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

Abstract

To move an autonomous vehicle without interfering with the boarding of general users. [Solution] The elevator control system disclosed herein comprises a call registration means for registering person hall calls, which are elevator hall calls from users, and mobile body hall calls, which are elevator hall calls from autonomous mobile bodies; a boarding and alighting control means for controlling the autonomous mobile bodies to board and alight from the elevator car; and a prediction means for predicting, for each floor within the boarding section from the boarding floor of the mobile body hall call to the destination floor, the sum of the weights of all users who have made person hall calls that include that floor in the boarding section as a person weight predicted value, and when the sum of the maximum person weight predicted value for each floor and the weight of the autonomous mobile body that has made the mobile body hall call is smaller than a reference weight, the boarding and alighting control means determines that it is possible to board the car of the autonomous mobile body.

Description

[Technical field]

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

[0002] Patent Document 1 describes control that is performed when an autonomously mobile robot gets into an elevator and travels to a destination floor, and a hall call is made by a user from a hall during the journey. In this control process, it is determined whether or not it is possible to board the robot by having it disembark, based on the total load of the car and the load of the robot. If it is determined that this is possible, the car is stopped at the hall and the robot is allowed to disembark. On the other hand, if it is determined that this is not possible, the car is allowed to pass through that hall. [Prior art documents] [Patent documents]

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

[0004] In conventional elevator operation control, if the load on the car increases due to an autonomous moving object getting on, then even if a user calls for a hall, if the car is full at that hall, the car will pass through the hall. This may reduce user convenience. In this regard, in Patent Document 1, there are cases where users can get on by having the robot get off. However, in the control of Patent Document 1, the robot gets off first, and then the user gets on. Therefore, there remains a risk of reduced convenience for users, such as increased travel time for users.

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

[0006] The elevator control system of the present disclosure includes a call registration means for registering a person hall call, which is an elevator hall call from a user, and a mobile body hall call, which is an elevator hall call from an autonomous mobile body, and a boarding / alighting control means for controlling boarding and alighting of the autonomous mobile body into and from the elevator car; Each time a passenger call is registered, the elevator service floor and a prediction means for predicting, for each floor, the total weight of all users who have made a passenger hall call and whose boarding section includes the floor as a passenger weight prediction value, and the boarding and alighting control means includes: Each time a mobile boarding call is registered, the boarding section from the boarding floor to the destination floor of the mobile boarding call is registered. Prediction of person weight on each floor Value and , The weight of other autonomous moving bodies that are determined to be able to board the car at each floor of the boarding section, and one If the sum of the weight of the autonomous mobile unit that made the mobile unit hall call and the weight of the autonomous mobile unit is less than the reference weight, Made one mobile hall call It is determined that boarding into the cage of the autonomous moving body is possible.

[0007] The elevator control system of the present disclosure is a system for controlling a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object. ,of Registration An elevator control method for controlling an elevator capable of , Each time a passenger call is registered, the elevator service floor A process in which the control device calculates, for each floor, the sum of the weights of all users who have made passenger calls that include that floor in the boarding section as a passenger weight prediction value; Each time a mobile boarding call is registered, the boarding section from the boarding floor to the destination floor of the mobile boarding call is registered. Prediction of person weight on each floor Value and , The weight of other autonomous moving bodies that are determined to be able to board the car at each floor of the boarding section, and one The sum of the weight of the autonomous vehicle that made the vehicle boarding call of , Calculate for each floor of the boarding section, and the maximum value of the total for each floor is , the reference weight, the control device Made one mobile hall call and a process for determining whether it is possible to board the car of the autonomous moving body.

