Mobile vehicle-elevator linkage system and mobile vehicle-elevator linkage method

Abstract

To handle the case where a movable body waits at the landing of a different unit than the one that arrives to transport a robot or other movable bodies.SOLUTION: A movable body / elevator linkage system includes a movable body linkage unit that communicates with a movable body management device, and an elevator linkage unit that communicates with an elevator control device. When the movable body linkage unit receives a call command for calling an elevator car to a specific floor where the movable body is located, the elevator linkage unit instructs the elevator control device to move the elevator car to the specific floor, and to open the door of the car that has arrived at the specific floor and to wait there. The movable body / elevator linkage system also includes a movable body detection unit that detects the presence or absence of a movable body at an elevator landing, and when it detects that there is no movable body at the landing on the specific floor with the door open, the movable body linkage unit notifies the movable body management device of that the movable body has not been able to move to the landing.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a mobile - elevator cooperation system and a mobile - elevator cooperation method.

Background Art

[0002] Recently, elevators are required not only to carry passengers but also to carry robots, which are mobile bodies capable of autonomous movement. For example, robots for security or cleaning inside a building move inside the building to perform tasks such as security and cleaning, and thus it is preferable to use an elevator to move between floors. When an elevator carries a robot, control data of the floor where the robot is located (boarding floor) and the destination floor (target floor) to which the robot intends to move is sent from the robot or the robot's control device to the elevator's control device via a robot - elevator cooperation system, and the elevator's control device requests the elevator to move the robot. That is, based on this control data, the elevator control device controls the car to move towards the floor where the robot is located, and after the robot boards the car, controls the car to carry the robot to the destination floor.

[0003] Patent Document 1 describes a technology for a robot that can board an elevator, which includes a shape detection unit for detecting the distance and shape to the elevator landing door, and a determination unit for determining whether it is the landing door based on the distance and shape to the landing door detected by the shape detection unit. Based on the determined information of the landing door, the technology for the robot to board the elevator car is described.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] As described in Patent Document 1, when a robot uses an elevator, the robot searches for a landing, moves to the landing, and boards the elevator car when it arrives. When the robot boards, the robot-elevator cooperation system instructs the elevator control device to move a specific elevator car to the robot's floor. Based on this instruction, the elevator control device moves the corresponding elevator car to the designated floor and allows the robot to board the elevator car with its doors open.

[0006] Incidentally, in large buildings, there are often many elevators lined up at the landing, and the landing doors of each elevator are almost identical in shape. Therefore, relying solely on shape detection on the robot side may result in a discrepancy between the elevator being operated for the robot to board and the elevator the robot is waiting in front of the landing door. In other words, the robot moves by determining its current location by comparing the map information within the building with information detected by cameras and sensors. Therefore, the robot can usually move to the boarding area of ​​the correct elevator. However, due to various factors such as false detections by the robot's sensors or contact with some object, the robot may temporarily misjudge its current location and move to the boarding area of ​​a different elevator instead of the correct one.

[0007] Thus, if the elevator on which the robot is waiting at the landing door is different from the elevator that is being operated to carry the robot, the robot will never arrive, and the elevator will remain waiting with its doors open for an extended period of time. In other words, the elevator will be unable to transport the robot. This situation is undesirable because it reduces the operational efficiency of both the elevator and the robot. While this explanation uses robots as an example of a device that moves autonomously within buildings, autonomous devices come in various forms, and similar problems arise when transporting various forms of autonomously moving objects using elevators.

[0008] In view of these points, the present invention aims to provide a mobile body-elevator linkage system and a mobile body-elevator linkage method that can handle situations where a mobile body, such as a robot, is waiting at a different elevator platform than the one it is scheduled to arrive at for transport. [Means for solving the problem]

[0009] To solve the above problems, for example, the configuration described in the claims may be adopted. This invention includes multiple means for solving the above-mentioned problems, but to give one example, the mobile body-elevator linkage system of the present invention comprises a mobile body linkage unit that communicates with a mobile body management device that controls a mobile body, and an elevator linkage unit that communicates with an elevator control device that controls an elevator. When the mobile body linkage unit receives a call command to summon an elevator car to a specific floor where a mobile body is located, the elevator linkage unit instructs the elevator control device to move the elevator car to the specific floor and to wait with the doors open once the elevator car arrives at the specific floor. Furthermore, the mobile body-elevator linkage system of the present invention includes a mobile body detection unit that detects the presence or absence of a mobile body at an elevator landing based on the output of a sensor or camera that detects the presence or absence of a mobile body at the landing. Upon receiving a call command at the mobile body linkage unit, the elevator linkage unit sends a command to open the doors at a specific floor. When the mobile body detection unit detects that there is no mobile body at the landing on the specific floor where the doors were opened, the mobile body linkage unit notifies the mobile body management device that the mobile body has not been able to move to the landing. [Effects of the Invention]

