Information processing system, information processing method, and information processing program
The information processing system addresses the challenge of autonomous vehicles reaching their destination floors by managing elevator interactions through orientation determination and boarding eligibility, ensuring safe and reliable elevator usage.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- 유겐가이샤티아이에스
- Filing Date
- 2021-12-02
- Publication Date
- 2026-05-11
AI Technical Summary
Existing elevator control systems may fail to ensure that autonomous vehicles reach their intended destination floors, particularly when the elevator's moving direction conflicts with the vehicle's destination.
An information processing system that includes a car transmission unit, a car reception unit, a robot orientation information generation unit, and a boarding eligibility determination unit to manage elevator interactions with autonomous vehicles, ensuring appropriate floor arrival by determining eligibility for boarding based on elevator and vehicle orientations.
The system effectively controls elevators to ensure autonomous vehicles arrive at their intended floors, enhancing safety and reliability in elevator usage by autonomous vehicles.
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to an information processing system, an information processing method, and an information processing program.
Background Art
[0002] When a user and a robot use an elevator having a plurality of cages, a control device for controlling the elevator so that the user can use the elevator preferentially over the robot is disclosed (Patent Document 1).
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] In the control device described in Patent Document 1, when an elevator (double-deck elevator) having a first cage and a second cage that overlap on a vertical projection plane is called, it is determined whether the call is made by a user or a robot. The control device controls the travel of the first cage and the travel of the second cage, prioritizing the response to a call by a user over the response to a call by a robot. Thereby, the control device can ensure the safety of the user by differentiating between the user and the robot and making them board different cages without impairing the convenience of the user.
[0005] However, in the control device described in Patent Document 1, there is a possibility that the robot may not reach the destination floor depending on the moving direction of the elevator.
[0006] Therefore, in view of the above problems, an object of the present invention is to realize control for appropriately arriving an autonomous mobile vehicle at a destination floor with respect to an elevator used by the autonomous mobile vehicle. [Means for solving the problem]
[0007] An information processing system according to one aspect of the present invention includes: a car transmission unit that transmits movement request information to a control device that controls the elevator, requesting the elevator to move to the current floor of the autonomous vehicle, based on a request for use of the elevator, which includes information on the current floor and destination floor of the autonomous vehicle obtained from the autonomous vehicle; a car reception unit that receives car orientation information from the control device indicating the direction of travel of the elevator moving to the current floor of the autonomous vehicle in response to the movement request information; a robot orientation information generation unit that generates robot orientation information indicating the direction in which the autonomous vehicle moves in the elevator when the autonomous vehicle uses the elevator, based on information on the current floor and destination floor of the autonomous vehicle; a boarding eligibility determination unit that determines whether or not the autonomous vehicle is allowed to board the elevator based on the car orientation information and the robot orientation information; and a robot transmission unit that transmits information regarding the determination result determined by the boarding eligibility determination unit to the autonomous vehicle.
[0008] An information processing method according to one aspect of the present invention involves a computer transmitting movement request information to a control device that controls the elevator, based on a request for use of the elevator, which includes information on the current floor and destination floor of the autonomous vehicle, and which is obtained from the autonomous vehicle. The computer then receives car orientation information from the control device indicating the direction of travel of the elevator as it moves to the current floor of the autonomous vehicle in response to the movement request information. Based on the information on the current floor and destination floor of the autonomous vehicle, the computer generates robot orientation information indicating the direction in which the autonomous vehicle moves in the elevator when it uses the elevator. Based on the car orientation information and robot orientation information, the computer determines whether or not the autonomous vehicle is allowed to board the elevator and transmits information regarding the determined determination result to the autonomous vehicle.
[0009] An information processing program according to one aspect of the present invention provides a computer with: a car transmission unit that transmits movement request information to a control device that controls the elevator, requesting the elevator to move to the current floor of the autonomous vehicle, based on a request to use the elevator, which includes information on the current floor and destination floor of the autonomous vehicle obtained from the autonomous vehicle; a car reception unit that receives car orientation information from the control device indicating the direction of travel of the elevator moving to the current floor of the autonomous vehicle in response to the movement request information; a robot orientation information generation unit that generates robot orientation information indicating the direction in which the autonomous vehicle moves in the elevator when the autonomous vehicle uses the elevator, based on information on the current floor and destination floor of the autonomous vehicle; a boarding eligibility determination unit that determines whether or not the autonomous vehicle is allowed to board the elevator based on the car orientation information and the robot orientation information; and a robot transmission unit that transmits information regarding the determination result determined by the boarding eligibility determination unit to the autonomous vehicle.
[0010] In this invention, "part" does not merely mean a physical means, but also includes cases where the functions of that "part" are realized by software. Furthermore, even if the functions of one "part" or device are realized by two or more physical means or devices, the functions of two or more "parts" or devices may be realized by one physical means or device. [Effects of the Invention]
[0011] According to the present invention, it is possible to control elevators used by autonomous vehicles to ensure that the autonomous vehicle arrives at its intended floor appropriately. [Brief explanation of the drawing]
[0012] [Figure 1] This diagram shows the configuration of the integrated management system 10. [Figure 2] This figure shows an example of information stored in the contact signal storage unit 111. [Figure 3] This figure shows an example of information stored in the mode setting information storage unit 113. [Figure 4]This figure shows an example of the overview of the determination made by the boarding eligibility determination unit 143. [Figure 5] This is a flowchart illustrating an example of processing in the integrated management system 10. [Figure 6] This is a flowchart illustrating an example of processing in the integrated management system 10. [Figure 7] This figure shows an example of the hardware configuration of Computer 700. [Modes for carrying out the invention]
[0013] A preferred embodiment of the present invention will be described with reference to the attached drawings. Figure 1 is a diagram showing the configuration of the integrated management system 10. The integrated management system 10 is a system that links an autonomous vehicle and an elevator system using a general-purpose system configuration. That is, for example, the integrated management system 10 can realize elevator control corresponding to the unique operation of the autonomous vehicle by providing information to operate relays that are generally used for elevator control. Alternatively, the integrated management system 10 may be a system that realizes elevator control corresponding to the unique operation of the autonomous vehicle by providing an information processing system that controls the elevator with software. In other words, for example, if the elevator is controlled by software, the integrated management system 10 may transmit information to the elevator system to operate the software that controls the elevator. Here, the information may be, for example, an electrical signal used to control an electrical circuit (e.g., a relay circuit) or an electronic circuit, or it may be information (data) used to control an information processing system. As an example, the integrated management system 10 will be described below as transmitting information to the elevator system for controlling an elevator controlled by relays.
[0014] As shown in Figure 1, the integrated management system 10 includes a linkage system 100, an autonomous vehicle 200, and an elevator system 300.