[0008] The elevator control program disclosed herein is a program for controlling an elevator based on a user's elevator hall call and a mobile object hall call, which is an elevator hall call from an autonomous mobile object. of, Registration A control program for controlling an elevator capable of , to the control device, For each person call registered , Elevator service floor For each floor, a process of calculating a predicted person weight value as a sum of the weights of all passengers who have made passenger calls that include the floor in the boarding section; Each time a mobile boarding call is registered, the boarding section from the boarding floor to the destination floor of the mobile boarding call is registered. Prediction of person weight on each floor Value and , The weight of other autonomous moving bodies determined to be able to board the car at each floor of the boarding section, and The sum of the weight of the autonomous vehicle that made the vehicle boarding call Calculate the total for each floor in the boarding section, and take the maximum value of the total for each floor. If is less than the reference weight, Made one mobile hall call and executing a process of determining whether it is possible to board the cage of the autonomous moving body. Effect of the Invention

[0009] By determining whether or not the autonomous moving body can board based on the total weight of users on each floor within the boarding section of the autonomous moving body, it is possible to prevent the occurrence of a situation in which a user is unable to board due to the autonomous moving body having boarded the elevator, thereby improving elevator service for users. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing a configuration example of an elevator and its surroundings according to a first embodiment of the present disclosure. [Diagram 2] 1 is a block diagram showing a configuration example of a control device according to an embodiment of the present disclosure. [Diagram 3] 4 is a diagram illustrating an example of registration information of a user and an autonomous moving body stored in a storage unit of the control device according to the first embodiment of the present disclosure. FIG. [Figure 4] 11 is a diagram showing the predicted weight value of the car at each floor and the boarding and alighting status of users and the autonomous moving body when boarding and alighting control for the autonomous moving body is applied by a control device according to an embodiment of the present disclosure. FIG. [Diagram 5] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 6] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 7] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 8] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 9] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. [Figure 10] 5 is a flowchart showing an example of entry / exit control executed by the control device according to the first embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

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

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

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

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

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

[0017] 2 is a block diagram showing a configuration example of a control device according to this embodiment. In this embodiment, the control device 100 controls the operation of the elevator 15, and also controls boarding and disembarking of the autonomous mobile body 10 into and from the car 16. In the following, of the functions of the control device 100, those parts related to boarding and disembarking control of the autonomous mobile body 10 will be mainly described.

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

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

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

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

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

[0023] The registration information of the user 12 includes information on weight (body weight) and priority level. In the example of FIG. 3, the weights of the users 12A to 12D are 60 kg, 20 kg, 75 kg, and 45 kg, respectively. The priority level indicates the priority order to which the elevator 15 is assigned when a hall call is made to the elevator 15. The priority levels are, for example, indicated from Lv5 to Lv1 in descending order of priority, and in the example of FIG. 3, the priority level of all the users 12 is set to Lv5, which is the highest. In addition, in the example of FIG. 3, the registration information of the user 12 includes information on the attributes of the user 12. Here, the attributes include gender and information on whether the user is an adult or a child. However, the registration information of the user 12 does not need to include the attributes, and may include information such as the use of a wheelchair as the attributes. In addition, the priority level may differ between users depending on, for example, the attributes.

[0024] The registration information of the autonomous moving body 10 may include information on weight, attributes, and priority level. In the example of FIG. 3, the autonomous moving bodies 10A to 10D have different weights, and the weights of the autonomous moving bodies 10A to 10D are 60 kg, 100 kg, 18 kg, and 15 kg. The attributes of the autonomous moving body 10 may include information on the use of the autonomous moving body 10, such as delivery, cleaning, food distribution, and security. However, the registration information may not include attribute information. Also, for example, the priority level is set in advance according to the attributes of the autonomous moving body 10. The priority level is at least lower than all users, and is set to Lv4 or lower in the example of FIG. 3.

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

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

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

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

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

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

[0031] In the example of Fig. 4, it is assumed that user 12A makes a person boarding call from the 1st floor to the 8th floor, user 12B makes a person boarding call from the 1st floor to the 4th floor, user 12C makes a person boarding call from the 3rd floor to the 10th floor, and user 12D makes a person boarding call from the 5th floor to the 11th floor. Also, it is assumed that the autonomous moving body 10A makes a person boarding call from the 1st floor to the 8th floor, the autonomous moving body 10B makes a person boarding call from the 1st floor to the 5th floor, the autonomous moving body 10C makes a person boarding call from the 4th floor to the 10th floor, and the autonomous moving body 10D makes a person boarding call from the 5th floor to the 11th floor. However, it is assumed that the person boarding call by user 12C is registered after the autonomous moving body 10A gets on the car 16 and is moving to the destination floor.

