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

Abstract

A mobile object control system is provided that can suppress the disruption of the actions of a user waiting for an elevator by an autonomous mobile object. [Solution] The mobile body control system includes an elevator control device that controls the operation of cars and assigns cars to destination floor calls registered by users, a mobile body control unit that controls the operation of the mobile body and makes the mobile body wait in a possible waiting area until the car that the mobile body is to board arrives, and an area identification unit that identifies a candidate waiting area within the possible waiting area where the number of users staying per unit area is equal to or less than a preset reference density based on information about the allocation status of cars to destination floor calls by the elevator control device. The mobile body control unit makes the mobile body wait in an area selected from the candidate waiting areas identified by the area identification unit.

Description

[Technical field]

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

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

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

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

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

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

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

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

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

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

[0011] The mobile object control system, mobile object control method, and program disclosed herein have the advantage of being able to prevent an autonomous mobile object from interfering with the actions of a user waiting for an elevator. [Brief description of the drawings]

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

[0013] The embodiments for implementing the mobile object control system, mobile object control method, and program according to the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are given the same reference numerals, and duplicated descriptions are appropriately simplified or omitted. In the following description, for convenience, the positional relationship of each structure may be expressed based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and the embodiments may be freely combined, any component of each embodiment may be modified, or any component of each embodiment may be omitted, within the scope of the gist of the present disclosure.

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

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

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

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

[0018] The building 1 in which the elevator 110 is installed is provided with hoistways (not shown) in the same number as the number of cars. The cars are arranged in the hoistways so that they can rise and fall freely. Passengers and the autonomous moving bodies 300 can get on and off the cars. The cars rise and fall in the hoistways, and transport one or both of the passengers and the autonomous moving bodies 300 that are in the cars between multiple floors of the building.

[0019] The elevator 110 according to this embodiment can register a destination floor call. A destination floor call is a call for calling an elevator car to the boarding area of ​​the departure floor where passengers board by specifying a destination floor. Examples of methods for a user to register a destination floor call include the following.

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

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

[0022] The second type, that using a security gate, is a type in which a user passes through the security gate and registers a destination floor call. In this case, for example, a security gate (not shown) is installed at a location leading to the elevator 110 in the building 1. A user who is about to pass through the security gate is authenticated as to whether or not he or she has the authority to pass through the gate. In this authentication, the user's identification information is used. The user's identification information is information that can uniquely identify the user. Examples of the user's identification information include a PIN number previously set by each user, an identification number previously assigned to each user, data such as an identification character string, and biometric information such as the user's iris, fingerprint, vein pattern, and face information. For example, in this system, the destination floor of the user is registered in advance for each user's identification information. As a result, when authentication at the security gate is successful, the elevator control device 120 can register a destination floor call for the destination floor registered for the authenticated user.

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

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

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

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

[0027] The elevator control device 120 controls the operation of each of the multiple cars. After determining which car to assign to a destination floor call, the elevator control device 120 runs the car to the departure floor of the destination floor call in order to respond to the registered destination floor call. When the car arrives at the departure floor of the destination floor call, the elevator control device 120 opens the door of the car, and closes the door after the passenger boards the car. Then, the elevator control device 120 runs the car to the destination floor indicated by the destination floor call to which the car is assigned.

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

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

[0030] Each car is assigned a predetermined car number using a number or alphabet. The car can be identified by this car number information. The destination forecast system 130 notifies each user who has registered a destination floor call of the car they should board by displaying the car number of the car to which the destination floor call is assigned on, for example, a destination floor registration operation panel, a security gate, a display on a mobile terminal, or the like. The destination forecast system 130 also displays the scheduled destination floors for each car of the elevator 110 on a display or the like provided at the landing of the elevator 110.

