Elevator control device, elevator control system and program

Abstract

To shorten the boarding and disembarking time of an autonomous moving body after a door is opened. [Solution] An elevator control device of an embodiment includes a receiving unit that receives destination floor calls and the current positions of each of the one or more autonomous moving bodies from one or more autonomous moving bodies; an autonomous moving body-only operation control unit that executes autonomous moving body-only operation in which only the one or more autonomous moving bodies are operated while riding in the car; a determination unit that, when the receiving unit receives the one or more destination floor calls while the car is moving up and down with the doors of the car closed, determines the disembarking order of the one or more autonomous moving bodies based on the one or more destination floors and the current positions of each of the one or more autonomous moving bodies, and determines the positioning of the one or more autonomous moving bodies in the car in the determined disembarking order; and a transmission unit that transmits a movement instruction to the determined positioning to each of the one or more autonomous moving bodies.

Description

[Technical field]

[0001] An embodiment of the present invention relates to an elevator control device, an elevator control system, and a program. [Background technology]

[0002] When operating an elevator with an autonomous mobile object such as a robot in the elevator car, a technology has been known that operates the elevator exclusively for the autonomous mobile object by having only the autonomous mobile object ride in the car without having a human user ride in the car. In this type of operation exclusively for the autonomous mobile object, the autonomous mobile objects are transported all at once, which makes it possible to improve the convenience for users, the operational efficiency of the elevator, and reduce costs compared to normal operation in which the autonomous mobile object and the user ride together.

[0003] In the case of such dedicated operation for autonomous mobile bodies, the waiting time for users can be reduced by shortening the time it takes for the autonomous mobile body to board and disembark from the car. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6308341 [Patent Document 2] Patent No. 5924672 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with conventional technology, it takes time for an autonomous mobile body to board at intermediate floors along the way to its destination floor, making it difficult to shorten the time it takes for a passenger to board or disembark from the car of the autonomous mobile body. [Means for solving the problem]

[0006] The elevator control device of the embodiment is an elevator control device that is connected to a plurality of autonomous moving bodies that can ride in an elevator via a network and controls the elevator, and includes a receiving unit that receives, from one or more autonomous moving bodies, a destination floor call that is an instruction to move the autonomous moving body or a car that a user can ride in to a desired destination floor and a current position of each of the one or more autonomous moving bodies, an autonomous moving body dedicated operation control unit that executes an autonomous moving body dedicated operation in which only the one or more autonomous moving bodies are allowed to ride in the car and operate it, and a control unit that controls the autonomous moving bodies. a determination unit that, when the receiving unit receives the one or more destination floor calls during execution of a dedicated operation, determines an alighting order of the one or more autonomous moving bodies based on the one or more destination floors and respective current positions of the one or more autonomous moving bodies while the door of the car is closed and the car is moving up and down, and determines a placement of the one or more autonomous moving bodies in the car in the determined alighting order; and a transmission unit that transmits a movement instruction to the placement determined by the determination unit to each of the one or more autonomous moving bodies. and a registration unit that registers the one or more destination floor calls that have the same destination direction as the moving direction of the car from the one or more destination floor calls received by the receiving unit and the current positions of each of the one or more autonomous moving bodies, wherein the determination unit determines the disembarking order of the autonomous moving bodies at each floor based on the destination floors in the one or more destination floor calls registered by the registration unit and the current positions of each of the one or more autonomous moving bodies, and the determination unit determines that the one or more autonomous moving bodies are to move circulating around the outer periphery within the car so that the arrangement of the one or more autonomous moving bodies within the car is in disembarking order. . [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of an overall configuration of an elevator control system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of rearrangement ranking at the time of disembarking in the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating another example of the rearrangement order at the time of disembarking in the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of rearrangement ranking at the time of boarding in the embodiment. [Diagram 5] FIG. 5 is a diagram showing another example of the rearrangement order at the time of boarding in the embodiment. [Figure 6] FIG. 6 is a schematic diagram showing an example of patrol movement of a robot in the embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of rearrangement of a plurality of robots in the embodiment. [Figure 8] FIG. 8 is a flowchart illustrating an example of a procedure of an elevator control process according to the embodiment. [Figure 9] FIG. 9 is a flowchart illustrating an example of a procedure of a robot-dedicated operation start determination process according to the embodiment. [Figure 10] FIG. 10 is a flowchart illustrating an example of a procedure of the cut-in prevention control process according to the embodiment. [Figure 11] FIG. 11 is a flowchart illustrating an example of a procedure of a rearrangement control process in a car according to the embodiment. [Figure 12] FIG. 12 is a flowchart illustrating an example of a procedure of a robot-dedicated operation end determination process according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0009] The car 50 ascends and descends in a hoistway (not shown) to transport passengers who board the car 50 at landings provided on each floor to other floors. The car 50 and the counterweight are connected by a rope. The rope is stretched across a drive device. The drive device is, for example, a hoist, and the drive device drives the car 50 to travel up and down in the hoistway.

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

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

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

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

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

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

[0016] In the destination floor call device 200, the control unit 202 receives a detection signal from the human sensor 320 and a captured image from the camera 230, and transmits the detection signal and the captured image to the control panel 100 via the communication unit 201. The communication unit 201 also receives instructions from the control panel 100, and the control unit 202 controls the turning on and off of the lighting device 240 in accordance with the instructions.

[0017] Next, the hall call device 300 will be described. The hall call device 300 is installed at the hall and is connected by wire or wirelessly to an operation panel 310 provided on the wall of the hall and to the control panel 100. Here, the hall is a place on each floor where users and robots 500 wait for the arrival of the car 50. The hall call device 300 is a device that controls each part of an operation panel 310, receives destination directions from users, and performs processing in response to user operations.

[0018] Here, a platform call is an operation performed by a user at a platform to make a car 50 heading in either the up or down direction arrive at the platform. A platform call includes the destination direction and the floor at which the platform call was made. A platform call is also sometimes called a car call.