[0015] The collaborative system 100 is a system that controls the autonomous vehicle 200 and the elevator system 300. The collaborative system 100 sends and receives various information with the autonomous vehicle 200, for example, through API (Application Programming Interface) communication. However, the communication method between the collaborative system 100 and the autonomous vehicle 200 is not limited to API communication, and various communication methods can be applied.
[0016] Furthermore, the interconnection system 100 transmits and receives information regarding the operation of various relays in the control panel 310 (hereinafter referred to as "contact signals") to and from the elevator system 300 via interface 101. Note that interface 101 may be a gateway device not included in the interconnection system 100. Here, the contact signals may be, for example, text data in JSON (JavaScript Object Notation) format, or data in other formats. The contact signals may also be electrical signals for operating the various relays in the control panel 310 (described later). For convenience, hereafter, the contact signals refer to information regarding the operation of one relay in the control panel 310, or information regarding a combination of the operations of multiple relays in the control panel 310. Details of the interconnection system 100 will be described later.
[0017] The autonomous vehicle 200 is a robot that moves autonomously. The autonomous vehicle 200 moves to a destination based on image information and location information acquired from cameras, various sensors, GPS devices, etc. installed on the autonomous vehicle 200. Examples of autonomous vehicles 200 include indoor cleaning robots that clean rooms, transport robots that transport luggage to a destination, security robots that detect suspicious persons in buildings, and inspection robots that inspect building equipment.
[0018] The autonomous vehicle 200 can, for example, recognize its surroundings using various sensors it is equipped with and determine its own position by referring to map information stored in the autonomous vehicle 200. Furthermore, the autonomous vehicle 200 can provide the cooperating system 100 with information regarding its position.
[0019] The autonomous vehicle 200 makes a usage request to the cooperation system 100 for using the elevator from the current floor to the destination floor of the autonomous vehicle 200. The usage request includes information regarding the current floor and the destination floor of the autonomous vehicle 200. The usage request includes, for example, a movement request for moving the elevator to the current floor of the autonomous vehicle 200, and a mode switching request for switching to an operation mode when the elevator is used by the autonomous vehicle 200, which will be described later. Hereinafter, the operation mode when the autonomous vehicle 200 uses the elevator is referred to as the "specific operation mode". Then, the autonomous vehicle 200 boards the arrived elevator based on the usage request and moves to the target floor.
[0020] The elevator system 300 is, for example, a control system or a control device that controls the elevator by contact signals. The elevator system 300 includes, for example, a control panel 310, an elevator main body 320, a driving device 330, and a converter 340.
[0021] The control panel 310 controls the opening and closing of the door of the elevator main body 320 and the driving device 330 based on the contact signals transmitted from the cooperation system 100. Further, the control panel 310 transmits contact signals corresponding to the operation mode and the opening and closing state of the door of the elevator main body 320 to the cooperation system 100. The elevator main body 320 is the main body of the elevator that has a space for people and the autonomous vehicle 200 to board. The driving device 330 is a device for moving the elevator main body 320 up and down. The converter 340 is a device that converts, for example, the contact signals transmitted from the cooperation system 100 into electrical signals for operating various relays of the control panel 310.
[0022] Note that the elevator system 300 may be an information processing system that controls the elevator main body 320 without using contact signals. In this case, the elevator system 300 can perform the same control as in the case of using contact signals by using, for example, a storage area or having a processor execute a program stored in the storage area to use an electronic signal instead of the contact signal.
[0023] Next, an overview of the processing in the integrated management system 10 will be described. Below, we will describe the case in which the interoperability system 100 interacts with the elevator system 300, which controls the elevator body 320 using contact signals, using contact signals. Note that if the elevator system 300 controls the elevator body 320 without using contact signals, the interoperability system 100 can interact with the elevator system 300 using electronic signals instead of contact signals.
[0024] First, when the autonomous vehicle 200 arrives, for example, in front of an elevator, it sends a request to use the elevator to the coordinating system 100. Based on the request from the autonomous vehicle 200, the coordinating system 100 sends a contact signal corresponding to the request to the elevator system 300. The elevator system 300 moves the elevator body 320 to the current floor of the autonomous vehicle 200 in accordance with the contact signal corresponding to the request. Subsequently, the coordinating system 100 determines whether or not the autonomous vehicle 200 is allowed to board the elevator body 320, based on the car orientation information indicating the direction of the elevator's movement and the robot orientation information indicating the direction of movement of the autonomous vehicle 200 using the elevator body 320.
[0025] If it is determined that the autonomous vehicle 200 is able to board, the elevator system 300 transmits boarding availability information to the autonomous vehicle 200, indicating that boarding is possible. Based on the boarding availability information, the autonomous vehicle 200 boards the elevator unit 320.
[0026] When the autonomous vehicle 200 boards the elevator unit 320, if the elevator unit 320 is overloaded, the elevator system 300 transmits overload information to the coordinating system 100. Upon receiving the overload information, the coordinating system 100 transmits disembarkation request information to the autonomous vehicle 200, requesting it to disembark from the elevator unit 320. In response to the disembarkation request information, the autonomous vehicle 200 disembarks from the elevator unit 320 and transmits disembarkation completion information to the coordinating system 100.
[0027] After receiving disembarkation completion information, the collaborative system 100 determines, based on the autonomous vehicle 200's position information, whether the autonomous vehicle 200 will come into contact with the elevator door 320 when it closes. If it is determined that the autonomous vehicle 200 will not come into contact with the door, the collaborative system 100 sends reset information to the elevator system 300 and releases control to the elevator door 320. Subsequently, the elevator door 320 closes based on the control by the elevator system 300.
[0028] Next, the collaborative system 100 will be described in detail. As shown in Figure 1, the collaborative system 100 includes an interface 101, a contact signal storage unit 111, a mode setting information acquisition unit 112, a mode setting information storage unit 113, a robot receiver 121, a robot transmitter 122, a car receiver 131, a car transmitter 132, a mode determination unit 141, a robot orientation information generation unit 142, a boarding eligibility determination unit 143, and a position determination unit 144. The computer constituting the collaborative system 100 includes a processor and a memory area. Each part shown in Figure 1 can be realized, for example, by using the memory area or by the processor executing a program stored in the memory area.
[0029] The coordinating system 100 stores contact signal information in the contact signal storage unit 111 in advance, which shows the correspondence between the contact signals used for coordinating with the control panel 310 and the content of elevator control based on the contact signals.
[0030] Figure 2 shows an example of information stored in the contact signal storage unit 111. The information stored in the contact signal storage unit 111 includes, for example, contact signal ID, classification information, name information, value information, and signal format information.
[0031] The contact signal ID is contact signal identification information that identifies the contact signal used between the interoperation system 100 and the elevator system 300. The classification information is information that classifies the contact signal based on the sender and receiver, and includes, for example, "interoperation system 100 → control panel 310" indicating that the interoperation system 100 is the source and the control panel 310 of the elevator system 300 is the destination, and "control panel 310 → interoperation system 100" indicating that the control panel 310 of the elevator system 300 is the source and the interoperation system 100 is the destination.
