Information processing system and control method

Abstract

This reduces the possibility of deadlocks occurring between robots using elevators. [Solution] The information processing system (100) includes a storage unit (12) that stores area information indicating the boarding space of a robot (4) in the elevator car (2), an update unit (114) that updates the availability status of the area of ​​interest and the availability status of areas that are different in size from the area of ​​interest and overlap with the area of ​​interest to "no availability" when a first robot is currently boarding or is scheduled to board the area of ​​interest, and a determination unit (112) that determines whether a second robot that has requested registration of a destination floor call is allowed to board. The condition for the determination unit to determine that boarding is possible is that at least one of the available areas of a size corresponding to the size of the second robot is available in the boarding section for the second robot.

Description

Technical Field

[0001] The present invention relates to an information processing system related to an elevator that can be used by a robot, and a control method for the information processing system.

Background Art

[0002] Conventionally, a technology for moving a robot between floors using an elevator has been known (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When multiple robots ride in the same car, the robots may interfere with each other's movement and cause a deadlock, which may hinder boarding or alighting and reduce the convenience of the elevator.

[0005] One aspect of the present invention aims to provide an information processing system that can reduce the possibility of a deadlock occurring when multiple robots ride in the same car and the robots interfere with each other's movement.

Means for Solving the Problems

[0006] To solve the above problems, an information processing system according to one aspect of the present invention includes a storage unit that stores area information relating to one or more areas indicating the passenger space in an elevator car for multiple types of autonomously mobile robots of different sizes, wherein the size of the area is predetermined for each size of the robot, each of the areas of the same size is located in a position where they do not overlap with each other, each of the areas is located in a position where the robots do not obstruct each other's movement, and the area information includes the availability status of each area, and the area of ​​interest is the area of ​​interest, which is the area of ​​interest, and the robot is currently riding in or scheduled to ride in that area. If a first robot is present, the system includes an update unit that updates (1) the availability of the area of ​​interest and (2) the availability of the area of ​​interest that is of a different size from the area of ​​interest but overlaps with the area of ​​interest in the area information stored in the memory unit to "no availability", and a determination unit that determines whether the second robot, which is the robot that requested the registration of the destination floor call, is allowed to board the elevator car based on the area information, wherein the condition for the determination unit to determine that boarding is possible is that at least one of the areas of interest of a size corresponding to the size of the second robot is available in the boarding section for the second robot.

[0007] To solve the above problems, a control method according to one aspect of the present invention is a control method for an information processing system comprising a storage unit that stores region information relating to one or more regions indicating the passenger space in an elevator car for multiple types of autonomously mobile robots of different sizes, wherein the size of the region is predetermined for each size of the robot, each of the regions of the same size is provided in a position where they do not overlap with each other, each of the regions is provided in a position where the robots do not obstruct each other's movement, and the region information includes the availability status of each region, and the robot is currently riding in or scheduled to ride in the region of interest, which is the region of interest. If a first robot is present, the system includes an update step of updating (1) the availability of the area of ​​interest and (2) the availability of the area of ​​interest that is of a different size from the area of ​​interest but overlaps with the area of ​​interest, in the area information stored in the memory unit, to "no availability", and a determination step of determining whether the second robot, which is the robot that requested the registration of the destination floor call, is allowed to board the elevator car based on the area information, wherein the condition for determining in the determination step that boarding is possible is that at least one of the areas of interest of a size corresponding to the size of the second robot is available in the boarding section for the second robot.

[0008] Each aspect of the present invention may be implemented by a computer, in which case a control program for the information processing system that enables the computer to implement the information processing system by operating the computer as each part (software element) of the information processing system, and a computer-readable recording medium on which the control program is recorded, also fall within the scope of the present invention. [Effects of the Invention]

[0009] According to one aspect of the present invention, the possibility of deadlock occurring between robots using an elevator can be reduced. [Brief explanation of the drawing]

[0010] [Figure 1]This is a block diagram showing the configuration of an information processing system according to Embodiment 1 of the present invention. [Figure 2] This figure shows an example of a robot management database. [Figure 3] This diagram shows an example of a robot call database. [Figure 4] This figure shows an example of a basket-calling database. [Figure 5] This figure shows an example of a domain information database. [Figure 6] This is a top view showing the location of the S-sized area and the boarding / alighting routes. [Figure 7] This is a top view showing the location of the M-sized area and the boarding / alighting routes. [Figure 8] This is a top view showing the location of the L-sized area and the boarding / alighting routes. [Figure 9] This figure shows another example of a domain information database. [Figure 10] This figure shows yet another example of a domain information database. [Figure 11] This diagram shows an example of robot placement inside an elevator car. [Figure 12] This figure shows yet another example of a domain information database. [Figure 13] This figure shows another example of robot placement inside an elevator car. [Figure 14] This figure shows yet another example of a domain information database. [Figure 15] This figure shows yet another example of the placement of a robot inside an elevator car. [Figure 16] This figure shows yet another example of a domain information database. [Figure 17] This figure shows yet another example of the placement of a robot inside an elevator car. [Figure 18] This is a sequence diagram showing the processing flow for receiving a request to call a robot. [Figure 19] This flowchart shows the process flow for registering the destination floor call for a robot. [Figure 20]It is a flowchart showing the flow of the first registration process and the second registration process. [Figure 21] It is a flowchart showing the flow of the boarding determination process. [Figure 22] It is a sequence diagram showing the flow of the process for boarding and alighting the robot. [Figure 23] It is a flowchart showing the flow of the alighting completion process. [Figure 24] It is a flowchart showing the flow of the boarding completion process.

Embodiments of the Invention

[0011] 〔Embodiment 1〕 <Overview of Information Processing System 100> Hereinafter, an embodiment of the present invention will be described in detail. FIG. 1 is a block diagram showing the configuration of an information processing system 100 according to Embodiment 1 of the present invention. As shown in FIG. 1, the information processing system 100 includes an elevator control device 1, an elevator 2, a robot management device 3, and a plurality of robots 4. The information processing system 100 according to the present embodiment registers the destination floor call of the robot 4 based on a request from the robot 4, and controls the elevator 2 based on the registered destination floor call.

[0012] In addition, the information processing system 100 determines whether the robot 4 that requested the registration of the destination floor call can board the elevator 2, and registers the destination floor call of the robot 4 determined to be able to board. The information processing system 100 determines the arrangement of the robots 4 in the elevator car so that the plurality of robots 4 using the elevator 2 do not interfere with each other's movement.

[0013] Hereinafter, the robot 4 that requested the registration of the destination floor call and for which the registration of the destination floor call has been completed is referred to as the "first robot 4". The robot 4 that requested the registration of the destination floor call is referred to as the "second robot 4". The second robot 4 is a robot 4 for which the destination floor call has been received and not registered in the elevator control device 1.

[0014] The information processing system 100 determines whether the second robot 4 is allowed to board the elevator. If the first robot 4 is not in an area of ​​the elevator car large enough to accommodate the second robot 4 in the section where the second robot 4 is to board, and there are no plans to use the first robot 4, the information processing system 100 determines that the second robot 4 is allowed to board the elevator 2.

[0015] <Elevator 2> Elevator 2 moves between floors and opens and closes its doors based on the control of elevator control device 1. A building may have multiple elevator units 2 and multiple elevator control devices 1 that control each unit.

[0016] <Robot Management Device 3> The robot management device 3 is a device for managing each of the robots 4. The robot management device 3 comprises a control unit 31 and a storage unit 32, and is communicatively connected to each of the robots 4 and the elevator control device 1. The control unit 31 comprises an acquisition unit 311 and an instruction unit 312. The storage unit 32 stores the robot management DB (database) 321.

[0017] Figure 2 shows an example of the robot management DB 321. The robot management DB 321 is a database that stores information about robot 4. As shown in Figure 2, in the robot management DB 321, the identification information (robot ID) of robot 4, information indicating the size of robot 4, and information indicating the floor on which robot 4 is currently located (current floor) are associated for each robot 4. Furthermore, when robot 4 requests registration of a destination floor call, information indicating the destination floor of robot 4 is further associated in the robot management DB 321.

[0018] The acquisition unit 311 acquires information transmitted from the robot 4 and processes the acquired information accordingly. Based on the information acquired from the robot 4, the acquisition unit 311 requests the elevator control device 1 to register the robot 4's destination floor call. The acquisition unit 311 is capable of receiving the first call request from the robot 4. The first call request is information for the robot 4 to request the registration of a destination floor call, and includes the robot 4's identification information and information indicating the robot 4's destination floor. Upon receiving the first call request, the acquisition unit 311 refers to the robot management DB 321 based on the robot 4's identification information included in the first call request and identifies the current floor of the robot 4 that sent the first call request. The acquisition unit 311 identifies the robot 4's current floor as the departure floor.

[0019] Next, the acquisition unit 311 determines the direction of movement of the robot 4. Based on the current floor of the robot 4 and the destination floor of the robot 4 included in the first call request, the acquisition unit 311 determines the direction of movement of the robot 4 as "up". For example, if the current floor of the robot 4 is the 1st floor and the destination floor is the 5th floor, the acquisition unit 311 determines the direction of movement of the robot 4 as "up". For another example, if the current floor of the robot 4 is the 5th floor and the destination floor is the 1st floor, the acquisition unit 311 determines the direction of movement of the robot 4 as "down".

[0020] The acquisition unit 311 identifies the departure floor and direction of movement of the robot 4 and generates a second call request. The second call request is information for requesting the elevator control device 1 to register a destination floor call for the robot 4. The second call request includes identification information of the robot 4 requesting the registration of the destination floor call, and information indicating the departure floor, destination floor, and direction of movement. The acquisition unit 311 transmits the generated second call request to the elevator control device 1.

[0021] The acquisition unit 311 acquires a signal from the robot 4 indicating that the operation related to boarding and alighting from the elevator 2 has been completed. When the robot 4 has completed boarding the elevator car 2, the acquisition unit 311 receives a boarding completion signal from the robot 4 indicating that boarding the elevator car 2 has been completed. The boarding completion signal includes identification information of the robot 4 that has completed boarding. Upon receiving the boarding completion signal, the acquisition unit 311 transmits the boarding completion signal to the elevator control device 1.