[0019] The operation panel 310 receives various operations from users and notifies various information at the boarding area. The operation panel 310 is provided with a push button (not shown) for specifying the direction of travel (up or down), a non-contact sensor (not shown), a speaker 311, a display unit 312 such as a liquid crystal display, and the like.

[0020] The hall call device 300 includes a communication unit 301 and a control unit 302. The communication unit 301 controls communication with the control board 100 . The control unit 302 receives a platform call from the operation panel 310 , in which the user has specified the direction of travel using a push button or a non-contact sensor, and transmits the platform call to the control panel 100 via the communication unit 301 .

[0021] Next, the control panel 100 will be described. The control panel 100 controls the entire elevator. The control panel 100 is connected to the drive device by wire or wirelessly so as to be able to send and receive various signals. The control panel 100 is also connected to a destination floor call device 200 installed in the car 50 so as to be able to send and receive various signals. The control panel 100 is also connected to a hall call device 300 installed at the hall so as to be able to send and receive various signals. The control panel 100 receives destination floor calls and hall calls, and controls the drive device based on the destination floor, the floor where the hall call was made, and the destination direction, and controls the lifting and lowering of the car 50. In addition, the control panel 100 is connected to a plurality of robots 500 via wireless communication.

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

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

[0024] The robot-only operation control unit 103 controls a robot-only operation that operates the elevator by allowing only the robot 500 to ride in the car 50 without allowing a user to ride in the car 50. Here, the robot-only operation is an example of an autonomous moving body-only operation. In addition, the robot-only operation control unit 103 executes robot-only operation when the communication unit 101 does not receive a detection signal from the human presence sensor 220 from the destination floor call device 200 and does not detect a user inside the car 50.

[0025] The normal operation control unit 104 controls normal operation in which the elevator is operated in a state in which the robot 500 and a user can ride in the car 50 together.

[0026] The registration unit 102 registers a destination floor call received from the destination floor call device 200 and a hall call received from the hall call device 300, and enables the elevator car 50 to ascend and descend based on the destination floor call and the hall call. Furthermore, when the communication unit 101 receives a hall call while the robot-only operation is being performed, the registration unit 102 invalidates the hall call without registering it.

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

[0028] Furthermore, the registration unit 102 determines a destination direction in which the elevator car 50 will move, where the number of destination floor calls for the same destination direction is equal to or greater than a predetermined threshold value, and registers the destination floor call that is the determined destination direction.

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

[0030] The control unit 105 performs various controls of the elevator. For example, the control unit 105 receives a destination floor call and a hall call, and controls the drive device and the lifting and lowering of the car 50 based on the destination floor, the floor where the hall call was made, and the destination direction.

[0031] When the robot-only operation control unit 103 transitions to robot-only operation, the notification unit 106 causes the communication unit 101 to transmit an instruction to the destination floor call device 200 and the platform call device 300 to notify the inside of the car 50 and the platform that the system is transitioning to robot-only operation.

[0032] Furthermore, in this embodiment, when the doors of the car 50 are open at the landing, and the communication unit 101 receives a detection signal from the destination floor call device 200 during robot-only operation indicating that the human presence sensor 220 has detected a user at the landing, the control unit 105 transmits an instruction to the destination floor call device 200 via the communication unit 101 to turn off the lighting device 240 in the car 50.

[0033] In addition, when the communication unit 101 receives a detection signal from the destination floor call device 200 indicating that the human presence sensor 220 has detected a user inside the car 50 during robot-only operation, the notification unit 106 causes the communication unit 101 to transmit a notification instruction to the destination floor call device 200 and the hall call device 300 to guide the user into the car 50 to disembark.

[0034] In addition, after the door of the car 50 is opened, when the communication unit 101 receives a detection signal from the destination floor call device 200 indicating that the human presence sensor 220 has detected a user inside the car 50, the notification unit 106 causes the communication unit 101 to transmit an instruction to the destination floor call device 200 and the hall call device 300 to issue an alarm inside the car 50.

[0035] When the various notification instructions as described above are received by the destination floor call device 200 and the hall call device 300, various notifications and alarms are output from the speakers 211, 311 and displays 212, 312 on the operation panels 210, 310 in the elevator car 50 and at the halls.

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

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

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

[0039] The determination unit 152 determines whether the floor of the boarding station is a floor where both disembarking and boarding occur based on the registered destination floor call, and if the floor of the boarding station is a floor where both disembarking and boarding occur, it secures an area in front of the door of the car 50 at the boarding station where the disembarking robot 500 can disembark, and determines the arrangement of one or more robots 500 in the order of disembarking.

[0040] In addition, when the floor of the platform is a floor where only disembarking occurs, the determination unit 152 determines the placement of one or more robots 500 in the disembarking order from in front of the door of the car 50 at the platform.

[0041] When changing the placement of the robot 500 after it boards the car 50, the determination unit 152 determines whether the robot 500 in the car 50 will disembark at the next floor based on the destination floor call, and if it is determined that the robot 500 in the car 50 will disembark at the next floor, determines the placement of one or more robots 500 in the car 50 in the rearrangement order at the time of disembarkation.

[0042] Here, the rearrangement order at the time of disembarking is the order in which one or more robots 500 are arranged in the car 50 in the order in which passengers disembark, starting from the door of the car 50.

[0043] 2 and 3 are diagrams showing an example of the rearrangement order at the time of disembarking in the embodiment. Fig. 2 shows an example in which the door opens to the left and right, and Fig. 3 shows an example in which the door opens in a sliding style. Also, Figs. 2 and 3 show examples in which there are three, eight, and fifteen robots 500. The numbers indicate the disembarking order. As shown in Figs. 2 and 3, in the rearrangement order at the time of disembarking, the robots 500 are arranged in front of the door in the order of disembarking.

[0044] Returning to FIG. 1, when the robot 500 boards the car 50 and then the positioning is changed, the determination unit 152 determines the positioning of one or more robots 500 in the car 50 in the rearrangement order at the time of boarding if it determines that the robot 500 in the car will not disembark at the next floor. Here, the rearrangement order at the time of boarding refers to the arrangement of one or more robots 500 in the elevator 50 in the order in which they are disembarked, with an area secured in front of the door of the elevator 50 in which the robots 500 boarding can board.

