Elevator control device, mobile body, and method for controlling a mobile body using an elevator

Abstract

To provide an elevator control device so that a user and an autonomous movable object can safely ride together in a car while not reducing elevator user convenience.SOLUTION: An elevator control device comprises an aptitude map storage part, a boarding candidate position determination part, and a movable body information processing part which are communicably connected to an autonomous movable object moving using an elevator. The aptitude map storage part stores aptitude map information showing the aptitude as the boarding position of the movable object by the position in the car defining the locations with a lower frequency of the user boarding as the boarding position of the movable object in the elevator car. The boarding candidate position determination part determines the boarding candidate position of the movable object in the car based on the stored aptitude map information. The movable object information processing part generates boarding instruction information to instruct the boarding into the determined boarding candidate position and transmits it.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to an elevator control device, a moving body, and a method for controlling a moving body that uses an elevator. [Background technology]

[0002] In recent years, autonomous mobile objects (hereafter simply referred to as "mobile objects") that perform tasks such as cleaning inside buildings, transporting luggage, and guiding building users have been put into practical use. In buildings with multiple floors, such as buildings, the use of elevators for the mobile objects is essential to perform the above tasks.

[0003] Naturally, elevators are also used by people, so it is important to consider the safety of people when entering and exiting the limited space of an elevator.

[0004] As a safety consideration for people when they use elevators shared by both people and moving objects, one method that could be considered is to prevent people and moving objects from riding in the same elevator, but this would lead to a decrease in the operating efficiency of the elevator, the operational efficiency of the robot, and convenience for users.

[0005] In response to this, various systems have been proposed that take into consideration the safety of people when riding in a moving vehicle together with others. For example, such systems determine the boarding position of the moving vehicle by avoiding positions where passengers are already in the car. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2020-125198 A Summary of the Invention [Problem to be solved by the invention]

[0007] On the other hand, when passengers board a car, they often deliberately avoid areas inside the car where other passengers are expected to enter and exit, such as near the car door or in front of the car control panel.

[0008] In response to this, when the system determines the boarding position of the moving object, it selects an empty area in the car as the boarding position of the moving object regardless of the user's intention as described above. Therefore, there is a problem that an area that the user intentionally avoids boarding may be recognized as an empty area and selected as the boarding position of the moving object, which may reduce the convenience of the user.

[0009] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide an elevator control device, a mobile body, and a control method for a mobile body that uses an elevator, which enable a user and an autonomously movable mobile body to ride together in the elevator car safely without reducing convenience for the user. [Means for solving the problem]

[0010] According to an embodiment for achieving the above object, an elevator control device is communicatively connected to an autonomously travelling mobile body that moves using an elevator, and includes an appropriateness map storage unit, a boarding candidate position determination unit, and a mobile body information processing unit. The appropriateness map storage unit stores appropriateness map information indicating the appropriateness of each position in the elevator car as a boarding position for the mobile body by determining positions in the elevator car that are less frequently used by users as positions with low appropriateness as boarding positions for the mobile body. The boarding candidate position determination unit determines boarding candidate positions for the mobile body in the elevator car based on the stored appropriateness map information. The mobile body information processing unit generates boarding instruction information instructing the mobile body to board at the determined boarding candidate position, and transmits the boarding instruction information to the mobile body. [Brief description of the drawings]

