MOBILE BODY CONTROL SYSTEM, MOBILE BODY CONTROL METHOD, AND MOBILE BODY CONTROL PROGRAM

Abstract

To provide a mobile body control system capable of smoothing an autonomous mobile body service, a mobile body control method, and a mobile body control program.SOLUTION: A mobile body control system 101 comprises an acquisition unit 11 and a determination unit 12. The acquisition unit acquires information on getting-in source of first and second mobile bodies 2 getting in an elevator car and information on a destination. The determination unit determines whether passing occurs between the first and second mobile bodies on the basis of getting-in source information and destination information of the mobile body 2. When the determination unit 12 determines that passing occurs between the first and second mobile bodies 2, at least any of the first and second mobile bodies 2 changes a service plan.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 mobile object control program. [Background technology]

[0002] Patent Document 1 describes an elevator control device used by users and autonomous moving bodies. The elevator control device described in Patent Document 1 controls the elevator so that multiple autonomous moving bodies do not get into the elevator at the same time. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6350767 Summary of the Invention [Problem to be solved by the invention]

[0004] The elevator control device described in Patent Document 1 performs control so that a moving object does not get on the elevator even when there is no problem if the moving object gets on the elevator. Therefore, the elevator control device described in Patent Document 1 has a problem in that it is not possible to sufficiently smooth out the operation plan of the moving body.

[0005] The present disclosure has been made to solve such problems, and aims to provide a mobile body control system, a mobile body control method, and a mobile body control program that can smooth the operation of an autonomous mobile body. [Means for solving the problem]

[0006] The mobile object control system according to the present disclosure includes: an acquisition unit that acquires information regarding the boarding origin and the destination of the first and second moving bodies that get into the elevator car; a determination unit that determines whether or not the first and second moving bodies will pass each other based on information related to a boarding point of the moving body and information related to a destination of the moving body, When the determination unit determines that the first and second moving bodies will pass each other, at least one of the first and second moving bodies changes an operation plan. It is a mobile control system. With this configuration, it is possible to prevent the autonomous moving bodies from passing each other, and as a result, the autonomous moving bodies can travel smoothly.

[0007] The mobile object control system according to the present disclosure includes: When the determination unit determines that the first and second moving bodies will pass each other, at least one of the moving bodies determined to be about to pass each other may wait to enter the elevator car.

[0008] The mobile object control system according to the present disclosure includes: When the determination unit determines that the first and second moving bodies will pass each other, at least one of the moving bodies determined to be about to pass each other may cancel getting into an elevator car.

[0009] The mobile object control system according to the present disclosure includes: The information regarding the boarding origin includes information indicating a floor number of the boarding origin, The information relating to the destination may include information indicating a floor number of the destination.

[0010] The mobile object control system according to the present disclosure includes: the elevator car having a plurality of doors; The information regarding the boarding origin includes information indicating a floor number of the boarding origin and identification information of a boarding door, The information relating to the destination may include information indicating the destination floor number and identification information of the exit door.

[0011] When the judgment unit determines whether a first moving body entering through a first door and exiting through a second door will pass each other, it may determine whether a first graph on x-y coordinates represented by the following formula 1 and a second graph on x-y coordinates represented by the following formula 2 have an intersection, and determine that the first and second moving bodies will pass each other if the first and second graphs have an intersection.

number

number

number

[0012] A moving object control method according to an embodiment of the present disclosure includes: acquiring information regarding the origin and destination of first and second moving bodies entering the elevator car; determining whether or not a passing between the first and second moving bodies will occur based on information relating to the boarding point of the moving body and information relating to the destination of the moving body; When it is determined that the first and second moving bodies will pass each other, at least one of the first and second moving bodies changes an operation plan. A mobile object control method.