[0045] 4 and 5 are diagrams showing an example of the rearrangement order at the time of boarding in the embodiment. FIG. 4 shows an example in which the door opens to the left and right, and FIG. 5 shows an example in which the door opens in a sliding style. Also, both of FIGS. 4 and 5 show examples in which there are three, eight, and fifteen robots 500. The numbers indicate the disembarking order. As shown in FIGS. 4 and 5, in the rearrangement order at the time of boarding, the robots 500 are arranged in the disembarking order, with a boarding space left in front of the door.

[0046] Returning to FIG. 1, more specifically, the determination unit 152 determines that the placement of one or more robots 500 within the car 50 is in the order of disembarking, and that the one or more robots 500 are caused to move around the outer periphery within the car.

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

[0048] Returning to Fig. 1, when the arrangement of one or more robots 500 that will disembark next in the car 50 is not arranged in disembarking order along the outer periphery, the determination unit 152 temporarily moves the robot 500 that will change the disembarking order to the center of the car 50, makes the robots 500 that will be cut in on the outer periphery move around the outer periphery in succession, and moves the robot 500 in the center position to an empty area on the outer periphery. Then, the determination unit 152 makes the robots 500 move around so that the leading robot 500 that will disembark next is placed at the location with the highest rank in the rearrangement rank at the time of boarding or the rearrangement rank at the time of disembarking.

[0049] 7 is a diagram showing an example of rearrangement of a plurality of robots 500 in an embodiment. When the robots 500 get on the car 50, the rearrangement arrangement of the plurality of robots 500 is determined so as to correspond to the disembarking order, as described above. Then, the robots 500 that receive a movement instruction in this arrangement are rearranged by circulating clockwise around the outer periphery of the car 50, as shown in FIG.

[0050] Furthermore, when the determination unit 152 determines, based on the destination floor call, that the travel distance to the destination floor where the car 50 next stops is shorter than a predetermined number of floors, it performs only patrol movement around the outer periphery to arrange the robot 500 with the highest rank in the disembarking order and determines the arrangement. Here, the running of the car 50 when the travel distance is shorter than the predetermined number of floors may be referred to as a short run.

[0051] The instruction unit 153 transmits, via the wireless communication unit 151, movement instructions including boarding instructions, disembarking instructions, and the like, as well as movement instructions to the location determined by the determination unit 152, to each of the multiple robots 500. The instruction unit 153 and the wireless communication unit 151 are an example of a transmission unit. The wireless communication unit 151 is an example of a reception unit.

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

[0053] The wireless communication unit 501 controls wireless communication with the control panel 100. The wireless communication unit 501 of this embodiment receives a movement instruction specifying an arrangement in the car 50 from the control panel 100. The wireless communication unit 501 is an example of a second receiving unit. The position detection unit 503 acquires the current position. The position detection unit 503 is configured with, for example, a GPS.

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

[0055] The traveling control unit 504 drives and controls a drive motor (not shown) based on the movement instruction received by the wireless communication unit 501 to travel its own robot 500. Specifically, the traveling control unit 504 controls the traveling of its own robot 500 so that it moves to a placement location in the car 50 specified by the movement instruction.

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

[0057] First, the control panel 100 executes a robot-dedicated operation start determination process for determining whether or not to start a robot-dedicated operation (S11). Here, the robot-dedicated operation start determination process will be described. FIG. 9 is a flowchart illustrating an example of a procedure of a robot-dedicated operation start determination process according to the embodiment.

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

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

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

[0061] On the other hand, if the number of destination floor calls in the same direction is greater than the predetermined threshold (S45: Yes), the notification unit 106 transmits an instruction to notify the destination floor call device 200 and the hall call device 300 via the communication unit 101 that the transition to robot-only operation is underway. Furthermore, even if the communication unit 101 receives a hall call, the registration unit 102 invalidates it without registering it (S46).

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

[0063] In S43, if the door of the car 50 is open or there is no other call registration (S43: No), the notification unit 106 transmits an instruction to notify that the transition to robot-only operation is underway to the destination floor call device 200 and the hall call device 300 via the communication unit 101. Furthermore, even if the communication unit 101 receives a hall call, the registration unit 102 invalidates it without registering it (S44).

[0064] Then, in S48, the determination unit 152 detects a user in the car 50 by checking the number of detection signals of the human presence sensor 220 received by the communication unit 101 from the destination floor call device 200 (S48). Then, the notification unit 106 judges whether the number of users in the car 50 is 0 or not from the number of detection signals (S49). If the number of users in the car 50 is not 0, that is, if a user is present in the car 50 (S49: No), the notification unit 106 transmits an instruction to notify the destination floor call device 200 and the hall call device 300 via the communication unit 101 of a disembarking guidance notification, which is a guidance to disembark from the car 50 (S50). Then, the process returns to S48.

[0065] When the number of users in the car 50 is 0, that is, when there are no users in the car 50 (S49: Yes), the robot-only operation control unit 103 starts robot-only operation. Then, the notification unit 106 transmits a display instruction to the effect that robot-only operation is in progress to the destination floor call device 200 and the hall call device 300 via the communication unit 101. Furthermore, even if the communication unit 101 receives a hall call, the registration unit 102 does not register it and invalidates it (S51).

[0066] Next, the determination unit 152 determines the operating direction of the elevator car 50 to be the direction having the greater number of directions of the destination floor calls (S52). Then, the process returns to the call source.

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

[0068] If the robot is in dedicated operation in S12 (S12: Yes), the registration unit 102 registers destination floor calls in the same direction as the operating direction of the car 50, and the determination unit 152 calculates the disembarking order of the target robots 500 with destination floors in the same direction at each floor's boarding area based on the destination floors of the destination call (S13).