[0011] [Figure 1]1 is an overall view showing a configuration of an elevator system using an elevator control device according to an embodiment; [Diagram 2] 1 is a block diagram showing a detailed configuration of an elevator control device and a moving body according to an embodiment. FIG. [Diagram 3] FIG. 1(a) is a diagram showing the boarding suitability of a moving body set based on the position of the in-car control panel for the floor surface of a passenger car controlled by an elevator control device in one embodiment, and FIG. 1(b) is a diagram showing the boarding suitability of a moving body set based on the position of the car door. [Figure 4] FIG. 4 is a diagram showing an example of an appropriateness map stored in advance by the elevator control device according to one embodiment. [Diagram 5] 4 is a flowchart showing a process executed by an elevator control device according to an embodiment. [Figure 6] 11 is a flowchart showing a process executed by a mobile body according to an embodiment after transmitting hall call information until boarding a car. [Figure 7] 11 is a flowchart showing a process executed by a moving body according to an embodiment when an object is detected on a moving path from getting into a car to a candidate boarding position. [Figure 8] 11 is a flowchart illustrating a process executed when a moving body according to an embodiment detects an object at a candidate entry position. [Figure 9] 11 is a flowchart showing a process executed when a moving body according to an embodiment gets off from a car 13. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, as one embodiment of the present invention, an elevator system using a moving body such as an autonomously movable robot (hereinafter, simply referred to as a "moving body") will be described.

[0013] Configuration of an elevator system according to an embodiment 1 is an overall view showing a configuration of an elevator system 1 according to one embodiment. The elevator system 1 includes an elevator 10 and a moving body 30 connected to the elevator 10 so as to be able to communicate with each other.

[0014] The elevator 10 includes a hoist 11, a car 13 suspended from a rope 12 stretched across the hoist 11, and an elevator control device 20.

[0015] The hoist 11 operates based on instructions from the elevator control device 20 to raise and lower the car 13. The car 13 is connected to the elevator control device 20 via a tail cord 14, and has a car door 131, in-car operation panels 132a, 132b, and 132c, a camera device 133, and a load detection device 134.

[0016] The in-car operation panels 132a, 132b, 132c are used by users to input destination floor designation operations, door opening / closing operations, etc. The in-car operation panel 132a is an operation panel for general users, while the in-car operation panels 132b and 132c are operation panels for wheelchair users. The camera device 133 photographs the inside of the car 13 and analyzes the captured image information to obtain the shapes and positions of the users and the moving objects 30 inside the car 13. The load detection device 134 detects the load applied inside the car 13.

[0017] 2 is a block diagram showing a detailed configuration of the elevator control device 20 and the moving body 30 according to one embodiment. The elevator control device 20 has an appropriateness map storage unit 21, a first wireless communication unit 22, and a first CPU .

[0018] The suitability map storage unit 21 stores suitability map information indicating the suitability of each position in the car 13 as a boarding position for the moving body 30 by determining a position in the car of the elevator 10 where users get on less frequently as a position with low suitability as a boarding position for the moving body 30. The first wireless communication unit 22 performs wireless communication with the moving body 30.

[0019] The first CPU 23 is, for example, a CPU (Central Processing Unit) provided in a general-purpose microcomputer, and configures one or more information processing units described below by installing and executing a predetermined elevator control program. The first CPU 23 has a call registration unit 231, a car information acquisition unit 232, an elevator control unit 233, a boarding candidate position determination unit 234, and a mobile object information processing unit 235 as the two or more information processing units.

[0020] The call registration unit 231 registers information on hall calls made by users operating hall operating panels (not shown) or car calls made by users operating car operating panels 132a, 132b, or 132c. The call registration unit 231 also registers information on boarding and disembarking floors of the moving body 30 acquired from the moving body 30.

[0021] The car inside information acquisition unit 232 acquires information about the inside of the car 13, such as information about the shape and position of users and moving objects inside the car 13 acquired by the camera device 133, detection information by the load detection device 134, and information input from the car inside operation panels 132a, 132b, 132c.

[0022] The elevator control unit 233 raises and lowers the car 13 by operating the hoist 11 based on the information registered in the call registration unit 231 and the information acquired by the car inside information acquisition unit 232.

[0023] The boarding candidate position determination unit 234 judges whether or not the moving body 30 can board the car 13 based on the appropriateness map information stored in the appropriateness map storage unit 21 and the information acquired by the car inside information acquisition unit 232. When the boarding candidate position determination unit 234 judges that the moving body 30 can board the car 13, it determines a boarding candidate position of the moving body 30 in the car 13 based on the appropriateness map information and the information acquired by the car inside information acquisition unit 232.