[0032] Name information indicates the name of the contact signal. Value information indicates the connection status of the contact signal; for example, "1" indicates that the contact is connected, and "0" indicates that the contact is open. Signal format information indicates the signal format of the contact signal; for example, it indicates whether the contact signal is received once ("1-shot") or continuously ("continuous").
[0033] The mode setting information acquisition unit 112 acquires mode setting information based on operations performed by a user managing the autonomous vehicle 200 via a user terminal (not shown) and stores it in the mode setting information storage unit 113. Here, the user terminal is a computer used by the user, such as a smartphone, tablet, or personal computer.
[0034] The mode setting information is information regarding a specific operating mode, which is the operating mode used by the autonomous vehicle 200 when it uses the elevator unit 320, and is the operating mode requested by the autonomous vehicle 200 when it uses the elevator.
[0035] Since the elevator unit 320 is a space used by many people, it is necessary to ensure the safe use of users. In order to ensure the safe use of users while enabling the use of the autonomous vehicle 200, it is effective to operate the elevator unit 320 in a specific operating mode, which is the operating mode used when the autonomous vehicle 200 uses the elevator unit 320. Therefore, when the autonomous vehicle 200 uses the elevator unit 320, the integrated management system 10 switches the operating mode of the elevator unit 320 to the specific operating mode and then operates the elevator unit 320.
[0036] Specific operating modes include, for example, dedicated operating mode and passenger operating mode. Dedicated operating mode is the operating mode when only the autonomous vehicle 200 uses the elevator unit 320. Passenger operating mode is the operating mode when both the autonomous vehicle 200 and a person use the elevator unit 320. In other words, in dedicated operating mode, the autonomous vehicle 200 can use the elevator unit 320, but people cannot. On the other hand, in passenger operating mode, both the autonomous vehicle 200 and people can use the elevator unit 320. Note that in dedicated operating mode, it is possible to use multiple autonomous vehicles 200.
[0037] Furthermore, the dedicated operation mode and the passenger operation mode can be mutually exclusive. In other words, when the elevator unit 320 is in dedicated operation mode, the cooperation system 100 does not accept the movement request and mode switching request described later from the autonomous vehicle 200 requesting the passenger operation mode. Also, when the elevator unit 320 is in passenger operation mode, the cooperation system 100 does not accept the movement request and mode switching request described later from the autonomous vehicle 200 requesting the dedicated operation mode. The following explanation assumes that the only specific operation modes are the dedicated operation mode and the passenger operation mode.
[0038] The mode setting information acquisition unit 112 can acquire mode setting information based on operations performed by a user managing the autonomous vehicle 200 via a user terminal.
[0039] When acquiring mode setting information based on operations performed through a user terminal, the user provides the mode setting information to the linked system 100 in advance through a predetermined interface on the user terminal. The user may set one specific driving mode for each autonomous vehicle 200 at all times through the user terminal, or may set it to automatically switch to a predetermined specific driving mode depending on predetermined conditions.
[0040] In other words, the user may, for example, set the autonomous vehicle 200 to always be in passenger driving mode if it is a security robot. Alternatively, the user may set the autonomous vehicle 200 to be in dedicated driving mode when transporting something and in passenger driving mode when not transporting something if it is a transport robot. In this way, the user can select the appropriate mode based on the nature of the autonomous vehicle 200 and the actions it is performing.
[0041] Figure 3 shows an example of information stored in the mode setting information storage unit 113. The information stored in the mode setting information storage unit 113 includes, for example, the autonomous vehicle ID and the requested mode information. The autonomous vehicle ID is autonomous vehicle identification information that identifies the autonomous vehicle 200.
[0042] The requested mode information indicates a specific driving mode (for example, "dedicated driving mode" and "passenger driving mode") corresponding to the autonomous vehicle 200 when it uses the elevator unit 320. The requested mode information may also indicate a specific driving mode corresponding to the autonomous vehicle 200 that meets predetermined conditions based on the autonomous vehicle's characteristics and actions during processing. Furthermore, if the user has not yet completed the mode setting operation via the user terminal, the requested mode information may indicate a predetermined specific driving mode.
[0043] The robot receiver 121 receives various information from the autonomous vehicle 200. The robot receiver 121 receives information, for example, through API communication. The various information received from the autonomous vehicle 200 includes, for example, information on movement requests for reception, information on mode switching requests for reception, information on the robot's current floor for reception, information on the robot's destination floor for reception, and information on completion of disembarkation.
[0044] The received movement request information is information received by the collaborative system 100 from the autonomous vehicle 200 requesting that the elevator unit 320 be moved to the current floor of the autonomous vehicle 200. The received mode switching request information is information received by the collaborative system 100 from the autonomous vehicle 200 requesting that the operating mode of the elevator unit 320 be switched to a specific operating mode requested by the autonomous vehicle 200. The received robot current floor information is information received by the collaborative system 100 from the autonomous vehicle 200 indicating the floor on which the autonomous vehicle 200 is located. The received robot destination floor information is information received by the collaborative system 100 from the autonomous vehicle 200 indicating the destination floor on which the autonomous vehicle 200 will travel using the elevator.
[0045] The disembarkation completion information is information received by the collaborative system 100 from the autonomous vehicle 200, indicating that the autonomous vehicle 200 has completed disembarking from the elevator unit 320. Here, the disembarkation completion information is information that the autonomous vehicle 200 has recognized as having disembarked and that has been transmitted from the autonomous vehicle 200 to the robot receiving unit 121, and does not necessarily have to be information that indicates that the autonomous vehicle 200 has actually completed disembarking.
[0046] The receiving movement request information, receiving mode switching request information, receiving robot current floor information, and receiving robot destination floor information may, for example, be information included in the request for use of the elevator unit 320 from the autonomous vehicle 200 to the collaborative system 100.
[0047] Furthermore, the receiving movement request information, receiving mode switching request information, receiving robot current floor information, and receiving robot destination floor information are transmitted to the elevator system 300 by the car transmission unit 132 (described later) using contact signals as transmitting movement request information, transmitting mode switching request information, transmitting robot current floor information, and transmitting robot destination floor information, respectively. The elevator system 300 executes control of the elevator body 320 corresponding to each contact signal. Here, the receiving movement request information, receiving mode switching request information, receiving robot current floor information, and receiving robot destination floor information, as well as the transmitting movement request information, transmitting mode switching request information, transmitting robot current floor information, and transmitting robot destination floor information, only need to be corresponding information, and may be information of the same format or information that has been processed as appropriate.