[0069] Next, the determination unit 152 determines whether the floor of the boarding platform is a floor where disembarking and boarding occur based on the destination floor call (S14). If the floor of the boarding platform is a floor where disembarking and boarding occur (S14: Yes), the determination unit 152 leaves a space in front of the door at the boarding platform where the robot 500 disembarking from the car 50 can disembark, and determines the rearrangement of the target robot 500 to be placed in front of the car 50 in disembarking order (S16).

[0070] On the other hand, if it is determined in S14 that the floor of the boarding platform is not one where disembarking and boarding occur (S14: No), the determination unit 152 determines that the target robot 500 should be rearranged so that it is positioned in front of the car 50 in disembarking order, without leaving any space in front of the door at the boarding platform (S15).

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

[0072] Next, the instruction unit 153 instructs the target robot 500 via the wireless communication unit 151 to get into the car 50 and move clockwise around the outer periphery after getting in (S18). Next, the control panel 100 executes a cut-in boarding prevention control process (S19).

[0073] Here, the cut-in prevention control process of S19 will be described. FIG. 10 is a flowchart illustrating an example of a procedure of the cut-in prevention control process according to the embodiment.

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

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

[0076] Next, the control unit 105 judges whether the communication unit 101 has received a detection signal from the human presence sensor 220 from the destination floor call device 200, or whether the communication unit 101 has detected a passenger getting off from inside the car 50 by an image captured by the camera 230 (S75). If the communication unit 101 detects a passenger getting off from inside the car 50 (S75: Yes), the control unit 105 transmits an instruction to the destination floor call device 200 and the hall call device 300 via the communication unit 101 to stop outputting a buzzer as an alarm (S76). This stops the full-occupancy buzzer output from the speakers 211, 311 of the destination floor call device 200 and the hall call device 300.

[0077] Next, the control unit 105 determines whether or not the communication unit 101 has received a detection signal from the human presence sensor 220 from the destination floor call device 200, or whether or not the passengers have completed boarding and disembarking from the elevator 50 based on an image captured by the camera 230 (S77).

[0078] Here, if no user is detected at the platform in S71 (S71: No), if no user is detected getting on in the car 50 in S73 (S73: No), or if no user is detected getting off from inside the car 50 in S75 (S75: No), the control unit 105 also determines in S77 whether or not the robot 500 has completed boarding and disembarking.

[0079] If passengers have not yet boarded or alighted from the car 50 (S77: No), the process returns to S71, and the control panel 100 executes the processes from S71 to S77. If passengers have completely boarded or alighted from the car 50 (S77: Yes), the control unit 105 transmits an instruction to the destination floor call device 200 via the communication unit 101 to turn off the lighting device 240, thereby turning off the lights in the car 50, and closes the doors (S78). Then, the process returns to the call source.

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

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

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

[0083] Next, the determination unit 152 judges whether the robot 500 that will disembark next is lined up in disembarking order (i.e., priority order) from the captured image of the camera 230 etc. received from the destination floor call device 200 (S94). If the robot 500 that will disembark next is lined up in disembarking order (S94: Yes), the determination unit 152 judges whether the robot 500 that will disembark next is lined up in disembarking order (i.e., priority order) from the captured image of the camera 230 etc. received from the destination floor call device 200 (S97). If the robot 500 that will disembark next is lined up in disembarking order (S97: Yes), the process returns to the call source.

[0084] If the next robot 500 to disembark is not lined up in disembarking order (S97: No), the decision unit 152 judges whether the travel distance of the car 50 is less than the predetermined number of floors (S98). If the travel distance of the car 50 is less than the predetermined number of floors (S98: Yes), the process returns to the caller.

[0085] On the other hand, if the moving distance of the car 50 is equal to or greater than the predetermined number of floors (S98: No), the determination unit 152 executes the following sorting process (S99). (1) The determination unit 152 temporarily evacuates the robot 500 for which the disembarking order is to be changed from among the robots 500 that are not lined up in disembarking order along the outer periphery to the center position of the car 50. Next, (2) the determination unit 152 causes the robot 500 arranged clockwise in front of the outer periphery area where the evacuated robot 500 is to be cut in to move around the outer periphery in succession. Next, (3) the determination unit 152 moves the robot 500 in the center position to the vacant outer periphery area. Then, (4) the determination unit 152 causes the robot 500 to move around so that the robot 500 at the front that will disembark next is placed at the highest position in the sorting order at the time of boarding or the sorting order at the time of disembarking. After such sorting processing is performed, the process returns to the caller.

[0086] If the robot 500 that disembarks next is not lined up in disembarking order in S94 (S94: No), the determination unit 152 determines whether the travel distance of the car 50 is less than a predetermined number of floors, that is, whether it is a short run (S95). If the travel distance of the car 50 is equal to or greater than the predetermined number of floors (S95: No), the process proceeds to S99, and the determination unit 152 executes the above-mentioned sorting process (S99).

[0087] If the moving distance of the car 50 is less than the predetermined number of floors in S95, that is, if it is a short run (S95: Yes), the determination unit 152 determines the placement of the robot 500 so that it moves around the periphery to match only the location with the highest rank in the rearrangement order when boarding or when disembarking (S96). Then, the process returns to the call source.

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

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

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

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

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

[0093] First, the registration unit 102 determines whether or not there is still a destination floor call (S111). If there is a destination floor call (S111: Yes), the robot-only operation control unit 103 determines whether or not the elapsed time of the robot-only operation is greater than a predetermined threshold (S112).

[0094] When the elapsed time of the robot-only operation is equal to or less than a predetermined threshold (S112: No), the robot-only operation control unit 103 determines the direction according to each destination floor call from the information on the current position of the robot 500 and the destination floor call (S113). Then, the robot-only operation control unit 103 determines the operation direction of the car 50 according to the greater number of directions of each destination floor call (S114).

[0095] Next, the robot-only operation control unit 103 continues the robot-only operation. The control unit 105 transmits an instruction to the destination floor call device 200 and the hall call device 300 via the communication unit 101 to display that the robot-only operation is in progress, and the registration unit 102 invalidates the destination floor call and the hall call without registering them (S115). Then, the process returns to the call source.

