floor to the disembarking floor.

[0050] First, in step S14, the virtual load of the car 16 at each floor is calculated by adding the weight of the target autonomous mobile body 10 to the current virtual load of the car 16 at each floor within the riding section of the target autonomous mobile body 10. The virtual load here is a value that is updated by adding the weight of the autonomous mobile body to the initial value of the predicted person weight of each floor calculated by the processing of FIG. 5 during the loop processing of steps S12 to S15. That is, the virtual load is a value obtained by adding the weight of autonomous mobile bodies 10 with a higher priority level than the target autonomous mobile body 10, among the autonomous mobile bodies 10 that have made mobile body hall calls that include each floor within their riding section, to the predicted person weight value of each floor. The loop processing of steps S12 to S15 is repeatedly executed until calculation of the virtual load for all floors within the riding section of the target autonomous mobile body 10 is completed.

[0051] After the loop processing in steps S12 to S15 is completed, next, in step S16, it is determined whether or not the maximum value of the provisional loads of each floor calculated in step S14 is smaller than the reference weight, which is the full passenger passing condition. That is, even if full passenger passing does not occur with the provisional load value and the target autonomous moving body 10 boards, it is determined whether or not the user who made the hall call and the autonomous moving body 10 with a higher priority level than the target autonomous moving body 10 can board within that boarding section.

[0052] If it is determined in step S16 that the maximum value of the provisional load is smaller than the reference weight, it is determined in step S17 that the target autonomous moving body 10 is rideable. Next, in step S18, the provisional load calculated in step S14 is updated as the weight prediction value for each floor.

[0053] On the other hand, if it is determined in step S16 that the maximum provisional load is smaller than the reference weight, then in step S19 it is determined that the target autonomous moving body 10 is not rideable. In this case, the provisional load value is canceled and returned to the value before the loop processing of steps S13 to S15.

[0054] Thereafter, when the loop processing of steps S12 to S20 is completed for the autonomous moving body 10 with the lowest priority level, the current processing is terminated.

[0055] Fig. 7 shows an example of control in which the predicted person weight value is corrected by the weight measured when the user 12 actually gets into the car 16. This process is repeatedly executed at predetermined control intervals while the elevator is in service.

[0056] In the example of Fig. 7, first, in step S21, it is determined whether or not a car 16 moving in the destination direction of the autonomous mobile body 10 has arrived at the boarding floor of the autonomous mobile body 10. If it is determined in step S21 that the car 16 has not arrived, the current processing ends.

[0057] If it is determined in step S21 that the car 16 has arrived, the process proceeds to step S22, and a loop process of steps S22 to S28 is executed. The loop process of steps S22 to S28 is executed repeatedly for the number of passengers who are scheduled to board the car 16 that has arrived at the current boarding floor.

[0058] In step S23, it is determined based on the user's positioning information whether or not the target user 12 has completed boarding the car 16. If it is determined in step S23 that the boarding has not completed, the process proceeds to step S28, and the process returns to the start of the loop process S22.

[0059] If it is determined in step S23 that the target user 12 has boarded the car, then in step S24, the increase in car load due to the boarding of the target user 12 is obtained. The increase in car load can be obtained based on the output of the weighing device 17.

[0060] Next, in step S25, the weight of the target user in the user management table is updated to the acquired increase in car load, and the error between the weight registered in the user management table and the measured weight is calculated as a correction value.

[0061] Next, in step S26, the predicted person weight value for each floor within the target user's riding section is corrected with the correction value calculated in step S26, and the predicted person weight value for each floor is updated to the corrected value.

[0062] Next, in step S27, the determination of whether or not the autonomous moving body 10 is boarding is updated again. Specifically, in the loop processing of steps S12 to S20 in Fig. 6, the predicted person weight value updated in step S26 is used to recalculate whether or not each autonomous moving body 10 is boarding. In step S27, the boarding permission may be recalculated only for the autonomous moving body 10 that has boarding permission this time at this boarding floor (i.e., that has been determined to be boarding permitted).

[0063] In step S28, when the loop processing for the number of people expected to board has been completed, the process proceeds to step S29, where it is determined whether or not there is an autonomous moving body 10 permitted to board on the current floor. If it is determined in step S29 that there is no autonomous moving body 10 permitted to board, the current process is terminated.