[0024] In response to a request from the moving body 30, the moving body information processing unit 235 generates and transmits an operation instruction to the moving body 30 based on the information determined by the boarding candidate position determining unit 234, etc.

[0025] The moving object 30 includes a position sensor 31 , a moving mechanism 32 , a proximity sensor 33 , a speaker unit 34 , a map information storage unit 35 , a second wireless communication unit 36 ​​, and a second CPU 37 .

[0026] The position sensor 31 acquires position information (self-position information) of the moving body 30 using, for example, LiDAR or the like. The movement mechanism 32 is a mechanism for moving the moving body 30. The proximity sensor 33 detects an object within a predetermined distance using, for example, infrared rays. The speaker unit 34 outputs audio information.

[0027] The map information storage unit 35 stores hall map information indicating the shape of the hall at each floor and car interior map information indicating the shape of the interior of the car 13. The second wireless communication unit 36 ​​performs wireless communication with the elevator control device 20.

[0028] The second CPU 37 is, for example, a CPU (Central Processing Unit) provided in a general-purpose microcomputer, and configures one or more information processing units described below by installing and executing a predetermined moving object control program. The second CPU 37 has a movement route determination unit 371 and an operation control unit 372 as the two or more information processing units.

[0029] When the movement path determination unit 371 acquires a boarding instruction transmitted from the elevator control device 20, the movement path determination unit 371 determines a movement path to the boarding candidate position indicated by the boarding instruction, using the landing map information and car interior map information stored in the map information storage unit 35. The operation control unit 372 controls the movement mechanism 32 so as to move along the movement path determined by the movement path determination unit 371.

[0030] The car interior map information held by the travel path determination unit 371 and the appropriateness map information stored in the appropriateness map memory unit 21 of the elevator control device 20 are preset so that the starting point of the two-dimensional coordinate position information within the floor surface of the car 13 is aligned with each other.

[0031] Operation of an Elevator System According to an Embodiment The suitability map information stored in advance in the suitability map storage unit 21 in the elevator control device 20 of the elevator system 1 according to this embodiment will be described.

[0032] The suitability map information is information that shows the boarding suitability for each position within the elevator 10 car by designating positions within the elevator 10 car that are less frequently used by users as positions with low suitability (hereinafter referred to as "boarding suitability") as boarding positions for the moving body 30.

[0033] In this embodiment, suitability map information is generated by determining positions close to the in-car operation panels 132a, 132b, 132c inside the car 13, where other users frequently enter and exit, and positions close to the car door 131, i.e., positions close to the boarding and alighting entrance of the car 13, as positions where users board less frequently and have a lower suitability as boarding positions.

[0034] Fig. 3(a) is a diagram showing the suitability of the moving body 30 for boarding at each position on the floor surface of the car 13, which is set based on the positions of the in-car operation panels 132a, 132b, and 132c. Fig. 3(b) is a diagram showing the suitability of boarding at each position in the car 13, which is set based on the position of the car door 131. In Figs. 3(a) and (b), the darker the color, the lower the suitability of the area, and the lighter the color, the higher the suitability of the area.

[0035] 4 is a diagram showing an example of an appropriateness map generated by adding together the information in FIG. 3(a) and the information in FIG. 3(b). The information of the generated appropriateness map is stored in the appropriateness map storage unit 21.

[0036] The following describes an operation example of the elevator system 1, in which the moving body 30 moves between different floors using the elevator 10. When the moving body 30 is at a boarding or alighting floor, the operation control unit 372 of the moving body 30 controls the movement mechanism 32 to approach the elevator 10 based on pre-stored hall map information. When the moving body 30 stops in front of the elevator 10, the operation control unit 372 generates hall call information including information on the boarding floor and the alighting floor in order to use the elevator 10, and transmits the information to the elevator control device 20 via the second wireless communication unit 36.