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

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

[0098] As described above, in this embodiment, the control panel 100 is equipped with a wireless communication unit 151 that receives destination floor calls and the current positions of the one or more robots 500 from one or more robots 500, a robot-only operation control unit 103 that executes robot-only operation in which only one or more robots 500 are operated by riding in the car 50, and a determination unit 152 that, when the wireless communication unit 151 receives one or more destination floor calls while the car 50 is moving up and down with its door closed, determines the disembarking order of the one or more robots 500 based on the one or more destination floors and the current positions of the one or more robots 500 and determines the placement of the one or more robots 500 in the car 50 in the determined disembarking order, and an instruction unit 153 that transmits a movement instruction to the placement determined by the determination unit 152 to each of the one or more robots 500 via the wireless communication unit 151.

[0099] Therefore, according to this embodiment, the robot 500 can be efficiently rearranged inside the car 50 while the car 50 is moving with the doors of the car 50 closed, thereby shortening the time it takes for the robot 500 to board and disembark after the doors are opened.

[0100] In addition, the control panel 100 in this embodiment is equipped with a registration unit 102 that registers one or more destination floor calls that have the same destination direction as the movement direction of the car 50 from one or more destination floor calls received by the wireless communication unit 151 and the respective current positions of the one or more robots 500, and the determination unit 152 determines the disembarking order of the robots 500 on each floor based on the destination floors in the one or more destination floor calls registered in the registration unit 102 and the respective current positions of the one or more robots 500.

[0101] For this reason, according to this embodiment, a destination floor call in the same direction as the movement direction of the car 50 is registered and robot-only operation is performed, so that the robot 500 can be efficiently rearranged in the car 500 while the car 50 is moving with the doors of the car closed, thereby shortening the time it takes for the robot 500 to board and disembark after the doors are opened.

[0102] Furthermore, in the control panel 100 according to this embodiment, the determination unit 152 determines whether or not the robot 500 in the elevator car 50 will disembark at the next floor based on the destination floor call, and if it is determined that the robot 500 in the elevator car 50 will disembark at the next floor, determines the placement of one or more robots 500 in the elevator car 50 in the disembarking order starting from in front of the door.

[0103] Therefore, in this embodiment, when the robot 500 disembarks from the car 50 at the next floor, the placement of one or more robots 500 in the car 50 is determined in the disembarking order from in front of the door, thereby enabling smooth disembarkation while shortening the time it takes for the robot 500 to board and disembark after the door is opened.

[0104] Furthermore, in the control panel 100 according to this embodiment, when the determination unit 152 determines that the robot 500 in the car 50 will not disembark at the next floor, the determination unit 152 determines the placement of one or more robots 500 in the car 50 in the order of disembarking, by reserving an area in front of the door of the car 50 where the robots 500 boarding can board.

[0105] For this reason, in this embodiment, when a robot 500 boards the car 50 at the next floor, the placement of one or more robots 500 in the car 50 is determined in the disembarking order by securing an area in front of the door of the car 50 where the boarding robot 500 can board, thereby allowing the robot 500 to board smoothly while shortening the boarding and disembarking time of the robot 500 after the door is opened.

[0106] Furthermore, in the control panel 100 according to this embodiment, the determination unit 152 determines that the one or more robots 500 are arranged in the elevator 50 in the order in which passengers disembark, and that the one or more robots 500 move around the outer periphery within the elevator 50 in accordance with the order in which passengers disembark.

[0107] Therefore, in this embodiment, the position of the robot 500 can be smoothly changed by the robot 500 moving around inside the car 50, thereby shortening the time it takes for the robot 500 to board and disembark after the door is opened.

[0108] Furthermore, in the control panel 100 according to this embodiment, when the position of one or more robots 500 that will disembark next in the car 50 is not in the disembarking order, the determination unit 152 retreats the robot 500 that is to change its disembarking order to the center position of the car 50, and causes the robot 500 that is to cut in to move continuously around the outer periphery, and moves the robot 500 in the central position to the vacant area of ​​the outer periphery.

[0109] Therefore, in this embodiment, the location of the robot 500 can be smoothly changed, so that the time it takes for the robot 500 to board and disembark after the door is opened can be shortened.

[0110] Furthermore, in the control panel 100 according to this embodiment, when the determination unit 152 determines, based on the destination floor call, that the distance to the next destination floor where the car 50 will stop is less than a predetermined number of floors, it determines the placement of the robot 500 by only patrolling the outer periphery to align it with the robot 500 that has the highest rank in the disembarking order.

[0111] Therefore, according to this embodiment, when there is not much time until the next floor, a minimum amount of rearrangement is performed by adjusting only the position of the robot 500 that has the highest rank in the disembarking order, thereby avoiding the problem that rearrangement is not completed even after the doors are opened, which would result in an increase in the boarding and disembarking times of the robots 500.

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

[0113] In the above embodiment, the robot 500 detects its own current position by the position detection unit 503, but the control panel 100 may be configured to receive an image captured by the camera 230 of the car 50 or a detection signal from the human sensor 220, and acquire the current position of the robot 500 from the received captured image or detection signal, thereby assisting the position detection by the position detection unit 503. In this case, the accuracy of detection of the current position of the robot 500 can be improved.

[0114] In the above embodiment, the multiple robots 500 are described on the assumption that they are substantially the same size, but this is not limited thereto, and the robots 500 of different sizes may be configured to ride together in the car 50. In this way, when robots 500 of different sizes are to ride together in the car 50, the control panel 100 may be configured so that all the robots are of maximum size and are evenly arranged inside the car 50.

[0115] The control panel 100, robot 500, destination floor call device 200, and hall call device 300 in the above-mentioned embodiments and modified examples are configured as hardware including a control device such as a CPU, a storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an external storage device such as an HDD (Hard Disc Drive), an SSD (Solid State Drive), or a CD drive device.

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

[0117] The elevator control program executed by the control panel 100 according to the above embodiment and the modified example is provided in a state that it is pre-installed in a ROM or the like.