[0048] Furthermore, although the robot receiver 121 was described above as receiving robot destination floor information from the autonomous vehicle 200, it is not limited to this. The robot receiver 121 may, for example, acquire robot destination floor information which is information that the user has set in advance in the collaborative system 100. In other words, the collaborative system 100 has information that associates the autonomous vehicle 200 with the destination floor of the autonomous vehicle 200. As a result, the collaborative system 100 can identify the robot destination floor corresponding to the autonomous vehicle 200 without acquiring robot destination floor information from the autonomous vehicle 200.
[0049] The robot transmitter 122 transmits various information to the autonomous vehicle 200. The robot transmitter 122 transmits information, for example, through API integration. The various information that the robot transmitter 122 transmits to the autonomous vehicle 200 includes, for example, information on when boarding is possible and information on when disembarking is requested.
[0050] The boarding availability information is, for example, information indicating that the autonomous vehicle 200 can board the elevator unit 320. The boarding availability information is, for example, information related to the determination result made by the boarding availability determination unit 143, which will be described later. The disembarking request information is information indicating that the autonomous vehicle 200 is requested to disembark from the elevator unit 320.
[0051] The car receiver 131 receives contact signals transmitted from the control panel 310 of the elevator system 300. The contact signals received by the car receiver 131 include, for example, mode status information, current floor information of the car, destination floor information of the car, car orientation information, arrival information, door open information, and overload information.
[0052] Mode status information indicates the operating mode status of the elevator unit 320. Car current floor information indicates the floor on which the elevator unit 320 is located.
[0053] The elevator car destination floor information indicates the destination floor of the elevator unit 320. For example, the elevator car destination floor information may also indicate the floor to which the elevator unit 320 has finished transporting passengers who are already in the elevator, passengers who are scheduled to board, or the autonomous vehicle 200. Specifically, if two people are in the elevator unit 320 on the 1st floor and their destination floors are the 3rd and 6th floors respectively, the elevator car destination floor information would indicate the 6th floor.
[0054] The car direction information indicates the direction of travel of the elevator body 320. The car direction information includes, for example, "Up," "Down," and "None" as the direction of travel of the elevator body 320. Specifically, for example, if the destination floor of the elevator body 320 is higher than the current floor of the elevator body 320, the car direction information will be "Up." If the destination floor of the elevator body 320 is lower than the current floor of the elevator body 320, the car direction information will be "Down." Also, if no destination floor is set for the elevator body 320, the car direction information will be "None." In other words, for example, if the elevator body 320 has not received a movement request from any person or autonomous vehicle 200, and is not transporting any person or autonomous vehicle 200, the car direction information will be "None."
[0055] Furthermore, the car orientation information may indicate the direction of travel of the elevator body 320 through a single contact, or it may be information indicating the direction of travel of the elevator body 320 through a combination of multiple contacts. Also, the car orientation information may be information indicating the direction of travel of the elevator body 320 through a combination of, for example, the current floor information of the car and the destination floor information of the car.
[0056] Arrival information is information indicating that the elevator unit 320 has arrived at a specific floor. Here, arrival information may be information indicating a specific floor through a combination of multiple contacts, or it may be information where one contact is associated with one floor.
[0057] Door open information indicates that the doors of the elevator body 320 are open. Overload information indicates that the elevator body 320 is overloaded, meaning the load exceeds a predetermined threshold (load limit).
[0058] The car transmitter 132 transmits contact signals to the control panel 310 of the elevator system 300. The contact signals transmitted by the car transmitter 132 include, for example, transmission movement request information, transmission mode switching request information, transmission robot current floor information, transmission robot destination floor information, and reset request information.
[0059] The car transmitter 132 transmits a transmission movement request information to the control panel 310 based on a usage request received from the autonomous vehicle 200 (for example, including a received movement request information, a received robot's current floor information, and a received robot's destination floor information). Here, the transmission movement request information is information that activates a movement request relay that controls the movement of the elevator body 320 to the current floor of the autonomous vehicle 200. When the elevator system 300 receives the transmission movement request information from the car transmitter 132, it controls the elevator body 320 to move to the current floor of the autonomous vehicle 200.
[0060] Furthermore, the car transmitter 132 transmits transmission mode switching request information to the control panel 310 based on the reception mode switching request information received from the autonomous vehicle 200. Here, the transmission mode switching request information is information that activates a mode control relay to switch the operating mode of the elevator body 320 to a specific operating mode requested by the autonomous vehicle 200 when using the elevator body 320 (i.e., the specific operating mode indicated by the requested mode information). When the elevator system 300 receives the transmission mode switching request information from the car transmitter 132, it switches the operating mode of the elevator body 320 to the specific operating mode corresponding to the transmission mode switching request information.
[0061] Furthermore, the elevator car transmitter 132 transmits destination floor information for transmitting robots to the control panel 310 based on the destination floor information for receiving robots received from the autonomous vehicle 200. Here, the destination floor information for transmitting robots is information indicating the destination floor to which the autonomous vehicle 200 will travel using the elevator.
[0062] Furthermore, the elevator car transmitter 132 transmits reset request information to the control panel 310 to cancel the control based on the usage request by the autonomous vehicle 200. Here, the reset request information is information for canceling the control based on the usage request by the autonomous vehicle 200 and is information for returning the elevator body 320 to its default state. Specifically, when the control panel 310 receives the reset request information, the elevator system 300 resets the control based on, for example, the destination floor information for the transmitting robot and the transmission mode switching request information. The elevator system 300 then operates as if the destination floor information for the transmitting robot and the transmission mode switching request information did not exist, and returns the elevator body 320 to its default state.
[0063] Here, the default state is the state before the autonomous vehicle 200 that sent the usage request corresponding to the control canceled by the reset request information sent the usage request, if another autonomous vehicle 200 or person is requesting to move or is transporting another autonomous vehicle 200 or person. Also, if another autonomous vehicle 200 or person is not requesting to move or is not transporting another autonomous vehicle 200 or person, the default state is a predetermined state (for example, stopping on the first floor in a normal driving mode that is not a specific driving mode).
[0064] Furthermore, the car transmitter 132 can transmit transmission movement request information and transmission mode switching request information to the elevator system 300 if the mode determination unit 141, described later, determines that the operating mode of the elevator body 320 indicated by the mode status information and the operating mode indicated by the receiving mode switching request information are the same specific operating mode. Also, when the elevator body 320 is in a normal operating mode, for example, not a specific operating mode, the car transmitter 132 can transmit transmission movement request information and transmission mode switching request information. In other words, the car transmitter 132 does not transmit transmission movement request information and transmission mode switching request information to the elevator system 300 if they cannot be accepted by default in the current operating mode of the elevator body 320.
[0065] The mode determination unit 141 determines whether the operating mode indicated by the mode status information and the operating mode indicated by the receiving mode switching request information are the same specific operating mode. If they are the same specific operating mode, it can permit the transmission of the transmission movement request information and the transmission mode switching request information by the car transmission unit 132.