[0064] On the other hand, if it is determined in step S29 that there is an autonomous moving body 10 that has been permitted to board, in step S30, a boarding command is transmitted to the target autonomous moving body 10. The autonomous moving body 10 that has received the boarding command begins boarding the car 16.

[0065] Next, in step S31, it is determined whether or not riding on the target autonomous moving body 10 is complete. If riding on the target autonomous moving body 10 is not complete, the process returns to step S31, and the determination in step S31 is repeatedly executed at regular control intervals until riding on the target autonomous moving body 10 is complete.

[0066] On the other hand, if it is determined in step S31 that boarding is complete, then in step S32, the weight prediction value of each floor within the boarding section of the target autonomous mobile body 10 is updated based on the difference between the increase in the car load due to the boarding of the target autonomous mobile body 10 and the weight of the target autonomous mobile body 10 stored in the storage means 6. Thereafter, the current processing is terminated.

[0067] Fig. 8 shows an example of a control operation when a hall call for an autonomous mobile body is canceled. The processing in Fig. 8 is repeatedly executed at predetermined control intervals while the elevator is in service. In the example shown in Fig. 8, first, in step S41, it is determined whether or not a cancellation of a hall call for a mobile body has occurred. If it is determined in step S41 that a cancellation of a hall call for the autonomous mobile body 10 has not occurred, the processing is terminated.

[0068] On the other hand, if it is determined in step S41 that a cancellation of the mobile object hall call has occurred, the process proceeds to step S42, and the boarding permission determination for all autonomous mobile objects is temporarily canceled. Next, in step S43, the weight prediction value of each floor is returned to the person weight prediction value of each floor.

[0069] Next, in step S44, a recalculation is performed to determine whether or not the autonomous moving body 10 is permitted to board. Specifically, a loop process of steps S12 to S20 in Fig. 6 is performed, and a calculation is performed to determine whether or not the autonomous moving body 10 is permitted to board for all the autonomous moving bodies 10 that have registered a moving body call. After that, the current process is terminated.

[0070] 8 illustrates a case where, when one mobile-body hall call is canceled, boarding permission for all autonomous mobile bodies 10 is canceled and boarding permission is recalculated. However, the processing when a mobile-body hall call is canceled is not limited to this. For example, as another processing, the weight predicted value is updated by subtracting the weight of the autonomous mobile body 10 from the weight predicted value of each floor within the boarding section of the autonomous mobile body 10 whose mobile-body hall call has been canceled. Then, when an autonomous mobile body 10 that has made a hall call including the canceled boarding section and does not have boarding permission (i.e., has been determined not to be boarding) is waiting in addition to the autonomous mobile body 10 whose hall call has been canceled, the weight of the autonomous mobile body 10 is added to the weight predicted value to obtain a weight predicted value. If the weight predicted value does not exceed the reference weight, the waiting autonomous mobile body 10 may be allowed to board.

[0071] Fig. 9 shows an example of a control operation when the user 12 makes a hall call while riding in the autonomous moving body 10. The processing in Fig. 9 is repeatedly executed at predetermined control intervals while the elevator is in service.

[0072] In the processing of Fig. 9, first, in step S51, it is determined whether or not the car 16 is traveling with at least one autonomous moving body 10 on board. Note that "traveling" here indicates that the car 16 is traveling in response to a hall call in a certain direction, and also includes a case where the car is stopped at any floor during its travel to allow users 12 or autonomous moving bodies 10 to board or disembark. If, in step S51, no autonomous moving body 10 is on board or the car 16 is not traveling, the current processing is terminated.

[0073] If it is determined in step S51 that the car 16 in which the autonomous moving body 10 is riding is traveling, then it is determined in step S52 whether or not a new person platform call has been registered within the riding section of the autonomous moving body 10 riding in the car 16. If it is determined in step S52 that there is no new person platform call within the riding section, the current processing is terminated.

[0074] If it is determined in step S52 that there is a new passenger platform call, then in step S53, the weight of the target user 12 who made the new passenger platform call is added to the predicted weight value of each floor within the boarding section of the new passenger platform call to calculate the provisional load of each floor.

[0075] Next, in step S54, it is determined whether the new passenger hall call will result in a full-passage, that is, whether any of the provisional loads for each floor calculated in step S53 has a value equal to or greater than the reference weight. If it is determined in step S54 that the provisional loads for all floors are smaller than the reference weight, it can be said that the target user 12 is able to board the car 16 without adjusting the car load. In this case, the current processing is terminated.