[0013] A mobile object control program according to an embodiment of the present disclosure includes: acquiring information regarding the origin and destination of first and second moving bodies entering the elevator car; determining whether or not a passing between the first and second moving bodies will occur based on information relating to the boarding point of the moving body and information relating to the destination of the moving body; When it is determined that the first and second moving bodies will pass each other, at least one of the first and second moving bodies changes an operation plan. It is a mobile control program. Effect of the Invention

[0014] The present disclosure makes it possible to provide a mobile body control system, a mobile body control method, and a mobile body control program that can smooth the operation of an autonomous mobile body. [Brief description of the drawings]

[0015] [Figure 1] 1 is a block diagram showing a configuration of a mobile object control system according to a first embodiment. [Diagram 2] 1 is a schematic diagram showing a configuration of a moving body according to a first embodiment. [Diagram 3] 1 is a schematic diagram showing a configuration of a moving body according to a first embodiment. [Figure 4] FIG. 13 is a diagram showing a graph on xy coordinates represented by Equation 4. [Diagram 5] 4 is a flowchart showing the operation of the mobile object control system according to the first embodiment. [Figure 6] FIG. 11 is a schematic diagram showing a configuration of a moving body according to a second embodiment. [Figure 7] FIG. 13 is a diagram showing a graph on xy coordinates represented by Equation 6. [Figure 8] FIG. 13 is a diagram showing a graph on xy coordinates represented by Equation 7. [Figure 9] FIG. 1 is a diagram showing a graph on xy coordinates represented by Equation 1. [Figure 10] FIG. 1 is a diagram showing a graph on xy coordinates represented by Equation 1 and Equation 2. [Figure 11] FIG. 1 is a diagram showing a graph on xy coordinates represented by Equation 1 and Equation 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] (First embodiment) <Configuration of the mobile control system> Hereinafter, a first embodiment according to the present disclosure will be described in detail with reference to the drawings. First, a configuration of a mobile object control system according to the present embodiment will be described in detail. Fig. 1 is a block diagram for explaining the configuration of the mobile object control system according to the first embodiment.

[0017] A mobile object control system 101 according to this embodiment includes a mobile object control device 1, a mobile object 2a, and a mobile object 2b. In the mobile body control system 101 according to this embodiment, a mobile body control device 1 controls a mobile body 2a and a mobile body 2b. More specifically, the mobile body control device 1 controls the operation plans of the mobile body 2a and the mobile body 2b so that the mobile body 2a and the mobile body 2b do not pass each other in the elevator.

[0018] In the following description, the moving body 2a and the moving body 2b will be simply referred to as the moving body 2 unless there is a need to distinguish between them. Furthermore, although the mobile object control system according to the present embodiment includes two mobile objects 2, the number of mobile objects 2 that can be controlled by the mobile object control system 101 according to the present disclosure is not limited to two. For example, the mobile object control system 101 according to the present disclosure may control three or more mobile objects 2.

[0019] Hereinafter, the moving body 2 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 and Fig. 3 are schematic diagrams for explaining the configuration of the moving body according to the first embodiment. More specifically, Fig. 2 is a schematic side view of the moving body 2a and the moving body 2b that are in an elevator. Fig. 3 is a schematic plan view of the moving body 2a and the moving body 2b that are in an elevator.

[0020] Naturally, the right-handed xyz Cartesian coordinate system shown in Figure 2 and other drawings is for the convenience of explaining the positional relationship of the components. Usually, the positive direction of the z axis is vertically upward, and the xy plane is a horizontal plane, which is common among the drawings.

[0021] The moving body 2 according to this embodiment boards an elevator car E having one door D. As shown in Fig. 2 and Fig. 3, when two moving bodies 2 board the elevator car E, the two moving bodies 2 board side by side in the depth direction of the elevator car E, i.e., in the y-axis direction.

[0022] When two moving bodies 2 board the elevator car E, the moving body 2 that boards first boards at the rear side as viewed from the door D, and the moving body 2 that boards later boards at the front side as viewed from the door D. In Figures 2 and 3, the moving body 2a boards at the rear side as viewed from the door D, and the moving body 2b boards at the front side as viewed from the door D.

[0023] 2 and 3, when the moving object 2a gets off the elevator car E before the moving object 2b, the moving object 2a needs to avoid the moving object 2b to reach the door D. In the present disclosure, such a situation, i.e., when the moving object 2 gets off at the door D, another moving object 2 is present on the path to the door D, is referred to as a situation in which passing occurs.

[0024] As mentioned above, in a situation where two moving objects pass each other, the moving object 2a needs to avoid the moving object 2b. Therefore, if the elevator car E does not have enough space, the moving object 2a cannot get off the elevator. Even if the elevator car E has enough space, it takes time to perform evasive action inside the elevator, which makes it difficult to operate smoothly. Therefore, the moving object control system 101 according to this embodiment controls the moving object 2 so as to avoid a situation in which passing each other occurs.