[0010] According to the present invention, when a mobile object management device receives notification that a mobile object such as a robot has not moved correctly to the landing, it takes action such as correcting the position of the mobile object. This prevents a situation where an elevator car that has arrived to pick up a mobile object waits for a long time without the mobile object on board, thus preventing a decrease in elevator utilization efficiency. Other issues, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0011] [Figure 1] This is a configuration diagram showing an example of the overall structure of a mobile body-elevator linkage system according to one embodiment of the present invention. [Figure 2] This is a diagram illustrating an example of detecting a robot at an elevator landing in a mobile elevator interoperation system according to one embodiment of the present invention. [Figure 3] This flowchart shows a process (Example 1) using a mobile body / elevator linkage system according to one embodiment of the present invention. [Figure 4] This flowchart shows a process (Example 2) using a mobile body / elevator linkage system according to one embodiment of the present invention. [Figure 5] This sequence diagram shows an example of communication and operation between each server and the elevator control device in a mobile elevator interoperation system according to one embodiment of the present invention. [Modes for carrying out the invention]

[0012] Hereinafter, a mobile vehicle-elevator linkage system and a mobile vehicle-elevator linkage method according to one embodiment of the present invention (hereinafter referred to as "this example") will be described with reference to the attached drawings. The following explanation describes an example of applying autonomous mobility to robots. Autonomous robots are those that move within buildings such as office buildings and warehouses. Examples of robots that move within buildings such as office buildings and warehouses include security robots, cleaning robots, guidance robots, and cargo handling robots.

[0013] [Configuration of the robot-elevator integration system] Figure 1 shows the configuration of the robot-elevator collaboration system in this example. The robot-elevator coordination system in this example includes a robot-elevator coordination server 100. The robot-elevator coordination server 100 communicates with a robot management server 200 that manages autonomously mobile robots 210, and receives commands from the robot management server 200 to board the elevator when such commands are issued. The robot-elevator coordination server 100 also communicates with an elevator control device 300 and moves the elevator car to the designated boarding floor based on commands from the robot management server 200.

[0014] First, let's describe the configuration of the robot management server 200. The robot management server 200 communicates with the robots 210 located within the building via a communication line 12 (wireless communication line) and controls the movement and work of the robots 210. In Figure 1, only one robot 210 is shown, but the robot management server 200 may be configured to control the movement and work of multiple robots 210. In addition, multiple robot management servers 200 may be provided for each purpose and type of robot 210. For example, a separate management server may be provided for a monitoring robot and a separate management server for a cleaning robot. Furthermore, the robot management server 200 may be built into one of the robots 210.

[0015] Next, we will describe the configuration of an elevator that is operated under the control of the elevator control device 300. As shown in FIG. 1, here, it is assumed that two elevators, the elevator 310 of Machine A and the elevator 320 of Machine B, are installed. The two elevators 310 and 320 are installed with adjacent landing areas on each floor. That is, as shown in FIG. 1, the landing area 313 of the car 311 of the elevator 310 of Machine A and the landing area 323 of the car 321 of the elevator 320 of Machine B are arranged adjacent to each other in the elevator hall on each floor. However, the fact that the landing areas 313 and 323 of the two elevators 310 and 320 are adjacent is just an example, and the landing area 313 and the landing area 323 may be in separate locations. Also, a configuration with three or more elevators installed may be possible.

[0016] In addition, in the system of this example, the robot 210 is set to board the elevator 310 of Machine A in principle, and it is assumed that the robot 210 is not transported by the elevator 320 of Machine B. Also, when the robot 210 boards the elevator 310, the elevator 310 of Machine A performs a dedicated operation to transport only the robot 210, and mixed transportation of passengers and the robot is not performed. However, depending on the type such as a passenger guidance robot, the elevator 310 may transport passengers and the robot 210 simultaneously.