[0076] On the other hand, if it is determined in step S54 that the provisional load is equal to or greater than the reference weight, then in step S55, it is determined whether the target user can board by disembarking the autonomous moving body 10. Specifically, the provisional load for each floor is recalculated by subtracting the weight of the autonomous moving body 10 riding in the car 16 on that floor from the provisional load for each floor within the target user's riding section calculated in step S53. If all of the recalculated provisional loads for each floor are equal to or greater than the reference weight, it is determined in step S55 that the target user cannot board, and the current processing is terminated.

[0077] On the other hand, if it is determined in step S55 that all of the provisional loads are smaller than the reference weight, that is, that the target user 12 can board by disembarking the autonomous moving body 10, then it is determined in step S56 whether the car 16 has arrived at the boarding floor of the target user. If it is determined in step S56 that the car 16 has not arrived, the process returns to step S56, and the determination process of step S56 is repeated at predetermined control intervals until it is determined that the car 16 has arrived.

[0078] On the other hand, if it is determined in step S56 that the car 16 has arrived, then in step S57, a disembarking command is transmitted to the autonomous moving body 10. Next, in step S58, the predicted weight value for each floor is recalculated according to the weight increase or decrease due to the target user getting on and the autonomous moving body 10 getting off, and the possibility of boarding the autonomous moving body 10 is recalculated. Here, the recalculation of the predicted weight value and the possibility of boarding the autonomous moving body 10 are executed according to the loop processing of steps S12 to S20 in Fig. 6. Thereafter, the current processing ends.

[0079] 9 has been described as a case where one autonomous moving body 10 is currently aboard, but the process in FIG. 9 is also performed when multiple autonomous moving bodies 10 are currently aboard the car 16. In this case, for example, in step S52, it is determined whether or not a new person hall call has been registered within the boarding section of any one or more autonomous moving bodies 10 currently aboard.

[0080] Furthermore, in the determination of step S55, the provisional load is recalculated by subtracting the total weight of all the autonomous moving bodies 10 currently riding or scheduled to ride on each floor from the provisional load of each floor calculated in step S53.

[0081] Furthermore, the autonomous moving body that issues the dismounting command in step S57 can be determined as follows. For example, the weight of the autonomous moving body 10 currently riding or scheduled to ride on each floor is added to the provisional load calculated in step S55, in descending order of priority, to sequentially update the provisional load value. Each time the weight of the autonomous moving body 10 is added, it is determined whether all of the provisional loads on each floor are within a range that does not exceed a reference weight, and if the reference weight is not exceeded, the autonomous moving body 10 is not targeted for the dismounting command. On the other hand, if the provisional load value exceeds the reference weight, the autonomous moving body 10 and autonomous moving bodies 10 with a lower priority level than the autonomous moving body 10 are targeted for dismounting. Alternatively, for example, the autonomous moving body 10 heavier than the target user 12 may be selected in descending order, and the autonomous moving bodies 10 may be dismounted on each floor so that the weight does not exceed the reference weight. The autonomous moving body 10 to be dismounted may also be selected according to other conditions.

[0082] Fig. 10 shows an example of a control operation when switching between a riding autonomous mobile body 10 and an autonomous mobile body 10 that has made a mobile body hall call, according to the priority level of the autonomous mobile body. The processing in Fig. 10 is repeatedly executed at predetermined control intervals while the elevator is in service.

[0083] In the example of Fig. 10, first, in step S61, it is determined whether the autonomous moving body 10 is in the car 16 and the car 16 is traveling. If it is determined in step S61 that the autonomous moving body 10 is not in the car 16 or that the car 16 is not traveling, the current processing is terminated.

[0084] On the other hand, if it is determined in step S61 that the car 16 is traveling with the autonomous mobile body 10 inside, it is then determined whether or not there is a new mobile body hall call from another autonomous mobile body 10 in the riding section of the autonomous mobile body 10 currently riding in the car 16. If it is determined in step S62 that there is no new mobile body hall call, the current processing is terminated.