[0025] The moving body 2 transmits information about the boarding point and information about the destination to the moving body control device 1. Then, the moving body 2 receives from the moving body control device 1 a determination result as to whether or not passing will occur.

[0026] However, the information relating to the boarding origin in this embodiment is information indicating the floor number at which the moving object 2 gets into the elevator car E. Also, the information relating to the destination in this embodiment is information indicating the floor number at which the moving object 2 gets off the elevator car E.

[0027] When the moving objects 2 receive a determination result that a passing will occur, at least one of the moving objects 2 determined to pass each other changes its operation plan. On the other hand, when the moving objects 2 receive a determination result that a passing will not occur, the moving objects 2 board the elevator car E without changing their operation plan. However, the operation plan here is a plan that specifies the movement route of the moving object 2.

[0028] The operation plan according to this embodiment includes a plan regarding whether to use the elevator car E, at which floor to get on and off the elevator car E, or whether to wait to get on the elevator car E. That is, the operation plan according to this embodiment includes information regarding the boarding origin and information regarding the destination.

[0029] Returning to the explanation of Figure 1. The moving object 2a according to this embodiment includes a communication unit 21a and a control unit 22a. The moving object 2b according to this embodiment includes a communication unit 21b and a control unit 22b. In the following, unless there is a need to distinguish between the communication units 21a and 21b, they will be simply referred to as the communication unit 21. In the following, unless there is a need to distinguish between the control units 22a and 22b, they will be simply referred to as the control unit 22.

[0030] The communication unit 21 communicates with the mobile body control device 1. More specifically, the communication unit 21 acquires information related to the boarding origin and information related to the destination from the control unit 22. Then, the communication unit 21 transmits the information acquired from the control unit 22 to the mobile body control device 1.

[0031] Furthermore, the communication unit 21 receives a determination result as to whether or not the moving body 2a and the moving body 2b will pass each other from the moving body control device 1. Then, the communication unit 21 outputs the received determination result to the control unit 22.

[0032] The control unit 22 controls the operation of the moving object 2. The control unit 22 stores an operation plan, and moves the moving object 2 in accordance with the operation plan. The control unit 22 outputs information about the boarding point and information about the destination to the communication unit 21. In addition, the control unit 22 acquires from the communication unit 21 a determination result as to whether or not the moving body 2a and the moving body 2b will pass each other.

[0033] When the control unit 22 acquires from the communication unit 21 a determination result that the moving body 2a and the moving body 2b will pass each other, the control unit 22 changes the operation plan. For example, the control unit 22 may change the operation plan to wait for boarding into the elevator car E. The control unit 22 may also change the operation plan to cancel boarding into the elevator car E.

[0034] Note that, of the moving body 2a and the moving body 2b, the operation plan may be changed for only one of them, or the operation plans of both the moving body 2a and the moving body 2b may be changed. When the operation plan of only one of the moving body 2a and the moving body 2b is changed, for example, a priority order may be assigned between the moving body 2a and the moving body 2b, and the operation plan of the moving body 2 with the lower priority order may be changed.

[0035] The control unit 22 also includes a calculation unit such as a CPU (Central Processing Unit) (not shown), and a storage unit such as a RAM (Random Access Memory) or a ROM (Read Only Memory) that stores programs and data for controlling the moving object 2. In other words, the control unit 22 has a function as a computer, and controls the moving object 2 based on the programs.

[0036] The moving body control device 1 acquires information about the boarding point and information about the destination from the moving body 2. Then, based on the acquired information, it determines whether or not the moving body 2a and the moving body 2b will pass each other.

[0037] The mobile body control device 1 according to this embodiment executes the determination as to whether or not the moving body 2 will pass each other every time the elevator car E turns around. In other words, the mobile body control device 1 according to this embodiment determines whether or not the moving body 2 will pass each other every time the elevator car E goes up or down.

[0038] The moving body control device 1 may be configured as, for example, a server device capable of communicating with the moving body 2. The moving body control device 1 may also be an elevator control device that controls the movement of an elevator car E.

[0039] The acquisition unit 11 acquires information about the entry point and destination of the first and second moving bodies getting into the elevator car E. The acquisition unit 11 may be configured as, for example, a communication device that communicates with the moving body 2. The acquisition unit 11 outputs the acquired information to the determination unit 12 .