[0037] Fig. 5 is a flowchart showing the processing executed by the elevator control device 20 from when the elevator control device 20 acquires hall call information from the moving object 30 until the moving object 30 gets off at the alighting floor. Fig. 6 is a flowchart showing the processing executed by the moving object 30 from when the elevator control device 20 transmits hall call information to the elevator control device 20 until the moving object 30 gets on the car 13.

[0038] In the elevator control device 20, the mobile object information processing unit 235 acquires the hall call information acquired from the mobile object 30 via the first wireless communication unit 22, and registers it in the call registration unit 231 ("YES" in S1).

[0039] When the hall call information of the moving body 30 is registered in the call registration unit 231, the boarding candidate position determination unit 234 judges whether or not the moving body 30 can board the car 13 (S2). The boarding candidate position determination unit 234 acquires, for example, load information of the moving body 30 together with the hall call information, and judges that boarding is not possible if the rated load capacity of the car 13 is exceeded when the moving body 30 boards, based on the detection information by the load detection device 134 acquired by the car inside information acquisition unit 232 and the acquired load information of the moving body 30.

[0040] In addition, the candidate boarding position determination unit 234 determines that boarding is not possible if there is no space for the mobile body 30 to board, based on information on the shape and position of the user and the mobile body inside the elevator 13 acquired by the elevator information acquisition unit 232.

[0041] In addition, based on the information on the shape and position of the user and the moving body inside the elevator 13 acquired by the elevator information acquisition unit 232 and the information stored in the suitability map memory unit 21, the candidate boarding position determination unit 234 determines that boarding is not possible if all areas within the elevator 13 where the moving body 30 can board are areas with suitability lower than a predetermined value ("NO" in S2).

[0042] When the boarding candidate position determination unit 234 determines that the moving body 30 cannot board the car 13, the moving body information processing unit 235 generates a boarding impossible notice and transmits it to the moving body 30 (S3). When the moving body 30 receives the boarding impossible notice, it cancels boarding the car 13 and returns to a predetermined waiting position at the elevator hall.

[0043] When the candidate boarding position determination unit 234 determines that there is no reason to determine that boarding is impossible as described above and that the moving body 30 can board the elevator 13 ("YES" in S2), it determines a candidate boarding position for the moving body 30 within the elevator 13 based on the appropriateness map information stored in the appropriateness map memory unit 21 and the information acquired by the elevator information acquisition unit 232 (S4).

[0044] At this time, when the boarding candidate position determination unit 234 has already determined boarding candidate positions in the car 13 for the other moving bodies, it determines the boarding candidate positions of the moving body 30 as boarding candidate positions for the second, third, etc. moving bodies into the car 13 according to the number of the other moving bodies.

[0045] When determining the boarding candidate positions of the second, third, etc. moving bodies, the boarding candidate position determination unit 234 determines the boarding candidate positions from among areas other than the boarding candidate positions of other moving bodies that have already been determined. When the boarding candidate position determination unit 234 is able to acquire shape information of the other moving bodies, it determines the boarding candidate positions of the second, third, etc. moving bodies from among areas other than the ranges occupied by the other moving bodies on the floor surface of the car 13.

[0046] Specifically, the boarding candidate position determination unit 234 determines the boarding candidate position for the mobile body 30 from among the areas with the highest suitability in the suitability map information. For example, the positions indicated by the double circle marks in Fig. 4 are determined as the boarding candidate positions for the mobile body 30. Here, when there are multiple areas with the highest suitability, the boarding candidate position for the mobile body 30 is determined from among the multiple areas with the largest surface area.