[0066] Furthermore, if the operating mode indicated by the mode status information is a normal operating mode and not a specific operating mode, the mode determination unit 141 can permit the transmission of transmission movement request information and transmission mode switching request information by the car transmission unit 132.
[0067] The robot orientation information generation unit 142 generates robot orientation information indicating the direction in which the autonomous vehicle 200 moves in the elevator body 320 when the autonomous vehicle 200 uses the elevator body 320, based on the receiving robot current floor information and receiving robot destination floor information received by the robot receiving unit 121.
[0068] The robot orientation information indicates the direction in which the autonomous vehicle 200 will move in the elevator body 320, for example, "up" or "down". Specifically, if the destination floor of the autonomous vehicle 200 is higher than the current floor of the autonomous vehicle 200, the robot orientation information will be "up". If the destination floor of the autonomous vehicle 200 is lower than the current floor of the autonomous vehicle 200, the robot orientation information will be "down".
[0069] The boarding eligibility determination unit 143 determines whether the autonomous vehicle 200 is allowed to board the elevator moving to the autonomous vehicle 200's current floor, based on the elevator car orientation information and the robot orientation information. For example, the boarding eligibility determination unit 143 may determine whether boarding is allowed based on a combination of the direction of travel of the elevator moving to the autonomous vehicle 200's current floor and the direction of travel requested by the autonomous vehicle 200 when using the elevator body 320. This allows the cooperative system 100 to allow the autonomous vehicle 200 to board the elevator body 320 in a direction that is appropriate for the autonomous vehicle 200.
[0070] Here, with reference to Figure 4, the overview of the determination made by the boarding eligibility determination unit 143 will be explained. Figure 4 is a diagram showing an example of the overview of the determination made by the boarding eligibility determination unit 143. Figure 4 shows the correspondence between the combination of basket orientation information and robot orientation information and the boarding eligibility determination result. Specifically, for example, the boarding eligibility determination unit 143 determines that boarding is possible when the basket orientation information is "up" and the robot orientation information is "up". Similarly, for example, the boarding eligibility determination unit 143 also determines that boarding is possible when the basket orientation information is "down" and the robot orientation information is "down". Furthermore, for example, when the basket orientation information is "none", the boarding eligibility determination unit 143 determines that boarding is possible regardless of the robot orientation information.
[0071] Furthermore, the boarding eligibility determination unit 143 may determine whether boarding is permitted based on arrival information transmitted from the control panel 310, which indicates that the elevator unit 320 has arrived at the current floor of the autonomous vehicle 200. Specifically, when the boarding eligibility determination unit 143 receives arrival information at the car receiving unit 131, it determines that the autonomous vehicle 200 is able to board the elevator unit 320. As a result, the cooperative system 100 can allow the autonomous vehicle 200 to board the elevator unit 320 that has arrived at the current floor of the autonomous vehicle 200.
[0072] Furthermore, the boarding eligibility determination unit 143 may determine whether boarding is permitted based on door open information transmitted from the control panel 310, which indicates that the doors of the elevator body 320 are open. Specifically, when the car receiving unit 131 receives door open information, the boarding eligibility determination unit 143 determines that the autonomous vehicle 200 can board the elevator body 320. This allows the cooperative system 100 to allow the autonomous vehicle 200 to board the elevator body 320 with its doors open.
[0073] Furthermore, the boarding eligibility determination unit 143 may determine whether boarding is permitted based on the determination result of the mode determination unit 141. This allows the cooperative system 100 to avoid allowing an autonomous vehicle 200 requesting a passenger driving mode to board the elevator unit 320 when the elevator unit 320 is in dedicated driving mode. Also, when the elevator unit 320 is in passenger driving mode, the cooperative system 100 can avoid allowing an autonomous vehicle 200 requesting a dedicated driving mode to board the elevator unit 320.
[0074] Furthermore, the elevator body 320 that the boarding eligibility determination unit 143 determines whether boarding is permitted may be an elevator body 320 that already has a person or another autonomous vehicle on board. This allows the cooperative system 100 to prevent the autonomous vehicle 200 from boarding an elevator body 320 that it should not board, if that elevator body 320 happens to arrive at the current floor of the autonomous vehicle 200 for the purpose of transporting a person or another autonomous vehicle that is already on board.
[0075] The position determination unit 144 determines, based on the position information of the autonomous vehicle 200 disembarking from the elevator body 320, whether or not the autonomous vehicle 200 will come into contact with the elevator body 320's door as it closes. In other words, the position determination unit 144 determines whether the autonomous vehicle 200 that has transmitted disembarkation completion information has actually disembarked. This allows the cooperative system 100 to prevent accidents involving the autonomous vehicle 200.
[0076] The position determination unit 144 may, for example, make a determination when the robot receiving unit 121 receives disembarkation completion information from the autonomous vehicle 200 that is disembarking.
[0077] The position determination unit 144 may perform the above determination based, for example, on position information of the autonomous vehicle 200 obtained from beacons or GPS devices installed around the elevator body 320. Alternatively, the position determination unit 144 may perform the determination based on position information obtained from the autonomous vehicle 200.
[0078] Next, Figure 5 will be used to explain the processing flow in the integrated management system 10. Figure 5 is a flowchart showing an example of the processing from when the autonomous vehicle 200 requests to use the elevator unit 320 until it boards the elevator unit 320.
[0079] First, the autonomous vehicle 200 transmits a receiving movement request information and a receiving mode switching request information to the cooperating system 100 so that the autonomous vehicle 200 can use the elevator (S501). The autonomous vehicle 200 also transmits the receiving robot's current floor information and the receiving robot's destination floor information to the cooperating system 100 (S502). The autonomous vehicle 200 may transmit the receiving movement request information and the receiving mode switching request information after stopping in front of the elevator, or when approaching the elevator. The cooperating system 100 receives the receiving movement request information, the receiving mode switching request information, the receiving robot's current floor information, and the receiving robot's destination floor information.
[0080] The elevator system 300 transmits mode status information to the interoperation system 100 (S503). The interoperation system 100 receives the mode status information.
[0081] Next, the coordinating system 100, specifically the mode determination unit 141, compares the operating mode indicated by the receiving mode switching request information with the operating mode indicated by the mode status information (S504).
[0082] If it is determined that the operating mode indicated by the receiving mode switching request information and the operating mode indicated by the mode status information are the same specific operating mode (S504: YES), the coordinating system 100 transmits the transmission movement request information, the transmission mode switching request information, the transmission robot's current floor information, and the transmission robot's destination floor information to the elevator system 300.
[0083] On the other hand, if it is determined that the operating mode indicated by the receiving mode switching request information and the operating mode indicated by the mode status information are not the same specific operating mode (S504: NO), the cooperating system 100 repeats the determination in S504 for a predetermined time (S505: NO). If the predetermined time has elapsed (S505: YES), the cooperating system 100 notifies the system administrator of the error (S506).