[0032] For example, the autonomous moving body 10A has a weight of 60 kg and a priority level of Lv3. The boarding section of the autonomous moving body 10A is from the 1st floor to the 8th floor. At the time when the autonomous moving body 10A makes a mobile body hall call, the users who have made a person hall call for each floor from the 1st to the 7th floors in the boarding section, which includes the floor in the boarding section, are users 12A and 12B on the 1st to the 3rd floors, user 12A on the 4th floor, and users 12A and 12D on the 5th to the 7th floors. Therefore, the predicted person weight values ​​of the users on each floor from the 1st to the 7th floors are 80 kg on the 1st to the 3rd floors, 60 kg on the 4th floor, and 105 kg on the 5th to the 7th floors, and the maximum value of the predicted person weight values ​​for the boarding section from the 1st to the 7th floors is 105 kg.

[0033] Since the weight of the autonomous moving body 10A is 60 kg, the predicted weight value for each floor from the 1st to 7th floors is a maximum of 165 kg, which is not expected to exceed the reference weight of 200 kg. In addition, the autonomous moving body 10B has registered moving body calls from the 1st to 4th floors, but since the priority level of the autonomous moving body 10B is lower than that of the autonomous moving body 10A, its weight is not taken into consideration here. Therefore, the autonomous moving body 10A is determined to be boarding possible, and a boarding command is issued when the car 16 arrives.

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

[0035] Also, in the example of FIG. 4, after the autonomous moving body 10A boards the car 16, while moving, the user 12C makes a person hall call from the 3rd floor to the 10th floor. In this case, the person weight predicted values ​​for each of the floors 3 to 9 in the boarding section of the user 12C are recalculated to include the weight of the user 12C. In the example of FIG. 4, the recalculation results are 155 kg on the 3rd floor, 135 kg on the 4th floor, 180 kg on the 5th to 8th floors, and 120 kg on the 9th floor. Since the maximum value of the person weight predicted value is equal to or less than the reference weight, it is determined that the user 12C can board.

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

[0037] The autonomous moving body 10C weighs 18 kg and has a priority level of Lv2. The predicted weight values ​​of the user 12 on each floor 4 to 9 in the boarding section of the autonomous moving body 10C are 135 kg on the 4th floor, 180 kg on the 5th to 7th floors, and 120 kg on the 8th and 9th floors. Even if the weight of the autonomous moving body 10C is added to this, the predicted weight values ​​on each floor are all less than 200 kg. However, the autonomous moving body 10D with a high priority level is making a mobile body boarding call from the boarding floor 5 to the destination floor 11. Therefore, the predicted weight values ​​of each floor on each floor 5 to 10 in the boarding section of the autonomous moving body 10D, which includes the weight of the autonomous moving body 10D, are 213 kg on the 5th to 7th floors, which exceeds the reference weight. In this case, the boarding and disembarking control means 8 transmits a disembarking command to the autonomous moving body 10C on the 5th floor where the predicted weight value exceeds the reference weight.

[0038] Since the autonomous moving body 10C gets off on the fifth floor, the weight prediction values ​​including the weight of the autonomous moving body 10D on each of the floors 5 to 10 in the boarding section of the autonomous moving body 10D are 195 kg on the fourth to eighth floors, 135 kg on the ninth floor, and 60 kg on the tenth floor. Therefore, it is determined that the autonomous moving body 10D can board the car, and a boarding command is transmitted to the autonomous moving body 10D.

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

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

[0041] In the example of Fig. 5, first, in step S1, it is determined whether or not a new registration or cancellation of a person hall call has occurred. If it is determined in step S1 that no new registration or cancellation has occurred, the current process is terminated.