[0047] Furthermore, when the boarding candidate position determination unit 234 determines that the moving body 30 can board the car 13, the elevator control unit 233 moves the car 13 to a boarding floor of the moving body 30 and opens the door (S5). When the door of the car 13 opens, the moving body information processing unit 235 generates boarding instruction information including the boarding candidate positions of the moving body 30 determined by the boarding candidate position determination unit 234, and transmits the information to the moving body 30 (S6).

[0048] 6, when the moving body 30 acquires boarding instruction information from the elevator control device 20 ("YES" in S21), the movement route determination unit 371 determines a movement route to the boarding candidate position indicated by the boarding instruction by using the boarding floor platform map information and the car interior map information of the car 13 previously stored in the map information storage unit 35 (S22). This movement route is a route from the current position of the moving body 30 in the elevator platform to the boarding candidate position through the boarding entrance, which is the opening of the car 13 formed when the car door 131 of the car 13 is opened.

[0049] When the movement route determination unit 371 determines the movement route to the boarding candidate position, the operation control unit 372 controls the movement mechanism 32 so as to move along the determined movement route. When the operation control unit 372 controls the movement mechanism 32, the moving object 30 starts moving along the movement route (S23).

[0050] When the proximity sensor 33 detects the presence of a user or an object such as another moving body at the boarding / alighting entrance while the moving body 30 is moving ("YES" in S24), the operation control unit 372 outputs notification information for ensuring the flow of the moving body 30 from the speaker unit 34 (S25). At this time, the operation control unit 372 may output notification information including the moving path of the moving body 30 or a possible boarding position, for example, "The moving body will go straight to the wall behind it."

[0051] When the proximity sensor 33 detects that the object has moved and disappeared from the boarding / alighting door by outputting alarm information from the speaker unit 34 ("YES" in S26), and the operation control unit 372 determines that the moving body 30 can pass through the boarding / alighting door ("YES" in S27), it controls the moving mechanism 32 to allow the moving body 30 to board from the boarding / alighting door into the elevator 13 (S28).

[0052] In step S26, when the object at the entrance / exit continues to be detected without disappearing and a predetermined time has elapsed ("NO" in S26 -> "YES" in S29), the operation control unit 372 cancels boarding into the car 13 and notifies the elevator control device 20 of the cancellation. Also, in step S27, when it is determined that the moving body 30 cannot pass through the entrance / exit due to, for example, a step at the entrance ("NO" in S27), the operation control unit 372 similarly cancels boarding into the car 13 and notifies the elevator control device 20 of the cancellation. The moving body 30 returns to a predetermined waiting position at the elevator hall.

[0053] FIG. 7 is a flowchart showing a process executed when the moving body 30 detects an object on the moving path from when it gets into the car 13 to a candidate entry position.

[0054] When the proximity sensor 33 detects an object on the movement path to the boarding candidate position while the moving object 30 is moving ("YES" in S30), if the movement path determination unit 371 has a detour path calculation function ("YES" in S31), it executes a detour path calculation process. If the movement path determination unit 371 can calculate a detour path ("YES" in S32), it determines the detour path as a new movement path for the moving object 30 (S33), and returns to step S30 to continue the movement operation.

[0055] In step S32, if the travel route determination unit 371 is unable to calculate a detour route ("NO" in S32) and a predetermined time has elapsed ("YES" in S34), the operation control unit 372 causes the speaker unit 34 to output notification information for ensuring the wiring of the moving body 30 (S35).

[0056] When the movement control unit 372 detects that the object has moved and disappeared from the movement path due to the notification information being output from the speaker unit 34 ("YES" in S36), the process returns to step S30 and the movement movement is continued.

[0057] In step S36, if a predetermined time has elapsed without the object on the movement path disappearing ("NO" in S36), and if the operation control unit 372 has already acquired information on a second boarding candidate position as described below ("YES" in S37), it determines that boarding of the moving object 30 into the car 13 has failed, and notifies the elevator control device 20 of that failure. The operation control unit 372 causes the moving object 30 to wait at the location, and causes the speaker unit 34 to output notification information notifying the user of the failure to board.