[0084] Here, the predetermined time is a time set in advance in the cooperating system 100, and may be, for example, the time from when the cooperating system 100 first starts the determination in S504, or the time from when the cooperating system 100 receives the receiving movement request information or the receiving mode switching request information from the autonomous vehicle 200.
[0085] The elevator system 300 switches the operating mode of the elevator body 320 to the operating mode indicated by the receiving mode switching request information, and the elevator system 300 transmits mode status information indicating the operating mode of the elevator body 320 to the interoperation system 100 (S507). The elevator system 300 also transmits car orientation information to the interoperation system 100 (S508). The interoperation system 100 receives the mode status information and car orientation information.
[0086] The elevator system 300 brings the elevator unit 320 to the current floor of the autonomous vehicle 200 and transmits arrival information to the coordinating system 100 (S509). The elevator system 300 also opens the doors of the elevator unit 320 and transmits door open information to the coordinating system 100 (S510). The coordinating system 100 receives the arrival information and door open information.
[0087] The collaborative system 100 generates robot orientation information based on the receiving robot's current floor information and the receiving robot's destination floor information (S511). Note that the robot orientation information only needs to be generated after the collaborative system 100 receives the receiving robot's current floor information and the receiving robot's destination floor information from the autonomous vehicle 200.
[0088] The linked system 100 determines in the boarding eligibility determination unit 143 whether or not the autonomous vehicle 200 can board the elevator body 320 (S512). The determination method in the boarding eligibility determination unit 143 is as described above.
[0089] If it is determined that the autonomous vehicle 200 can board the elevator unit 320 (S512: YES), the coordinating system 100 transmits boarding availability information to the autonomous vehicle 200 (S513). Upon receiving the boarding availability information, the autonomous vehicle 200 boards the elevator unit 320 (S514).
[0090] If it is determined that the autonomous vehicle 200 cannot board the elevator unit 320 (S512: NO), the coordinating system 100 repeats the determination in S512 for a predetermined time (S515: NO). If the predetermined time has elapsed (S515: YES), the coordinating system 100 notifies the system administrator of the error (S516).
[0091] Here, the predetermined time is a time set in advance in the cooperating system 100, and may be, for example, the time from when the cooperating system 100 first started the determination in S512, or the time from when the cooperating system 100 received the door open information.
[0092] Next, Figure 6 will be used to illustrate another example of the processing flow in the integrated management system 10. Figure 6 is a flowchart showing an example of processing when overload information is transmitted when the autonomous vehicle 200 boards the elevator body 320.
[0093] First, the elevator system 300 detects that the elevator body 320 is overloaded. The elevator system 300 transmits overload information to the coordinating system 100 (S601). The coordinating system 100 receives the overload information.
[0094] The collaborative system 100 transmits disembarkation request information to the autonomous vehicle 200 (S602). Upon receiving the disembarkation request information, the autonomous vehicle 200 disembarks from the elevator unit 320 and transmits disembarkation completion information to the collaborative system 100 (S603). The collaborative system 100 receives the disembarkation completion information.
[0095] The collaborative system 100 acquires location information indicating the position of the autonomous vehicle 200 and determines whether or not the autonomous vehicle 200 will come into contact with the door of the elevator body 320 when the door closes (S604).
[0096] If it is determined that the autonomous vehicle 200 will not make contact with the door (S604: YES), the coordinating system 100 sends reset request information to the elevator system 300 (S605). The elevator system 300 then returns the elevator body 320 to its default state (S607).
[0097] If it is determined that the autonomous vehicle 200 is in contact with the door (S604: NO), the cooperating system 100 sends disembarkation request information to the autonomous vehicle 200 for a predetermined time (S608: NO). If the predetermined time has elapsed (S608: YES), the cooperating system 100 notifies the system administrator of an error (S609).
[0098] Here, the predetermined time may be, for example, the time from when the cooperating system 100 starts the determination by S604, or the time from when the cooperating system 100 transmits the disembarkation request information.
[0099] Next, with reference to Figure 7, an example of a hardware configuration when the collaborative system 100 is implemented using a computer 700 will be described. Figure 7 is a diagram showing an example of the hardware configuration of the computer 700.
[0100] As shown in Figure 7, the computer 700 includes, for example, a processor 701, memory 702, storage device 703, input I / F unit 704, data I / F unit 705, communication I / F unit 706, and display device 707.
[0101] Computer 700 may be, for example, a server computer, a personal computer (e.g., a desktop, laptop, tablet, etc.), a media computer platform (e.g., a cable, satellite set-top box, digital video recorder, etc.), a handheld computer device (e.g., a PDA, email client, etc.), or another type of computer or communication platform.
[0102] The processor 701 is a control unit that controls various processes in the computer 700 by executing programs stored in the memory 702.
[0103] Memory 702 is a storage medium such as RAM (Random Access Memory). Memory 702 temporarily stores the program code of the program executed by the processor 701, as well as data required during program execution.
[0104] The storage device 703 is a non-volatile storage medium such as a hard disk drive (HDD) or flash memory. The storage device 703 stores the operating system and various programs necessary to implement the above configurations.
[0105] The input interface unit 704 is a device for receiving input from the user. The input interface unit 704 can be, for example, a keyboard, mouse, touch panel, various sensors, or a wearable device. The input interface unit 704 may be connected to the computer 700 via an interface such as USB (Universal Serial Bus).
[0106] The data I / F unit 705 is a device for inputting data from outside the computer 700. The data I / F unit 705 is, for example, a drive device for reading data stored on various storage media. The data I / F unit 705 may be located outside the computer 700. If the data I / F unit 705 is located outside the computer 700, it is connected to the computer 700 via an interface such as USB.
[0107] The communication interface unit 706 is a device for performing data communication with external devices of the computer 700 via a network such as the Internet, either by wire or wireless connection. The communication interface unit 706 may be located outside the computer 700. If the communication interface unit 706 is located outside the computer 700, it is connected to the computer 700 via an interface such as USB.
[0108] The display device 707 is a device for displaying various types of information. The display device 707 may be, for example, a liquid crystal display, an organic EL (Electro-Luminescence) display, or a display for a wearable device. The display device 707 may be located outside the computer 700. If the display device 707 is located outside the computer 700, it is connected to the computer 700, for example, via a display cable. Furthermore, if a touch panel is used as the input I / F unit 704, the display device 707 may be integrated with the input I / F unit 704.
[0109] The present invention has been described above. The collaborative system 100 determines whether the autonomous vehicle 200 can board the elevator body 320 based on the elevator car orientation information relating to the direction of travel of the elevator body 320 moving to the current floor of the autonomous vehicle 200, and the robot orientation information relating to the direction of movement of the autonomous vehicle 200 using the elevator. Based on the determination result, it can transmit boarding permission to the autonomous vehicle 200. As a result, the collaborative system 100 can appropriately board the autonomous vehicle 200 into the elevator body 320 which has a direction of travel suitable for the direction of movement of the autonomous vehicle 200.