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

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

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

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

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

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

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

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

[0050] First, in step S14, the provisional load of the cage 16 of each floor is calculated by adding the weight of the target autonomous moving body 10 to the current provisional load of the cage 16 of each floor in the boarding section of the target autonomous moving body. The provisional load here is a value that is updated by adding the weight of the autonomous moving body to the weight of the autonomous moving body in the loop processing of steps S12 to S15, with the predicted person weight value of each floor calculated by the processing of FIG. 5 as the initial value. That is, the provisional load is a value obtained by adding the weight of the autonomous moving body 10 having a higher priority level than the target autonomous moving body 10 among the autonomous moving bodies 10 that have made a moving body hall call that includes each floor in the boarding section to the predicted person weight value of each floor. The loop processing of steps S12 to S15 is repeatedly executed until the calculation of the provisional load for all floors in the boarding section of the target autonomous moving body 10 is completed.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0065] Next, in step S31, it is determined whether or not the ride on the target autonomous moving body 10 is completed. If the ride on the target autonomous moving body 10 is not completed, the process returns to step S31, and the determination in step S31 is repeatedly executed at a constant control interval until the ride on the target autonomous moving body 10 is completed.

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

[0067] Fig. 8 shows an example of a control operation when a hall call of an autonomous moving body is cancelled. The process of Fig. 8 is repeatedly executed at a predetermined control interval during elevator service. In the example shown in Fig. 8, first, in step S41, it is determined whether or not a cancellation of a hall call of a moving body has occurred. If it is determined in step S41 that a cancellation of a hall call of the autonomous moving body 10 has not occurred, the process is terminated as it is.

[0068] On the other hand, if it is determined in step S41 that the mobile platform call has been cancelled, the process proceeds to step S42, where the boarding permission determination for all the autonomous mobile bodies is cancelled once. Next, in step S43, the weight prediction value of each floor is returned to the person weight prediction value of each floor.

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

[0070] In FIG. 8, a case has been described in which when one mobile platform call is cancelled, the boarding permission of all the autonomous mobile bodies 10 is cancelled and the boarding permission is recalculated. However, the processing when a mobile platform call is cancelled is not limited to this. For example, as another processing, the weight of the autonomous mobile body 10 is subtracted from the weight predicted value of each floor in the boarding section of the autonomous mobile body 10 whose mobile platform call has been cancelled to update the weight predicted value. Then, in addition to the autonomous mobile body 10 whose platform call has been cancelled, when an autonomous mobile body 10 that has made a platform call including the cancelled boarding section and does not have boarding permission (i.e., has been determined not to be boarded) is waiting, the weight of the autonomous mobile body 10 is added to the weight predicted value to obtain a weight predicted value, and when the weight predicted value does not exceed the reference weight, the waiting autonomous mobile body 10 may be allowed to board.

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

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

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

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

[0075] Next, in step S54, it is determined whether the new passenger hall call will pass through the car when it is full, that is, whether the tentative loads of each floor calculated in step S53 include values ​​equal to or greater than the reference weight. If it is determined in step S54 that the tentative loads of all floors are smaller than the reference weight, it can be said that the target user 12 is in a state where he or she can board the car 16 without adjusting the car load. In this case, the current process is terminated.

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

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

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

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

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

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

[0082] Fig. 10 shows an example of a control operation in which the autonomous moving body 10 being boarded is replaced with the autonomous moving body 10 that has made a moving body hall call according to the priority level of the autonomous moving body. The process in Fig. 10 is repeatedly executed at a predetermined control interval during elevator service.

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

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

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

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

[0087] On the other hand, if it is determined in step S64 that an autonomous moving body 10 with a low priority level is riding in the car 16 or is scheduled to ride at a floor before the target autonomous moving body 10, then in step S65, it is determined whether or not a full-load passing event will occur in response to a hall call from a user in the riding section of the target autonomous moving body 10 by replacing the autonomous moving body 10 with the autonomous moving body with a low priority level. Specifically, the weight prediction value of each floor in the riding section of the target autonomous moving body 10 in the case where the autonomous moving body 10 with a low priority level is replaced with the target autonomous moving body 10 is calculated as a provisional load. Then, based on whether or not the provisional load is smaller than the reference weight, it is determined whether or not a full-load passing event will occur. If it is determined in step S65 that a full-load passing event will occur, the current process ends as it is.