[0017] In the car 311 of the elevator 310 of Machine A and the car 321 of the elevator 320 of Machine B, infrared sensors 312 and 322 are arranged near the car doors. These infrared sensors 312 and 322 perform a process of detecting whether there are people or robots in the respective landing areas 313 and 323 when the cars 311 and 321 stop and the car doors and landing area doors open.

[0018] FIG. 2 shows an example of detecting people or robots in the landing area 313 by the infrared sensor 312 installed in the car 311 of the elevator 310. As shown in Figure 2, an infrared sensor 312 is located inside the elevator car above the door 311a of the elevator car 311. When the door 311a opens on any floor, the landing 313 on that floor becomes a detection area, and the infrared sensor 312 detects if there is a person or robot within the detection area of ​​the landing 313. Figure 2 shows the state where a robot 210 is within the area of ​​the landing 313.

[0019] The infrared sensor 312 may be configured to simply detect the presence of an object without distinguishing between people and robots, or it may be configured to distinguish between a person and a robot on the platform based on the size and shape of the detected object. In addition, sensors other than infrared sensors or cameras may be used to accurately distinguish between people and robots. Alternatively, the infrared sensor 312 may be used in combination with a camera. Furthermore, one example is to place the infrared sensors 312 and 322 above the door 311a of the elevator car 311, but sensors or cameras may be placed in other locations.

[0020] Figure 2 shows the configuration of the infrared sensor 312 of elevator 310 in Unit A, and the infrared sensor 322 of elevator 320 in Unit B has a similar configuration. Furthermore, the door 311a shown in Figure 2 consists of two parts: a car door located on the elevator car 311 and a landing door located on the landing 313. However, during normal operation, the car door and the landing door open and close in conjunction with each other. Therefore, in the following explanation, the car door and the landing door will be collectively referred to as "doors." When we say "door open" or "door closed," we mean that both the car door and the landing door are open or closed.

[0021] Returning to the explanation of Figure 1, elevators 310 (Unit A) and 320 (Unit B) are controlled by the elevator control device 300 for both their movement (up and down) and door opening and closing. When a person uses elevators 310 or 320, the elevator is called and the stopping floor is registered based on operations such as pressing the car call button installed at the landing or the stop floor buttons (not shown) on the control panel located inside elevator cars 311 and 321.

[0022] On the other hand, when robot 210 uses elevators 310 and 320, the robot management server 200 sends a command for robot 210 to board the elevator to the robot-elevator linkage server 100. This allows the robot-elevator linkage server 100 to register elevator calls and stopping floors for robot 210.

[0023] Next, we will explain the configuration of the robot elevator coordination server 100. The robot-elevator coordination server 100 consists of a computer that functions as a server connected to the internet or other network. As shown in the upper right of Figure 1, the hardware configuration of this robot-elevator coordination server 100 includes a CPU (Central Processing Unit) 111, memory 112, and interface (I / F) 113 connected in a data transfer manner. The CPU 111 executes programs prepared in memory 112, which constitutes the processing units described below. The interface 113 performs communication processing with the robot management server 200 and the elevator control device 300.

[0024] From the perspective of the processing performed by the robot-elevator linkage server 100, the functional configuration of the robot-elevator linkage server 100 includes a robot linkage unit 101 (mobile object linkage unit), an elevator linkage unit 102, and a robot detection unit 103 (mobile object detection unit). The robot coordination unit 101 communicates bidirectionally with the robot management server 200 via the communication line 11. Through this bidirectional communication via the communication line 11, the robot coordination unit 101 receives commands from the robot management server 200 regarding the robot 210's entry into the elevator, and also transmits operation commands related to the robot 210's entry into the elevator to the robot management server 200. As a result, the robot coordination unit 101 performs robot coordination processing (mobile unit coordination processing).

[0025] The elevator coordination unit 102 is connected to the elevator control device 300 and communicates bidirectionally. If the robot-elevator coordination server 100 and the elevator control device 300 are installed in the same building, the elevator coordination unit 102 and the elevator control device 300 are directly connected. If the robot-elevator coordination server 100 is installed outside the building, the elevator coordination unit 102 and the elevator control device 300 are connected via a communication line (not shown).

