Mobile object control system, mobile object control method, and program

Abstract

To provide a moving body control system capable of suppressing inhibition of an action of a user waiting for an elevator by an autonomous moving body.SOLUTION: The moving body control system includes an elevator control device configured to control an operation of a car and assign the car to a destination floor call registered by a user, a moving body control unit configured to control an operation of a moving body and cause the moving body to wait in a waiting possible area until the car to be boarded by the moving body arrives, and an area identification unit configured to identify a waiting area candidate in which the number of staying users per unit area is equal to or less than a preset reference density in the waiting possible area based on information on an assignment status of the car to the destination floor call by the elevator control device. The mobile object control unit causes the mobile object to wait in an area selected from the waiting area candidates specified by the area specifying unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object control system, a mobile object control method, and a program. [Background technology]

[0002] It is known to distinguish between registrations made by a destination floor registration device for people and registrations made by a destination floor registration device for robots, and to determine which of multiple elevator cars to assign to calls corresponding to destination floors registered by a destination floor registration device for people and which to assign to calls corresponding to destination floors registered by a destination floor registration device for robots (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 230305 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in a system such as that shown in Patent Document 1, a user waiting for an elevator at a landing must wait in a position that consciously avoids the autonomous moving body (robot) that is also waiting at the landing until the elevator arrives, and there is a risk that the autonomous moving body will interfere with the actions of the user waiting for the elevator. Also, while one or both of the user and the autonomous moving body are moving, the user may collide with the autonomous moving body unless the user consciously avoids the autonomous moving body.

[0005] The present disclosure has been made to solve such problems, and its purpose is to provide a mobile object control system, a mobile object control method, and a program that can prevent an autonomous mobile object from interfering with the actions of users waiting for an elevator. [Means for solving the problem]

[0006] The mobile body control system according to the present disclosure comprises an elevator control device that controls the operation of cars and assigns the cars to destination floor calls registered by users; a mobile body control unit that controls the operation of a mobile body and causes the mobile body to wait in a waiting area until the car that the mobile body is to board arrives; and an area identification unit that identifies, within the waiting area, a candidate waiting area in which the number of users per unit area is equal to or less than a predetermined standard density, based on information regarding the allocation status of the cars to the destination floor calls by the elevator control device, and the mobile body control unit causes the mobile body to wait in an area selected from the candidate waiting areas identified by the area identification unit.

[0007] Alternatively, the mobile body control system according to the present disclosure includes an elevator control device that controls the operation of cars and assigns the cars to destination floor calls registered by users; a mobile body control unit that controls the operation of a mobile body and causes the mobile body to wait in a waiting area until the car that the mobile body is to board arrives; and an area identification unit that estimates the user's movement path based on information regarding the allocation status of the cars to the destination floor calls by the elevator control device and information regarding the positions that the user has passed through, and identifies candidate waiting areas based on the estimated movement path of the user, and the mobile body control unit causes the mobile body to wait in an area selected from the candidate waiting areas identified by the area identification unit.

[0008] The mobile body control method of the present disclosure comprises an elevator control step of controlling the operation of a car and assigning the car to a destination floor call registered by a user; a mobile body control step of controlling the operation of a mobile body and causing the mobile body to wait in a waiting area until the car that the mobile body is to board arrives; and an area identification step of identifying a candidate waiting area within the waiting area where the number of users per unit area is below a predetermined standard density based on information regarding the allocation status of the car to the destination floor call in the elevator control step, and the mobile body control step causes the mobile body to wait in an area selected from the candidate waiting area identified in the area identification step.

[0009] Alternatively, the mobile body control method according to the present disclosure includes an elevator control step of controlling the operation of a car and assigning the car to a destination floor call registered by a user; a mobile body control step of controlling the operation of a mobile body and causing the mobile body to wait in a waiting area until the car that the mobile body is to board arrives; and an area identification step of estimating the user's movement path based on information regarding the allocation status of the car to the destination floor call in the elevator control step and information regarding the position that the user has passed through, and identifying a candidate waiting area based on the estimated user's movement path, and the mobile body control step causes the mobile body to wait in an area selected from the candidate waiting areas identified in the area identification step.

[0010] A program according to the present disclosure is for causing a computer included in a mobile object control system to execute the above-described mobile object control method. [Effects of the Invention]

[0011] The mobile object control system, mobile object control method, and program according to the present disclosure have the effect of preventing an autonomous mobile object from interfering with the actions of a user waiting for an elevator. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram showing the overall configuration of a mobile object control system according to a first embodiment. [Figure 2] 2 is a diagram illustrating an example of a waiting location of an autonomous moving body in the moving body control system according to the first embodiment. FIG. [Figure 3] 2 is a diagram illustrating an example of a waiting location of an autonomous moving body in the moving body control system according to the first embodiment. FIG. [Figure 4] 2 is a diagram illustrating an example of a waiting location of an autonomous moving body in the moving body control system according to the first embodiment. FIG. [Figure 5] 4 is a flowchart showing an example of the operation of the mobile object control system according to the first embodiment. [Figure 6] 1 is a diagram illustrating an example of a configuration for implementing the functions of a control device of a mobile object control system, a mobile object control method, and a program according to a first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Embodiments for implementing a mobile object control system, a mobile object control method, and a program according to the present disclosure will be described with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant explanations are appropriately simplified or omitted. For convenience, the following description may express the positional relationship of each structure based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and any combination of the embodiments, any modification of any component of each embodiment, or any omission of any component of each embodiment are possible within the scope of the present disclosure.