[0058] When the information on the second entry candidate position has not yet been acquired in step S37 ("NO" in S37), the operation control unit 372 transmits a calculation request for a new entry candidate position to the elevator control device 20 (S38).

[0059] 5, in the elevator control device 20, when the mobile object information processing unit 235 acquires a request for calculating a new boarding candidate position ("YES" in S8) before boarding of the mobile object 30 into the car 13 is completed ("NO" in S7), the boarding candidate position determination unit 234 determines a new boarding candidate position. Based on the appropriateness map information stored in the appropriateness map storage unit 21 and the information acquired by the car inside information acquisition unit 232, the boarding candidate position determination unit 234 determines a position other than the previously determined boarding candidate position as the new boarding candidate position.

[0060] The mobile object information processing unit 235 transmits the second get-in candidate position, which is the new get-in candidate position determined by the get-in candidate position determination unit 234, to the mobile object 30 (S9).

[0061] Returning to FIG. 7, when the moving body 30 acquires a second entry candidate position from the elevator control device 20 ("YES" in S39), the movement route determination unit 371 determines a movement route to the acquired second entry candidate position (S40).

[0062] When the movement route determination unit 371 determines the movement route to the second entry candidate position, the operation control unit 372 controls the movement mechanism 32 so as to move along the determined movement route. When the operation control unit 372 controls the movement mechanism 32, the moving object 30 starts moving along the movement route (S41). When the moving object 30 starts moving along the movement route, the process returns to step S30.

[0063] In step S31, if the travel route determination unit 371 does not have a detour route calculation function ("NO" in S31), the process proceeds to step S35, where the operation control unit 372 causes the speaker unit 34 to output notification information for securing a conductor for the moving object 30 (S35). In step S30, if the moving object 30 approaches a candidate entry position without detecting an object on the travel route ("NO" in S30), the process proceeds to the process shown in the flowchart of FIG.

[0064] FIG. 8 is a flowchart showing a process executed when the moving body 30 detects an object at a candidate entry position.

[0065] When the moving body 30 approaches a candidate entry position and the proximity sensor 33 detects an object at the candidate entry position ("YES" in S42), the operation control unit 372 determines whether or not the shape of the detected object can be recognized based on information acquired from the elevator control device 20 or detection information from an environmental sensor (not shown) mounted on the moving body 30 (S43). The environmental sensor may be configured by the proximity sensor 33.

[0066] When the shape of the detected object can be recognized ("YES" in S43), the movement path determination unit 371 calculates a movement path that can approach the candidate boarding position more closely based on the shape of the recognized object, and the operation control unit 372 controls and moves the moving mechanism 32, thereby bringing the moving body 30 as close as possible to the candidate boarding position (S44).

[0067] When it is determined in step S43 that the shape of the object cannot be recognized ("NO" in S43), or after the moving body 30 has been caused to approach the candidate entry position in step S44, the operation control unit 372 causes the moving body 30 to wait there (S45).

[0068] When the operation control unit 372 determines that the waiting position is within a predetermined range from the boarding candidate position ("YES" in S46), it determines that boarding at the boarding candidate position is completed. By making such a determination, boarding processing can be flexibly performed when the moving body 30 boards the car 13 together with other users, etc. The operation control unit 372 notifies the elevator control device 20 that boarding at the boarding candidate position is completed (S47).

[0069] In step S42, even when the moving body 30 arrives at the candidate boarding position without the proximity sensor 33 detecting an object at the candidate boarding position ("YES" in S48), the operation control unit 372 notifies the elevator control device 20 that boarding at the candidate boarding position has been completed (S47).

[0070] Returning to Fig. 5, in the elevator control device 20, when the mobile object information processing unit 235 receives a notification that the mobile object 30 has completed boarding at the boarding candidate position of the car 13 ("YES" in S7), it recognizes the calculated boarding candidate floor as the boarding position of the mobile object 30. After that, the elevator control unit 233 moves the car 13 to the disembarking floor of the mobile object 30 and opens the door (S10). When the door of the car 13 is opened, the mobile object information processing unit 235 generates disembarking instruction information and transmits it to the mobile object 30 (S11).