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

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

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

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

[0092] As described above, according to this embodiment, a predicted person weight value in the car is calculated based on the weight of users who plan to board, and whether or not to board or disembark the autonomous moving body is determined based on the calculated predicted person weight value so that the users can avoid passing through the car at full capacity. This makes it possible to prevent the autonomous moving body 10 from boarding the car at full capacity in response to a passenger hall call, thereby contributing to improving elevator service for users.

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

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

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

[0096] Furthermore, according to this embodiment, when a new hall call registration or cancellation occurs while the car 16 is traveling, the weight prediction value is recalculated each time, and the boarding permission of the autonomous mobile body 10 is determined based on the weight prediction value. Therefore, boarding and alighting of the autonomous mobile body 10 can be more appropriately controlled, and the occurrence of full-load passing for passenger hall calls can be suppressed.

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

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

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

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

Claims

1. A call registration means for registering a person hall call which is an elevator hall call from a user and a mobile object hall call which is an elevator hall call from an autonomous mobile object; boarding and alighting control means for controlling boarding and alighting of the autonomous moving body into and from the elevator car; a prediction means for predicting, for each floor of the service floor of the elevator, a total weight of all users who have made a passenger hall call and whose boarding section includes the floor, as a passenger weight predicted value, for each floor of the service floor of the elevator; Equipped with the boarding / alighting control means, each time one mobile body boarding call is registered, calculates, for each floor of the boarding section, the sum of the predicted person weight value for each floor of the boarding section from the boarding floor of the one mobile body boarding call to the destination floor, the weights of other autonomous mobile bodies determined to be able to board the cage at each floor of the boarding section, and the weight of the autonomous mobile body that made the one mobile body boarding call, and if the maximum value of the sums for each floor is smaller than a reference weight, determines that the autonomous mobile body that made the one mobile body boarding call is able to board the cage. Elevator control system.

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

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

3. The elevator control system of claim 2.

4. The prediction means corrects the person weight prediction value based on a change in weight of the car when the user gets into the car, the boarding / alighting control means determines whether or not the person can board the car of the autonomous moving body based on the corrected person weight predicted value. An elevator control system according to any one of claims 1 to 3.

5. When the autonomous moving body is determined to be unavailable for boarding and the person boarding call in the same direction as the moving body boarding call is canceled, The prediction means recalculates the person weight prediction value, the boarding / alighting control means re-determines whether or not the person can board the car of the autonomous moving body based on the recalculated maximum value of the person weight predicted value. An elevator control system according to any one of claims 1 to 3.

6. After the autonomous moving body boards, a person boarding call is made in the same direction during the time until the autonomous moving body arrives at the destination floor, and the person boarding call is predicted to pass through at full capacity, but it is predicted that the user who made the person boarding call will be able to board by disembarking the autonomous moving body, The boarding / alighting control means causes the autonomous moving body to disembark at the boarding floor of the person boarding call and causes the user to board the autonomous moving body. An elevator control system according to any one of claims 1 to 3.

7. There are a plurality of the autonomous moving bodies, When another autonomous moving body that has made a moving body hall call in the same direction as the moving body call of one of the autonomous moving bodies has a higher priority level than the one autonomous moving body, and the other autonomous moving body is determined to be unable to board the car, When it is predicted that a full-load passing for the person hall call will not occur at a floor between the boarding floor of the one autonomous mobile body and the disembarking floor of the other autonomous mobile body even if the one autonomous mobile body is swapped with the other autonomous mobile body, the boarding / disembarking control means causes the one autonomous mobile body to disembark and the other autonomous mobile body to board at the boarding floor of the other autonomous mobile body. An elevator control system according to any one of claims 1 to 3.