[0014] Embodiment 1 A first embodiment of the present disclosure will be described with reference to Figures 1 to 6. Figure 1 is a diagram illustrating the overall configuration of a mobile object control system. Figures 2 to 4 are diagrams illustrating examples of waiting locations for autonomous mobile objects in the mobile object control system. Figure 5 is a flow diagram illustrating an example of the operation of the mobile object control system. Figure 6 is a diagram illustrating an example of a configuration for implementing the functions of a mobile object control system, a mobile object control method, and a control device of a program.

[0015] The mobile object control system according to this embodiment is a system that controls the operation of a mobile object such as a robot by utilizing information related to elevator operation. As shown in Fig. 1, the mobile object control system according to this embodiment includes an elevator control device 120, a destination forecast system 130, and a mobile object control server 200. The elevator control device 120 is communicatively connected to the destination forecast system 130. Furthermore, the destination forecast system 130 is communicatively connected to the mobile object control server 200.

[0016] The elevator control device 120 controls the elevator 110. The elevator 110 controlled by the elevator control device 120 has one or more cars.

[0017] The mobile object control server 200 controls the operation of the autonomous mobile object 300. The autonomous mobile object 300 is, for example, a mobile robot, and is capable of moving autonomously. The number of autonomous mobile objects 300 is not limited to one, and may be two or more. The mobile object control server 200 transmits a control signal to the autonomous mobile object 300. Upon receiving the control signal transmitted from the mobile object control server 200, the autonomous mobile object 300 operates in accordance with the received control signal. The autonomous mobile object 300 can move autonomously under the control of the mobile object control server 200.

[0018] The building 1 in which the elevator 110 is installed is provided with the same number of elevator shafts (not shown) as there are cars. The cars are arranged so that they can move up and down freely within the elevator shafts. Passengers and autonomous moving bodies 300 can get on and off the cars. The cars move up and down within the elevator shafts, transporting either or both of the passengers and the autonomous moving bodies 300 inside the cars between multiple floors of the building.

[0019] The elevator 110 according to this embodiment is capable of registering a destination floor call. A destination floor call is a call that specifies a destination floor and calls for an elevator car to be brought to the boarding area of ​​the departure floor where passengers board. Examples of methods by which a user can register a destination floor call include the following.

[0020] · By destination floor registration operation panel - Security gates - Using a dedicated application on a mobile device

[0021] The first method, which uses a destination floor registration operation panel, involves a user operating the destination floor registration operation panel to register a destination floor call. In this case, for example, a destination floor registration operation panel (not shown) is installed in a location leading to the elevator 110 landing in building 1. The destination floor registration operation panel is equipped with an operation unit such as a numeric keypad or touch panel. A user can input a desired destination floor by operating the operation unit of the destination floor registration operation panel. The elevator control device 120 then registers the destination floor call in accordance with the input to the destination floor registration operation panel.

[0022] The second type, security gate-based, involves a user passing through a security gate to register a destination floor call. In this case, for example, a security gate (not shown) is installed at a location leading to the elevator 110 landing in building 1. A user attempting to pass through the security gate is authenticated to determine whether or not they have the authority to pass through the gate. This authentication uses the user's identification information. The user's identification information is information that can uniquely identify the user. Examples of user identification information include a PIN number preset by each user, an identification number assigned to each user in advance, data such as an identification character string, and biometric information such as the user's iris, fingerprint, vein pattern, and facial information. For example, in this system, the user's destination floor is pre-registered for each user's identification information. As a result, when authentication at the security gate is successful, the elevator control device 120 can register a destination floor call for the registered destination floor for the authenticated user.

[0023] The third method, using a dedicated application on a mobile terminal, involves registering a destination floor call using a dedicated application executed on a mobile terminal carried by the user. For example, application software for registering a destination floor call is installed in advance on the mobile terminal carried by the user. The mobile terminal carried by the user can also communicate with the elevator control device 120 via, for example, the in-building wireless communication network of building 1, the Internet, or the like. The user can input a desired destination floor by executing the application software for registering a destination floor call on the mobile terminal. The mobile terminal transmits a destination floor call registration request to the elevator control device 120. The elevator control device 120 then registers the destination floor call in response to the destination floor call registration request.

[0024] The elevator control device 120 controls the overall operation of the elevator, including the operation of the elevator car 110. In the configuration example described here, the elevator control device 120 performs group management, which comprehensively manages multiple cars as a group. Note that the elevator control device 120 does not have to perform group management. Also, group management is not performed when there is only one car.

[0025] The elevator control device 120 determines which car to assign to a registered destination floor call from among multiple cars. Determination of which car to assign to a destination floor call is performed, for example, as follows. First, the elevator control device 120 calculates an allocation evaluation value for each car based on the operating status of each car. This allocation evaluation value is calculated using, for example, the waiting time until a car that responds to the call arrives, the load of the car, and the destination floors of calls already assigned to the car. The elevator control device 120 then compares the calculated allocation evaluation values ​​of each car and determines the car with the largest allocation evaluation value as the car to assign to the destination floor call. In this way, the elevator control device 120 assigns cars to destination floor calls.

[0026] In this disclosure, a car assigned by the elevator control device 120 to a destination floor call is also referred to as an "assigned car." As mentioned above, the elevator control device 120 does not need to perform group management. If group management is not performed, the elevator control device 120 will, for example, assign a car in which a call to the same destination floor has already been registered to the newly registered destination floor call if such a car is available. Furthermore, if there is no car in which a call to the same destination floor has already been registered, the elevator control device 120 will, for example, determine the currently waiting car that is closest to the departure floor of the destination floor call as the assigned car.