[0040] The determination unit 12 obtains information regarding the boarding point of the moving object 2 and information regarding the destination from the acquisition unit 11. Then, based on the information obtained from the acquisition unit 11, the determination unit 12 determines whether or not the first and second moving objects will pass each other. The determination unit 12 transmits the determined result to the mobile object 2. When the acquisition unit 11 is configured as a communication device, the determination unit 12 may transmit the determined result to the mobile object 2 via the acquisition unit 11.

[0041] The mobile body control device 1 includes a calculation unit such as a CPU (not shown), and a storage unit such as a RAM or ROM that stores programs and data for controlling the mobile body control device 1. In other words, the mobile body control device 1 has a function as a computer, and executes the above-mentioned operations based on the above-mentioned programs.

[0042] The program includes a set of instructions (or software code) for making the computer perform one or more functions described in the embodiment when the program is read into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, the transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagating signals.

[0043] <Judgment method> Next, with reference to the drawings, a method for determining whether or not a passing-by occurs between the first and second moving bodies will be described in detail.

[0044] The determination unit 12 according to the present embodiment determines, for example, whether or not the first graph on the xy coordinates represented by the following mathematical formula 4 and the second graph on the xy coordinates represented by the following mathematical formula 5 have an intersection point in the range of y > 0. Then, when the first and second graphs have an intersection point in the range of y > 0, it may be determined that a passing-by occurs between the first and second moving bodies.

[0045]

Equation

Equation

[0046] However, a is the floor number of the boarding source of the moving body 2a, b is the floor number of the destination of the moving body 2a, c is the floor number of the boarding source of the moving body 2b, d is the floor number of the destination of the moving body 2b, k is a negative real number.

[0047] As described above, in the present embodiment, it is determined whether or not a passing-by occurs for the moving body 2 every time the elevator car E ascends or descends once. Therefore, when the elevator car E descends, a > b and c > d hold. On the other hand, when the elevator car E ascends, a < b and c < d hold.

[0048] FIG. 4 is a diagram showing the first graph on the xy coordinates represented by the mathematical formula 4. The graph represented by the mathematical formula 4 is represented as an upwardly convex quadratic function graph passing through the points (a, 0) and (b, 0) on the x-axis as shown in FIG. 4. Note that in FIG. 4, the case where the elevator car E ascends is shown, and a < b. However, when the elevator car E descends, a > b. Similarly, the graph represented by Equation 5 is also represented as a convex-upward quadratic function graph passing through the points (c, 0) and (d, 0) on the x-axis.

[0049] Here, the condition for the passing of the moving bodies 2a and 2b is that when the elevator car E ascends, a < c < b < d, and when the elevator car E descends, a > c > b > d. In the case where these conditions are satisfied, in either case, the first and second graphs have an intersection in the range of y > 0. In addition, in cases other than these magnitude relationships, the first and second graphs do not have an intersection in the range of y > 0. Therefore, when determining whether these graphs have an intersection in the range of y > 0, the determination unit 12 can determine whether the passing of the moving bodies 2a and 2b occurs.

[0050] <Operation of the Movement Control System> Subsequently, the operation of the movement control system 101, that is, the movement control method according to the first embodiment will be described in detail. FIG. 5 is a flowchart for explaining the operation of the movement control system according to the first embodiment.

[0051] First, the acquisition unit 11 acquires information regarding the boarding source and information regarding the destination of the first and second moving bodies (step ST101). More specifically, the acquisition unit 11 acquires information regarding the boarding source and information regarding the destination from the moving body 2. Then, the acquisition unit 11 outputs the information regarding the boarding source and the information regarding the destination to the determination unit 12.

[0052] Next, the determination unit 12 determines whether the passing of the first and second moving bodies occurs (step ST102). More specifically, the determination unit 12 determines whether or not a first graph on the xy coordinates expressed by Formula 4 and a second graph on the xy coordinates expressed by Formula 5 have an intersection in the range of y>0. If the first graph and the second graph have an intersection in the range of y>0, it is determined that the first and second moving objects will pass each other.

[0053] If it is determined that the first and second moving bodies will pass each other (YES in step ST102), at least one of the first and second moving bodies changes its operation plan (step ST103), and the moving body control system 101 ends the series of operations. Moreover, when it is determined that the first and second moving bodies will not pass each other (step ST102 NO), the moving body control system 101 ends the series of operations. That is, the moving body control system 101 ends the series of operations without changing the operation plans of either the first or second moving body. The mobile object control system 101 according to this embodiment executes a series of operations shown in the flowchart of FIG. 5 for each ascent or descent.