[0022] When robot 4 completes disembarking from elevator car 2, acquisition unit 311 receives a disembarking completion signal from robot 4 indicating that it has completed disembarking from elevator car 2. The disembarking completion signal includes identification information of robot 4 that has completed disembarking. Upon receiving the disembarking completion signal, acquisition unit 311 transmits the disembarking completion signal to elevator control device 1. In addition, acquisition unit 311 updates the current floor and destination floor of robot 4 in robot management DB 321. Specifically, upon receiving the disembarking completion signal from robot 4, acquisition unit 311 updates the information indicating robot 4's current floor to the floor number previously entered as robot 4's destination floor, and deletes the information indicating robot 4's destination floor. Furthermore, acquisition unit 311 deletes the information indicating robot 4's boarding area in robot management DB 321.

[0023] The instruction unit 312 instructs the robot 4 to move based on the information received from the elevator control device 1. When the destination floor call for robot 4 is registered in the elevator control device 1, the elevator 2 operates based on the destination floor call. When the elevator 2 stops at the robot 4's departure floor, the instruction unit 312 receives a boarding instruction signal from the elevator control device 1. The boarding instruction signal is information instructing robot 4 to board the elevator 2. The boarding instruction signal includes identification information of the robot 4 to board, information indicating the area in the elevator car where robot 4 will stop, and information indicating the boarding route when robot 4 boards the elevator car. Upon receiving the boarding instruction signal, the instruction unit 312 transmits a boarding command to robot 4, indicated by the identification information, instructing it to board the elevator car of elevator 2. The boarding command includes information indicating the boarding area, which is the area in the elevator car where robot 4 will stop, and information indicating the boarding route for robot 4.

[0024] Furthermore, the instruction unit 312 updates the information regarding the robot 4 scheduled to be boarded in the robot management DB 321. Specifically, when the instruction unit 312 receives a boarding instruction signal from the elevator control device 1, it inputs the information indicating the destination floor of the robot 4 included in the boarding instruction signal into the robot management DB 321 as the destination floor of the robot 4. In addition, the instruction unit 312 inputs the information indicating the boarding area of ​​the robot 4 included in the boarding instruction signal into the robot management DB 321 as the boarding area of ​​the robot 4.

[0025] When elevator 2 stops at the destination floor of robot 4, instruction unit 312 receives a disembarkation instruction signal from elevator control device 1. The disembarkation instruction signal is information instructing robot 4 to disembark from elevator 2, and includes identification information of robot 4 disembarking, and information indicating the disembarkation route when robot 4 disembarks from the elevator car. Upon receiving the disembarkation instruction signal, instruction unit 312 transmits a disembarkation command to robot 4, indicated by the identification information, instructing it to disembark from the elevator car of elevator 2. The disembarkation command includes information indicating the disembarkation route of robot 4.

[0026] <Robot 4> Robot 4 is an autonomous robot capable of moving between floors using elevator 2. The information processing system 100 includes multiple types of robots 4 of different sizes. Below, we will explain using the example of robots 4 having three sizes: S, M, and L. The size of robot 4 may be determined based on the width of robot 4 relative to the width of the elevator car door (door width). For example, an S-sized robot 4 may have a width of 40% or less of the elevator door width, an M-sized robot 4 may have a width of 60% or less of the elevator door width, and an L-sized robot 4 may have a width of 80% or less of the elevator door width. However, the size of robot 4 is not limited to the sizes described above. In the information processing system 100, the size of robot 4 may be classified more finely or more broadly.

[0027] As shown in Figure 1, the robot 4 comprises a control unit 41 and an operating unit 42. The control unit 41 comprises a request unit 411 and an operation control unit 412. The operating unit 42 is a mechanism for moving the robot 4. The operating unit 42 may be, but is not limited to, wheels, caterpillar tracks, and walking legs that operate according to the control of the operation control unit 412.

[0028] The request unit 411 requests a call for the destination floor of the robot 4. When it becomes necessary for the robot 4 to use the elevator 2, the request unit 411 generates a first call request. The first call request is information for requesting a call for the destination floor of the robot 4, and includes the identification information of the device itself and information indicating the destination floor of the robot 4. Once the request unit 411 generates the first call request, it transmits the generated first call request to the robot management device 3.

[0029] The motion control unit 412 controls the operation unit 42 to move the robot 4 to the desired position. After the request unit 411 transmits the first call request, the motion control unit 412 operates the operation unit 42 to move the robot 4 to the landing of the robot 4's current floor. The robot 4 then waits at the landing for the elevator 2 until it receives a command from the robot management device 3.

[0030] When the elevator car 2 stops at the robot 4's departure floor, the motion control unit 412 receives a boarding command from the robot management device 3. Upon receiving the boarding command, the motion control unit 412 operates the motion unit 42. This causes the robot 4 to board the elevator car 2. During the boarding operation, the motion control unit 412 controls the motion unit 42 to move along the boarding route indicated in the boarding command and to stop in the boarding area indicated in the boarding command. Once the boarding operation is complete and the robot has stopped in the boarding area, the motion control unit 412 transmits a boarding completion signal to the robot management device 3 indicating that boarding the elevator 2 has been completed.

[0031] When the elevator car 2 stops at the destination floor of robot 4, the motion control unit 412 receives a disembarkation command from the robot management device 3. Upon receiving the disembarkation command, the motion control unit 412 activates the motion unit 42. This causes robot 4 to perform a disembarkation operation, exiting the elevator car 2. During the disembarkation operation, the motion control unit 412 controls the motion unit 42 to move along the disembarkation route indicated in the disembarkation command. Once the disembarkation operation is complete, the motion control unit 412 transmits a disembarkation completion signal to the robot management device 3, indicating that disembarkation from elevator 2 has been completed.

[0032] <Elevator control device 1> The elevator control device 1 receives and registers destination floor calls from people and robots 4. Based on the registered destination floor calls, it controls the operation of the elevator 2. The elevator control device 1 also determines whether robots 4 can board the elevator 2, determines the placement of robots 4 that are deemed able to board within the elevator car 2, and registers the destination floor call of the robots 4. As shown in Figure 1, the elevator control device 1 comprises a control unit 11, a storage unit 12, and an input / output interface 13.

[0033] The input / output interface 13 is an interface for the elevator control device 1 to exchange information with each device of the information processing system 100. The elevator control device 1 communicates with the robot management device 3 via a wireless connection and sends and receives information via the input / output interface 13. The elevator control device 1 also communicates with each elevator 2 and sends and receives information via the input / output interface 13. The connection method between the elevator control device 1 and the elevators 2 may be wireless or wired.

[0034] (Storage unit 12) The memory unit 12 stores user call DB 121, robot call DB 122, cage call DB 123, area information DB 124, and operating mode information 125.

[0035] The User Call DB121 is a database that stores information about user calls. For each call, the User Call DB121 stores information indicating the departure floor and direction of travel in a landing call made by a user at the landing, and information indicating the destination floor in a car call registered by a user inside the elevator car while riding in elevator 2.

[0036] Figure 3 shows an example of the robot call DB122. The robot call DB122 contains information about the destination floor call of robot 4. The information about the destination floor call of robot 4 stored in the robot call DB122 includes reception information and registration information.

[0037] The reception information is information regarding destination floor calls from robot 4 that have been received by the elevator control device 1 but have not yet been registered. When a destination floor call from robot 4 is received, the reception information for that robot 4's destination floor call is stored in the robot call DB 122. Reference numeral 301 in Figure 3 shows an example of reception information. As shown in reference numeral 301, the reception information associates the identification information (robot ID), size, departure floor, destination floor, and direction of movement of robot 4 that requested the registration of the destination floor call.

[0038] The registration information is information regarding destination floor calls for robot 4 that has been registered in the elevator control device 1. When it is determined that robot 4 can board elevator 2, the boarding area for robot 4 is identified, and the destination floor call for robot 4 is registered. Once the destination floor call for robot 4 is registered, the registration information regarding the destination floor call for robot 4 is stored in the robot call DB 122. Reference numeral 302 in Figure 3 shows an example of registration information. As shown in reference numeral 302, in the registration information, information indicating the boarding area (boarding position) of robot 4 is further associated with the reception information.

[0039] Figure 4 shows an example of the car call DB123. The car call DB123 contains information about the car call of robot 4. When robot 4 completes boarding the car, information about robot 4's car call is registered in the car call DB123. As shown in Figure 4, the car call DB123 stores information indicating the identification information (robot ID), size, destination floor, and boarding area (boarding position) of robot 4 that has completed boarding the elevator car 2, in an associated manner.

[0040] Figure 5 shows an example of the area information DB124. Figures 6 to 8 are top views showing the location of areas within the elevator car 2, and the boarding and alighting routes within each area. The shaded areas in Figures 6 to 8 indicate the areas where the elevator car doors of 2 are located. Figure 6 shows the location of an S-sized area, Figure 7 shows the location of an M-sized area, and Figure 8 shows the location of an L-sized area. The area information DB124 contains information about one or more areas within the elevator car 2. An area is a boarding space within the elevator car 2 where the robot 4 can board.

[0041] As shown in Figure 5, the area information DB 124 stores information indicating the size, number, and location of each area. In the information processing system 100, the size of each area is predetermined for each size of robot 4. For example, there are three sizes of areas: S size, M size, and L size. Each area of ​​each size has enough space to accommodate a robot 4 of the corresponding size. Specifically, an S-sized area has enough space to accommodate an S-sized robot 4, an M-sized area has enough space to accommodate an M-sized robot 4, and an L-sized area has enough space to accommodate an L-sized robot 4.

[0042] As shown by reference numerals 601-605, 701-703, and 801-802 in Figures 6-8, each of the regions of the same size is positioned so as not to overlap with one another. Furthermore, each region is positioned so as not to hinder the movement of multiple robots 4 that utilize regions of the same size. Moreover, each region is positioned so as not to hinder the movement of a robot 4 that utilizes a region of a certain size and a robot 4 that utilizes a different region of a different size that does not overlap with that region.

[0043] As shown in Figures 6 to 8, each region of the same size is assigned a different number to distinguish them. Each region is identified by a combination of its size and the number assigned to it. Hereafter, the P-th region of size X will also be referred to as X(P). For example, as shown in Figures 5 and 6, each of the S-sized regions will be referred to as S(1) to S(5).

[0044] Furthermore, each region is associated with information indicating the regions that overlap with it. In the region information DB124 shown in Figure 5, regions in the same column overlap with each other. Specifically, regions S(1) and S(2) overlap with regions M(3) and L(2), region S(3) overlaps with regions M(2), L(1), and L(2), and regions S(4) and S(5) overlap with regions M(1) and L(1).

[0045] Furthermore, the area information includes information indicating the availability of each area. Availability indicates either available or unavailable. The identification information of robot 4 is entered in the column corresponding to the boarding area used by robot 4 after the destination floor call registration is complete, and in the column corresponding to the area overlapping with said boarding area. The availability status of the area in which the identification information of robot 4 is entered is indicated as unavailable. The identification information of robot 4 is not entered in the column corresponding to the boarding area of ​​robot 4, or the area overlapping with said boarding area, and the availability status of that area is indicated as available. The example shown in Figure 5 shows the case where the availability status of all areas is available.