[0027] The elevator control device 120 controls the operation of each of the multiple cars. Once the elevator control device 120 determines which car to assign to a destination floor call, it runs that car to the departure floor of the destination floor call in order to respond to the registered destination floor call. When the car arrives at the departure floor of the destination floor call, the elevator control device 120 opens the doors of that car and closes them after passengers board the car. Then, the elevator control device 120 runs that car to the destination floor indicated by the destination floor call to which that car has been assigned.

[0028] The elevator control device 120 transmits information regarding the status of car assignment to destination floor calls to the destination forecast system 130. The information regarding the status of car assignment to destination floor calls includes the departure floor and destination floor of each destination floor call, car number information of the car assigned to each destination floor call, and destination floor information of the destination floor call assigned to each car.

[0029] The destination forecast system 130 notifies users of the scheduled destination floors for each car of the elevator 110, and also notifies each user who has registered a destination floor call of the car they should board, thereby guiding users to board the appropriate car. The destination forecast system 130 notifies each user who has registered a destination floor call of the car they should board, based on information transmitted from the elevator control device 120 regarding the status of car allocation to destination floor calls.

[0030] Each car is assigned a predetermined car number using a number or alphabet, etc. This car number information makes it possible to identify the car. The destination forecast system 130 notifies each user who has registered a destination floor call which car they should board by displaying the car number to which the destination floor call is assigned on a display, for example, installed on a destination floor registration operation panel, a security gate, or a mobile terminal. The destination forecast system 130 also displays the scheduled destination floors for each car of the elevator 110 on a display, etc. installed at the elevator hall of the elevator 110.

[0031] The autonomous moving body 300 includes a moving body control unit 310 and a map storage unit 320. The map storage unit 320 stores a map of the interior of the building 1. The moving body control unit 310, in accordance with a control signal transmitted from the moving body control server 200, refers to the map of the interior of the building 1 stored in the map storage unit 320 and controls its own operation.

[0032] The mobile object control server 200 according to this embodiment can coordinate and control the operation of the autonomous mobile object 300 that moves within a building in which the elevator 110 is installed with the operation of the elevator 110. When the autonomous mobile object 300 uses the elevator 110 to move to another floor, the autonomous mobile object 300 transmits a dispatch request for the elevator 110 to the mobile object control server 200. Upon receiving the dispatch request from the autonomous mobile object 300, the mobile object control server 200 transmits a hall call registration request for the boarding floor of the autonomous mobile object 300 to the elevator control device 120 in response to the dispatch request from the autonomous mobile object 300.

[0033] The elevator control device 120, which has received the hall call registration request, registers the hall call for the boarding floor of the autonomous mobile body 300. Then, the elevator control device 120 determines an assigned car for the registered hall call. In this way, the hall call for the boarding floor is registered in response to a dispatch request from the autonomous mobile body 300, and a car is dispatched. When the elevator control device 120 determines an assigned car for the registered hall call in response to a dispatch request from the autonomous mobile body 300, it transmits assigned car information to the mobile body control server 200. The assigned car information is information that identifies the car assigned to the registered hall call.

[0034] The mobile body control server 200 that receives the assigned car information transmits this assigned car information to the autonomous mobile body 300 that has made the dispatch request. The assigned car information is information that specifies the car that the autonomous mobile body 300 should board. When the autonomous mobile body 300 receives the assigned car information, the mobile body control unit 310 of the autonomous mobile body 300 causes the autonomous mobile body 300 to wait at the platform or the like of the floor where the autonomous mobile body 300 is currently located until the car specified by the assigned car information arrives at the floor where the autonomous mobile body 300 is currently located. Here, a waiting area is set in advance in the map stored in the map storage unit 320. The waiting area is an area where the autonomous mobile body 300 can wait. In other words, the map storage unit 320 stores in advance waiting areas where the autonomous mobile body 300 can wait. The mobile object control unit 310 moves the autonomous mobile object 300 into a waiting area, and causes the autonomous mobile object 300 to wait in the waiting area until the elevator car that the autonomous mobile object 300 is to board arrives.

[0035] The autonomous mobile body 300 further includes an area specification unit 330. The area specification unit 330 specifies candidate waiting areas within the possible waiting area. The mobile body control unit 310 then causes the autonomous mobile body 300 to wait in an area selected from the candidate waiting areas specified by the area specification unit 330. The possible waiting area is an area having a certain size, and there are many positions and areas within the possible waiting area where the autonomous mobile body 300 can wait. The area specification unit 330 specifies candidate waiting areas from such possible waiting areas, thereby narrowing down the areas where the autonomous mobile body 300 will actually wait. The mobile body control unit 310 then selects an area where the autonomous mobile body 300 will actually wait from the candidate waiting areas narrowed down in this manner.

[0036] Next, an example of specifying a waiting area candidate by the area specifying unit 330 will be described. In the mobile body control system according to this embodiment, the destination forecast system 130 transmits information relating to the status of car allocation to destination floor calls by the elevator control device 120 to the mobile body control server 200. When transmitting assigned car information to the autonomous mobile body 300 in response to a dispatch request from the autonomous mobile body 300, the mobile body control server 200 also transmits information relating to the status of car allocation to destination floor calls by the elevator control device 120 to the autonomous mobile body 300.

[0037] The area specifying unit 330 specifies a candidate waiting area based on information relating to the allocation status of cars to destination floor calls by the elevator control device 120. More specifically, the area specifying unit 330 specifies, as a candidate waiting area, an area within the possible waiting area where the number of users staying per unit area is equal to or less than a predetermined standard density, based on the information relating to the allocation status of cars to destination floor calls.