[0026] When the elevator coordination unit 102 receives a call command from the robot management server 200 via the robot coordination unit 101 for the robot 210 to board the elevator, it instructs the elevator control device 300 to allow the robot 210 to board. In this case, the elevator coordination unit 102 instructs the elevator control device 300 to allow the robot 210 to board elevator 310 of elevator A. As a result, the elevator coordination unit 102 performs elevator coordination processing.

[0027] The robot detection unit 103 acquires detection data from infrared sensors 312 and 322 installed in elevators 310 and 320 via the elevator control device 300. The robot detection unit 103 then performs robot detection processing (mobile object detection processing) to determine the presence or absence of a robot 210 at landings 313 and 323 when the elevator stops and the doors open. However, this robot detection process only determines whether or not there is an object that could be the robot 210 at the boarding areas 313 and 323, and does not necessarily have to be a process that accurately recognizes the robot.

[0028] The data obtained when the robot detection unit 103 detects the robot 210 is supplied to the robot linkage unit 101 and the elevator linkage unit 102. Based on the data from the robot detection unit 103 indicating whether or not a robot was detected, the robot linkage unit 101 and the elevator linkage unit 102 perform processing to ensure that the robot 210 is properly placed on the elevator 310.

[0029] [Example of processing when a robot is boarded (Example 1)] Figure 3 is a flowchart showing an example (Example 1) of the coordination process in which the robot-elevator coordination server 100 in this example allows the robot 210 to board the elevator 310.

[0030] First, the robot coordination unit 101 of the robot-elevator coordination server 100 receives a car call command from the robot management server 200 (step S11). This car call command is a command to summon the car 311 of elevator unit A 310 to the boarding floor at the landing 313 on the floor where robot 210 is currently located, and includes data on the stopping floor (boarding floor) and the destination floor (disembarking floor).

[0031] When the robot coordination unit 101 receives a car call command, the elevator coordination unit 102 sends a command to the elevator control device 300 to call car 311 of elevator A and move it to the registered floor (step S12). If car 311 of elevator A is transporting passengers when the elevator control device 300 receives the command from the elevator coordination unit 102, the elevator control device 300 will wait until all passengers have disembarked at their destination floor before calling car 311 of elevator A and moving it to the registered floor.

[0032] Then, the elevator control device 300 opens the doors of the elevator car 311 that has stopped at the registered floor and keeps it in a waiting state with the doors open (step S13). Subsequently, the robot detection unit 103 of the robot-elevator linkage server 100 acquires detection data from the infrared sensor 312 of the elevator car 311 waiting at the door floor and determines whether or not the robot 210 is present at the landing 313 on the floor where the elevator car 311 is currently stopped (step S14). It is preferable to be able to reliably determine whether or not the robot 210 is present, but the determination in step S14 also includes determining whether or not some object equivalent to the robot 210 is present at the landing 313.

[0033] If it is determined in step S14 that the robot 210 is present (YES in step S14), the elevator coordination unit 102 instructs the elevator control device 300 to continue opening the doors based on instructions from the robot detection unit 103 of the robot-elevator coordination server 100 (step S15). This continued opening of the doors allows the robot 210 to wait in order to board the elevator car 311. Furthermore, the robot coordination unit 101 receives a door open continuation command from the robot management server 200 (step S16), and upon receiving this door open / close command, the elevator coordination unit 102 instructs the elevator control device 300 to continue opening the door.

[0034] While the doors remain open, robot 210 at platform 313 boards elevator car 311. Once boarding is complete, the command to continue opening the doors from the robot management server 200 stops, the doors close, and elevator car 311 departs for its destination floor (step S17). After arriving at the destination floor and the doors open, robot 210 disembarks.

[0035] The processes in steps S11 to S17 up to this point assume that the robot 210 has successfully boarded the elevator 310. On the other hand, if step S14 determines that robot 210 is not at landing 313 (NO in step S14), robot coordination unit 101 notifies robot management server 200 that robot 210 has not been able to move to the landing (step S18). Simultaneously with this notification, elevator control device 300 closes the doors of elevator car 311 and waits until the next command is received.

[0036] Furthermore, upon receiving the notification in step S18, the robot management server 200 re-measures the current position of the corresponding robot 210, and if the movement of robot A to the boarding area 313 is successful, the process is repeated starting from the transmission of the call command in step S11.

[0037] [Example of processing when a robot is on board (Example 2)] Figure 4 is a flowchart showing an example (Example 2) of the coordination process in which the robot-elevator coordination server 100 in this example allows the robot 210 to board the elevator 310. In the flowchart of Figure 4, steps S11 to S17 are the same as the steps S11 to S17 described in the flowchart of Figure 3 when the robot 210 is able to board the elevator 310 correctly.