[0071] 9 is a flowchart showing a process executed when the moving body 30 gets off the car 13. After the moving body 30 acquires alighting instruction information from the elevator control device 20 ("YES" in S50), when the proximity sensor 33 detects that there is an object at the entrance of the car 13 ("YES" in S51), the operation control unit 372 causes the speaker unit 34 to output notification information for securing the conductor line of the moving body 30 (S52).

[0072] When the proximity sensor 33 detects that the object has moved and disappeared from the entrance / exit due to the output of the notification information from the speaker unit 34 ("YES" in S53) and the operation control unit 372 determines that the moving object 30 can pass through the entrance / exit ("YES" in S54), it controls the movement mechanism 32 to cause the moving object 30 to disembark from the entrance / exit to the landing (S55). The operation control unit 372 notifies the elevator control device that the moving object 30 has disembarked from the car 13 (S56).

[0073] In step S53, when the object at the entrance / exit continues to be detected without disappearing and a predetermined time has elapsed ("NO" in S53 -> "YES" in S57), the operation control unit 372 cancels disembarkation from the car 13 and notifies the elevator control device 20 of the cancellation. Also, in step S54, when it is determined that the moving body 30 cannot pass through the entrance / exit due to, for example, a step at the entrance ("NO" in S54), the operation control unit 372 similarly cancels disembarkation from the car 13 and notifies the elevator control device 20 of the cancellation (S58). When disembarkation is canceled, the moving body 30 returns to the boarding position in the car 13.

[0074] Returning to Fig. 5, when the mobile object information processing unit 235 of the elevator control device 20 receives a notification that the mobile object 30 has disembarked from the car 13 ("YES" in S12), it ends the process. When the mobile object information processing unit 235 receives a notification that the mobile object 30 has canceled disembarking from the car 13 ("NO" in S12 -> "YES" in S13), it re-registers the disembarking floor of the mobile object 30 in the call registration unit 231 (S14). When the disembarking floor of the mobile object 30 has been re-registered, the process returns to step S10.

[0075] The elevator control unit 233 receives a notification from the moving object 30 that disembarking has been canceled, closes the door of the car 13, and then moves the car 13 to the disembarking floor again and opens the door due to the re-registration. The processes of steps S10, S11, S13, and S14 are repeated until the moving object 30 disembarks.

[0076] According to the above embodiment, when the elevator control device determines the boarding position of the moving body from the vacant area in the car, the elevator control device determines the boarding position of the moving body from the vacant area excluding the area where the elevator user intentionally avoids boarding for the sake of other users. By determining the boarding position of the moving body in this manner, the user and the moving body can safely board the car together without reducing the convenience of the elevator user.

[0077] Although an embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the scope and spirit of the invention, and are included in the invention and its equivalents described in the claims. [Explanation of symbols]

[0078] 1... elevator system, 10... elevator, 11... hoist, 12... rope, 13... car, 14... tail cord, 20... elevator control device, 21... suitability map storage unit, 22... first wireless communication unit, 23... first CPU, 30... moving body, 31... position sensor, 32... moving mechanism, 33... proximity sensor, 34... speaker unit, 35... map information storage unit, 36... second wireless communication unit, 37... second CPU, 131... car door, 132a, 132b, 132c... car internal operation panel, 133... camera device, 134... load detection device, 231... call registration unit, 232... car internal information acquisition unit, 233... elevator control unit, 234... boarding candidate position determination unit, 235... moving body information processing unit, 371... movement path determination unit, 372... operation control unit