[0038] That is, the area identification unit 330 first identifies the number of destination floor calls assigned to each car based on information regarding the allocation status of cars to destination floor calls. From the number of destination floor calls assigned to each car, the area identification unit 330 can identify the number of passengers boarding each car at that floor. It is assumed that passengers will wait at a location at the hall close to the entrance / exit of the car they are boarding until the car arrives. Therefore, the area identification unit 330 can estimate the location distribution of passengers at the hall from the number of passengers boarding each car at that floor. The area identification unit 330 then calculates the number of passengers staying per unit area from the estimated location distribution of passengers. Next, the area identification unit 330 compares the calculated number of passengers staying per unit area with a preset standard density. Among the possible waiting areas, areas where the number of passengers staying per unit area is equal to or less than the standard density are identified as potential waiting areas.

[0039] According to the mobile body control system of this embodiment, by cooperating with the destination forecasting system 130 for the elevator 110 and having the autonomous mobile body 300 wait in an area selected from the waiting area candidates identified as described above, it is possible to prevent the autonomous mobile body 300 from interfering with the actions of a user waiting for the elevator 110. Therefore, it is possible to prevent collisions between the autonomous mobile body 300 and the user without the user (human) having to consciously avoid the autonomous mobile body 300.

[0040] When the area specification unit 330 specifies multiple waiting area candidates, the mobile object control unit 310 may select an area where the autonomous mobile object 300 will wait, for example, in the following manner. That is, the mobile object control unit 310 selects, from the multiple waiting area candidates, an area that is closest to the entrance / exit of the elevator car into which the autonomous mobile object 300 will board, and causes the autonomous mobile object 300 to wait. In this manner, the travel time required for the autonomous mobile object 300 to board the elevator can be shortened. Alternatively, the mobile object control unit 310 selects, from the multiple waiting area candidates, an area with the smallest number of users per unit area, and causes the autonomous mobile object 300 to wait. In this manner, it is possible to further prevent the autonomous mobile object 300 from interfering with the actions of users.

[0041] Next, several modified examples of the mobile body control system according to this embodiment will be described. The area identification unit 330 may identify a potential waiting area based on information about the location through which the user has passed, in addition to information about the status of car assignment to destination floor calls by the elevator control device 120. Here, the information about the location through which the user has passed may include, for example, one or both of information about the security gate through which the user has passed and information about the destination floor registration operation panel on which the user has registered the destination floor call.

[0042] Information about the position through which the user has passed is acquired, for example, by the destination forecast system 130 or the elevator control device 120. That is, when a user registers a destination floor call when passing through a security gate, the destination forecast system 130 or the elevator control device 120 can acquire information about the position through which the user has passed by acquiring information that can identify the position of the security gate. Also, when a user registers a destination floor call from a destination floor registration operation panel, the destination forecast system 130 or the elevator control device 120 can acquire information about the position through which the user has passed by acquiring information that can identify the position of the destination floor registration operation panel.

[0043] In this case, the area identification unit 330 first estimates the user's travel route from information about the status of car assignment to destination floor calls and information about the positions the user has passed through. The user's travel route can be estimated as the route from the positions the user has passed through to the vicinity of the entrance / exit of the car assigned to the destination floor call registered by the user.

[0044] The area identification unit 330 then identifies a candidate waiting area based on the number of users per unit area and the estimated user movement path. That is, the area where the number of users per unit area is equal to or less than the reference density and does not overlap with the estimated user movement path is identified as a candidate waiting area. Note that if all areas where the number of users per unit area is equal to or less than the reference density overlap with the estimated user movement path, an area where the overlap with the estimated user movement path is equal to or less than a certain range may be identified as a candidate waiting area. This prevents the autonomous moving body 300 from interfering with the actions of users not only waiting for the elevator 110 but also moving users.

[0045] 1, the autonomous moving body 300 may further include a route identification unit 340. The route identification unit 340 identifies route candidates from the current position of the autonomous moving body 300 to each of the candidate waiting areas identified by the area identification unit 330. The moving body control unit 310 then moves the autonomous moving body 300 from the candidate waiting areas identified by the area identification unit 330 to the selected area along a route selected from the candidate routes identified by the route identification unit 340.

[0046] Next, an example of identifying route candidates by the route identification unit 340 will be described. The route identification unit 340 identifies route candidates based on, for example, information regarding the status of car allocation to destination floor calls by the elevator control device 120. More specifically, based on the information regarding the status of car allocation to destination floor calls, the route identification unit 340 identifies, as route candidates, routes that pass through only areas between the current location of the autonomous mobile body 300 and each waiting area candidate identified by the area identification unit 330, where the number of users staying per unit area is equal to or less than a predetermined reference density. Note that the number of users staying per unit area can be calculated in the same manner as described above. Furthermore, the reference density used to identify route candidates here may be the same value as or different from the reference density used to identify the waiting area candidate described above.

[0047] As another example of the route candidate identification by the route identification unit 340, information on positions passed by the user may be further used. In this case, the route identification unit 340 estimates the user's travel route from information on the status of car allocation to destination floor calls and information on positions passed by the user, as described above. Then, the route identification unit 340 identifies route candidates based on the estimated user's travel route. For example, among routes from the current location of the autonomous mobile body 300 to each candidate waiting area, a route on which the number of users passing through is equal to or less than a predetermined reference number is identified as a route candidate. A route on which the number of users passing through is equal to or less than the reference number means that the number of users crossing the route is equal to or less than the reference number. In other words, the number of intersections between the route and the estimated user's travel route is equal to or less than a reference value.

[0048] The mobile object control unit 310 may select a combination of a waiting area and a route by comprehensively determining multiple waiting area candidates and multiple route candidates, or may first narrow down the waiting area candidates to one waiting area and then select a route from the route candidates to that waiting area. The mobile object control unit 310 may also select the route with the shortest travel distance to the waiting area from multiple route candidates. This reduces the travel time required for the autonomous mobile object 300 to board the elevator. Alternatively, the mobile object control unit 310 may select, from multiple route candidates, the route that passes through an area with fewer users per unit area, or the route with the fewest number of users passing through.