[0046] Each region of the same size may be assigned a priority. The region of interest to be determined in the decision on whether or not robot 4 can be boarded, as described later, may be determined based on this priority. For example, among the regions of the same size shown in Figure 5, the region with the smaller number may be the region with the higher priority.

[0047] The area information may further include information indicating boarding and alighting routes for each predetermined area. The boarding route is a predetermined route that robot 4 takes from the time it boards the elevator car until it reaches the area, and is designed so as not to pass through other areas of the same size as the area in question. The alighting route is a predetermined route that robot 4 takes when it alights from the elevator car from the area, and is designed so as not to pass through other areas of the same size as the area in question. As an example, in Figure 6, reference numeral 606 indicates the boarding route when robot 4 boards the area indicated by S(1), and reference numeral 607 indicates the alighting route when robot 4, which was boarding the area indicated by S(1), alights from the elevator car of elevator 2. As another example, in Figure 7, reference numeral 704 indicates the boarding route when robot 4 boards the area indicated by M(3), and reference numeral 705 indicates the alighting route when robot 4, which was boarding the area indicated by M(3), alights from the elevator car of elevator 2. As yet another example, in Figure 8, reference numeral 803 indicates the boarding route when robot 4 boards the area indicated by L(2), and reference numeral 804 indicates the disembarking route when robot 4, which was boarding the area indicated by L(2), disembarks from the elevator car 2.

[0048] The operating mode information 125 indicates the operating mode of elevator 2. Elevator 2 has two operating modes: normal operating mode and robot-only operating mode. Normal operating mode is the mode in which elevator control device 1 operates elevator 2 in response to calls from people to the landing and to the car. When elevator 2 is operating in normal operating mode, even if elevator control device 1 receives a request from robot 4 to call a destination floor, that destination floor request will not be registered.

[0049] The robot-only operation mode is the operating mode in which the elevator control device 1 operates the elevator 2 in response to a call from robot 4. When elevator 2 is operating in robot-only operation mode, elevator control device 1 operates elevator 2 based on the destination floor call and car call of the registered robot 4. Also, when elevator 2 is operating in robot-only operation mode, elevator control device 1 does not accept calls from people.

[0050] (Control Unit 11) As shown in Figure 1, the control unit 11 includes a reception unit 111, a determination unit 112, a decision unit 113, an update unit 114, a registration unit 115, and an elevator control unit 116.

[0051] The reception unit 111 receives calls from human users for the elevator landing and for the elevator car. When a user operates a button or other device at the landing, the reception unit 111 receives the user's landing call and registers the received landing call. Based on the content of the operation, the reception unit 111 identifies the departure floor and direction of travel and stores the identified information in the user call DB 121 of the storage unit 12. This registers the user's landing call. When the elevator control unit 116 controls multiple elevator units 2, the reception unit 111 may determine which elevator unit to respond to the user's landing call when it receives the call. Also, when a user operates the control panel inside the elevator car, the reception unit 111 receives the user's elevator car call and registers the received elevator car call. Based on the content of the operation, the reception unit 111 identifies the destination floor and stores the identified information in the user call DB 121 of the storage unit 12. This registers the user's elevator car call.

[0052] Furthermore, the reception unit 111 receives destination floor requests for robot 4. When the reception unit 111 receives a second call request from the robot management device 3, it receives a destination floor request for robot 4 based on the second call request. The reception unit 111 stores the information regarding the received destination floor request for robot 4 in the robot call DB 122 of the storage unit 12. Specifically, the reception unit 111 stores in the robot call DB 122 the identification information of robot 4, information indicating the departure floor, information indicating the destination floor, and information indicating the direction of movement included in the second call request, associating them. At the time the reception unit 111 receives the destination floor request for robot 4, the destination floor request for robot 4 is not yet registered. As will be described later, when it is determined that robot 4, whose destination floor request has been received, is available to board elevator 2, the destination floor request for robot 4 is registered.

[0053] The determination unit 112 determines, based on area information, whether the second robot 4, which is the robot 4 that requested the registration of the destination floor call, is allowed to board the elevator car. Here, the condition for the determination unit 112 to determine that boarding is possible is that at least one area of ​​a size corresponding to the size of the second robot 4 is available in the boarding section for the second robot 4.

[0054] When the operating mode of elevator 2 is switched to robot-only operating mode, the determination unit 112 starts determining whether the second robot 4 is allowed to board. When the operating mode of elevator 2 is switched to robot-only operating mode, the determination unit 112 first identifies information regarding the destination floor call of the second robot 4. In the robot call DB 122, the determination unit 112 identifies information regarding a destination floor call that has been received but is not registered, i.e., reception information, as information regarding the destination floor call of the second robot 4. Reception information is information regarding a destination floor call to which information indicating the boarding area has not been associated.

[0055] If the robot call DB122 contains information (reception information) regarding the destination floor call of the second robot 4, the determination unit 112 extracts this information and determines whether the second robot 4 is available for boarding. First, the determination unit 112 identifies the size of the second robot 4 based on the extracted information. Hereafter, the identified size of the second robot 4 will be referred to as X. The determination unit 112 refers to the area information for the area of ​​size X in the area information DB124 and determines the area of ​​interest. First, the determination unit 112 identifies the first area of ​​size X in the area information DB124 as the area of ​​interest and determines whether the availability status of the area of ​​interest is available or not. If the identification information of the robot 4 is already stored in the area of ​​interest column in the area information DB124, the availability status of the area of ​​interest is not available. On the other hand, if the identification information of the robot 4 is not stored in the area of ​​interest column in the area information DB124, the availability status of the area of ​​interest is available or not. If the availability status of the area of ​​interest is not available, the determination unit 112 identifies the next area of ​​interest and determines whether the availability status of the identified area of ​​interest is available or not.

[0056] In the region information indicating an area of ​​size X, if the availability status of at least one area is available, the determination unit 112 determines that the second robot 4 can board the elevator 2. On the other hand, in the region information indicating an area of ​​size X, if the availability status of all areas is unavailable, the determination unit 112 determines that the second robot 4 cannot board the elevator 2.

[0057] If a first robot 4 exists, which is a robot 4 with a registered destination floor call, the availability of the area corresponding to the boarding area of ​​the first robot 4 is unavailable. Also, if the first robot 4 exists, the availability of the area overlapping with the boarding area of ​​the first robot 4 is also unavailable. Therefore, if the availability of a certain area is unavailable, it means that a first robot 4 is using that area or an area overlapping with that area.

[0058] Conversely, if the availability status of a certain area indicates that it is available, then there is no first robot 4 that can use that area or an area overlapping with it. Therefore, if the availability status of the area of ​​interest indicates that it is available, then it can be said that the second robot 4 can board the elevator 2. Accordingly, if the availability status of at least one area corresponding to an area of ​​size X is available, the determination unit 112 determines that the second robot 4 can board the elevator 2.

[0059] In the area information indicating an area of ​​size X, if the availability status for all areas is "no availability," then when the second robot 4 boards the elevator 2, there is no area available for the second robot 4 to board. Therefore, if the availability status for all areas of size X in the area information DB124 is "no availability," the determination unit 112 determines that the second robot 4 cannot board the elevator 2.

[0060] If there are multiple second robots 4, the determination unit 112 may determine whether a second robot 4 with the same direction of movement is eligible to board. If multiple reception information records, which are information regarding destination floor calls for robots 4 that have been accepted but are not registered, the determination unit 112 may determine which of these destination floor calls have the same direction of movement.

[0061] When the system switches to robot-only operation mode, the determination unit 112 determines whether or not the second robot 4, whose direction of movement is upward, is eligible for boarding. Specifically, the determination unit 112 identifies reception information indicating an upward direction of movement and selects the second robot 4 indicated in the identified reception information as the target for determination. The determination unit 112 then sorts the reception information of the target second robot 4 in ascending order based on the departure floor of the second robot 4. Based on the sorted reception information, the determination unit 112 sequentially determines whether or not the target second robot 4 is eligible for boarding.

[0062] Once the boarding status of all second robots 4 whose direction of movement is upward has been determined, and the destination floor calls for all second robots 4 whose direction of movement is upward and which have been determined to be boarding status have been registered, the determination unit 112 determines whether boarding status of second robots 4 whose direction of movement is downward has been determined. Specifically, the determination unit 112 sorts the reception information of the second robots 4 to be determined in descending order based on the departure floor of the second robot 4. Based on the sorted reception information, the determination unit 112 sequentially determines whether boarding status of the second robots 4 to be determined has been determined.

[0063] Even if robot 4 moving upwards and robot 4 moving downwards use the same elevator car, they will not be riding in the same car. Therefore, regardless of which area robot 4 moving upwards is in, it is unlikely to obstruct the movement of robot 4 moving downwards. Consequently, when determining whether robot 4 moving downwards can board, for example, it is not necessary to consider the availability of space based on the destination floor call of robot 4 moving upwards.

[0064] According to the above configuration, it is determined whether or not a second robot 4 that has been requested to register a destination floor call in the same direction is eligible to board. This makes it possible to determine whether or not a second robot 4 that has been requested to register a destination floor call moving in a certain direction is eligible to board without considering the destination floor calls of second robot 4 moving in a different direction.

[0065] If the determination unit 112 determines that the second robot 4 is able to board the elevator 2, it outputs information indicating the determination result to the decision unit 113. This information includes identification information of the second robot 4 that has been determined to be able to board the elevator 2, and information indicating the area of ​​focus when the determination unit 112 determined that the second robot 4 is able to board the elevator 2. After making a determination for the second robot 4, the determination unit 112 makes a determination for the next second robot 4. After making a determination for all second robots 4, the determination unit 112 again refers to the robot call DB 122 to identify the second robot 4 whose destination floor call registration has not been completed, and determines whether the identified second robot 4 is able to board the elevator. If there are no more second robots 4, there will be no destination floor calls in the robot call DB 122 that have not been registered. In this case, the determination unit 112 terminates the determination. As a result, destination floor calls for all second robots 4 are registered.

[0066] The determination unit 113 determines the riding area, which is the area in which the second robot 4, which has been determined to be rideable, will ride. The determination unit 113 may also determine the area with the highest priority among the available areas that correspond to the size of the second robot 4 as the riding area for the second robot 4. Once the determination unit 113 has determined the riding area for the second robot 4, it outputs the identification information of the second robot 4, which has been determined to be rideable, and the information indicating the riding area for the second robot 4, to the update unit 114 and the registration unit 115.