[0038] Then, in step S14, if it is determined that the robot 210 is not at landing 313 (NO in step S14), the robot detection unit 103 of the robot-elevator linkage server 100 determines whether or not the robot 210 is at landing 323 of another elevator on the same floor (in this case, elevator B) (step S21). This decision is made based on the detection data from the infrared sensor 322 in the elevator car 321 of the elevator 320. Alternatively, the decision may be made using video footage from a surveillance camera installed in the elevator hall or elsewhere.

[0039] In step S21, if it is determined that the robot 210 is in another boarding area 323 (YES in step S21), the robot coordination unit 101 notifies the robot management server 200 that the robot 210 is in the wrong boarding area 323 (step S18). When the notification is sent in this case, the robot coordination unit 101 may add an identifier indicating the elevator number of the elevator that the robot 210 is mistakenly at another landing 323, along with an identifier indicating the elevator number of the elevator at the current landing. For example, the identification code of elevator A, the elevator the robot is supposed to ride, and the identification code of elevator B, the elevator the robot is currently at, may be added to the notification data. More detailed data, such as the floor the robot is riding on, may also be added to these identification codes. Furthermore, simultaneously with the notification of the identifier indicating the elevator unit number from the robot coordination unit 101, the elevator coordination unit 102 may instruct the elevator control device 300 to extend the door opening time of elevator unit A, which is the elevator that the passenger is originally intended to ride.

[0040] In step S22, the robot management server 200 receives a report that the boarding area is incorrect and instructs robot 210 to move to a different boarding area (step S23). Here, an identifier indicating the robot number is added, allowing the instruction to move from boarding area 323 for robot B to boarding area 313 for robot A. Then, after the robot coordination unit 101 sends a notification in step S22, the robot detection unit 103 returns to the decision in step S14.

[0041] Furthermore, if step S21 determines that there are no robots 210 at any other landing 323 (NO in step S21), the robot coordination unit 101 notifies the robot management server 200 that robot 210 has not been able to move to the landing (step S22). Simultaneously with this notification, the elevator control device 300 closes the doors of the elevator car 311 and waits until the next command is received.

[0042] In step S22, the robot 210 is not detected at any of the boarding areas, suggesting a possible malfunction in the robot 210's movement. Therefore, when reporting in step S22, data indicating a malfunction in the robot 210's movement may be added.

[0043] If, in step S22, robot 210 has mistakenly moved to the wrong elevator's landing, it is possible to instruct robot 210 to move to the wrong landing (step S23). Alternatively, when reporting in step S22, robot 210 may remain waiting at the wrong landing 323, and instruct elevator 320 of elevator B (unit B) to move to the floor corresponding to landing 323 and wait with the doors open, thereby allowing robot 210 to board elevator B's car 321 (step S24).

[0044] [Coordination between each server and the elevator control system] Figure 5 is a sequence diagram showing an example of coordinated operation in the transmission of commands and other information between the robot-elevator linkage server 100, the robot management server 200, and the elevator control device 300. The robot-elevator coordination server 100 is abbreviated as the coordination server. The flow shown in Figure 5 is an example of what happens when the robot 210 moves to the wrong landing. That is, when the robot-elevator coordination server 100 processes in the order of steps S11, S12, S13, S14, S21, and S22 in the flowchart of Figure 4.

[0045] First, the robot management server 200, which instructs robot 210 to board the elevator, registers the elevator call for the floor where robot 210 is located with the robot-elevator coordination server 100 (step S1). Upon receiving this elevator call registration, the robot elevator coordination server 100 instructs the elevator control device 300 to move elevator car 311 of the specified elevator (Elevator A) to the floor where the call was registered (Step S2). When elevator car 311 arrives at the floor where the call was registered, the elevator control device 300 waits with the doors open (Step S3).

[0046] In this standby state, the robot detection unit 103 of the robot-elevator linkage server 100 acquires detection data from the infrared sensor 312 of the elevator car 311 (step S4). From this acquired detection data, the robot detection unit 103 determines that there is no robot 210 at the landing 313 of elevator 310 of unit A. Furthermore, the robot detection unit 103 of the robot elevator linkage server 100 acquires detection data from the infrared sensor 312 of elevator car 311 of another elevator (Elevator B), and determines that the robot 210 is at landing 323 (Step S5).