[0085] On the other hand, if it is determined in step S62 that there is a new mobile body hall call, then in step S63 it is determined whether or not additional boarding is possible for the target autonomous mobile body 10 that made the new mobile body hall call. Specifically, a virtual load is calculated by adding the weight of the target autonomous mobile body 10 to the weight predicted value of each floor in the boarding section of the target autonomous mobile body 10, and if the virtual loads of all floors are smaller than the reference weight, it is determined that additional boarding is possible. If it is determined in step S63 that additional boarding is possible, the current processing is terminated.

[0086] On the other hand, if it is determined in step S63 that additional boarding is not possible, then the process proceeds to step S64, where it is determined whether an autonomous moving body 10 with a lower priority level than the target autonomous moving body 10 is currently riding in the car 16 or is scheduled to board at a floor before the target autonomous moving body 10. If it is determined in step S64 that the autonomous moving body 10 is not riding and is not scheduled to board, the current processing is terminated.

[0087] On the other hand, if it is determined in step S64 that an autonomous mobile body 10 with a lower priority level is currently riding in the car 16 or is scheduled to ride at an earlier floor than the target autonomous mobile body 10, then in step S65, it is determined whether or not a full-passing event will occur in response to a user's hall call within the riding section of the target autonomous mobile body 10 by replacing it with the autonomous mobile body 10 with a lower priority level. Specifically, the weight predicted value of each floor within the riding section of the target autonomous mobile body 10 when the autonomous mobile body 10 with a lower priority level is replaced with the target autonomous mobile body 10 is calculated as a provisional load. Then, based on whether or not the provisional load is smaller than the reference weight, it is determined whether or not a full-passing event will occur. If it is determined in step S65 that a full-passing event will occur, the current processing ends as is.

[0088] On the other hand, if it is determined in step S65 that full-occupancy passing will not occur, then in step S66 it is determined whether or not the car 16 has arrived at the boarding floor for the mobile body hall call of the target autonomous mobile body 10. If it is determined that the car 16 has not arrived, the determination process of step S66 is repeated at predetermined control intervals until it is determined that the car 16 has arrived at the boarding floor.

[0089] On the other hand, if it is determined in step S66 that the car 16 has arrived at the boarding floor, then in step S67, a disembarkation command is sent to the autonomous mobile body 10 among the autonomous mobile bodies 10 riding in the car 16 that is designated as the disembarking target, thereby causing the autonomous mobile body 10 to disembark from the car 16.

[0090] Next, in step S68, a boarding command is transmitted to the target autonomous mobile body 10. When the target autonomous mobile body 10 receives the boarding command, it boards the car 16. Next, in step S69, it is determined whether boarding of the target autonomous mobile body 10 is complete. If it is determined that boarding is not complete, the process returns to step S69, and the determination process of step S69 is repeated at predetermined control intervals until it is determined that boarding is complete.

[0091] On the other hand, if it is determined in step S69 that boarding has been completed, the predicted weight value for each floor is updated in step S70, after which the current processing is terminated.

[0092] As described above, according to this embodiment, a predicted person weight value in the car is calculated based on the weight of users who plan to board, and whether the autonomous moving body will board or disembark is determined based on the calculated predicted person weight value so that users can avoid passing through the car at full capacity. As a result, by having the autonomous moving body 10 board the car, it is possible to prevent the car from passing through the car at full capacity in response to a passenger hall call, which can contribute to improving elevator service for users.

[0093] 7, at each landing floor, after all users 12 have boarded the car 16, the autonomous moving body 10 determined to be available for boarding boards the car 16. As a result, even if an error occurs in the weight prediction value for each floor, the autonomous moving body 10 boards the car, thereby preventing full-load passing in response to a passenger landing call.

[0094] Furthermore, when there are multiple autonomous mobile bodies 10 that have made mobile body hall calls, whether or not the autonomous mobile bodies 10 can board is determined based on the priority level. Therefore, the autonomous mobile bodies 10 that are more necessary can be moved preferentially. However, when there are multiple autonomous mobile bodies 10, the decision on whether or not to board the car 16 is not limited to being based on the priority level. For example, a configuration may be used in which whether or not to board the autonomous mobile bodies 10 can be determined in descending order of weight, or a configuration may be used in which whether or not to board the autonomous mobile bodies 10 can be determined in descending order of waiting time, within a range that does not cause a full-load passing in response to a passenger hall call.