8. An elevator control method for controlling an elevator capable of registering a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object, comprising: A process in which, each time one passenger hall call is registered, the control device calculates, for each floor of the service floor of the elevator, a total weight of all users who have made passenger hall calls and whose boarding section includes the floor, as a passenger weight predicted value; a process in which, each time one mobile boarding call is registered, the sum of the person weight predicted value for each floor of a boarding section from the boarding floor of the one mobile boarding call to the destination floor, the weight of other autonomous mobile bodies determined to be able to board the cage at each floor of the boarding section, and the weight of the autonomous mobile body that made the one mobile boarding call is calculated for each floor of the boarding section, and if the maximum value of the sums for each floor is smaller than a reference weight, the control device determines that it is possible to board the cage of the autonomous mobile body that made the one mobile boarding call; An elevator control method comprising:

9. If it is determined that boarding the car of the autonomous moving body is possible, A process in which the control device transmits a boarding command to the autonomous mobile body after the car arrives at the boarding floor of the mobile body boarding call made by the autonomous mobile body and all users who have made a person boarding call with the boarding floor as the boarding floor have boarded; The elevator control method according to claim 8, further comprising:

10. When there are a plurality of the autonomous moving bodies, if the plurality of the autonomous moving bodies make a moving body hall call in the same direction, A process in which the control device transmits the boarding command based on a boarding priority level of each of the plurality of autonomous moving bodies; The elevator control method according to claim 9, further comprising:

11. a process in which the control device corrects the person weight prediction value based on a change in weight of the car when the user gets into the car, and determines whether the autonomous moving body can get into the car based on the corrected person weight prediction value; The elevator control method according to any one of claims 8 to 10, further comprising:

12. When the autonomous moving body is determined to be unavailable for boarding and the person boarding call in the same direction as the moving body boarding call is canceled, A process in which the control device recalculates the person weight prediction value; a process in which the control device re-determines whether or not it is possible for the person to board the car of the autonomous moving body based on the recalculated maximum value of the person weight predicted value; The elevator control method according to any one of claims 8 to 10, further comprising:

13. After the autonomous moving body boards, if a person's boarding hall call in the same direction is registered during the time until the autonomous moving body arrives at the destination floor, and it is predicted that the person's boarding hall call will pass through at full capacity, but it is predicted that the user who made the person's boarding hall call will be able to board by getting off the autonomous moving body, A process in which the control device causes the autonomous moving body to disembark at a boarding floor for the person boarding call; The elevator control method according to any one of claims 8 to 10, further comprising:

14. There are a plurality of the autonomous moving bodies, When another autonomous moving body that has made a moving body hall call in the same direction as the moving body call of one of the autonomous moving bodies has a higher priority level than the one autonomous moving body, and the other autonomous moving body is determined to be unable to board the car, When it is expected that a full-load passing for the person hall call will not occur at a floor between the boarding floor of the one autonomous mobile body and the disembarking floor of the other autonomous mobile body even if the one autonomous mobile body is swapped with the other autonomous mobile body, the control device causes the one autonomous mobile body to disembark at the boarding floor of the other autonomous mobile body and causes the other autonomous mobile body to board; The elevator control method according to any one of claims 8 to 10, further comprising:

15. A control program for controlling an elevator capable of registering a person hall call, which is an elevator hall call from a user, and a mobile object hall call, which is an elevator hall call from an autonomous mobile object, comprising: The control device includes: a process of calculating, for each floor of the service floor of the elevator, a total weight of all users who have made a passenger hall call and whose boarding section includes the floor, as a passenger weight prediction value, for each floor of the service floor of the elevator; a process of calculating, for each floor of a boarding section from the boarding floor of the one mobile body boarding call to the destination floor, the sum of the person weight prediction value of each floor of the boarding section, the weight of other autonomous mobile bodies determined to be able to board the cage at each floor of the boarding section, and the weight of the autonomous mobile body that made the one mobile body boarding call, for each floor of the boarding section, and determining that the autonomous mobile body that made the one mobile body boarding call is able to board the cage if the maximum value of the sums of each floor is smaller than a reference weight; An elevator control program that executes the following:

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