[0110] Furthermore, the collaborative system 100 can send disembarkation request information to the autonomous vehicle 200 based on the overload information transmitted from the control panel 310. This allows the collaborative system 100 to prioritize human use and disembark the autonomous vehicle 200 when it becomes overloaded while boarding the elevator body 320.
[0111] Furthermore, the collaborative system 100 can determine whether the autonomous vehicle 200 will come into contact with the elevator door 320 when it closes, based on positional information relating to the position of the autonomous vehicle 200 that is disembarking based on the disembarking request information. This prevents accidents involving contact between the autonomous vehicle 200 and the door.
[0112] Furthermore, the collaborative system 100 can transmit mode switching request information to the control panel 310 based on a mode switching request obtained from the autonomous vehicle 200, which requests switching the elevator unit 320 to either a dedicated driving mode or a passenger driving mode, which are driving modes related to the autonomous vehicle 200. This enables the collaborative system 100 to achieve versatile control of the elevator unit 320 used by the autonomous vehicle 200 while ensuring the safety of the user.
[0113] Furthermore, when the doors of the elevator body 320 are closing, if the cooperative system 100 determines that the autonomous vehicle 200, which is disembarking based on disembarking request information, will not come into contact with the doors, it can send reset request information to the control panel 310 and cancel the transmission of movement request information and mode switching request information based on the movement request and mode switching request by the autonomous vehicle 200 that is disembarking based on the disembarking request information. As a result, the cooperative system 100 can return the elevator body 320 to a predetermined state if the autonomous vehicle 200 that made the movement request and mode switching request does not board the elevator via the elevator system 300.
[0114] Furthermore, the collaborative system 100 can transmit mode switching request information to the control panel 310 to control the specific operating mode corresponding to the autonomous vehicle 200, based on pre-configured setting information indicating the correspondence between the autonomous vehicle 200 and the specific operating mode requested by the autonomous vehicle 200 in a mode switching request. As a result, the collaborative system 100 can operate the elevator unit 320 in an appropriate operating mode through versatile control while ensuring user safety, based on the characteristics and actions of the autonomous vehicle 200 during processing.
[0115] Furthermore, the linked system 100 can determine whether or not to allow the autonomous vehicle 200 to board based on the operating mode of the elevator unit 320 indicated by the mode status information and the operating mode indicated by the receiving mode switching request information. As a result, the linked system 100 can avoid allowing the autonomous vehicle 200, which requires the passenger operation mode, to board when the elevator unit 320 is in dedicated operation mode, and can avoid allowing the autonomous vehicle 200, which requires the dedicated operation mode, to board when the elevator unit 320 is in passenger operation mode, thereby achieving versatile control while ensuring the safety of users.
[0116] Furthermore, the collaborative system 100 can determine whether or not the autonomous vehicle 200 is allowed to board based on arrival information transmitted from the control panel 310, indicating that the elevator unit 320 has arrived at the current floor of the autonomous vehicle 200, and door open information indicating that the doors of the elevator unit 320 are open. This allows the collaborative system 100 to ensure that the autonomous vehicle 200 is placed in the appropriate elevator unit 320, and also prevents accidents involving contact between the autonomous vehicle 200 and the elevator unit 320 or doors.
[0117] Furthermore, the collaborative system 100, in cooperation with the elevator system 300 which includes a control panel 310 containing multiple relays for controlling the elevator body 320, can determine whether or not the autonomous vehicle 200 is allowed to board the elevator body 320 as it moves to the current floor by transmitting information to operate a predetermined relay among the multiple relays corresponding to a predetermined control. As a result, the collaborative system 100 can achieve versatile control of the elevator system 300 used by the autonomous vehicle 200 through control via a control panel containing multiple relays for controlling the elevator.
[0118] This embodiment is provided to facilitate understanding of the present invention and is not intended to limit its interpretation. The present invention may be modified or improved without departing from its spirit, and equivalents thereof are also included. [Explanation of Symbols]
[0119] 10 Integrated management system, 100 Interoperability system, 101 Interface, 111 Contact signal storage unit, 112 Mode setting information acquisition unit, 113 Mode setting information storage unit, 121 Robot receiver unit, 122 Robot transmitter unit, 131 Car receiver unit, 132 Car transmitter unit, 141 Mode determination unit, 142 Robot orientation information generation unit, 143 Boarding eligibility determination unit, 144 Position determination unit, 200 Autonomous vehicle, 300 Elevator system, 310 Control panel, 320 Elevator body, 330 Drive unit, 340 Converter
Claims
1. A car transmission unit transmits movement request information to a control device that controls the elevator, requesting the elevator to move to the current floor of the autonomous vehicle, based on a request for use of the elevator, which includes information on the current floor and destination floor of the autonomous vehicle obtained from the autonomous vehicle. A car receiving unit receives car orientation information from the control device, which indicates the direction of travel of the elevator as it moves to the current floor in response to the movement request information. A robot orientation information generation unit generates robot orientation information indicating the direction in which the autonomous vehicle moves when it uses the elevator, based on information regarding the current floor and destination floor of the autonomous vehicle. A boarding eligibility determination unit determines whether the autonomous vehicle is allowed to board the elevator based on the car orientation information and the robot orientation information, A transmitter unit for a robot, Information regarding the determination result made by the boarding eligibility determination unit is transmitted to the autonomous vehicle. A robot transmission unit transmits disembarkation request information to the autonomous vehicle, requesting it to disembark from the elevator, based on overload information transmitted from the control device indicating that the elevator's load exceeds a predetermined threshold. A position determination unit determines whether the autonomous vehicle will come into contact with the elevator door when it closes, based on position information relating to the position of the autonomous vehicle that is disembarking based on the disembarking request information, An information processing system equipped with the following features.
2. The elevator car transmitter transmits reset request information to release the control of the elevator based on the usage request when the position determination unit determines that the autonomous vehicle does not come into contact with the door of the elevator when the door closes. The information processing system according to claim 1.