[0067] If the determination unit 112 determines that the second robot 4 can board the elevator 2, the decision unit 113 acquires information indicating the determination result regarding the second robot 4. Upon acquiring this information, the decision unit 113 determines the area of ​​interest at the time the determination unit 112 determined that the second robot 4 could board the elevator 2 as the boarding area for the second robot 4. The determination unit 112 makes determinations in order from the area with the highest priority among areas of the same size. Therefore, the area of ​​interest at the time the determination unit 112 determined that the second robot 4 could board the elevator 2 is the area with the highest priority among the available areas that correspond to the size of the second robot 4. Thus, with the above configuration, the second robot 4, which has been determined to be able to board, can be placed in the area with the highest priority among the areas in which the second robot 4 can board.

[0068] The update unit 114 updates the area information DB 124 stored in the memory unit 12. If the first robot 4, which is a robot 4 that is currently riding or is scheduled to ride in the area of ​​interest, the update unit 114 updates the area information stored in the memory unit 12 to (1) the availability status of the area of ​​interest to "no availability". Also, if the first robot 4 is present, the update unit 114 updates the availability status of areas that are different in size from the area of ​​interest but overlap with the area of ​​interest to "no availability". Note that "currently riding or scheduled to ride in the area of ​​interest" means that the riding area is an area that overlaps with the area of ​​interest in at least part. For example, if S(1) is the area of ​​interest, the riding area of ​​the first robot 4 that is currently riding or scheduled to ride in the area of ​​interest may be S(1), M(3), or L(2).

[0069] If the determination unit 112 determines that the second robot 4 can board the elevator 2, the update unit 114 obtains the identification information of the robot 4 that has been determined to be able to board, and information indicating the boarding area of ​​the robot 4, from the determination unit 113. Upon obtaining this information, the update unit 114 updates the availability status of the area corresponding to the obtained boarding area and the area overlapping with that area to "no availability". Specifically, the update unit 114 inputs the acquired robot 4 identification information into the column indicating the area corresponding to the boarding area in the area information DB 124. The update unit 114 also identifies the area that overlaps with the boarding area. Then, the update unit 114 inputs the acquired robot 4 identification information into the column indicating the area overlapping with the boarding area in the area information DB 124.

[0070] If the determination unit 112 determines that the second robot 4 can board the elevator 2, the boarding area for the second robot 4 is determined by the determination unit 113, and the availability status of the area corresponding to that boarding area is updated to "no availability" by the update unit 114. Also, as will be described later, the destination floor call for the second robot 4 is registered by the registration unit 115. Therefore, if the determination unit 112 determines that the second robot 4 can board the elevator 2, the second robot 4 is scheduled to board the boarding area, and thus the second robot 4 becomes the first robot 4 scheduled to board the boarding area. When the determination unit 112 determines whether a new second robot 4 can board, if there is a first robot 4 whose boarding area is the area of ​​interest, the availability status of the area of ​​interest and the area overlapping with the area of ​​interest is updated to "no availability" by the update unit 114.

[0071] Furthermore, if the first robot 4 is no longer present, the update unit 114 updates the availability status of the passenger area occupied by the first robot 4 to available. It also updates the availability status of areas that overlap with the passenger area of ​​the first robot 4. Specifically, when robot 4 completes disembarking from elevator 2, the update unit 114 receives a disembarking completion signal from robot management device 3. Upon receiving the disembarking completion signal, the update unit 114 refers to the car call DB 123 based on the identification information of the disembarking robot 4 and identifies the passenger area of ​​the disembarking robot 4. The update unit 114 then updates the availability status of the area corresponding to the identified passenger area to available. Specifically, the update unit 114 deletes the identification information of the disembarking robot 4 that is entered in the area information DB 124 in the field indicating the area corresponding to the identified passenger area. The update unit 114 also identifies areas that overlap with the passenger area of ​​the disembarking robot 4. Then, the update unit 114 deletes the identification information of the robot 4 that has completed disembarking, which is entered in the field indicating the area that overlaps with the boarding area in the area information DB 124.

[0072] Furthermore, the update unit 114 deletes the car call of robot 4 that has completed disembarking. Specifically, the update unit 114 updates the area information DB 124 based on the boarding area of ​​robot 4 that has completed disembarking, then refers to the car call DB 123 and identifies the car call of robot 4 based on the identification information of robot 4 that has completed disembarking. The update unit 114 deletes the information related to the identified car call.

[0073] The registration unit 115 registers the destination floor call for robot 4. The registration unit 115 registers the destination floor call for second robot 4 that is determined to be able to board, and does not register the destination floor call for second robot 4 that is determined to be unable to board.

[0074] If the determination unit 112 determines that the second robot 4 is able to board the elevator 2, the registration unit 115 obtains the identification information of the second robot 4 that has been determined to be able to board, and information indicating the boarding area of ​​the second robot 4, from the decision unit 113. Upon obtaining this information, the registration unit 115 registers the destination floor call for the second robot 4. Specifically, the registration unit 115 refers to the robot call DB 122 and stores the information indicating the boarding area (boarding position) of the second robot 4, which has been obtained, in association with the reception information corresponding to the identification information that matches the identification information of the second robot 4. As a result, the destination floor call for the second robot 4 that had been received is registered, and the second robot 4 becomes the first robot 4 that is scheduled to board the elevator 2. On the other hand, if the determination unit 112 determines that the second robot 4 is not able to board the elevator 2, the registration unit 115 does not obtain any information from the decision unit 113. Therefore, in the above case, the destination floor call for the second robot 4 is not registered, and it remains in a state of being accepted but unregistered.

[0075] With the above configuration, destination floor calls from the second robot 4 that are determined to be able to board are registered, while destination floor calls from the second robot 4 that are determined to be unable to board are received but not registered. Therefore, elevator 2 does not respond to destination floor calls from the second robot 4 that are determined to be unable to board. This makes it possible to make elevator 2 respond only to destination floor calls from the second robot 4 that have boarding space inside the car.

[0076] Furthermore, the registration unit 115 registers the car call of robot 4 that has completed boarding the elevator car 2. When robot 4 completes boarding the car, the registration unit 115 receives a boarding completion signal from robot management device 3. Upon receiving the boarding completion signal, the registration unit 115 refers to robot call DB 122 based on the identification information of robot 4 that has completed boarding included in the boarding completion signal and deletes the information related to the destination floor call of robot 4. Then, the registration unit 115 stores the identification information of robot 4, information indicating its size, information indicating its destination floor, and information indicating its boarding area in association with each other in the car call DB 123.

[0077] When a call for the destination floor of the second robot 4 is registered, the elevator control unit 116 controls the elevator 2 so that the elevator car carrying the second robot 4 operates in a robot-only operation mode that does not respond to calls from people.

[0078] The elevator control unit 116 determines the operation method of the elevator 2 based on the operating mode information 125 in the memory unit 12. If the operating mode information 125 indicates the normal operating mode, the elevator control unit 116 controls the elevator 2 so that the elevator car operates in the normal operating mode. Specifically, if the operating mode information 125 indicates the normal operating mode, the elevator control unit 116 refers to the user call DB 121 in the memory unit 12 and determines the destination floor of the elevator car based on the user landing calls and car calls registered in the user call DB 121. Then, the elevator control unit 116 moves the elevator car to the determined destination floor and controls the elevator 2 to stop and open its doors at the destination floor.

[0079] If the operating mode information 125 indicates a robot-only operating mode, the elevator control unit 116 controls elevator 2 so that the elevator car operates in robot-only operating mode. Specifically, if the operating mode information 125 indicates a robot-only operating mode, the elevator control unit 116 refers to the robot call DB 122 and the car call DB 123. The elevator control unit 116 determines the destination floor of the car based on the destination floor call of robot 4 registered in the robot call DB 122 and the car call of robot 4 registered in the car call DB 123. Then, the elevator control unit 116 moves the elevator car of elevator 2 to the determined destination floor and controls elevator 2 to stop and open the doors at the destination floor.

[0080] Furthermore, the elevator control unit 116 instructs robot 4 to board elevator 2 and disembark from elevator 2. When elevator 2 is operating in robot-only operation mode, once the car has stopped and the doors have opened, the elevator control unit 116 determines whether the response from elevator 2 is a response to robot 4's car call or destination floor call. If the response from elevator 2 is a response to a car call, the elevator control unit 116 identifies robot 4 that is scheduled to disembark from the car. The elevator control unit 116 refers to the car call DB 123 and identifies robot 4 whose destination floor is the car's stopping floor as robot 4 that is scheduled to disembark from the car. The elevator control unit 116 identifies data related to robot 4 that is scheduled to disembark from the car, specifically the robot 4's identification information and information indicating the robot 4's boarding area. Then, the elevator control unit 116 refers to the area information DB 124 and identifies information indicating the disembarking route from the boarding area. The elevator control unit 116 transmits a disembarkation instruction signal to the robot management device 3, which includes identification information of the robot 4 scheduled to disembark and information indicating the disembarkation route when the robot 4 disembarks from the passenger area. As a result, the robot management device 3 instructs the robot 4 scheduled to disembark to disembark, and the robot 4 disembarks from the elevator car along the disembarkation route. If there are multiple robots 4 scheduled to disembark at the elevator car's stopping floor, the elevator control unit 116 identifies the disembarkation routes for all of the robots 4 scheduled to disembark and transmits disembarkation instruction signals for each of these robots 4.

[0081] If the response from elevator 2 is a response to a landing call, the elevator control unit 116 identifies the robot 4 that is scheduled to board the car. The elevator control unit 116 refers to the robot call DB 122 and identifies the robot 4 that is scheduled to board the car if the destination floor call is registered and the car's stopping floor is the departure floor. The elevator control unit 116 identifies data related to the robot 4 scheduled to board the car, specifically the robot 4's identification information and information indicating the robot 4's boarding area. Then, the elevator control unit 116 refers to the area information DB 124 and identifies information indicating the boarding route to the boarding area. The elevator control unit 116 transmits a boarding instruction signal to the robot management device 3, which includes the identified robot 4 scheduled to disembark, the robot 4's boarding area, and information indicating the boarding route when the robot 4 boards the boarding area. As a result, the robot management device 3 instructs the robot 4 scheduled to board the elevator, and the robot 4 boards the elevator car along the boarding route and stops in the boarding area. If there are multiple robots 4 scheduled to board at the elevator car's stopping floor, the elevator control unit 116 identifies the boarding area and boarding route for all of the robots 4 scheduled to board and transmits a boarding instruction signal for each of these robots 4.