[0095] 7, in this embodiment, when a user or an autonomous moving body 10 gets into the car 16, the predicted person weight value and the predicted weight value are corrected based on the increase in the car load. As a result, even if the weight of the user differs significantly from the registered weight, for example, because the user is carrying heavy luggage, the car load (i.e., the predicted weight value) can be predicted with high accuracy, and it is possible to more appropriately determine whether the autonomous moving body 10 will get on or off. However, the control device may be configured not to correct such important predicted values.

[0096] Furthermore, according to this embodiment, when a new hall call registration or cancellation occurs while the car 16 is traveling, the weight predicted value is recalculated each time, and whether or not the autonomous mobile body 10 can board is determined based on the recalculated weight predicted value. Therefore, boarding and alighting of the autonomous mobile body 10 can be more appropriately controlled, and the occurrence of full-load passing for passenger hall calls can be suppressed.

[0097] The functions realized by each means constituting the control device 100 described in the present embodiment may be implemented using a circuit including a general-purpose processor, an application-specific processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a CPU (Central Processing Unit), a conventional circuit, or a combination thereof, programmed to realize the described function. A processor is considered a circuit because it includes transistors and other circuits. A processor may execute a program stored in a memory. Furthermore, the circuits, units, and means in the embodiments are hardware programmed to realize the described function or hardware that executes the described function. The hardware may be any hardware disclosed in the embodiments or any hardware known to be programmed to realize or execute the described function. When the hardware is a processor, which can be considered a type of circuit, the circuit, means, or unit is a combination of hardware and software used to configure the hardware and / or processor.

[0098] Although the preferred embodiments have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the claims.