[0047] At this time, the robot-elevator linkage server 100 instructs the robot management server 200 to move robot 210 from elevator B's landing 323 to elevator A's landing 313 (step S6). Based on this instruction, the robot management server 200 moves robot 210 to elevator A's landing 313, so that the doors of elevator A's elevator 310 remain open, as shown in step S15 of the flowchart in Figure 4, and robot 210 can board elevator A's elevator 310.

[0048] As explained above, according to the robot-elevator cooperation system in this example, if there is any malfunction when the robot 210 boards the elevator and it is unable to move to the landing of the elevator it is supposed to board (Elevator A), this condition is immediately detected. Therefore, it is possible to instruct the robot management server 200 that the landing is incorrect, move it to the correct landing, and allow it to board elevator A. If this example is not performed, elevator A will remain with its doors open indefinitely waiting for a passenger to board, and robot 210 will attempt to board the elevator, which is in normal operation and not controlled for robot transport, resulting in an undesirable situation.

[0049] Furthermore, if robot 210 is detected at the boarding area of ​​another robot (robot B), the robot management server 200 is notified that the robot is in the wrong boarding area, allowing the robot management server 200 to appropriately instruct robot 210 to move. In this case, by notifying the elevator identifier corresponding to the current landing and the elevator identifier corresponding to the original landing, it becomes possible to determine the origin and destination of the movement and to appropriately instruct the robot 210 to move.

[0050] Furthermore, if robot 210 cannot be detected at any of the boarding areas, it is possible that robot 210 is experiencing some kind of malfunction that prevents it from moving. In this example, by notifying that there is a malfunction in the movement of robot 210, the malfunction can be resolved through inspection of the affected robot 210.

[0051] Furthermore, when the robot 210 is detected at platform 323 of elevator B and the robot management server 200 is notified that the waiting platform is incorrect, the elevator 310 of elevator A is instructed to extend the door opening time. This allows elevator car 311 of elevator A to wait with its doors open until the robot 210 moves to platform 313 of elevator A. This enables the robot 210 to move and board elevator car 311 of elevator A without any problems.

[0052] Furthermore, when the robot 210 is detected at the landing 323 of elevator B, the elevator to which the robot will be riding is switched to elevator B, and the elevator car 321 of elevator B is set to wait with the doors open. This allows the robot to board the elevator at the landing 323 of elevator B, enabling rapid transport by elevator.

[0053] [Differentiation] The embodiments described above are explained in detail for the purpose of clearly illustrating the present invention, and are not necessarily limited to those having all the configurations described. Furthermore, the configurations and processes described in the above embodiments can be modified or altered in various ways.

[0054] For example, although the robot detection unit 103 is provided within the robot-elevator linkage server 100, it is also possible to perform robot detection processing within the elevator control device 300, for example, and then have the robot-elevator linkage server 100 acquire the robot detection results. Furthermore, while the robot 210's detection process is configured to detect from the output of an infrared sensor installed on the elevator car door, detection may also be performed using other sensors, such as sensors other than infrared sensors, or the output of other sensors or cameras, such as an in-car camera or a landing surveillance camera.

[0055] Furthermore, in the configuration shown in Figure 1, the robot-elevator linkage server 100 is configured as a separate device from the elevator control device 300 and the robot management server 200. Alternatively, the functions of the robot-elevator linkage server 100 may be built into the elevator control device 300 or the robot management server 200.

[0056] Furthermore, although the above-described embodiment explained the process when an autonomously mobile robot 210 uses an elevator, the object riding in the elevator can be of any form as long as it is an autonomously mobile body.

[0057] Furthermore, in the above-described embodiment, the robot-elevator linkage server 100 was configured as a computer using a CPU 111, but other processing units may also be used. For example, some or all of the processing functions of the robot-elevator linkage server 100 may be implemented by dedicated hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The computer acting as the robot-elevator linkage server 100 needs to implement a program that performs the processes described in the flowcharts shown in Figure 3 or Figure 4. This program may be stored in memory 112, or it may be stored on an external memory, IC card, SD card, optical disc, or other recording medium and transferred to the robot-elevator linkage server 100.