[0082] According to the above configuration, if it is determined that the second robot 4 is available to board, the registration unit 115 registers the destination floor call of the second robot 4, and the elevator 2 operates in robot-only operation mode. On the other hand, if it is determined that the second robot 4 is not available to board, the destination floor call of the second robot 4 is not registered. Furthermore, once all destination floor calls and car calls from the robot 4 have been answered, the elevator 2 operates in an operation mode that can respond to human calls (normal operation mode). Thus, according to the above configuration, the elevator car of the elevator 2 can be operated in the appropriate operation mode.

[0083] <Example of determining whether Robot 4 is eligible to board, and example of its placement> Figures 9, 10, 12, 14, and 16 show examples of the area information DB 124. Figures 11, 13, 15, and 17 show examples of the arrangement of robots 4 inside the elevator car 2. Below, using Figures 9 to 15, we will explain examples of the boarding / failure determination of robots 4 in the information processing system 100 and examples of the arrangement of robots 4 inside the elevator car. In the following, robots 4 whose identification information is "robotA" to "robotI" will be referred to as "robot 4A" to "robot 4I".

[0084] (Example of boarding eligibility determination) First, we will explain how to determine whether robot 4 can board a vehicle, using the example of the state in which the area information shown in Figure 9 is stored in the area information DB124. In the example shown in Figure 9, the destination floor call of robot 4A, which has identification information of size S, has been registered, and the boarding area for robot 4A is S(1). In this case, as shown in Figure 9, the identification information of robot 4A is entered in the fields in the area information DB124 that indicate the area of ​​S(1), and the areas M(3) and L(2), which overlap with the area of ​​S(1). Also, in this case, the availability status of areas S(1), M(3), and L(2) is unavailable, and the availability status of the other areas is available.

[0085] If the robot call DB122 stores reception information regarding a destination floor call by the second robot 4, the determination unit 112 determines whether the second robot 4 is allowed to board the elevator. If the size of the second robot 4 is S size, the determination unit 112 first determines the area S(1), which has the highest priority among the S-sized areas, as the area of ​​interest. As shown in Figure 9, the availability status of area S(1) is full, so the determination unit 112 determines that the second robot 4 cannot board the area of ​​interest, and then determines the area S(2), which has the next highest priority, as the area of ​​interest. As shown in Figure 9, the availability status of area S(2) is full, so the determination unit 112 determines that the second robot 4 can board the elevator 2. As a result, the registration unit 115 registers the destination floor call of the second robot 4. In addition, the decision unit 113 determines that the boarding area for the second robot 4 is area S(2), and the update unit 114 updates the availability status of area S(2) to full.

[0086] Next, we will explain how to determine whether robot 4 is available for boarding, using the state in which the area information shown in Figure 10 is stored as an example. In the example shown in Figure 10, the destination floor calls for S-sized robots 4A, 4B, and 4C, and M-sized robot 4F have been registered. The boarding area for robot 4A is S(1), the boarding area for robot 4B is S(2), the boarding area for robot 4C is S(3), and the boarding area for robot 4F is M(1). In this case, as shown in Figure 10, since the identification information for robot 4 is entered in the column showing all areas in the area information DB124, the availability status of all areas is "no availability".

[0087] If the robot call DB122 stores reception information regarding a destination floor call by the second robot 4, the determination unit 112 determines whether the second robot 4 is allowed to board the elevator. If the size of the second robot 4 is S size, the determination unit 112 makes a determination using the S size area as the area of ​​focus. Here, as shown in Figure 10, all S size areas are unavailable. Therefore, the determination unit 112 determines that the second robot 4 is not allowed to board the elevator 2. In this case, the destination floor call for the second robot 4 remains unregistered. Subsequently, when any of robots 4A, 4B, 4C, and 4F disembark from the elevator car, the area where the disembarking robot 4 was riding and the area overlapping with that area become available. For example, when robot 4F disembarks, the areas S(4), S(5), and M(1) become available. Therefore, if no destination floor call is registered for any of the robots 4A, 4B, 4C, and 4F after disembarking from the elevator car, the second robot 4 is determined to be available to board the elevator 2.

[0088] (Example of robot 4 placement) The following describes examples of the placement of robot 4 inside elevator car 2, using Figures 6 to 8 and Figures 10 to 17.

[0089] When region information as shown in Figure 10 is stored, the boarding region for robot 4A is region S(1), the boarding region for robot 4B is region S(2), the boarding region for robot 4C is region S(3), and the boarding region for robot 4F is region M(1). Therefore, robot 4A stops in the region indicated by reference numeral 601 in Figure 6, robot 4B boards in the region indicated by reference numeral 602 in Figure 6, robot 4C boards in the region indicated by reference numeral 603 in Figure 6, and robot 4F boards in the region indicated by reference numeral 703 in Figure 7. When these robots 4 board the cage at the same time, the arrangement of each robot 4 will be as shown in Figure 11, and each robot 4 will board in the region indicated by reference numerals 1101 to 1104 in Figure 11.

[0090] When region information as shown in Figure 12 is stored, the boarding region for robot 4A is region S(1), the boarding region for robot 4B is region S(2), the boarding region for robot 4F is region M(2), and the boarding region for robot 4G is region M(1). Therefore, robot 4A stops in the region indicated by reference numeral 601 in Figure 6, robot 4B stops in the region indicated by reference numeral 602 in Figure 6, robot 4F boards in the region indicated by reference numeral 702 in Figure 7, and robot 4G boards in the region indicated by reference numeral 703 in Figure 7. When these robots 4 board the cage at the same time, the arrangement of each robot 4 will be as shown in Figure 13, and each robot 4 will board in the region indicated by reference numerals 1301 to 1304 in Figure 13.

[0091] When region information as shown in Figure 14 is stored, the riding area for robot 4A is region S(1), the riding area for robot 4B is region S(2), and the riding area for robot 4I is region L(1). Therefore, robot 4A rides in the region indicated by reference numeral 601 in Figure 6, robot 4B rides in the region indicated by reference numeral 602 in Figure 6, and robot 4I rides in the region indicated by reference numeral 802 in Figure 8. When these robots 4 ride in the cage at the same time, the arrangement of each robot 4 will be as shown in Figure 15, and each robot 4 will ride in the regions indicated by reference numerals 1501 to 1503 in Figure 15.

[0092] When region information as shown in Figure 16 is stored, the boarding area for robot 4F is region M(3), and the boarding area for robot 4I is region L(1). Therefore, robot 4F boards the area indicated by reference numeral 701 in Figure 7, and robot 4I boards the area indicated by reference numeral 802 in Figure 8. When these robots 4 board the cage at the same time, the arrangement of each robot 4 will be as shown in Figure 17, and each robot 4 will board the areas indicated by reference numerals 1701 to 1702 in Figure 17.

[0093] Even if the same destination floor calls for robot 4 as in the above examples are registered, the boarding area for robot 4 may differ depending on the order in which the boarding eligibility of robot 4 is determined. For example, if the boarding eligibility of robot 4I is determined first after the destination floor calls for robot 4F and robot 4I are received, and then the boarding eligibility of robot 4F is determined later, the same information as in the example shown in Figure 16 will be stored in the area information DB124, and the arrangement of robot 4 will be the same as in Figure 17.

[0094] On the other hand, if the boarding status of robot 4F is determined first and the boarding status of robot 4I is determined later, the placement of robot 4 will be different from that in Figure 17. Specifically, if all areas are available, and the boarding status of robot 4F is determined before that of robot 4I, then the area M(1), which has a higher priority than area M(3), will be available. Therefore, the boarding area for robot 4F will be M(1). And if the boarding area for robot 4F is M(1), then the boarding status of L(1) will be full, and the boarding status of L(2) will be available. Therefore, the boarding area for robot 4I will be L(2).

[0095] <An example of the processing flow performed by the information processing system 100> Figures 18 to 24 are flowcharts and sequence diagrams showing the processing flow of the information processing system 100. The processing flow of the information processing system 100 will be explained below using Figures 18 to 24.

[0096] (Processing to accept a request to summon Robot 4) Figure 18 is a sequence diagram showing the processing flow for receiving a call request for robot 4. First, we will explain the processing flow for receiving a call request for robot 4 using Figure 18.

[0097] When robot 4 needs to use elevator 2, the request unit 411 of robot 4 generates a first call request that includes identification information for its own device and information indicating the destination floor for its own device. The request unit 411 transmits the generated first call request to robot management device 3 (S1).

[0098] When the acquisition unit 311 of the robot management device 3 receives a first call request from robot 4 (YES in S11), it refers to the robot management DB 321 based on the identification information of robot 4 included in the first call request and identifies the current floor of robot 4 that sent the first call request. The acquisition unit 311 identifies the current floor of robot 4 as the departure floor (S12). Next, the acquisition unit 311 identifies the direction of movement of robot 4 based on the current floor of robot 4 and the destination floor of robot 4 included in the first call request (S13). Once the acquisition unit 311 has identified the departure floor and direction of movement of robot 4, it generates a second call request that includes the identification information of robot 4 requesting registration of a destination floor call, and information indicating the departure floor, destination floor, and direction of movement. The acquisition unit 311 transmits the generated second call request to the elevator control device 1 (S14).

[0099] When the reception unit 111 of the elevator control device 1 receives a second call request from the robot management device 3 (YES in S21), it accepts a destination floor call for robot 4 based on the second call request (S22). Specifically, the reception unit 111 stores in the robot call DB 122 reception information that associates the identification information of robot 4, information indicating the departure floor, information indicating the destination floor, and information indicating the direction of movement included in the second call request. As a result, the elevator control device 1 accepts the destination floor call for robot 4. Furthermore, the robot 4 that has requested registration of a destination floor call in this manner and whose destination floor call has been accepted by the elevator control device 1 is the second robot 4.

[0100] (Process for registering the destination floor call for robot 4) Figure 19 is a flowchart showing the process flow for registering the destination floor call of robot 4 performed by the elevator control device 1. Figure 20 is a flowchart showing the flow of the first registration process and the second registration process performed within the process shown in Figure 19. Figure 21 is a flowchart showing the flow of the boarding determination process performed within the process shown in Figure 20. The process flow for registering the destination floor call of robot 4 will be explained below using Figures 19 to 21. Note that at the start of the process shown in Figure 19, elevator 2 is operating in normal operation mode.