[0099] Various aspects of the present disclosure are summarized below as appendices. (Appendix 1) a call registration means for registering a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object; boarding / alighting control means for controlling the autonomous moving body to get on and off the elevator car; a prediction means for predicting, for each floor within a boarding section from the boarding floor of the mobile boarding call to the destination floor, the total weight of all users who have made a person boarding call that includes that floor in the boarding section as a person weight predicted value; Equipped with the boarding / alighting control means determines that the autonomous moving body is allowed to board the car when the sum of the maximum value of the person weight predicted values ​​for each of the floors and the weight of the autonomous moving body that made the moving body hall call is smaller than a reference weight. Elevator control system. (Appendix 2) When it is determined that boarding into the car of the autonomous moving body is possible, the boarding / alighting control means a boarding command is issued to the autonomous mobile body after the car arrives at the boarding floor for the mobile body hall call made by the autonomous mobile body and all users who have made person hall calls for the boarding floor have boarded; 10. The elevator control system of claim 1. (Appendix 3) When there are a plurality of the autonomous moving bodies, if a plurality of the autonomous moving bodies make a moving body hall call in the same direction, the boarding / alighting control means issues the boarding command based on a boarding priority level of each of the plurality of autonomous moving bodies. 1. The elevator control system of claim 2. (Appendix 4) When there are a plurality of the autonomous moving bodies, if a plurality of the autonomous moving bodies make a moving body hall call in the same direction, the prediction means calculates, for each floor within a boarding section of one of the plurality of autonomous moving bodies, a weight prediction value as the sum of the weights of all users who have made person boarding calls that include that floor within the boarding section, and the weights of all other autonomous moving bodies that have made boarding calls that include that floor within the boarding section and that are determined to be boardable, the boarding / disembarking control means determines that boarding of the one autonomous moving body into the car is permitted when the sum of the weight prediction value and the weight of the one autonomous moving body is smaller than the reference weight; 4. The elevator control system of claim 1. (Appendix 5) the prediction means corrects the predicted person weight value based on a change in weight of the car when the passenger gets into the car; the boarding / alighting control means determines whether the person can board the car of the autonomous moving body based on the corrected person weight predicted value. 5. The elevator control system of any one of claims 1 to 4. (Appendix 6) When the autonomous moving body is determined to be unavailable for boarding and the person boarding call in the same direction as the moving body boarding call is canceled, The prediction means recalculates the person weight prediction value, the boarding / alighting control means re-determines whether or not it is possible for the person to board the car of the autonomous moving body based on the recalculated maximum value of the person weight predicted value. 6. The elevator control system of any one of claims 1 to 5. (Appendix 7) After the autonomous moving body boards, a person boarding hall call is made in the same direction before the autonomous moving body arrives at the destination floor, and it is predicted that the person boarding hall call will pass through at full capacity, but it is predicted that the user who made the person boarding hall call will be able to board by getting off the autonomous moving body, the boarding / alighting control means causes the autonomous moving body to disembark at the boarding floor of the person boarding hall call and causes the user to board; 7. The elevator control system of any one of claims 1 to 6. (Appendix 8) There are a plurality of the autonomous moving bodies, If another autonomous mobile body that has made a mobile body hall call in the same direction as the mobile body call of one of the autonomous mobile bodies has a higher priority level than the one autonomous mobile body, and it is determined that the other autonomous mobile body cannot board the car, the boarding / alighting control means, when it is predicted that a full-passing event for the person hall call will not occur at a floor between the boarding floor of the one autonomous mobile body and the disembarking floor of the other autonomous mobile body even if the one autonomous mobile body is swapped with the other autonomous mobile body, causes the one autonomous mobile body to disembark and the other autonomous mobile body to board at the boarding floor of the other autonomous mobile body; 8. The elevator control system of any one of claims 1 to 7. (Appendix 9) When a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object, are registered, A process in which the control device calculates, for each floor within a boarding section from the boarding floor of the mobile platform call to the destination floor, the sum of the weights of all users who have made a platform call that includes that floor within the boarding section as a person weight predicted value; a process in which, when a sum of a maximum value of the predicted person weight values ​​for each of the floors and a weight of the autonomous moving body that made the moving body hall call is smaller than a reference weight, the control device determines that boarding of the autonomous moving body into a car is possible; An elevator control method comprising: (Appendix 10) If it is determined that the autonomous moving body can board the car, a process in which the control device transmits a boarding command to the autonomous mobile body after the car arrives at the boarding floor of the mobile body boarding call made by the autonomous mobile body and all users who have made a person boarding floor call for that boarding floor have completed boarding; 10. The elevator control method according to claim 9, comprising: (Appendix 11) When there are a plurality of the autonomous moving bodies, if a plurality of the autonomous moving bodies make a moving body hall call in the same direction, a process in which the control device transmits the boarding command based on a boarding priority level of each of the plurality of autonomous moving bodies; 11. The elevator control method according to claim 10, comprising: (Appendix 12) When there are a plurality of the autonomous moving bodies, if a plurality of the autonomous moving bodies make a moving body hall call in the same direction, a process in which the control device calculates, for each floor within a boarding section of one of the plurality of autonomous moving bodies, the sum of the weights of all users who have made person boarding calls that include that floor within the boarding section, and the weights of all other autonomous moving bodies that have made boarding calls that include that floor within the boarding section and that are determined to be boardable; a process in which the control device determines that the one autonomous moving body is allowed to board a car when the sum of the weight prediction value and the weight of the one autonomous moving body is smaller than the reference weight; 12. The elevator control method according to any one of claims 9 to 11, comprising: (Appendix 13) a process in which the control device corrects the predicted person weight value based on a change in weight of the car when the user gets into the car, and determines whether the autonomous moving body can get into the car based on the corrected predicted person weight value; 13. The elevator control method according to any one of appendices 9 to 12, comprising: (Appendix 14) When the autonomous moving body is determined to be unavailable for boarding and the person boarding call in the same direction as the moving body boarding call is canceled, a process in which the control device recalculates the predicted person weight value; a process in which the control device re-determines whether or not the person can get into the car of the autonomous moving body based on the recalculated maximum value of the person weight predicted value; 14. The elevator control method according to any one of claims 9 to 13, comprising: (Appendix 15) After the autonomous moving body boards, if a person boarding call in the same direction is registered during the time until the autonomous moving body arrives at the destination floor, and it is predicted that the person boarding call will pass through at full capacity, but it is predicted that the user who made the person boarding call will be able to board by getting off the autonomous moving body, A process in which the control device causes the autonomous moving body to disembark at the boarding floor for the person boarding call; 15. The elevator control method according to any one of appendices 9 to 14, comprising: (Appendix 16) There are a plurality of the autonomous moving bodies, If another autonomous mobile body that has made a mobile body hall call in the same direction as the mobile body call of one of the autonomous mobile bodies has a higher priority level than the one autonomous mobile body, and it is determined that the other autonomous mobile body cannot board the car, When it is predicted that a full-passing situation for the person hall call will not occur at a floor between the boarding floor of the one autonomous mobile body and the disembarking floor of the other autonomous mobile body even if the one autonomous mobile body is swapped with the other autonomous mobile body, the control device causes the one autonomous mobile body to disembark at the boarding floor of the other autonomous mobile body and causes the other autonomous mobile body to board; 16. The elevator control method according to any one of appendices 9 to 15, comprising: (Appendix 17) When a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object, are registered, The control device A process of calculating, for each floor within a boarding section from the boarding floor of the mobile platform call to the destination floor, the sum of the weights of all users who have made a platform call that includes that floor within the boarding section as a person weight prediction value; a process of determining that it is possible for the person to board the car of the autonomous moving body when the sum of the maximum value of the person weight predicted values ​​for each of the floors and the weight of the autonomous moving body that made the moving body hall call is smaller than a reference weight; An elevator control program that executes the above. [Explanation of symbols]