[0049] As shown in FIG. 1 , the autonomous moving body 300 may further include an alarm device 350. The alarm device 350 notifies users around the autonomous moving body 300 of various types of information. Examples of the alarm device 350 include a display capable of displaying text, images, etc., a speaker capable of sounding audio, a rotating light, etc. While the autonomous moving body 300 is on standby, the moving body control unit 310 may cause the alarm device 350 to notify nearby users that the autonomous moving body 300 is on standby. In this case, a text message indicating that the autonomous moving body 300 is on standby may be displayed on the display of the alarm device 350, or an audio message indicating that the autonomous moving body 300 is on standby may be sounded by the speaker of the alarm device 350.

[0050] Furthermore, while the autonomous moving body 300 is moving, the moving body control unit 310 may cause the notification device 350 to notify surrounding users that the autonomous moving body 300 is moving and of the destination of the autonomous moving body 300. In particular, if there are no route candidates identified by the route identification unit 340, the autonomous moving body 300 has no choice but to move to a waiting area by passing through an area where a relatively large number of users are staying or a route that has a relatively large number of intersections with the user's route. Therefore, in such cases, it is more preferable to move while notifying users that the autonomous moving body 300 is moving and of its destination.

[0051] When the autonomous moving body 300 is placed on standby, the moving body control unit 310 may set the front side of the autonomous moving body 300 to face the entrance / exit of the car that the autonomous moving body 300 is to board. This makes it easier for surrounding users to predict the direction in which the autonomous moving body 300 will move when the car arrives. In addition, the time required for the autonomous moving body 300 to start moving when the car arrives can be shortened.

[0052] Furthermore, when the waiting location of the autonomous moving body 300 is adjacent to a wall, the moving body control unit 310 may cause the autonomous moving body 300 to wait with the back side of the autonomous moving body 300 facing the wall. This also makes it easier for surrounding users to predict the direction in which the autonomous moving body 300 will move when a car arrives. Furthermore, the time required for the autonomous moving body 300 to start moving when a car arrives can be shortened.

[0053] Next, specific examples of waiting locations for the autonomous moving body 300 in the moving body control system according to this embodiment will be described with reference to Figures 2 to 4. In all of the examples shown in these figures, it is assumed that the car of the elevator 110 that the autonomous moving body 300 boards is car A.

[0054] First, FIG. 2 shows an example in which a landing for the elevator 110 is provided in a dead end (a location where the elevator 110 reaches a dead end). In this case, one of the four sides of the landing for the elevator 110 is open and serves as an entrance to the landing, i.e., the landing for the elevator 110 has one entrance. Passengers enter the landing through this entrance. On the right side of the landing entrance, entrances and exits for elevators A, B, and C are provided in order from the back of the dead end. Also, on the left side of the landing entrance, entrances and exits for elevators D, E, and F are provided from the back of the dead end. One of the two users is scheduled to board elevator B, and the other is scheduled to board elevator F. In this example, the predicted movement paths of the two users and a waiting location (candidate waiting area) for the autonomous moving body 300 that does not obstruct the behavior of such users are as shown in FIG. 2. That is, the candidate waiting area is the area in front of the entrances and exits of elevators A, D, and E. The mobile object control unit 310 selects, for example, an area in front of the designated vehicle A from among the waiting area candidates, and causes the autonomous mobile object 300 to wait there.

[0055] Next, FIG. 3 shows an example in which a hallway is provided with a hallway for the elevator 110. In this case, of the four sides of the hallway for the elevator 110, two opposing sides are open and serve as entrances to the hallway, that is, the hallway for the elevator 110 has two entrances. Entrances and exits for elevators A, B, and C are provided on one side, left and right, as viewed from the hall entrance. Entrances and exits for elevators D, E, and F are provided on the other side, left and right, as viewed from the hall entrance. One of two users is scheduled to board elevator B, and the other is scheduled to board elevator F. Both users enter the hall from the entrance on the side of elevators C and F. The predicted movement paths of the two users in this example and waiting locations (candidate waiting areas) for the autonomous moving body 300 that do not obstruct the actions of such users are shown in FIG. 3. That is, the candidate waiting areas are areas extending from in front of the entrances and exits of each of vehicles A, D, and E to the landing entrances and exits on the side of vehicles A and D. The mobile object control unit 310 selects, for example, an area in front of the designated vehicle A from among the candidate waiting areas, and makes the autonomous mobile object 300 wait there.

[0056] FIG. 4 shows an example in which a landing for the elevator 110 is provided against a wall. In this case, three of the four sides of the landing for the elevator 110 are open, and entrances and exits for elevators A, B, and C are provided on the wall. One of two users is planning to board elevator B, and the other is planning to board elevator C. Both users will enter the landing from the elevator C side. In this example, the predicted movement paths of the two users and a waiting location (candidate waiting area) for the autonomous moving body 300 that does not obstruct the behavior of these users are shown in FIG. 4. That is, the candidate waiting area is the area in front of the entrance and exit for elevator A. The moving body control unit 310 causes the autonomous moving body 300 to wait in the area in front of elevator A, which is the candidate waiting area.

[0057] Next, an example of the operation of the mobile object control system according to this embodiment will be described with reference to the flow chart of Fig. 5. First, in step S1, the mobile object control unit 310 of the autonomous mobile object 300 determines whether or not the autonomous mobile object 300 needs to wait until the car of the elevator 110 that the autonomous mobile object 300 is to board arrives. This determination can be made using information from the destination forecast system 130. If the autonomous mobile object 300 needs to wait until the car of the elevator 110 that the autonomous mobile object 300 is to board arrives, the mobile object control system then performs the process of step S2.