[0054] As described above, the mobile body control system 101 according to this embodiment determines whether or not moving bodies will pass each other inside the elevator car based on information about the boarding origin of the first and second moving bodies entering the elevator car and information about the destination. Then, when it is determined that the moving bodies will pass each other inside the elevator car, at least one of the first and second moving bodies changes the operation plan. With this configuration, the moving object control system 101 can prevent moving objects from passing each other inside the elevator car, which results in smoother operation of the autonomous moving objects.

[0055] Second embodiment <Configuration of the mobile control system> Hereinafter, a first embodiment of the present disclosure will be described in detail with reference to the drawings. First, a configuration of a mobile object control system according to the present embodiment will be described in detail.

[0056] The mobile object control system according to the second embodiment is an application example of the mobile object control system according to the first embodiment. Therefore, the mobile object control system according to this embodiment has a similar configuration to the mobile object control system 101 shown in FIG. The moving object control system according to the second embodiment differs from the first embodiment in that a moving object 2 boards an elevator car having a plurality of doors.

[0057] Fig. 6 is a schematic diagram showing the configuration of a moving body according to the second embodiment. More specifically, Fig. 6 is a schematic plan view of a moving body 2a and a moving body 2b riding in an elevator car E. The elevator car E according to this embodiment has a door D1 and a door D2, as shown in Fig. 6. The moving body 2a and the moving body 2b can get on and off using either the door D1 or the door D2. However, if there is another moving body 2 on the path of the moving body 2 toward the door D1 or the door D2, the moving body 2 and the other moving body 2 will pass each other as in the first embodiment.

[0058] In this embodiment, in order to determine the occurrence of passing each other, it is necessary to take into consideration which door the moving object 2 uses to get on and off. Therefore, in this embodiment, the information about the boarding point includes information indicating the boarding point floor number and identification information of the boarding door, and the information about the destination includes information indicating the destination floor number and identification information of the exit door.

[0059] <Judgment method> Next, a method for determining whether or not a passing between a first and second moving object will occur in this embodiment will be described in detail with reference to the drawings.

[0060] In this embodiment, similarly to the first embodiment, a graph is created on an xy coordinate system based on information about the boarding point and information about the destination, and it is determined whether the graph has an intersection. If the graph has an intersection, it is determined that the moving objects 2 will pass each other.

[0061] In this embodiment, when the moving object 2 gets on through door D1 and gets off through door D1, a graph on the xy coordinate system represented by the following formula 6 is created.

[0062]

number

[0063] however, a is the floor number from which the moving object 2 boards, b is the floor number of the destination of the mobile unit 2, k1 is a negative real number, m1 is a real number.

[0064] Fig. 7 is a diagram showing a graph on the xy coordinate system represented by Formula 6. The graph represented by Formula 6 is expressed as a graph of an upward convex quadratic function passing through points (a, m1) and (b, m1) on the x axis as shown in Fig. 7.

[0065] In this embodiment, when the moving object 2 gets on through door D2 and gets off through door D2, a graph on the xy coordinate system represented by the following formula 7 is created.

[0066]

number

[0067] however, a is the floor number from which the moving object 2 boards, b is the floor number of the destination of the mobile unit 2, k2 is a positive real number, m2 is a real number greater than m1.

[0068] Fig. 8 is a diagram showing a graph on the xy coordinate system represented by Formula 7. The graph represented by Formula 7 is expressed as a graph of a downwardly convex quadratic function passing through points (a, m2) and (b, m2) on the x-axis as shown in Fig. 7.

[0069] In this embodiment, m1<m2であるが、m1> However, if m1>m2, k1 is a positive real number and k2 is a negative real number. In other words, Equations 6 and 7 can be collectively written as Equation 8 below.

[0070]

number

[0071] however, c is the floor number from which the moving object 2 boards, d is the floor number of the destination of the mobile unit 2, When the moving object 2 gets on and off through the door D1, m is m1, When the moving object 2 gets on and off through the door D2, m is m2, When m is the larger of m1 and m2, k is a positive real number; When m is the smaller value of m1 and m2, k is a negative real number.

[0072] In addition, in the case where the door D used by the moving body 2 when getting on to the elevator car E is different from the door D used by the moving body 2 when getting off from the elevator car E, in this embodiment, a graph on the xy coordinate system represented by the following formula 1 is created.