[0118] The elevator control program executed by the control panel 100 according to the above-mentioned embodiments and modified examples may be configured to be provided by recording it on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a digital versatile disk (DVD) in an installable or executable format.

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

[0120] Furthermore, the elevator control program executed by the control panel 100 according to the above embodiment and the modified example may be configured to be provided or distributed via a network such as the Internet.

[0121] The elevator control program executed on the control panel 100 in the above-mentioned embodiment and modified example has a modular structure including each of the above-mentioned functional units (communication unit 101, registration unit 102, robot-only operation control unit 103, normal operation control unit 104, control unit 105, alarm unit 106, wireless communication unit 151, decision unit 152, instruction unit 153), and in terms of actual hardware, the CPU reads out the elevator control program from the above-mentioned ROM and executes it, thereby loading each of the above-mentioned units onto the main memory device, and each of the functional units is generated on the main memory device.

[0122] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims.

[0123] (Additional Note) In the above elevator control device, The registration unit determines a destination direction in which the number of destination floor calls having the same destination direction is above a predetermined threshold as the destination direction in which the elevator will move, and registers the destination floor call that is the determined destination direction.

[0124] In the above elevator control device, When there are multiple destination directions for which the number of destination floor calls for the same destination direction is above a predetermined threshold, the registration unit determines the destination direction for which the number of destination floor calls is greater as the destination direction in which the elevator will move.

[0125] In the above elevator control device, The autonomous mobile body-exclusive operation control unit further performs operation exclusive to the autonomous mobile body when a detection unit capable of detecting the presence of the user inside the elevator or at a boarding area where the user or autonomous mobile body is waiting does not detect the user inside the elevator.

[0126] In the above elevator control device, The vehicle further includes an alarm unit that, when the autonomous mobile body-dedicated operation control unit transitions to the autonomous mobile body-dedicated operation, notifies people inside the car and at the boarding area that the vehicle is transitioning to the autonomous mobile body-dedicated operation.

[0127] In the above elevator control device, When the detection unit detects the user inside the elevator, the notification unit issues a notification into the elevator informing the user that they will be guided to disembark.

[0128] In the above elevator control device, The receiving unit is further capable of receiving a platform call, which is an instruction for causing the elevator to arrive at the platform, specifying a destination direction, either up or down, from a platform where a user who wishes to board the elevator is waiting, and When the receiving unit receives the hall call while the autonomous mobile body-exclusive operation is being performed, the registration unit invalidates the hall call.

[0129] In the above elevator control device, The vehicle further includes a control unit that, when the elevator has its doors open at the platform and the detection unit detects the user at the platform, turns off a lighting device capable of illuminating the inside of the elevator.

[0130] In the above elevator control device, The notification unit issues an alarm inside the car when the detection unit detects the user inside the car after the car door is opened. [Explanation of symbols]

[0131] 1...elevator control system, 50...car, 100...control panel, 101...communication unit, 102...registration unit, 103...robot-only operation control unit, 104...normal operation control unit, 105...control unit, 106...alarm unit, 150...robot control unit, 151...wireless communication unit, 152...determination unit, 153...instruction unit, 500...robot, 200...destination floor call device, 220...human presence sensor, 230...camera, 240...lighting device, 300...landing call device, 501...wireless communication unit, 502...destination floor request unit, 503...position detection unit, 504...travel control unit.

Claims

1. An elevator control device that is connected to a plurality of autonomous moving bodies that can ride in an elevator via a network and controls the elevator, A receiving unit that receives, from one or more autonomous moving bodies, a destination floor call, which is an instruction to move the autonomous moving body or a car that a user can board to a desired destination floor, and a current position of each of the one or more autonomous moving bodies; an autonomous mobile body dedicated operation control unit that executes an autonomous mobile body dedicated operation in which only the one or more autonomous mobile bodies are driven in the elevator; a determination unit, when the receiving unit receives the one or more destination floor calls during the execution of the autonomous mobile body-exclusive operation, that determines the disembarking order of the one or more autonomous mobile bodies based on the one or more destination floors and the respective current positions of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determines the placement of the one or more autonomous mobile bodies in the car in the determined disembarking order; a transmitter that transmits a movement instruction to the arrangement determined by the determination unit to each of the one or more autonomous moving bodies; A registration unit that registers the one or more destination floor calls received by the receiving unit and the one or more destination floor calls that are in the same destination direction as the moving direction of the elevator car from the current positions of the one or more autonomous moving bodies, The determination unit determines a disembarking order of the autonomous moving bodies at each floor based on the destination floors in the one or more destination floor calls registered by the registration unit and the current positions of the one or more autonomous moving bodies, The determination unit determines that the one or more autonomous moving bodies are arranged in the elevator car in a disembarking order so as to circulate the one or more autonomous moving bodies around an outer periphery within the elevator car. Elevator control device.

2. The determination unit determines whether the autonomous moving body in the elevator car will disembark at the next floor based on the destination floor call, and when it is determined that the autonomous moving body in the elevator car will disembark at the next floor, determines the placement of the one or more autonomous moving bodies in the elevator car in the disembarking order from in front of the door.

2. The elevator control device according to claim 1.

3. When the determination unit determines that the autonomous moving body in the elevator will not disembark at the next floor, the determination unit determines the arrangement of the one or more autonomous moving bodies in the elevator in the disembarking order by securing an area in front of a door of the elevator where the autonomous moving body that is boarding can board. The elevator control device according to claim 2.

4. When the arrangement of the one or more autonomous moving bodies that will disembark next in the elevator is not arranged in disembarking order along the outer periphery, the determination unit temporarily evacuates the autonomous moving body that will change the disembarking order to a central position of the elevator, continuously causes the autonomous moving bodies that are to be cut in on the outer periphery to circulate around the outer periphery, and moves the autonomous moving body in the central position to an empty area of ​​the outer periphery.