[0058] In step S2, the area identification unit 330 identifies a candidate waiting area. Then, the mobile object control unit 310 determines whether or not there is a candidate waiting area identified by the area identification unit 330. That is, it determines whether or not there is a candidate waiting location with few people (users). If there is a candidate waiting area identified by the area identification unit 330, the mobile object control system then performs the process of step S3.

[0059] In step S3, the route identification unit 340 identifies route candidates. Then, the mobile object control unit 310 determines whether or not there are any route candidates identified by the route identification unit 340. That is, the mobile object control unit 310 determines whether or not there is a space with few people (users) on the route to the waiting location. If there are any route candidates identified by the route identification unit 340, the mobile object control system then performs the process of step S4.

[0060] In step S4, the mobile object control unit 310 determines a waiting location from among the waiting area candidates identified by the area identification unit 330 in step S2, and determines a route from among the route candidates identified by the route identification unit 340 in step S3. Then, the mobile object control unit 310 moves the autonomous mobile object 300 to the determined waiting location along the determined route. In the following step S5, the mobile object control unit 310 causes the autonomous mobile object 300 to wait at the waiting location until the specified car arrives. Then, when the specified car arrives, in step S6, the mobile object control unit 310 causes the autonomous mobile object 300 to board the car.

[0061] On the other hand, if there are no waiting area candidates identified by the area identification unit 330 in step S2, or if there are no route candidates identified by the path identification unit 340 in step S3, the mobile object control system next performs the processing of step S7. In step S7, the mobile object control unit 310 moves the autonomous mobile object 300 to the entrance of the bank of the elevator 110, i.e., the entrance of the elevator hall of the elevator 110. In the following step S8, the mobile object control unit 310 causes the autonomous mobile object 300 to wait at the entrance of the hall until the designated car arrives. Then, in step S9, the mobile object control unit 310 moves the autonomous mobile object 300 to the entrance / exit of the designated car while causing the notification device 350 to notify that the autonomous mobile object 300 is moving and the destination of the autonomous mobile object 300. After step S9, the mobile object control system next performs the processing of step S6.

[0062] Furthermore, if there is no need to wait until the car of the elevator 110 to be boarded arrives in step S1, the mobile object control system then performs the process of step S10. In step S10, the path identification unit 340 identifies candidate paths from the autonomous mobile object 300 to the entrance / exit of the car to be boarded. The mobile object control unit 310 then determines whether or not there are any candidate paths identified by the path identification unit 340. In other words, the mobile object control unit 310 determines whether or not there is a space with few people (users) on the path to the entrance / exit of the car to be boarded by the autonomous mobile object 300.

[0063] If there are route candidates identified by the route identification unit 340, the mobile body control unit 310 determines a route from among the route candidates identified by the route identification unit 340. Then, by processing in step S6, the mobile body control unit 310 moves the autonomous mobile body 300 to the entrance / exit of the car along the determined route. On the other hand, if there are no route candidates identified by the route identification unit 340, by processing in step S9, the mobile body control unit 310 moves the autonomous mobile body 300 to the entrance / exit of the designated car while causing the notification device 350 to notify that the autonomous mobile body 300 will move and the destination of the autonomous mobile body 300.

[0064] Note that some or all of the mobile object control unit 310, map storage unit 320, area identification unit 330, and path identification unit 340 may be provided in the mobile object control server 200 rather than in the autonomous mobile object 300. Also, the notification device 350 may be provided in the elevator hall of the elevator 110 or the like, instead of in the autonomous mobile object 300, or together with the autonomous mobile object 300.

[0065] FIG. 6 is a diagram showing an example of a configuration for realizing the functions of the mobile object control unit 310, map storage unit 320, area identification unit 330, and path identification unit 340 of the autonomous mobile object 300, as well as the elevator control device 120, destination prediction system 130, and mobile object control server 200 (hereinafter referred to as "each of the units, etc. of the autonomous mobile object 300") in this embodiment. The functions of each of the units, etc. of the autonomous mobile object 300 are realized, for example, by a processing circuit. The processing circuit may include a processor 11 and a memory 12. The processing circuit may be dedicated hardware 13. A portion of the processing circuit may be formed as the dedicated hardware 13, and the processing circuit may further include the processor 11 and the memory 12. In the example shown in the figure, a portion of the processing circuit is formed as the dedicated hardware 13. In addition, in the example shown in the figure, the processing circuit further includes the processor 11 and the memory 12.

[0066] The processing circuit, part of which is at least one dedicated hardware 13, may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. When the processing circuit includes at least one processor 11 and at least one memory 12, the functions of each part of the autonomous vehicle 300 are realized by software, firmware, or a combination of software and firmware.

[0067] The software and firmware are written as programs and stored in memory 12. Processor 11 realizes the functions of each part by reading and executing the programs stored in memory 12. Processor 11 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. Examples of memory 12 include non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, as well as magnetic disks, flexible disks, optical disks, compact disks, minidisks, and DVDs.

[0068] In this way, the processing circuitry of each part of the autonomous mobile body 300 can use hardware, software, firmware, or a combination of these to realize the functions of each part of the autonomous mobile body 300. When the processing circuitry of each part of the autonomous mobile body 300 includes at least a processor 11 and a memory 12, the processor 11 executes a program stored in the memory 12 in each part of the autonomous mobile body 300, and the hardware and software of each part of the autonomous mobile body 300 work together to realize the functions of each part of the autonomous mobile body 300.