[0100] 1 call registration means, 2 call registration means, 3 positioning information, 4 detection means, 5 measurement means, 7 prediction means, 8 boarding and alighting control means, 10, 10A-10D autonomous mobile body, 11 mobile body platform call, 12, 12A-12D user, 13, 13A-13D mobile terminal, 14 passenger platform call, 15 elevator, 15A hoistway, 17 weighing device, 18 anchor

Claims

1. a call registration means for registering a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object; boarding / alighting control means for controlling the autonomous moving body to get on and off the elevator car; a prediction means for predicting, for each floor within a boarding section from the boarding floor of the mobile boarding call to the destination floor, the total weight of all users who have made a person boarding call that includes that floor in the boarding section as a person weight predicted value; Equipped with the boarding / alighting control means determines that the autonomous moving body is allowed to board the car when the sum of the maximum value of the person weight predicted values ​​for each of the floors and the weight of the autonomous moving body that made the moving body hall call is smaller than a reference weight. Elevator control system.

2. When it is determined that boarding into the car of the autonomous moving body is possible, the boarding / alighting control means a boarding command is issued to the autonomous mobile body after the car arrives at the boarding floor for the mobile body hall call made by the autonomous mobile body and all users who have made person hall calls for the boarding floor have boarded; 10. The elevator control system of claim 1.

3. When there are a plurality of the autonomous moving bodies, if a plurality of the autonomous moving bodies make a moving body hall call in the same direction, the boarding / alighting control means issues the boarding command based on a boarding priority level of each of the plurality of autonomous moving bodies.

3. The elevator control system of claim 2.

4. When there are a plurality of the autonomous moving bodies, if a plurality of the autonomous moving bodies make a moving body hall call in the same direction, the prediction means calculates, for each floor within a boarding section of one of the plurality of autonomous moving bodies, a weight prediction value as the sum of the weights of all users who have made person boarding calls that include that floor within the boarding section, and the weights of all other autonomous moving bodies that have made vehicle boarding calls that include that floor within the boarding section and that are determined to be boardable; the boarding / disembarking control means determines that boarding of the one autonomous moving body into the car is permitted when the sum of the weight prediction value and the weight of the one autonomous moving body is smaller than the reference weight; 4. An elevator control system according to claim 1.

5. the prediction means corrects the predicted person weight value based on a change in weight of the car when the passenger gets into the car; the boarding / alighting control means determines whether the person can board the car of the autonomous moving body based on the corrected person weight predicted value.

4. An elevator control system according to claim 1.

6. When the autonomous moving body is determined to be unavailable for boarding and the person boarding call in the same direction as the moving body boarding call is canceled, The prediction means recalculates the person weight prediction value, the boarding / alighting control means re-determines whether or not it is possible for the person to board the car of the autonomous moving body based on the recalculated maximum value of the person weight predicted value.

4. An elevator control system according to claim 1.

7. After the autonomous moving body boards, a person boarding hall call is made in the same direction before the autonomous moving body arrives at the destination floor, and it is predicted that the person boarding hall call will pass through at full capacity, but it is predicted that the user who made the person boarding hall call will be able to board by getting off the autonomous moving body, the boarding / alighting control means causes the autonomous moving body to disembark at the boarding floor of the person boarding hall call and causes the user to board; 4. An elevator control system according to claim 1.