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

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

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

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

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

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

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

[0038] That is, the area identification unit 330 first identifies the number of destination floor calls assigned to each car based on information on the allocation status of the car to the destination floor calls. The area identification unit 330 can identify the number of users boarding each car at the floor from the number of destination floor calls assigned to each car. Here, it is considered that the users wait at a location at the boarding area close to the entrance / exit of the car they board until the car arrives. For this reason, the area identification unit 330 can estimate the position distribution of users at the boarding area from the number of users boarding each car at the floor. Then, the area identification unit 330 calculates the number of users staying per unit area from the position distribution of users estimated in this way. Next, the area identification unit 330 compares the calculated number of users staying per unit area with a preset standard density. Then, among the waiting possible areas, an area where the number of users staying per unit area is equal to or less than the standard density is identified as a waiting area candidate.

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

[0040] When a plurality of waiting area candidates are specified by the area specification unit 330, the mobile body control unit 310 may select an area in which the autonomous moving body 300 is to wait, for example, as follows. That is, the mobile body control unit 310 selects an area that is closest to the entrance / exit of the car in which the autonomous moving body 300 is to board, among the plurality of waiting area candidates, and causes the autonomous moving body 300 to wait. In this way, the travel time required for the autonomous moving body 300 to board the car can be shortened. Alternatively, the mobile body control unit 310 selects an area in which the number of users staying per unit area is the smallest, among the plurality of waiting area candidates, and causes the autonomous moving body 300 to wait. In this way, it is possible to further suppress the autonomous moving body 300 from hindering the behavior of users.

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

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

[0043] In this case, the area identification unit 330 first estimates the movement route of the user from information on the allocation status of the elevator to the destination floor call and information on the position the user passed through. The movement route of the user can be estimated as the route from the position the user passed through to the vicinity of the entrance / exit of the elevator assigned to the destination floor call registered by the user.

[0044] Then, the area specifying unit 330 specifies a waiting area candidate based on the number of users staying per unit area and the estimated user movement route. That is, an area in which the number of users staying per unit area is equal to or less than the above-mentioned reference density and does not overlap with the estimated user movement route is specified as a waiting area candidate. Note that, if all areas in which the number of users staying per unit area is equal to or less than the above-mentioned reference density overlap with the estimated user movement route, an area in which the overlapping range with the estimated user movement route is equal to or less than a certain amount may be specified as a waiting area candidate. In this way, it is possible to prevent the autonomous moving body 300 from hindering the actions of users not only for users waiting for the elevator 110 but also for users who are moving.

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

[0046] Next, an example of specifying a route candidate by the route specifying unit 340 will be described. The route specifying unit 340 specifies a route candidate based on, for example, information on the allocation status of elevator cars to destination floor calls by the elevator control device 120. More specifically, the route specifying unit 340 specifies, as a route candidate, a route that passes only through an area where the number of users staying per unit area is equal to or less than a preset reference density in an area between the current position of the autonomous moving body 300 and each waiting area candidate specified by the area specifying unit 330 based on information on the allocation status of elevator cars to destination floor calls. The calculation of the number of users staying per unit area can be performed in the same manner as described above. The reference density used to specify the route candidate here may be the same value as the reference density used to specify the waiting area candidate described above, or may be a different value.

[0047] As another example of the specification of route candidates by the route specification unit 340, information on the position through which the user has passed may be further used. In this case, the route specification unit 340 estimates the user's movement route from information on the allocation status of the elevator to the destination floor call and information on the position through which the user has passed, in the same manner as described above. Then, the route specification unit 340 specifies route candidates based on the estimated user's movement route. For example, among the routes from the current position of the autonomous moving body 300 to each waiting area candidate, a route on which the number of users passing through is equal to or less than a preset reference number is specified as a route candidate. A route on which the number of users passing through is equal to or less than a reference number means that the number of users crossing the route is equal to or less than a reference number. In other words, the number of intersections between the route and the estimated user's movement route is equal to or less than a reference value.

[0048] The mobile control unit 310 may select a combination of a waiting area and a route by comprehensively judging a plurality of waiting area candidates and a plurality of route candidates, or may first narrow down the waiting area candidates to one waiting area and then select a route from the route candidates to the waiting area. The mobile control unit 310 may also select the route with the shortest travel distance to the waiting area from among the plurality of route candidates. In this way, the travel time required for the autonomous moving body 300 to board the elevator can be shortened. Alternatively, the mobile control unit 310 may select the route that passes through an area with fewer users staying per unit area, or the route with the fewest number of users passing through, from among the plurality of route candidates.