[0069] Furthermore, the mobile body control method according to the present disclosure includes an elevator control step of controlling the operation of a car and assigning a car to a destination floor call registered by a user, a mobile body control step of controlling the operation of the autonomous mobile body 300 and causing the autonomous mobile body 300 to wait in a possible waiting area until the car that the autonomous mobile body 300 is to board arrives, and an area specification step of specifying, within the possible waiting area, a candidate waiting area in which the number of users per unit area is equal to or less than a predetermined standard density, based on information regarding the allocation status of cars to destination floor calls in the elevator control step.Then, in the mobile body control step, the autonomous mobile body 300 is caused to wait in an area selected from the candidate waiting areas specified in the area specification step.

[0070] Alternatively, a mobile body control method according to the present disclosure includes an elevator control step of controlling the operation of a car and assigning a car to a destination floor call registered by a user, a mobile body control step of controlling the operation of the autonomous mobile body 300 and causing the autonomous mobile body 300 to wait in a possible waiting area until the car that the autonomous mobile body 300 is to board arrives, and an area specification step of estimating a movement path of the user based on information related to the allocation status of cars to destination floor calls in the elevator control step and information related to positions passed by the user, and specifying a candidate waiting area based on the estimated movement path of the user.The mobile body control step then causes the autonomous mobile body 300 to wait in an area selected from the candidate waiting areas specified in the area specification step.

[0071] The program according to the present disclosure causes a computer included in the mobile object control system to execute the mobile object control method. The recording medium according to the present disclosure is a computer-readable medium having such a program recorded thereon.

[0072] In the present disclosure, the embodiments, configuration examples, modifications, etc. may be combined in any manner without departing from the spirit of the present disclosure. Examples of various aspects of the present disclosure are summarized below as appendices. (Appendix 1) an elevator control device that controls the operation of a car and assigns the car to a destination floor call registered by a user; a mobile body control unit that controls the operation of the mobile body and causes the mobile body to wait within a waiting area until the elevator car in which the mobile body is to board arrives; an area specifying unit that specifies, within the possible waiting area, a candidate waiting area in which the number of users staying per unit area is equal to or less than a predetermined reference density, based on information regarding an allocation status of the cars to the destination floor calls by the elevator control device; The mobile object control system includes a mobile object control unit that causes the mobile object to wait in an area selected from the waiting area candidates identified by the area identification unit. (Appendix 2) The mobile object control system described in Appendix 1, wherein the area identification unit estimates the user's movement path based on information regarding the allocation status of the elevator car to the destination floor call by the elevator control device and information regarding the position through which the user has passed, and identifies the candidate waiting area based further on the estimated movement path of the user. (Appendix 3) an elevator control device that controls the operation of a car and assigns the car to a destination floor call registered by a user; a mobile body control unit that controls the operation of the mobile body and causes the mobile body to wait within a waiting area until the elevator car in which the mobile body is to board arrives; an area specifying unit that estimates a movement path of the user based on information about an allocation status of the elevator car to the destination floor call by the elevator control device and information about a position through which the user has passed, and specifies a candidate waiting area based on the estimated movement path of the user, The mobile object control system includes a mobile object control unit that causes the mobile object to wait in an area selected from the waiting area candidates identified by the area identification unit. (Appendix 4) a route specifying unit that specifies a route candidate to the waiting area candidate along which the number of users passing through is equal to or less than a predetermined reference number, based on information regarding an allocation status of the cars to the destination floor calls by the elevator control device and information regarding positions through which the users have passed; The mobile object control system according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the mobile object control unit moves the mobile object to an area selected from the waiting area candidates identified by the area identification unit along a route selected from the route candidates identified by the route identification unit. (Appendix 5) The mobile body control system described in Appendix 4, wherein, when there is no route candidate identified by the route identification unit, the mobile body control unit moves the mobile body to an area selected from the waiting area candidate identified by the area identification unit while notifying the users in the vicinity that the mobile body is moving and of the destination of the mobile body using an alarm device provided on the mobile body. (Appendix 6) A mobile control system as described in any one of Supplementary Note 2 to Supplementary Note 5, wherein the information regarding the location through which the user has passed includes one or both of information regarding the security gate through which the user has passed and information regarding the control panel on which the user has registered the destination floor call. (Appendix 7) A mobile body control system described in any one of Appendix 1 to Appendix 6, in which the mobile body control unit selects from among the multiple waiting area candidates the area that is closest to the entrance / exit of the elevator into which the mobile body is to board, and causes the mobile body to wait. (Appendix 8) The mobile body control system according to any one of appendices 1 to 7, wherein the mobile body control unit causes the mobile body to wait with the front side of the mobile body facing the entrance / exit of the elevator into which the mobile body is to board. (Appendix 9) The mobile body control system according to any one of Supplementary Note 1 to Supplementary Note 7, wherein the mobile body control unit causes the mobile body to wait with the back side of the mobile body facing the wall when the waiting location of the mobile body is adjacent to a wall. (Appendix 10) A mobile body control system as described in any one of Supplementary Note 1 to Supplementary Note 9, wherein the mobile body control unit notifies surrounding users that the mobile body is waiting using an alarm device provided on the mobile body. (Appendix 11) an elevator control step of controlling the operation of a car and allocating the car to a destination floor call registered by a user; a mobile body control step of controlling the operation of the mobile body and causing the mobile body to wait within a waiting area until the elevator car in which the mobile body is to board arrives; and an area specifying step of specifying, within the waiting area, a candidate waiting area in which the number of users staying per unit area is equal to or less than a predetermined reference density, based on information regarding the allocation status of the elevator cars to the destination floor calls in the elevator control step, The mobile object control method includes causing the mobile object to wait in an area selected from the waiting area candidates identified in the area identification step. (Appendix 12) an elevator control step of controlling the operation of a car and allocating the car to a destination floor call registered by a user; a mobile body control step of controlling the operation of the mobile body and causing the mobile body to wait within a waiting area until the elevator car in which the mobile body is to board arrives; an area specifying step of estimating a movement path of the user based on information about an allocation status of the elevator car to the destination floor call in the elevator control step and information about a position passed by the user, and specifying a waiting area candidate based on the estimated movement path of the user, The mobile object control method includes causing the mobile object to wait in an area selected from the waiting area candidates identified in the area identification step. (Appendix 13) A program for causing a computer included in a mobile object control system to execute the mobile object control method described in Supplementary Note 11 or Supplementary Note 12. [Explanation of symbols]