8. There are a plurality of the autonomous moving bodies, If another autonomous mobile body that has made a mobile body hall call in the same direction as the mobile body call of one of the autonomous mobile bodies has a higher priority level than the one autonomous mobile body, and it is determined that the other autonomous mobile body cannot board the car, the boarding / alighting control means, when it is predicted that a full-passing event for the person hall call will not occur at a floor between the boarding floor of the one autonomous mobile body and the disembarking floor of the other autonomous mobile body even if the one autonomous mobile body is swapped with the other autonomous mobile body, causes the one autonomous mobile body to disembark and the other autonomous mobile body to board at the boarding floor of the other autonomous mobile body; 4. An elevator control system according to claim 1.

9. When a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object, are registered, A process in which the control device calculates, for each floor within a boarding section from the boarding floor of the mobile platform call to the destination floor, the sum of the weights of all users who have made a platform call that includes that floor within the boarding section as a person weight predicted value; a process in which, when a sum of a maximum value of the predicted person weight values ​​for each of the floors and a weight of the autonomous moving body that made the moving body hall call is smaller than a reference weight, the control device determines that boarding of the autonomous moving body into a car is possible; An elevator control method comprising:

10. If it is determined that the autonomous moving body can board the car, a process in which the control device transmits a boarding command to the autonomous mobile body after the car arrives at the boarding floor of the mobile body boarding call made by the autonomous mobile body and all users who have made a person boarding floor call for that boarding floor have completed boarding; The elevator control method according to claim 9, comprising:

11. When there are a plurality of the autonomous moving bodies, if a plurality of the autonomous moving bodies make a moving body hall call in the same direction, a process in which the control device transmits the boarding command based on a boarding priority level of each of the plurality of autonomous moving bodies; The elevator control method according to claim 10, comprising:

12. When there are a plurality of the autonomous moving bodies, if a plurality of the autonomous moving bodies make a moving body hall call in the same direction, a process in which the control device calculates, for each floor within a boarding section of one of the plurality of autonomous moving bodies, the sum of the weights of all users who have made person boarding calls that include that floor within the boarding section, and the weights of all other autonomous moving bodies that have made boarding calls that include that floor within the boarding section and that are determined to be boardable; a process in which the control device determines that the one autonomous moving body is allowed to board a car when a sum of the weight prediction value and a weight of the one autonomous moving body is smaller than the reference weight; The elevator control method according to any one of claims 9 to 11, comprising:

13. a process in which the control device corrects the predicted person weight value based on a change in weight of the car when the user gets into the car, and determines whether the autonomous moving body can get into the car based on the corrected predicted person weight value; The elevator control method according to any one of claims 9 to 11, comprising:

14. When the autonomous moving body is determined to be unavailable for boarding and the person boarding call in the same direction as the moving body boarding call is canceled, a process in which the control device recalculates the predicted person weight value; a process in which the control device re-determines whether or not the person can get into the car of the autonomous moving body based on the recalculated maximum value of the person weight predicted value; The elevator control method according to any one of claims 9 to 11, comprising:

15. After the autonomous moving body boards, if a person boarding call in the same direction is registered during the time until the autonomous moving body arrives at the destination floor, and it is predicted that the person boarding call will pass through at full capacity, but it is predicted that the user who made the person boarding call will be able to board by getting off the autonomous moving body, A process in which the control device causes the autonomous moving body to disembark at the boarding floor for the person boarding call; The elevator control method according to any one of claims 9 to 11, comprising:

16. There are a plurality of the autonomous moving bodies, If another autonomous mobile body that has made a mobile body hall call in the same direction as the mobile body call of one of the autonomous mobile bodies has a higher priority level than the one autonomous mobile body, and it is determined that the other autonomous mobile body cannot board the car, When it is predicted that a full-passing event for the person hall call will not occur at a floor between the boarding floor of the one autonomous mobile body and the disembarking floor of the other autonomous mobile body even if the one autonomous mobile body and the other autonomous mobile body are swapped, the control device causes the one autonomous mobile body to disembark at the boarding floor of the other autonomous mobile body and causes the other autonomous mobile body to board; The elevator control method according to any one of claims 9 to 11, comprising:

17. When a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object, are registered, The control device A process of calculating, for each floor within a boarding section from the boarding floor of the mobile platform call to the destination floor, the sum of the weights of all users who have made a platform call that includes that floor within the boarding section as a person weight prediction value; a process of determining that it is possible for the person to board the car of the autonomous moving body when the sum of the maximum value of the person weight predicted values ​​for each of the floors and the weight of the autonomous moving body that made the moving body hall call is smaller than a reference weight; An elevator control program that executes the above.

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