3. A car transmission unit that transmits movement request information to a control device that controls the elevator, requesting the elevator to move to the current floor of the autonomous vehicle, based on a request for use of the elevator, which includes information on the current floor and destination floor of the autonomous vehicle obtained from the autonomous vehicle, A car receiving unit receives car orientation information from the control device, which indicates the direction of travel of the elevator as it moves to the current floor in response to the movement request information. A robot orientation information generation unit generates robot orientation information indicating the direction in which the autonomous vehicle moves when it uses the elevator, based on information regarding the current floor and destination floor of the autonomous vehicle. A boarding eligibility determination unit determines whether the autonomous vehicle is allowed to board the elevator based on the car orientation information and the robot orientation information, A robot transmission unit that transmits information regarding the determination result determined by the boarding eligibility determination unit to the autonomous vehicle, It is an information processing system equipped with, The elevator car transmitter unit transmits mode switching request information to the control device, requesting that the elevator's operating mode be switched to the specific operating mode, based on a mode switching request obtained from the autonomous vehicle for switching the elevator's operating mode to the specific operating mode, which is the operating mode when the autonomous vehicle uses the elevator. The aforementioned specific driving modes include a passenger driving mode when an autonomous vehicle and a person use the elevator, and a dedicated driving mode when only one or more autonomous vehicles use the elevator. The car receiving unit receives mode status information indicating the elevator's operating mode from the control device. The information processing system further includes a mode determination unit that determines whether the operating mode indicated by the mode switching request information and the operating mode of the elevator indicated by the mode state information are the same specific operating mode. The cage transmission unit transmits the movement request information to the control device when the mode determination unit determines that the operating mode indicated by the mode switching request information and the operating mode indicated by the mode status information are the same specific operating mode. Information processing system.
4. A car transmission unit that transmits movement request information to a control device that controls the elevator, requesting the elevator to move to the current floor of the autonomous vehicle, based on a request for use of the elevator, which includes information on the current floor and destination floor of the autonomous vehicle obtained from the autonomous vehicle, A car receiving unit receives car orientation information from the control device, which indicates the direction of travel of the elevator as it moves to the current floor in response to the movement request information. A robot orientation information generation unit generates robot orientation information indicating the direction in which the autonomous vehicle moves when it uses the elevator, based on information regarding the current floor and destination floor of the autonomous vehicle. A boarding eligibility determination unit determines whether the autonomous vehicle is allowed to board the elevator based on the car orientation information and the robot orientation information, A robot transmission unit that transmits information regarding the determination result determined by the boarding eligibility determination unit to the autonomous vehicle, Equipped with, The aforementioned transmission unit for the cage is, Based on a mode switching request obtained from the autonomous vehicle to switch the elevator's operating mode to a specific operating mode, which is the operating mode used when the autonomous vehicle uses the elevator, mode switching request information is transmitted to the control device requesting that the elevator's operating mode be switched to the specific operating mode. Based on setting information indicating the correspondence between the autonomous vehicle and the specific driving mode, the mode switching request information is transmitted to the control device, requesting it to switch the elevator's operating mode to the specific driving mode corresponding to the autonomous vehicle. Information processing system.
5. A car transmission unit that transmits movement request information to a control device that controls the elevator, requesting the elevator to move to the current floor of the autonomous vehicle, based on a request for use of the elevator, which includes information on the current floor and destination floor of the autonomous vehicle obtained from the autonomous vehicle, A car receiving unit receives car orientation information from the control device, which indicates the direction of travel of the elevator as it moves to the current floor in response to the movement request information. A robot orientation information generation unit generates robot orientation information indicating the direction in which the autonomous vehicle moves when it uses the elevator, based on information regarding the current floor and destination floor of the autonomous vehicle. A boarding eligibility determination unit determines whether the autonomous vehicle is allowed to board the elevator based on the car orientation information and the robot orientation information, A robot transmission unit that transmits information regarding the determination result determined by the boarding eligibility determination unit to the autonomous vehicle, Equipped with, The aforementioned transmission unit for the cage is, Based on a mode switching request obtained from the autonomous vehicle to switch the elevator's operating mode to a specific operating mode, which is the operating mode used when the autonomous vehicle uses the elevator, mode switching request information is transmitted to the control device requesting that the elevator's operating mode be switched to the specific operating mode. The boarding eligibility determination unit determines whether the autonomous vehicle is allowed to board the elevator based on the elevator car orientation information, the robot orientation information, the mode state information indicating the elevator's operating mode, and the mode switching request information. Information processing system.
6. The boarding eligibility determination unit determines whether the autonomous vehicle is allowed to board the elevator based on the elevator car orientation information, the robot orientation information, arrival information transmitted from the control device indicating that the elevator has arrived at the current floor of the autonomous vehicle in response to the movement request information, and door open information indicating that the elevator doors are open. An information processing system according to any one of claims 1 to 5.
7. The control device is Includes a plurality of relays for controlling the elevator, When at least one of the aforementioned multiple relays is activated, a predetermined control is performed on the elevator. The cage transmitter unit transmits information for operating the relay corresponding to the predetermined control among the plurality of relays. An information processing system according to any one of claims 1 to 6.
8. Computers Based on a request to use the elevator, which includes information about the current floor and destination floor of the autonomous vehicle obtained from the autonomous vehicle, a movement request information is transmitted to the control device that controls the elevator, requesting the elevator to move to the current floor of the autonomous vehicle. The control device receives car orientation information indicating the direction of travel of the elevator as it moves to the current floor in response to the movement request information. Based on information regarding the current floor and destination floor of the autonomous vehicle, the system generates robot orientation information indicating the direction in which the autonomous vehicle moves when using the elevator. Based on the aforementioned cage orientation information and robot orientation information, it is determined whether or not the autonomous vehicle is allowed to board the elevator. The autonomous vehicle is to transmit information regarding the determined determination result, Based on overload information transmitted from the control device indicating that the load capacity of the elevator exceeds a predetermined threshold, the system transmits disembarkation request information to the autonomous vehicle requesting it to disembark from the elevator. Based on the position information relating to the position of the autonomous vehicle disembarking in accordance with the disembarking request information, it is determined whether or not the autonomous vehicle will come into contact with the elevator door when the door closes. An information processing method that performs the following.
9. On the computer, Based on a request to use the elevator, which includes information about the current floor and destination floor of the autonomous vehicle obtained from the autonomous vehicle, a movement request information is transmitted to the control device that controls the elevator, requesting the elevator to move to the current floor of the autonomous vehicle. The control device receives car orientation information indicating the direction of travel of the elevator as it moves to the current floor in response to the movement request information. Based on information regarding the current floor and destination floor of the autonomous vehicle, the system generates robot orientation information indicating the direction in which the autonomous vehicle moves when using the elevator. Based on the aforementioned cage orientation information and robot orientation information, it is determined whether or not the autonomous vehicle is allowed to board the elevator. The autonomous vehicle is to be transmitted information regarding the determination result of whether or not the autonomous vehicle is permitted to board the elevator. Based on overload information transmitted from the control device indicating that the load capacity of the elevator exceeds a predetermined threshold, the system transmits disembarkation request information to the autonomous vehicle requesting it to disembark from the elevator. Based on the position information relating to the position of the autonomous vehicle disembarking in accordance with the disembarking request information, it is determined whether or not the autonomous vehicle will come into contact with the elevator door when the door closes. An information processing program to execute an action.