[0101] First, the update unit 114 clears the area information (S31). Specifically, if the robot 4's identification information is still entered in the area information DB 124, the update unit 114 deletes that identification information. After S31, the elevator control unit 116 determines whether or not the elevator 2's operating mode can be switched to the robot-only operating mode (S32). If the response to a registered person's landing call or car call has not been completed, the elevator control unit 116 determines that the elevator 2's operating mode cannot be switched to the robot-only operating mode. If the response to a person's landing call or car call has not been completed, that is, if information regarding a person's landing call or car call is stored in the user call DB 121. If it is determined that the elevator 2's operating mode cannot be switched to the robot-only operating mode (NO in S32), the elevator control unit 116 repeats the process in S32 until it becomes YES in S32.

[0102] If no information regarding a person calling the landing or the elevator car is stored in the user call DB 121, the elevator control unit 116 determines that the operation mode of elevator 2 can be switched to robot-only operation mode (YES in S32). If it is possible to switch to robot-only operation mode (YES in S32), the elevator control unit 116 switches the operation mode of elevator 2 stored in the memory unit 12 to robot-only operation mode (S33).

[0103] When the elevator 2's operating mode is switched to robot-only operating mode, the determination unit 112 determines whether the second robot 4 is allowed to board. First, the determination unit 112 determines whether the second robot 4, whose direction of movement is upward, is allowed to board. The determination unit 112 refers to the robot call DB 122 and identifies data (reception information) indicating that the direction of movement is upward (UP) (S34). If data (reception information) indicating that the direction of movement is upward exists (YES in S35), the determination unit 112 performs the first registration process shown in Figure 20 (S36). In the first registration process, it is determined whether the second robot 4, whose direction of movement is upward, is allowed to board, and the destination floor call of the second robot 4, which is determined to be allowed to board, is registered.

[0104] The flow of the first registration process will be explained below using Figures 20 and 21. If the current process is the first registration process (YES in S51), the determination unit 112 extracts data from the reception information stored in the robot call DB 122 that indicates the direction of movement is upward (UP) (S52). The determination unit 112 determines the second robot 4 indicated by the extracted data (reception information) as the target for determination. Based on the departure floor of the second robot 4, the determination unit 112 sorts the reception information of the target second robot 4 in ascending order. Based on the sorted reception information, the determination unit 112 sequentially determines whether or not boarding is permitted for the target second robot 4. The determination unit 112 assigns 1 to the variable CNT (S54) and performs a boarding determination process for the second robot 4 indicated by the CNT-th reception information among the sorted reception information (S55). The boarding determination process involves the second robot 4, which is the target of the determination, determining whether or not it is permitted to board the elevator car 2, and updating the area information DB 124 based on the determination result.

[0105] The flow of the boarding determination process will be explained using Figure 21. In the boarding determination process, first, the determination unit 112 identifies the size X of the second robot 4 based on the reception information of the second robot 4 (S61). Next, the determination unit 112 assigns 0 to the variable P which indicates the number of the area of ​​interest to be determined (S62).

[0106] The determination unit 112 determines whether the second robot can board the elevator car 2 based on the area information stored in the area information DB 124 (S63-66, S70: determination step). First, the determination unit 112 increments the variable P by 1 (S63). Next, the determination unit 112 determines whether or not it has made a determination for all areas of size X (S64). If it has not made a determination for all areas of size X (NO in S64), the determination unit 112 determines whether or not the second robot 4 can board the area X(P) as the area of ​​interest. The determination unit 112 refers to the area information DB 124 and determines whether or not the area X(P) is available (S65). If the area X(P) is not available (NO in S65), it returns to the process in S63. If there are any remaining areas of size X that have not been determined, the determination unit 112 takes the area with the highest priority among the remaining areas as the area of ​​interest and performs the determination in S65 again.

[0107] If the availability of the X(P) region indicates that it is available (YES in S65), the determination unit 112 determines that the second robot 4 can board the elevator 2 (S66). If YES in S65, the determination unit 112 outputs to the decision unit 113 information indicating the determination result and information indicating the X(P) region, which is the region of interest when it was determined that the second robot 4 can board the elevator 2.

[0108] When the determination unit 113 obtains information indicating the determination result from the judgment unit 112, it determines the area X(P) as the riding area for the second robot 4 (S67). The determination unit 113 outputs the information indicating the determined riding area and the identification information of the second robot 4 to the update unit 114 and the registration unit 115.

[0109] The update unit 114 obtains information indicating the determined passenger area X(P), the identification information of the second robot 4, and the determination unit 113, and updates the availability status of the X(P) area to "no availability" (S68: update step). Specifically, the update unit 114 inputs the identification information of the second robot 4 into the field indicating the X(P) area in the area information DB 124. Next, the update unit 114 identifies the area overlapping with the X(P) area and updates the availability status of the overlapping area to "no availability" (S69: update step). Specifically, the update unit 114 inputs the identification information of the second robot 4 into the field indicating the area overlapping with the X(P) area in the area information DB 124.

[0110] If the determination unit 112 has made a determination for all X-sized areas (YES in S64), it determines that the second robot 4, which is the subject of the determination, cannot board the elevator (S70). A YES in S64 means that a determination has been made for all X-sized areas and all of the areas in question show no availability. If the YES in S64, there is no X-sized area in the elevator car 2 that the second robot 4 can board, so the determination unit 112 determines that the second robot 4 cannot board the elevator car 2.

[0111] In the boarding determination process in S55, if it is determined that the second robot 4 is available to board (YES in S56), the registration unit 115 obtains the identification information of the second robot 4 that has been determined to be available to board, and information indicating the boarding area of ​​the second robot 4, from the determination unit 113. Upon obtaining this information, the registration unit 115 registers the destination floor call for the second robot 4 (S57). Specifically, the registration unit 115 stores the information indicating the boarding area of ​​the second robot 4 as registered information, in addition to the reception information to which the identification information of the second robot 4 is associated in the robot call DB 122. As a result, the destination floor call of the second robot 4 that has been determined to be available to board the elevator car 2 is registered, and the second robot 4 becomes the first robot 4.

[0112] In the boarding determination process in S55, if it is determined that the second robot 4 is not eligible to board (NO in S56), the registration unit 115 does not acquire any information about the second robot 4. In this case, the destination floor call for the second robot 4 is not registered, and the boarding eligibility of the second robot 4 is determined again the next time it becomes the subject of the boarding determination process.

[0113] After S57, or if it is determined that the second robot 4 is not available for boarding (NO in S56), the determination unit 112 increments the variable CNT by 1 (S58). If a determination of whether the second robot 4 is available for boarding has not been made for all of the extracted data (NO in S59), the process returns to S55, and the boarding status of the second robot 4 shown in the CNTth reception information is determined. If the determination unit 112 has made a determination for all of the extracted data (YES in S59), the determination unit 112 terminates the first registration process and returns to the process shown in Figure 19.

[0114] Using Figure 19 again, after the first registration process in S36, or if there is no data (reception information) indicating an upward movement direction (NO in S35), the determination unit 112 determines whether the second robot 4, whose movement direction is downward, can be boarded. The determination unit 112 refers to the robot call DB 122 and identifies data (reception information) indicating a downward movement direction (DOWN) (S37). If data (reception information) indicating a downward movement direction exists (YES in S38), the determination unit 112 performs the second registration process shown in Figure 20 (S39).

[0115] As shown in Figure 20, if the current process is the second registration process (NO in S51), the determination unit 112 extracts data (reception information) indicating that the direction of movement is downward (DOWN) (S53), and the second robot 4 indicated by the extracted data (reception information) is the target of the determination. Based on the departure floor of the second robot 4, the determination unit 112 sorts the reception information of the target second robot 4 in descending order. Based on the sorted reception information, the determination unit 112 sequentially determines whether or not boarding is permitted for the target second robot 4. The processes from S54 onward and the boarding determination process in Figure 21 have already been explained, so their explanation is omitted here.

[0116] After S36, that is, after the second registration process, or if there is no data (reception information) indicating a downward movement direction (NO in S38), the determination unit 112 determines whether the number of data entries in the robot call DB 122 is 0 or not (S40). If the number of data entries in the robot call DB 122 is not 0 (NO in S40), the process returns to S34. As a result, the first registration process and the second registration process are repeated until all destination floor calls for the second robot 4 are registered.

[0117] Once all destination floor calls for the second robots 4 have been registered and elevator 2 has responded to all registered destination floor calls, the number of data entries in robot call DB 122 becomes 0. If the number of data entries in robot call DB 122 is 0 (YES in S40), the determination unit 112 outputs information to elevator control device 1 indicating that there are no second robots 4 to be determined. Upon receiving this information, elevator control device 1 terminates the robot-only operation mode and switches the operation mode of elevator 2 to normal operation mode (S41).

[0118] (Process for boarding and disembarking robot 4) Figure 22 is a sequence diagram showing the flow of processing performed in the information processing system 100 to allow robot 4, whose destination floor call has been registered, to board and alight. Figure 23 is a flowchart showing the flow of disembarkation completion processing performed by the elevator control device 1 within the processing shown in Figure 22. Figure 24 is a flowchart showing the flow of boarding completion processing performed by the elevator control device 1 within the processing shown in Figure 22. The following will explain the flow of processing for allowing robot 4 to board and alight using Figures 22 to 24. Note that at the start of the processing shown in Figure 22, elevator 2 is operating in robot-only operation mode.

[0119] When elevator 2 stops at the floor where the car is located and the doors have opened (YES in S101), the elevator control unit 116 determines whether the response from elevator 2 is a response to a car call (S102). The elevator control unit 116 refers to the car call DB 123 and determines that the response from elevator 2 is a response to a car call if a car call is registered with the destination floor being the stopping floor of elevator 2.

[0120] If the response from elevator 2 is a response to a car call (YES in S102), the elevator control unit 116 extracts data about robot 4 that is scheduled to disembark (S103). The elevator control unit 116 extracts information from the car call DB 123 regarding car calls that use the stopping floor of elevator 2 as the destination floor, as data about robot 4 that is scheduled to disembark. If multiple car calls are registered that use the stopping floor of elevator 2 as the destination floor, the elevator control unit 116 extracts information indicating one of those car calls.

[0121] Next, the elevator control unit 116 refers to the area information DB 124 and, based on the boarding area of ​​the robot 4 included in the extracted information indicating the car call, identifies the disembarking route when disembarking from that boarding area. The elevator control unit 116 transmits a disembarking instruction signal to the robot management device 3, which includes the identification information of the robot 4 included in the extracted information indicating the car call and information indicating the disembarking route of the robot 4 (S104).

[0122] When the instruction unit 312 of the robot management device 3 receives a disembarkation instruction signal from the elevator control device 1 (YES in S91), it transmits a disembarkation command to the robot 4, which is indicated by the identification information contained in the disembarkation instruction signal, including information indicating the disembarkation route of the robot 4 (S92).