[0073]

number

[0074] 9 is a diagram showing a graph on the xy coordinate system represented by Formula 1. The graph represented by Formula 1 is expressed as a graph of a linear line passing through points (a, m1) and (b, m2) on the x axis as shown in FIG. Note that the following Equation 1 is described assuming the case where the moving body 2 gets into the elevator car E from the door D1 and gets out of the elevator car E from the door D2. When the moving body 2 gets into the elevator car E from the door D2 and gets out of the elevator car E from the door D1, if m2 and m1 are interchanged and described, the corresponding equation can be obtained.

[0075] The determination unit 12 according to the present embodiment acquires information regarding the boarding source and the destination of each of the moving bodies 2a and 2b, and creates a graph for each moving body 2. Then, it determines whether or not each graph has an intersection point.

[0076] FIG. 10 is a diagram showing graphs on the xy coordinates represented by Equation 1 and Equation 2. More specifically, FIG. 10 is a diagram showing a graph when the moving body 2a gets in from the door D1 on the floor a and gets out from the door D2 on the floor b, and a graph when the moving body 2b gets in from the door D2 on the floor c and gets out from the door D2 on the floor d, superimposed. However, for simplicity, it is described with m1 = 0.

[0077] Here, consider the case where the moving body 2a gets in from the door D1 on the floor a, gets out from the door D2 on the floor b, the moving body 2b gets in from the door D2 on the floor c, and gets out from the door D2 on the floor d. The condition for a passing situation to occur between the moving body 2a and the moving body 2b is c < b < d when the elevator car E is ascending, and c > b > d when the elevator car E is descending.

[0078] When c < b < d or c > b > d holds, as shown in FIG. 10, the two graphs have an intersection point P1. Therefore, the determination unit 12 determines that the moving bodies 2a and 2b pass by when the two graphs have an intersection point.

[0079] However, even when the two graphs have an intersection point, as shown in FIG. 11, there may be a case where c < b < d or c > b > d does not hold. In such a case, it can be excluded by restricting the range of the real number k. It is preferable that k satisfies the following Equation 3.

[0080]

number

[0081] where f is the total number of floors that the elevator car E can travel to. The left side of Equation 3 indicates the slope at the point x=c or x=d of the graph corresponding to the route of moving object 2b, and the right side of Equation 3 indicates the slope of the graph with the greatest slope among the graphs corresponding to the route of moving object 2a.

[0082] If the slope at the point x=c or x=d of the graph corresponding to the route of the moving body 2b is smaller than the slope of the graph with the greatest slope among the graphs corresponding to the route of the moving body 2a, there is no intersection as shown in Figure 11. Therefore, when k satisfies Equation 3 and the two graphs have an intersection point, the moving body 2a and the moving body 2b pass each other.

[0083] As described above, the moving object control system according to this embodiment determines whether or not multiple moving objects riding in an elevator car having multiple doors will pass each other. In the mobile object control system according to the present embodiment, the information relating to the boarding point includes information indicating the boarding point floor number and identification information of the boarding door, and the information relating to the destination includes information indicating the destination floor number and identification information of the exit door. Furthermore, a graph corresponding to the route of each moving object is created based on this information, and if the graph has an intersection, it is determined that the moving objects will pass each other. With this configuration, even if the elevator car has multiple doors, it is possible to appropriately determine whether moving objects are passing each other.

[0084] While the present invention has been described above with reference to the above-described embodiment, the present invention is not limited to the configuration of the above-described embodiment, and of course includes various modifications, alterations, and combinations that may be made by a person skilled in the art within the scope of the invention as defined in the claims of the present application. [Explanation of symbols]

[0085] 1. Mobile control device 2, 2a, 2b mobile 11 Acquisition Department 12 Judgment section 21, 21a, 21b Communication Department 22, 22a, 22b Control section E Elevator cage D, D1, D2 doors 101 Mobile Control System