[0073] 1. Building 11 processors 12 Memory 13 Dedicated Hardware 110 Elevator 120 Elevator control device 130 Destination Forecast System 200 Mobile Control Server 300 Autonomous Mobile Vehicles 310 Mobile Control Unit 320 Map Memory Unit 330 Area identification part 340 Route Identification Unit 350 Alarm device

Claims

1. an elevator control device that controls the operation of a car and assigns the car to a destination floor call registered by a user; a mobile body control unit that controls the operation of the mobile body and causes the mobile body to wait within a waiting area until the elevator car in which the mobile body is to board arrives; an area specifying unit that specifies, within the possible waiting area, a candidate waiting area in which the number of users staying per unit area is equal to or less than a predetermined reference density, based on information regarding an allocation status of the elevator cars to the destination floor calls by the elevator control device; The mobile object control system includes a mobile object control unit that causes the mobile object to wait in an area selected from the waiting area candidates identified by the area identification unit.

2. The mobile body control system of claim 1, wherein the area identification unit estimates the user's movement path based on information regarding the allocation status of the elevator car to the destination floor call by the elevator control device and information regarding the position through which the user has passed, and identifies the candidate waiting area further based on the estimated movement path of the user.

3. an elevator control device that controls the operation of a car and assigns the car to a destination floor call registered by a user; a mobile body control unit that controls the operation of the mobile body and causes the mobile body to wait within a waiting area until the elevator car in which the mobile body is to board arrives; an area specifying unit that estimates a movement path of the user based on information about an allocation status of the elevator car to the destination floor call by the elevator control device and information about a position through which the user has passed, and specifies a candidate waiting area based on the estimated movement path of the user, The mobile object control system includes a mobile object control unit that causes the mobile object to wait in an area selected from the waiting area candidates identified by the area identification unit.

4. a route specifying unit that specifies a route candidate to the waiting area candidate along which the number of users passing through is equal to or less than a predetermined reference number, based on information regarding an allocation status of the cars to the destination floor calls by the elevator control device and information regarding positions through which the users have passed; 4. The mobile body control system according to claim 1, wherein the mobile body control unit moves the mobile body to an area selected from the waiting area candidates identified by the area identification unit along a route selected from the route candidates identified by the route identification unit.

5. 5. The mobile body control system of claim 4, wherein, when there is no route candidate identified by the route identification unit, the mobile body control unit moves the mobile body to an area selected from the waiting area candidate identified by the area identification unit while informing the users in the vicinity that the mobile body is moving and of the destination of the mobile body using an alarm device provided on the mobile body.

6. The mobile control system according to claim 2 or claim 3, wherein the information regarding the location through which the user has passed includes one or both of information regarding the security gate through which the user has passed and information regarding the control panel on which the user has registered the destination floor call.

7. A mobile body control system as described in any one of claims 1 to 3, wherein the mobile body control unit selects from the multiple candidate waiting areas the area that is closest to the entrance / exit of the elevator into which the mobile body is to board, and causes the mobile body to wait.

8. The mobile body control system described in any one of claims 1 to 3, wherein the mobile body control unit causes the mobile body to wait with the front side of the mobile body facing the entrance / exit of the elevator car into which the mobile body is to board.

9. The mobile body control system according to any one of claims 1 to 3, wherein, when the waiting location of the mobile body is adjacent to a wall surface, the mobile body control unit causes the mobile body to wait with its back side facing the wall surface.

10. The mobile object control system according to claim 1 , wherein the mobile object control unit notifies the users in the vicinity that the mobile object is waiting by an alarm device provided on the mobile object.

11. an elevator control step of controlling the operation of a car and allocating the car to a destination floor call registered by a user; a mobile body control step of controlling the operation of the mobile body and causing the mobile body to wait within a waiting area until the elevator car in which the mobile body is to board arrives; and an area specifying step of specifying, within the waiting area, a candidate waiting area in which the number of users staying per unit area is equal to or less than a predetermined standard density, based on information regarding the allocation status of the elevator cars to the destination floor calls in the elevator control step, The mobile object control method includes causing the mobile object to wait in an area selected from the waiting area candidates identified in the area identification step.

12. an elevator control step of controlling the operation of a car and allocating the car to a destination floor call registered by a user; a mobile body control step of controlling the operation of the mobile body and causing the mobile body to wait within a waiting area until the elevator car in which the mobile body is to board arrives; an area specifying step of estimating a movement path of the user based on information about an allocation status of the elevator car to the destination floor call in the elevator control step and information about a position passed by the user, and specifying a waiting area candidate based on the estimated movement path of the user, The mobile object control method includes causing the mobile object to wait in an area selected from the waiting area candidates identified in the area identification step.

13. A program for causing a computer included in a mobile object control system to execute the mobile object control method according to claim 11 or 12.

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