[0049] As shown in FIG. 1, the autonomous moving body 300 may further include an alarm device 350. The alarm device 350 is for notifying users around the autonomous moving body 300 of various information and the like. Examples of the alarm device 350 include a display capable of displaying characters, images, and the like, a speaker capable of sounding a sound, and a rotating light. When the autonomous moving body 300 is in standby, the moving body control unit 310 may notify surrounding users that the autonomous moving body 300 is in standby by the alarm device 350. In this case, a character message indicating that the autonomous moving body 300 is in standby is displayed on the display of the alarm device 350, or an audio message indicating that the autonomous moving body 300 is in standby is sounded by the speaker of the alarm device 350.

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

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

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

[0053] Next, specific examples of waiting locations for the autonomous moving body 300 in the moving body control system according to this embodiment will be described with reference to Fig. 2 to Fig. 4. In any of the examples shown in these figures, it is assumed that the car of the elevator 110 in which the autonomous moving body 300 boards is car No. A.

[0054] First, FIG. 2 shows an example in which the elevator 110 is provided at a cul-de-sac (a place where the elevator 110 comes to a dead end). In this case, one of the four sides of the elevator 110 is opened to serve as an entrance to the elevator, that is, the elevator 110 has one entrance. A user enters the elevator through this entrance. On the right side of the entrance to the elevator, the entrances to the A, B, and C elevators are provided in this order from the back of the cul-de-sac. Also, on the left side of the entrance to the elevator, the entrances to the D, E, and F elevators are provided from the back of the cul-de-sac. One of the two users is scheduled to board the B elevator, and the other is scheduled to board the F elevator. In this example, the predicted movement paths of the two users and the waiting places (candidate waiting areas) of the autonomous moving body 300 that do not hinder the actions of such users are as shown in FIG. 2. That is, the candidate waiting areas are areas that extend in front of the entrances to the A, D, and E elevators. The moving body control unit 310 selects, for example, an area in front of the designated vehicle A from among the waiting area candidates, and causes the autonomous moving body 300 to wait there.

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

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

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

[0058] In step S2, the area specifying unit 330 specifies a candidate waiting area. The mobile object control unit 310 then determines whether or not there is a candidate waiting area specified by the area specifying unit 330. In other words, it determines whether or not there is a candidate waiting location with few people (users). If there is a candidate waiting area specified by the area specifying unit 330, the mobile object control system then performs the process of step S3.

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

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

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

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

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

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

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

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

[0067] The software and firmware are written as programs and stored in the memory 12. The processor 11 realizes the functions of each part by reading and executing the programs stored in the memory 12. The processor 11 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 12 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, or a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

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

[0069] The mobile body control method according to the present disclosure includes an elevator control step of controlling the operation of a car and allocating the car to a destination floor call registered by a user, a mobile body control step of controlling the operation of the autonomous mobile body 300 and making the autonomous mobile body 300 wait in a waiting area until the car that the autonomous mobile body 300 is to board arrives, and an area specification step of specifying a waiting area candidate in the waiting area where the number of users staying per unit area is equal to or less than a preset reference density based on information regarding the allocation status of cars to destination floor calls in the elevator control step.Then, in the mobile body control step, the autonomous mobile body 300 is made to wait in an area selected from the waiting area candidates specified in the area specification step.

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

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

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

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

Claims

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

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

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

4. a route identification unit that identifies a route candidate to the waiting area candidate along which a number of users passing through is equal to or less than a predetermined reference number, based on information regarding an allocation status of the elevator cars to the destination floor calls by the elevator control device and information regarding positions through which the users have passed, The mobile body control system according to any one of claims 1 to 3, wherein the mobile body control unit moves the mobile body from the waiting area candidate identified by the area identification unit to the selected area along a route selected from the route candidates identified by the route identification unit.

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

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

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

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

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

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

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

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

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

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