Claims

1. An acquisition unit that acquires information about a boarding origin, including information indicating a boarding origin floor number and identification information of a boarding door, and information about a destination, including information indicating a destination floor number and identification information of a disembarking door, for first and second moving bodies entering an elevator car having multiple doors; a determination unit that determines whether or not the first and second moving bodies will pass each other based on information related to a boarding point of the moving body and information related to a destination of the moving body, When the determination unit determines whether a first moving object that gets on through a first door and gets off through a second door will pass each other, the determination unit determines whether a first graph on x-y coordinates represented by the following formula 1 and a second graph on x-y coordinates represented by the following formula 2 have an intersection, and determines that the first and second moving objects will pass each other if the first and second graphs have an intersection, When the determination unit determines that the first and second moving bodies will pass each other, at least one of the first and second moving bodies changes an operation plan. Mobile control system. [0010] ...Equation 1 [0025] ...Equation 2 however, a is the floor number of the boarding origin of the first moving body, b is the floor number of the destination of the first moving body, c is the floor number of the boarding origin of the second moving body, d is the floor number of the destination of the second moving object, m 1 and m 2 are different real numbers; When the second moving object gets on and off through the first door, m is m 1 ; When the second moving object gets on and off through the second door, m is m 2 , When m is the larger of m 1 and m 2 , k is a positive real number; When m is the smaller of m 1 and m 2 , k is a negative real number; k satisfies the following formula 3, [0030] ...Equation 3 f is the total number of floors the elevator car can travel to.

2. When the determination unit determines that the first and second moving bodies will pass each other, at least one of the moving bodies determined to pass each other waits to get into the elevator car. The vehicle control system according to claim 1 .

3. When the determination unit determines that the first and second moving bodies will pass each other, at least one of the moving bodies determined to be passing each other cancels getting into an elevator car. The vehicle control system according to claim 1 .

4. Acquire information about the boarding origin, including information indicating the boarding origin floor number and identification information of the boarding door, and information about the destination, including information indicating the destination floor number and identification information of the exit door, for first and second moving bodies entering an elevator car having multiple doors, determining whether or not the first and second moving bodies will pass each other based on information relating to the boarding point of the moving body and information relating to the destination of the moving body; In order to determine whether a first moving object that gets on through a first door and gets off through a second door will pass another moving object that gets on through only one of the first and second doors, a first graph on xy coordinates expressed by the following formula 1 and a second graph on xy coordinates expressed by the following formula 2 are determined to have an intersection point, determining that a passing between the first and second moving objects will occur when the first and second graphs have an intersection point; When it is determined that the first and second moving bodies will pass each other, at least one of the first and second moving bodies changes an operation plan. A method for controlling a moving object. [0045] ...Equation 1 [0050] ...Equation 2 however, a is the floor number of the boarding origin of the first moving body, b is the floor number of the destination of the first moving body, c is the floor number of the boarding origin of the second moving body, d is the floor number of the destination of the second moving object, m 1 and m 2 are different real numbers; When the second moving object gets on and off through the first door, m is m 1 ; When the second moving object gets on and off through the second door, m is m 2 , When m is the larger of m 1 and m 2 , k is a positive real number; When m is the smaller of m 1 and m 2 , k is a negative real number; k satisfies the following formula 3, [006] ...Equation 3 f is the total number of floors the elevator car can travel to.

5. Acquire information about the boarding origin, including information indicating the boarding origin floor number and identification information of the boarding door, and information about the destination, including information indicating the destination floor number and identification information of the exit door, for first and second moving bodies entering an elevator car having multiple doors, determining whether or not the first and second moving bodies will pass each other based on information relating to the boarding point of the moving body and information relating to the destination of the moving body; In order to determine whether a first moving object that gets on through a first door and gets off through a second door will pass another moving object that gets on through only one of the first and second doors, a first graph on xy coordinates expressed by the following formula 1 and a second graph on xy coordinates expressed by the following formula 2 are determined to have an intersection point, determining that a passing between the first and second moving objects will occur when the first and second graphs have an intersection point; When it is determined that the first and second moving bodies will pass each other, at least one of the first and second moving bodies changes an operation plan. Mobile control program. [0070] ...Equation 1 [0080] ...Equation 2 however, a is the floor number of the boarding origin of the first moving body, b is the floor number of the destination of the first moving body, c is the floor number of the boarding origin of the second moving body, d is the floor number of the destination of the second moving object, m 1 and m 2 are different real numbers; When the second moving object gets on and off through the first door, m is m 1 ; When the second moving object gets on and off through the second door, m is m 2 , When m is the larger of m 1 and m 2 , k is a positive real number; When m is the smaller of m 1 and m 2 , k is a negative real number; k satisfies the following formula 3, [0090] ...Equation 3 f is the total number of floors the elevator car can travel to.

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