[0123] When the motion control unit 412 of robot 4 receives a disembarking command from the robot management device 3 (YES in S71), it controls the operation unit 42 to perform the disembarking operation (S72). Here, the motion control unit 412 controls the operation unit 42 to move along the disembarking route included in the received disembarking command. When the motion control unit 412 has completed disembarking from the elevator car 2 (YES in S73), it transmits a disembarking completion signal containing its own identification information to the robot management device 3 (S74). When the acquisition unit 311 of the robot management device 3 receives the disembarking completion signal from robot 4 (YES in S93), it transmits the disembarking completion signal to the elevator control device 1 (S94). The acquisition unit 311 then updates the current floor and destination floor of robot 4 that has completed disembarking in the robot management DB 321 (S95). Specifically, the acquisition unit 311 updates the information indicating the current floor of the robot 4 that has completed disembarking with the floor number that was entered as the destination floor of the robot 4, and deletes the information indicating the destination floor of the robot 4. In addition, the acquisition unit 311 deletes the information indicating the boarding area of ​​the robot 4 in the robot management DB 321.

[0124] When the elevator control device 1 receives a disembarkation completion signal from the robot management device 3 (YES in S105), it performs disembarkation completion processing (S106). The disembarkation completion processing will be explained using Figure 23. Based on the received disembarkation completion signal, the update unit 114 identifies the boarding area of ​​the robot 4 that has completed disembarkation (S121). Specifically, the update unit 114 refers to the car call DB 123 based on the identification information of the robot 4 included in the disembarkation completion signal. The update unit 114 identifies the boarding area of ​​the robot 4 associated with the identification information of the robot 4 in the car call DB 123 as the boarding area of ​​the robot 4 that has completed disembarkation. Subsequently, the update unit 114 updates the availability status of the identified area to available (S122). Specifically, the update unit 114 deletes the identification information of the robot 4 that is entered in the area information DB 124, which is located in the field indicating the area corresponding to the boarding area of ​​the robot 4 that has completed disembarkation.

[0125] Furthermore, the update unit 114 updates the availability status of the areas overlapping with the identified area (S123). Specifically, the update unit 114 deletes the identification information of the robot 4 entered in the area information DB 124 in the column that shows all areas overlapping with the boarding area of ​​the robot 4 that has completed disembarking. The availability status of the area overlapping with the boarding area becomes available if there are no robots 4 using an area that overlaps with that area but is different from the boarding area of ​​the robot 4 that has completed disembarking.

[0126] For example, if the boarding area of ​​robot 4 that has completed disembarking is S(1), then the areas overlapping with the area of ​​S(1) are the areas of M(3) and L(2). Also, the area of ​​M(3) overlaps with the areas of S(2) and L(2). If the identification information of another robot 4 is not entered in the field indicating the area of ​​S(2), then when robot 4, whose boarding area is S(1), disembarks, the availability status of the area of ​​M(3) becomes available. On the other hand, if the identification information of another robot 4 is entered in the field indicating the area of ​​S(2), then the identification information of that robot 4 is also entered in M(3). Therefore, in this case, even when robot 4, whose boarding area is S(1), disembarks, the availability status of the area of ​​M(3) becomes unavailable.

[0127] Next, the update unit 114 deletes the car call for robot 4 that has completed disembarking (S124). Specifically, the update unit 114 refers to the car call DB 123 and identifies the car call for robot 4 based on the identification information of robot 4 that has completed disembarking. The update unit 114 deletes the information related to the identified car call. Once the update unit 114 has finished deleting the car call, the disembarking completion process is terminated.

[0128] After the disembarkation completion process (S106), the elevator control unit 116 determines whether all robots 4 scheduled to disembark have disembarked (S107). The elevator control unit 116 refers to the car call DB 123. If information regarding a car call with the destination floor being the stopping floor of elevator 2 is stored, the elevator control unit 116 determines that there are robots 4 that have not yet disembarked (NO in S107). If NO in S107, the process returns to S103 and processes the disembarkation of any robots 4 that have not yet disembarked from the stopping floor of elevator 2.

[0129] If the car call DB123 does not contain information regarding a car call with the destination floor being the stopping floor of elevator 2, the elevator control unit 116 determines that all robots 4 scheduled to disembark have disembarked (YES in S107). If YES is obtained in S107, that is, if the disembarkation completion process has been completed for all robots 4 scheduled to disembark, the process proceeds to S108.

[0130] If the answer in S107 is YES, the elevator control unit 116 determines whether the response from elevator 2 is a response to a destination floor call (S108). The elevator control unit 116 refers to the robot call DB 122 and determines whether a destination floor call is registered with the stopping floor of elevator car 2 as the destination floor. If a destination floor call is registered in the robot call DB 122 with the stopping floor of elevator car 2 as the destination floor, that is, if registration information with the stopping floor of the car as the destination floor is stored, the elevator control unit 116 determines that the response from elevator 2 is a response to a destination floor call.

[0131] If the response from elevator 2 is a response to a destination floor call (YES in S108), the elevator control unit 116 extracts data about the robot 4 that is scheduled to board (S109). The elevator control unit 116 extracts the registration information stored in the robot call DB 122 that lists the car's stopping floor as the destination floor as data about the robot 4 that is scheduled to board. If the robot call DB 122 has multiple registration entries that list the car's stopping floor as the destination floor, the elevator control unit 116 extracts one of the registration entries that lists the car's stopping floor as the destination floor.

[0132] Based on the extracted data, the elevator control unit 116 identifies the identification information of the robot 4 to be boarded and the information indicating the boarding area for the robot 4. The elevator control unit 116 also refers to the area information DB 124 and identifies the boarding route when boarding the identified boarding area. The elevator control unit 116 then transmits a boarding instruction signal to the robot management device 3, which includes the identification information of the robot 4 to be boarded, the information indicating the boarding area for the robot 4, and the information indicating the boarding route for the robot 4 (S110).

[0133] When the instruction unit 312 of the robot management device 3 receives a boarding instruction signal from the elevator control device 1 (YES in S96), it transmits a boarding command to the robot 4, indicated by the identification information contained in the boarding instruction signal, which includes information indicating the boarding area and boarding route (S97). The instruction unit 312 also inputs the information indicating the destination floor of the robot 4, which is included in the received boarding instruction signal, into the robot management DB 321 as the destination floor of the robot 4. The instruction unit 312 also inputs the information indicating the boarding area of ​​the robot 4, which is included in the boarding instruction signal, into the robot management DB 321 as the boarding area of ​​the robot 4.

[0134] When robot 4, which is scheduled to board elevator 2, receives a boarding command from robot management device 3 (YES in S81), it performs a boarding operation (S82). Specifically, when robot 4's motion control unit 412 receives a boarding command, it controls the motion unit 42 to move robot 4 along the boarding route. After moving robot 4 along the boarding route, the motion control unit 412 stops the motion unit 42 when robot 4 is located within the boarding area. As a result, robot 4 stops in the boarding area determined by the determination unit 113 and completes boarding elevator 2. Once boarding elevator 2 is complete (YES in S83), the motion control unit 412 transmits a boarding completion signal containing its own identification information to robot management device 3 (S84).

[0135] When the acquisition unit 311 of the robot management device 3 receives a boarding completion signal from the robot 4 (YES in S98), it transmits the boarding completion signal to the elevator control device 1 (S99).

[0136] When the elevator control device 1 receives a boarding completion signal from the robot management device 3 (YES in S111), it performs boarding completion processing (S112). The boarding completion processing will be explained using Figure 24. The elevator control unit 116 refers to the robot call DB 122 based on the identification information of the robot 4 included in the received boarding completion signal and identifies information regarding the destination floor call of the robot 4 that has completed boarding. Based on the identified information, the elevator control unit 116 registers the car call of the robot 4 that has completed boarding (S131). Specifically, the elevator control unit 116 stores the identification information, size, destination floor, and information indicating the boarding area of ​​the robot 4 that has completed boarding in the car call DB 123. Subsequently, the elevator control unit 116 deletes the information regarding the destination floor call of the robot 4 that has completed boarding stored in the robot call DB 122 (S132).

[0137] After the boarding completion process (S112), the elevator control unit 116 determines whether all of the robots 4 scheduled to board have boarded (S113). The elevator control unit 116 refers to the robot call DB 122. If there is registered information regarding a destination floor call with the elevator 2's stopping floor as the departure floor, the elevator control unit 116 determines that there are robots 4 that have not yet boarded (NO in S113). If NO in S113, the process returns to S109 and processes the robots 4 that have not yet boarded among the robots 4 scheduled to board at the elevator 2's stopping floor to board.

[0138] If the robot call DB122 does not contain registered information regarding a destination floor call with the elevator 2's stopping floor as the departure floor, the elevator control unit 116 determines that all robots 4 scheduled to board have boarded (YES in S113). If YES is given in S113, that is, if boarding completion processing has been performed for all robots 4 scheduled to board, the elevator control unit 116 terminates the boarding and alighting processing. After that, the elevator control unit 116 controls the elevator car 2 to move to the next destination floor. When the elevator car 2 stops and the doors open at the next destination floor, the processing shown in Figure 22 is performed again.

[0139] As described above, according to the information processing system 100 of the present invention, when the second robot 4 requests registration of a destination floor call, it is determined whether the second robot 4 can board the elevator. If at least one of the available areas of a size corresponding to the size of the second robot 4 in the section where the second robot 4 will board is available, it is determined that the second robot 4 can board the elevator car 2. If it is determined that the second robot 4 can board, then at least one area in the elevator car 2 that the second robot 4 can board is available. Therefore, the second robot 4 can board the available area.

[0140] Furthermore, each of the same-sized areas is positioned so that the robots 4 do not obstruct each other's movement. In addition, if the first robot 4 is currently in or scheduled to be in the area of ​​interest, the availability of that area of ​​interest, and the availability of areas of different size that overlap with the area of ​​interest, are updated to "no availability" by the update unit 114.

[0141] As a result, the area in which a second robot 4 that has been determined to be able to board can board does not overlap not only with the area in which a first robot 4 of the same size can board, but also with the area in which a first robot 4 of a different size can board. Therefore, when a robot 4 enters the cage and moves to a certain area, or moves from that area and disembarks from the cage, its movement will not be obstructed by other robots 4 that are stopped in other areas. Also, when a robot 4 is stopped in a certain area, it will not obstruct the movement of robots 4 that are moving to or from other areas. Thus, with the above configuration, when multiple robots 4 are boarding one cage, the possibility of these robots 4 obstructing each other's movement and causing a deadlock can be reduced.