[0058] Furthermore, in the configuration diagram of Figure 1, only control lines and information lines deemed necessary for explanation are shown, and not all control lines and information lines are necessarily shown in the actual product. In reality, it can be assumed that almost all components are interconnected. Also, in the flowcharts shown in Figures 3 and 4, the processing order may be changed or multiple processes may be executed simultaneously, as long as the processing result is the same. [Explanation of Symbols]

[0059] 11,12…Communication line, 100…Robot / elevator linkage server, 101…Robot linkage unit, 102…Elevator linkage unit, 103…Robot detection unit, 111…CPU, 112…Memory, 113…Interface, 200…Robot management server, 210…Robot, 300…Elevator control device, 310…Elevator (Unit A), 311a…Door, 312…Infrared sensor, 313…Landing, 320…Elevator (Unit B), 322…Infrared sensor, 323…Landing

Claims

1. A mobile object-elevator linkage system comprising a mobile object management device that controls a mobile object and a mobile object linkage unit that communicates with an elevator control device that controls an elevator, wherein when the mobile object linkage unit receives a call command to summon the elevator car to a specific floor where the mobile object is located, the elevator linkage unit instructs the elevator control device to move the elevator car to the specific floor and to wait with the doors open once the car arrives at the specific floor, The elevator is equipped with a moving object detection unit that detects the presence or absence of the moving object at the elevator landing based on the output of a sensor or camera that detects the presence or absence of the moving object at the elevator landing. Upon receiving the call command at the aforementioned mobile body coordination unit, the elevator coordination unit sends a command to open the doors at the specified floor. If the mobile body detection unit detects that the mobile body is not present at the landing on the specified floor where the doors were opened, the mobile body coordination unit notifies the mobile body management device that the mobile body has not been able to move to the landing. Mobile vehicle and elevator integration system.

2. Multiple elevator cars are provided and controlled by the aforementioned elevator control device. The mobile object detection unit detects that the mobile object is not present at a landing where the train has stopped and opened its doors to allow the mobile object to board, and also detects that the mobile object is present at another landing on the same floor. When the mobile object coordination unit receives a door-opening continuation command from the mobile object management device, the mobile object coordination unit notifies the mobile object management device that the landing where the mobile object is located is in the wrong place. The mobile body / elevator linkage system according to claim 1.

3. If the moving object detection unit determines that the moving object is at the wrong elevator car landing, the moving object coordination unit notifies the moving object management device of the identifier of the elevator that is responding to the boarding of the moving object and the identifier of the elevator that will arrive at the landing where the moving object is waiting. The mobile body / elevator linkage system according to claim 2.

4. If the moving object detection unit cannot detect the moving object at any of the boarding areas, the moving object coordination unit notifies the moving object management device that there is a problem with the movement of the moving object. The mobile body / elevator linkage system according to claim 2.

5. After the mobile body coordination unit notifies the mobile body management device of the elevator identifier, the elevator coordination unit instructs the elevator control device to extend the opening of the elevator doors in response to the boarding of the mobile body. The mobile body / elevator linkage system according to claim 3.

6. After the mobile object coordination unit notifies the mobile object management device of the elevator identifier, the elevator coordination unit instructs the elevator control device to move the elevator car corresponding to the landing where the mobile object is located to the corresponding floor, and, upon arrival, to wait with the doors open for the mobile object to board. The mobile body / elevator linkage system according to claim 3.

7. The moving object detection unit detects the presence or absence of the moving object at the landing based on a sensor installed near the door of the elevator car. The mobile body / elevator linkage system according to claim 1.

8. This is a mobile-elevator coordination method in which, through mobile object coordination processing performed by a computer, when a call command is received from a mobile object management device that controls a mobile object to summon an elevator car to a specific floor where the mobile object is located, the elevator coordination processing performed by the computer instructs the elevator control device to move the elevator car to the specific floor and also instructs the elevator car to wait with its doors open once it arrives at the specific floor. The computer performs a moving object detection process to detect the presence or absence of the moving object at the elevator landing, based on the output of a sensor or camera that detects the presence or absence of the moving object at the elevator landing. Upon receiving the call command in the aforementioned mobile body coordination process, the elevator coordination process sends a command to open the doors at the specific floor, and then, when the mobile body detection process detects that the mobile body is not present at the landing on the specific floor where the doors were opened, the mobile body coordination process notifies the mobile body management device that the mobile body has not been able to move to the landing. Method for coordinating mobile devices and elevators.

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