Claims

1. A vehicle that is communicatively connected to an autonomously movable body that moves using the elevator, an appropriateness map storage unit that stores appropriateness map information indicating the appropriateness of each position in the elevator car as a boarding position for the moving body by setting a position in the elevator car that is less frequently used by users as a position with a low appropriateness as a boarding position for the moving body; and A car in-information acquisition unit that acquires position information of a user or other moving body in the car; a candidate entry position determination unit that determines a candidate entry position of the moving object in the elevator based on the appropriateness map information stored in the appropriateness map storage unit and the information acquired by the elevator interior information acquisition unit; and a mobile body information processing unit that generates boarding instruction information instructing the mobile body to board at the boarding candidate position determined by the boarding candidate position determination unit and transmits the boarding instruction information to the mobile body.

2. A communication device connected to the elevator control device according to claim 1, A moving mechanism; a movement path determination unit that, when acquiring the boarding instruction information from the elevator control device, determines a movement path to the boarding candidate position; and a motion control unit that controls the movement mechanism so as to move along the movement path.

3. A vehicle that is communicatively connected to an autonomously movable body that moves using an elevator, an appropriateness map storage unit that stores appropriateness map information indicating the appropriateness of each position in the elevator car as a boarding position for the moving body by setting a position in the elevator car that is less frequently used by users as a position with a low appropriateness as a boarding position for the moving body; and a candidate entry position determining unit that determines a candidate entry position of the moving object in the elevator based on the appropriateness map information stored in the appropriateness map storage unit; a mobile body information processing unit that generates boarding instruction information instructing the mobile body to board at the boarding candidate position determined by the boarding candidate position determination unit and transmits the boarding instruction information to the mobile body, A moving mechanism; a movement path determination unit that, when acquiring the boarding instruction information from the elevator control device, determines a movement path to the boarding candidate position; an operation control unit that controls the movement mechanism so as to move along the movement path; a proximity sensor for detecting an object within a predetermined range; A speaker unit that outputs sound, When the proximity sensor detects that an object is on the movement path, the operation control unit outputs alarm information to ensure a line of communication from the speaker unit, or determines a detour route determined by the movement path determination unit as a new movement path, or determines a movement path to a new candidate boarding position determined by the movement path determination unit as a new movement path.

4. A vehicle that is communicatively connected to an autonomously movable body that moves using an elevator, an appropriateness map storage unit that stores appropriateness map information indicating the appropriateness of each position in the elevator car as a boarding position for the moving body by setting a position in the elevator car that is less frequently used by users as a position with a low appropriateness as a boarding position for the moving body; and a candidate entry position determining unit that determines a candidate entry position of the moving object in the elevator based on the appropriateness map information stored in the appropriateness map storage unit; a mobile body information processing unit that generates boarding instruction information instructing the mobile body to board at the boarding candidate position determined by the boarding candidate position determination unit and transmits the boarding instruction information to the mobile body, A moving mechanism; a movement path determination unit that, when acquiring the boarding instruction information from the elevator control device, determines a movement path to the boarding candidate position; an operation control unit that controls the movement mechanism so as to move along the movement path; a proximity sensor for detecting an object within a predetermined range; A position sensor that acquires self-position information; The operation control unit of a moving body determines that movement to the candidate boarding position has been completed when the proximity sensor detects that an object is present at the candidate boarding position and the self-position information acquired by the position sensor is within a predetermined range from the candidate boarding position.

5. An elevator control device that is communicatively connected to an autonomously movable body that moves using an elevator, storing suitability map information indicating the suitability of each position in the elevator car as a boarding position for the moving body by determining a position in the elevator car that is less frequently used by users as a position with a low suitability as a boarding position for the moving body; Acquire location information of a user or other moving body in the elevator; determining a candidate position for the moving object in the elevator based on the stored appropriateness map information and position information of the user or other moving object in the elevator; A control method for a mobile body that uses an elevator, the method comprising: generating boarding instruction information for instructing the mobile body to board at the determined boarding candidate position, and transmitting the information to the mobile body.

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