2. The elevator control device according to claim 1.

5. An elevator control device that is connected to a plurality of autonomous mobile objects that can ride in an elevator via a network and controls the elevator, A receiving unit that receives, from one or more autonomous moving bodies, a destination floor call, which is an instruction to move the autonomous moving body or a car that a user can board to a desired destination floor, and a current position of each of the one or more autonomous moving bodies; an autonomous mobile body dedicated operation control unit that executes an autonomous mobile body dedicated operation in which only the one or more autonomous mobile bodies are driven in the elevator; a determination unit, when the receiving unit receives the one or more destination floor calls during the execution of the autonomous mobile body-exclusive operation, that determines the disembarking order of the one or more autonomous mobile bodies based on the one or more destination floors and the respective current positions of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determines the placement of the one or more autonomous mobile bodies in the car in the determined disembarking order; a transmitter that transmits a movement instruction to the arrangement determined by the determination unit to each of the one or more autonomous moving bodies; A registration unit that registers the one or more destination floor calls received by the receiving unit and the one or more destination floor calls that are in the same destination direction as the moving direction of the elevator car from the current positions of the one or more autonomous moving bodies, The determination unit determines a disembarking order of the autonomous moving bodies at each floor based on the destination floors in the one or more destination floor calls registered by the registration unit and the current positions of the one or more autonomous moving bodies, When the determination unit determines, based on the destination floor call, that the distance to the destination floor at which the elevator car will next stop is shorter than a predetermined number of floors, the determination unit performs only patrol movement around the outer periphery to arrange the autonomous moving body having the highest rank in the disembarking order, and determines the arrangement. Elevator control device.

6. An elevator control system comprising: a plurality of autonomous moving bodies that can ride in an elevator; and an elevator control device that is connected to the plurality of autonomous moving bodies via a network and controls the elevator, Each of the plurality of autonomous moving bodies includes A location detection unit for acquiring a current location; a destination floor request unit that transmits a destination floor call, which is an instruction to move the autonomous moving body or a car that a user can board to a desired destination floor, and the current location to the elevator control device; The elevator control device includes: A receiving unit that receives the destination floor call and each of the one or more autonomous moving bodies from one or more autonomous moving bodies; an autonomous mobile body dedicated operation control unit that executes an autonomous mobile body dedicated operation in which only the one or more autonomous mobile bodies are driven in the elevator; a determination unit, when the receiving unit receives the one or more destination floor calls during the execution of the autonomous mobile body-exclusive operation, that determines the disembarking order of the one or more autonomous mobile bodies based on the one or more destination floors and the respective current positions of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determines the placement of the one or more autonomous mobile bodies in the car in the determined disembarking order; a transmitter that transmits a movement instruction to the arrangement determined by the determination unit to each of the one or more autonomous moving bodies; A registration unit that registers the one or more destination floor calls received by the receiving unit and the one or more destination floor calls that are in the same destination direction as the moving direction of the elevator car from the current positions of the one or more autonomous moving bodies, The determination unit determines a disembarking order of the autonomous moving bodies at each floor based on the destination floors in the one or more destination floor calls registered by the registration unit and the current positions of the one or more autonomous moving bodies, The determination unit determines that the one or more autonomous moving bodies are arranged in the elevator car in a disembarking order so as to circulate the one or more autonomous moving bodies around an outer periphery within the elevator car, Each of the plurality of autonomous moving bodies includes A second receiving unit that receives the movement instruction from the elevator control device; A travel control unit that causes the autonomous moving body to travel based on a received travel instruction; The elevator control system further comprises:

7. An elevator control system comprising: a plurality of autonomous moving bodies that can ride in an elevator; and an elevator control device that is connected to the plurality of autonomous moving bodies via a network and controls the elevator, Each of the plurality of autonomous moving bodies includes A location detection unit for acquiring a current location; a destination floor request unit that transmits a destination floor call, which is an instruction to move the autonomous moving body or a car that a user can board to a desired destination floor, and the current location to the elevator control device; The elevator control device includes: A receiving unit that receives the destination floor call and each of the one or more autonomous moving bodies from one or more autonomous moving bodies; an autonomous mobile body dedicated operation control unit that executes an autonomous mobile body dedicated operation in which only the one or more autonomous mobile bodies are driven in the elevator; a determination unit, when the receiving unit receives the one or more destination floor calls during the execution of the autonomous mobile body-exclusive operation, that determines the disembarking order of the one or more autonomous mobile bodies based on the one or more destination floors and the respective current positions of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determines the placement of the one or more autonomous mobile bodies in the car in the determined disembarking order; a transmitter that transmits a movement instruction to the arrangement determined by the determination unit to each of the one or more autonomous moving bodies; A registration unit that registers the one or more destination floor calls received by the receiving unit and the one or more destination floor calls that are in the same destination direction as the moving direction of the elevator car from the current positions of the one or more autonomous moving bodies, The determination unit determines a disembarking order of the autonomous moving bodies at each floor based on the destination floors in the one or more destination floor calls registered by the registration unit and the current positions of the one or more autonomous moving bodies, When the determination unit determines, based on the destination floor call, that the distance to the destination floor at which the elevator car will next stop is shorter than a predetermined number of floors, the determination unit performs only a patrol movement around the outer periphery to arrange the autonomous moving body having the highest rank in the disembarking order, and determines the arrangement of the autonomous moving body; Each of the plurality of autonomous moving bodies includes A second receiving unit that receives the movement instruction from the elevator control device; A travel control unit that causes the autonomous moving body to travel based on a received travel instruction; The elevator control system further comprises:

8. An elevator control method executed in an elevator control system including a plurality of autonomous moving bodies that can ride in an elevator, and an elevator control device that is connected to the plurality of autonomous moving bodies via a network and controls the elevator, comprising: obtaining a current location; A step in which each of the plurality of autonomous moving bodies transmits to the elevator control device a destination floor call, which is an instruction for moving the autonomous moving body or a car that a user can board to a desired destination floor, and the current location; The elevator control device receives the destination floor call and a current location of each of the one or more autonomous moving bodies from one or more autonomous moving bodies; A step in which the elevator control device executes an autonomous moving body dedicated operation in which only the one or more autonomous moving bodies are loaded into the elevator car and operated; a determination step of, when the one or more destination floor calls are received during the execution of the autonomous mobile body-exclusive operation, determining a disembarking order for the one or more autonomous mobile bodies based on the one or more destination floors and the respective current positions of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determining a placement within the car of the one or more autonomous mobile bodies that are riding in the car in the determined disembarking order; The elevator control device transmits a movement instruction to the determined arrangement to each of the one or more autonomous moving bodies; and registering the one or more destination floor calls that are in the same destination direction as the moving direction of the elevator based on the received one or more destination floor calls and the current positions of the one or more autonomous moving bodies, The determination step determines a disembarking order of the autonomous moving bodies at each floor based on destination floors in the one or more registered destination floor calls and current positions of the one or more autonomous moving bodies, The determining step determines the one or more autonomous moving bodies to move circulatingly around an outer periphery in the car so that the arrangement of the one or more autonomous moving bodies in the car is in a disembarking order, The elevator control method includes: Each of the plurality of autonomous moving bodies receives the movement instruction from the elevator control device; A step of causing each of the plurality of autonomous moving bodies to travel based on a received movement instruction; The elevator control method further comprises:

9. An elevator control method executed in an elevator control system including a plurality of autonomous moving bodies capable of riding in an elevator, and an elevator control device connected to the plurality of autonomous moving bodies via a network and controlling the elevator, comprising: obtaining a current location; A step in which each of the plurality of autonomous moving bodies transmits to the elevator control device a destination floor call, which is an instruction for moving the autonomous moving body or a car that a user can board to a desired destination floor, and the current location; The elevator control device receives the destination floor call and a current location of each of the one or more autonomous moving bodies from one or more autonomous moving bodies; A step in which the elevator control device executes an autonomous moving body dedicated operation in which only the one or more autonomous moving bodies are loaded into the elevator car and operated; a determination step of, when the one or more destination floor calls are received during the execution of the autonomous mobile body-exclusive operation, determining a disembarking order for the one or more autonomous mobile bodies based on the one or more destination floors and the respective current positions of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determining a placement within the car of the one or more autonomous mobile bodies that are riding in the car in the determined disembarking order; The elevator control device transmits a movement instruction to the determined arrangement to each of the one or more autonomous moving bodies; and registering the one or more destination floor calls that are in the same destination direction as the moving direction of the elevator based on the received one or more destination floor calls and the current positions of the one or more autonomous moving bodies, The determination step determines a disembarking order of the autonomous moving bodies at each floor based on destination floors in the one or more registered destination floor calls and current positions of the one or more autonomous moving bodies, When it is determined based on the destination floor call that the distance to the destination floor at which the elevator car will next stop is shorter than a predetermined number of floors, the determination step performs only a patrol movement around the outer periphery to arrange the autonomous moving body having the highest rank in the disembarking order and determines the arrangement; The elevator control method includes: Each of the plurality of autonomous moving bodies receives the movement instruction from the elevator control device; A step of causing each of the plurality of autonomous moving bodies to travel based on a received movement instruction; The elevator control method further comprises:

10. A program to be executed by a computer of an elevator control device that is connected to a plurality of autonomous moving bodies that can ride in an elevator via a network and controls the elevator, receiving, from one or more autonomous moving bodies, a destination floor call which is an instruction to move the autonomous moving body or a car that a user can board to a desired destination floor, and a current position of each of the one or more autonomous moving bodies; A step of executing an autonomous moving body dedicated operation in which only the one or more autonomous moving bodies are driven in the elevator; a determination step of, when the one or more destination floor calls are received during the execution of the autonomous mobile body-exclusive operation, determining a disembarking order for the one or more autonomous mobile bodies based on the one or more destination floors and the respective current positions of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determining a placement within the car of the one or more autonomous mobile bodies that are riding in the car in the determined disembarking order; Transmitting a movement instruction to the determined arrangement to each of the one or more autonomous moving bodies; and registering the one or more destination floor calls that are in the same destination direction as the moving direction of the elevator car from the received one or more destination floor calls and the current positions of the one or more autonomous moving bodies, The determination step determines a disembarking order of the autonomous moving bodies at each floor based on destination floors in the one or more registered destination floor calls and current positions of the one or more autonomous moving bodies, The determining step determines the one or more autonomous moving bodies to move circulating around an outer periphery in the car so that the arrangement of the one or more autonomous moving bodies in the car is in a disembarking order. program.

11. A program to be executed by a computer of an elevator control device that is connected to a plurality of autonomous mobile objects that can ride in an elevator via a network and controls the elevator, comprising: receiving, from one or more autonomous moving bodies, a destination floor call which is an instruction to move the autonomous moving body or a car that a user can board to a desired destination floor, and a current position of each of the one or more autonomous moving bodies; A step of executing an autonomous moving body dedicated operation in which only the one or more autonomous moving bodies are driven in the elevator; a determination step of, when the one or more destination floor calls are received during the execution of the autonomous mobile body-exclusive operation, determining a disembarking order for the one or more autonomous mobile bodies based on the one or more destination floors and the respective current positions of the one or more autonomous mobile bodies while the door of the car is closed and the car is moving up and down, and determining a placement within the car of the one or more autonomous mobile bodies that are riding in the car in the determined disembarking order; Transmitting a movement instruction to the determined arrangement to each of the one or more autonomous moving bodies; and registering the one or more destination floor calls that are in the same destination direction as the moving direction of the elevator car from the received one or more destination floor calls and the current positions of the one or more autonomous moving bodies, The determination step determines a disembarking order of the autonomous moving bodies at each floor based on destination floors in the one or more registered destination floor calls and current positions of the one or more autonomous moving bodies, When it is determined based on the destination floor call that the distance to the destination floor where the elevator car will next stop is shorter than a predetermined number of floors, the determination step performs only a patrol movement around the outer periphery for arranging the autonomous moving body having the highest rank in the disembarking order and determines the arrangement. program.

Images