[0142] Furthermore, if it is determined that the second robot 4 is available to board, the boarding area is determined, and the destination floor call for the second robot 4 is registered. The area designated as the boarding area for the second robot 4 will remain full until the second robot 4 disembarks from the elevator car. Therefore, once the destination floor call for the second robot 4 is registered and the second robot 4 becomes the first robot 4, the boarding area of ​​the first robot 4 will not be designated as the boarding area for another robot 4 that has requested the registration of a new destination floor call. Consequently, if it is determined that the second robot 4 is available to board, no other robot 4 will board the boarding area of ​​the second robot 4 during its boarding section. Therefore, if it is determined that the second robot 4 is available to board, it can move between floors using the elevator 2 without interfering with the movement of other robots 4.

[0143] Furthermore, the area information also includes information indicating the boarding and alighting routes. Conventionally, when multiple robots 4 use one car, depending on the stopping positions and boarding / alighting order of these robots 4, a robot 4 that alights later may obstruct the movement of a robot 4 that alights earlier, potentially causing a deadlock. Also, depending on the stopping positions and boarding / alighting order of the robots 4, a robot 4 that is stopped inside the car may obstruct the movement of a robot 4 that is newly boarding.

[0144] In contrast, with the above configuration, regardless of which area the robot 4 enters, it moves along an entry / exit route that does not pass through other areas of the same size. For example, when a robot 4 enters area S(1) and when it disembarks from area S(1), it moves along a route that does not pass through other areas of the same size S, namely areas S(2) to S(4). Also, regardless of which area the robot 4 enters, it moves along an entry / exit route that does not pass through areas of a different size than the area the robot 4 is entering, but which do not overlap with the area the robot 4 is entering. For example, when a robot 4 enters area S(1) and when it disembarks from area S(1), it moves along a route that does not pass through areas M(1), M(2), and L(1), which are areas of different sizes that do not overlap with area S(1).

[0145] This reduces the possibility of these robots 4 obstructing each other's movement and causing a deadlock, even when the stopping position (boarding area) is determined without considering the boarding / alighting order of each robot 4 when multiple robots 4 use a single cage.

[0146] [Variation] In the embodiment described above, the determination unit 112 sorted the reception information in ascending or descending order and determined the second robot 4 to be determined based on the sorted order, but it is not limited to this. For example, if a predetermined time (e.g., 5 minutes) or more has elapsed since the request for registration of a destination floor call and there is a second robot 4 for which a destination floor call has not been registered, the determination unit 112 may prioritize determining whether or not the said second robot 4 is available for boarding.

[0147] [Examples of implementation using software] The functions of the information processing system 100 (hereinafter referred to as the "system") are programs that cause the computer to function as the system, and these programs can be realized by programs that cause the computer to function as each control block of the system (in particular, each part included in the control units 11, 31, and 41).

[0148] In this case, the system includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this control device and storage device, the functions described in each of the embodiments are realized.

[0149] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the system. In the latter case, the program may be supplied to the system via any wired or wireless transmission medium.

[0150] Furthermore, some or all of the functions of each of the above control blocks can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the above control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each of the above control blocks by, for example, a quantum computer.

[0151] Furthermore, each process described in the above embodiments may be performed by AI (Artificial Intelligence). In this case, the AI ​​may operate on the control device described above, or it may operate on other devices (for example, an edge computer or a cloud server).

[0152] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

[0153] 〔summary〕 An information processing system according to Embodiment 1 of the present invention includes a storage unit that stores region information relating to one or more regions indicating the passenger space in an elevator car for multiple types of autonomously mobile robots of different sizes, wherein the size of the region is predetermined for each size of the robot, each of the regions of the same size is located in a position where they do not overlap with each other, each of the regions is located in a position where the robots do not obstruct each other's movement, and the region information includes the availability status of each region, and if a first robot is currently riding in or scheduled to ride in a region of interest, which is the region of interest, If present, the system includes an update unit that updates (1) the availability of the area of ​​interest and (2) the availability of the area of ​​interest that is of a different size from the area of ​​interest but overlaps with the area of ​​interest in the area information stored in the memory unit to "no availability", and a determination unit that determines whether the second robot, which is the robot that requested the registration of the destination floor call, can board the elevator car based on the area information, wherein the condition for the determination unit to determine that boarding is possible is that at least one of the areas of interest of a size corresponding to the size of the second robot is available in the boarding section for the second robot.

[0154] In the information processing system according to aspect 2 of the present invention, the area information may further include, in aspect 1 above, a predetermined boarding route for each area, which is the route the robot takes from boarding the basket to reaching the area, and which is such that it does not pass through other areas of the same size as the area in question, and a predetermined disembarking route for each area, which is the route the robot takes when disembarking from the basket from the area, and which is such that it does not pass through other areas of the same size as the area in question.

[0155] An information processing system according to aspect 3 of the present invention includes a determination unit that determines a riding area, which is the area on which the second robot, which has been determined to be rideable, will ride, in aspect 1 or 2 above, and each of the areas of the same size is associated with a priority, and the determination unit may determine the area with the highest priority among the available areas that correspond to the size of the second robot as the riding area.

[0156] The information processing system according to aspect 4 of the present invention may include a registration unit that, in any of aspects 1 to 3 above, registers the destination floor call of the second robot that has been determined to be able to board, and does not register the destination floor call of the second robot that has been determined to be unable to board.

[0157] The information processing system according to aspect 5 of the present invention may include an elevator control unit that controls the elevator so that, in aspect 4 above, when a call for the destination floor of the second robot is registered, the elevator car in which the second robot rides operates in a robot-only operation mode that does not respond to calls registered by people.

[0158] In the information processing system according to embodiment 6 of the present invention, if there are multiple second robots in any of embodiments 1 to 5, the determination unit may determine whether or not the second robots that are moving in the same direction can be mounted.

[0159] A control method for an information processing system according to aspect 7 of the present invention is a control method for an information processing system comprising a storage unit that stores area information relating to one or more areas indicating the boarding space in an elevator car for multiple types of autonomously mobile robots of different sizes, wherein the size of the area is predetermined for each size of the robot, each of the areas of the same size is located in a position where they do not overlap with each other, each of the areas is located in a position where the robots do not obstruct each other's movement, and the area information includes the availability status of each area, and the robots that are currently boarding or scheduled to board the area of ​​interest are... If one robot is present, the process includes an update step of updating (1) the availability of the area of ​​interest and (2) the availability of the area of ​​interest that is of a different size from the area of ​​interest but overlaps with the area of ​​interest, in the area information stored in the memory unit, to "no availability", and a determination step of determining whether the second robot, which is the robot that requested the registration of the destination floor call, is allowed to board the elevator car based on the area information, wherein the condition for determining in the determination step that boarding is possible is that at least one of the areas of interest of a size corresponding to the size of the second robot is available in the boarding section for the second robot. [Explanation of symbols]

[0160] 100 Information Processing Systems 112 Judgment section 113 Decision Section 114 Update Department 115 Registration Department 116 Elevator Control Unit 12 Storage section 2 Elevators 4 Robots S68, S69 Update Steps S63-66, S70 Judgment Step

Claims

1. It includes a storage unit that stores region information relating to one or more regions indicating the passenger space in an elevator car for multiple types of autonomous robots of different sizes, The size of the aforementioned region is predetermined for each size of the robot. Each of the aforementioned regions of the same size is positioned so as not to overlap with each other. Each of the aforementioned regions is positioned so as not to obstruct the movement of the robots from one another. The aforementioned area information includes the availability status for each area, If a first robot is present in the area of ​​interest, which is the area of ​​interest, which is the area of ​​interest, which is currently being ridden or is scheduled to be ridden, the update unit updates the area information stored in the memory unit to (1) the availability of the area of ​​interest, and (2) the availability of the area of ​​interest that is of a different size from the area of ​​interest and overlaps with the area of ​​interest, to "no availability". The system includes a determination unit that determines whether the second robot, which is the robot that requested the registration of the destination floor call, is allowed to board the elevator car based on the area information, The condition under which the determination unit determines that boarding is possible is that, within the boarding section for the second robot, at least one of the available spaces of the area corresponding to the size of the second robot is available. Information processing system.

2. The aforementioned region information further includes, A predetermined boarding route for each of the aforementioned regions, which is the route the robot takes from the time it boards the basket until it reaches the region, and which does not pass through other regions of the same size as the region in question, and A predetermined disembarking route for each of the aforementioned regions, which is the route the robot takes when disembarking the basket from the region, and which does not pass through other regions of the same size as the region in question. including, The information processing system according to claim 1.

3. The system includes a determination unit that determines the riding area, which is the area on which the second robot, which has been determined to be rideable, will ride. Each of the aforementioned regions of the same size is associated with a priority. The determination unit determines the area with the highest priority among the available areas corresponding to the size of the second robot as the riding area. The information processing system according to claim 1.

4. The destination floor call of the second robot, which has been determined to be able to board, is registered. The system includes a registration unit that does not register the destination floor call of the second robot that has been determined to be ineligible for boarding, The information processing system according to claim 1.

5. When a call for the destination floor of the second robot is registered, the elevator control unit controls the elevator so that the elevator car in which the second robot is riding operates in a robot-only operating mode that does not respond to calls from people. The information processing system according to claim 4.

6. If there are multiple second robots, the determination unit determines whether or not the second robots that are moving in the same direction are allowed to be boarded. The information processing system according to claim 1.

7. A control method for an information processing system comprising a storage unit that stores region information relating to one or more regions indicating passenger space in an elevator car for multiple types of autonomously mobile robots of different sizes, The size of the aforementioned region is predetermined for each size of the robot. Each of the aforementioned regions of the same size is positioned so as not to overlap with each other. Each of the aforementioned regions is positioned so as not to obstruct the movement of the robots from one another. The aforementioned area information includes the availability status for each area, If a first robot is present in the area of ​​interest, which is the area of ​​interest, which is the area of ​​interest, which is currently being ridden or is scheduled to be ridden, the update step of updating the area information stored in the memory unit to (1) the availability status of the area of ​​interest, and (2) the availability status of the area of ​​interest that is of a different size from the area of ​​interest and overlaps with the area of ​​interest, to "no availability". The process includes a determination step of determining whether the second robot, which is the robot that requested the registration of the destination floor call, is allowed to board the elevator car, based on the area information, The condition for determining that boarding is possible in the determination step is that, in the boarding section for the second robot, at least one of the available spaces of the area corresponding to the size of the second robot is available. Control method.

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