Cooperative control system, cooperative control method, and program

Abstract

The purpose of the present disclosure is to improve shareability of an elevator between a user and an autonomous mobile body. A cooperative control system (1) comprises a storage unit (17), an area calculation unit (11), a boarding determination unit (12), a route decision unit (13), and a cooperative instruction unit (14). The area calculation unit (11) calculates, on the basis of area information, an available floor area of the elevator (5) when the autonomous mobile body (4) boards the elevator (5). The boarding determination unit (12) determines whether the autonomous mobile body (4) can board the elevator (5) on the basis of the available floor area. The route decision unit (13) decides a movement route of the autonomous mobile body (4) in the elevator (5) on the basis of coordinate information. The cooperative instruction unit (14) provides a mobile body control system (2) and an equipment control system (3) with an instruction on control content based on the determination result of the boarding determination unit (12) and the decision result of the route decision unit (13).

Description

Cooperative control system, cooperative control method, and program

[0001] The present disclosure generally relates to a cooperative control system, a cooperative control method, and a program. More specifically, the present disclosure relates to a cooperative control system, a cooperative control method, and a program for an autonomous mobile body and facility equipment.

[0002] Patent Document 1 discloses an elevator getting-on / off control device for an autonomous mobile body. This elevator getting-on / off control device comprises an information acquisition unit and a getting-on / off control unit. The information acquisition unit acquires boarding state information indicating whether the autonomous mobile body is on board the elevator, operation information related to a user's operation on an input unit provided in association with the elevator, and door opening / closing information related to the opening / closing state of the elevator door. The getting-on / off control unit determines, based on the boarding state information, that the autonomous mobile body is on board the elevator, determines, based on the door opening / closing information, that the elevator door is in an open state, and when it is determined based on the operation information that a predetermined operation has been performed on the input unit, generates an alighting request signal for causing the autonomous mobile body to alight from the elevator.

[0003] According to this elevator getting-on / off control device, when the elevator transports a user and the autonomous mobile body, it is possible to prevent a decrease in transportation efficiency of the entire elevator system while ensuring the user's convenience.

[0004] International Publication No. 2021 / 214869

[0005] In the elevator getting-on / off control device described in Patent Document 1, sufficient consideration for persons (users) using the elevator is still not necessarily sufficient, and an improvement in common usability is desired so that users and autonomous mobile bodies can share the elevator more efficiently.

[0006] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a cooperative control system, a cooperative control method, and a program capable of improving the common usability of an elevator between users and autonomous mobile bodies.

[0007] A collaborative control system according to one aspect of the present disclosure performs collaborative control to link a mobile body control system that controls an autonomous mobile body with a facility control system that controls facility equipment, including at least an elevator, within the facility. The collaborative control system comprises a storage unit, an area calculation unit, a boarding determination unit, a route determination unit, and a collaborative instruction unit. The storage unit stores elevator information, including area information of the elevator floor and coordinate information, which is coordinate information set for the floor. The area calculation unit calculates the available floor area of ​​the elevator when the autonomous mobile body boards the elevator based on the area information. The boarding determination unit determines whether the autonomous mobile body can board the elevator based on the available floor area. The route determination unit determines the movement route of the autonomous mobile body within the elevator based on the coordinate information. The collaborative instruction unit instructs the mobile body control system and the facility control system on control content based on the determination result of the boarding determination unit and the determination result of the route determination unit.

[0008] A coordinated control method according to one aspect of the present disclosure is applied to a coordinated control system that performs coordinated control for coordinating a mobile body control system that controls an autonomous mobile body with a facility control system that controls facility equipment, including at least an elevator, within a facility. The coordinated control method includes an area calculation step, a boarding determination step, a route determination step, and a coordinated instruction step. In the area calculation step, the available floor area of ​​the elevator when the autonomous mobile body boards the elevator is calculated based on the floor area information of the elevator included in the elevator information stored in the memory unit. In the boarding determination step, it is determined whether the autonomous mobile body can board the elevator based on the available floor area. In the route determination step, the movement route of the autonomous mobile body within the elevator is determined based on coordinate information, which is coordinate information set for the floor included in the elevator information. In the coordinated instruction step, control content based on the determination result of the boarding determination step and the determination result of the route determination step is instructed to the mobile body control system and the facility control system.

[0009] A program according to one aspect of this disclosure is a program that causes one or more processors to execute the aforementioned cooperative control method.

[0010] Figure 1 is a block diagram of the entire system including the collaborative control system according to the embodiment. Figure 2 is a conceptual diagram for explaining elevator information in the collaborative control system. Figure 3 is a schematic plan view of the floor inside the elevator car for explaining the boarding route (travel route) in the collaborative control system. Figure 4 is a schematic plan view of the floor inside the elevator car for explaining the disembarking route (travel route) in the collaborative control system. Figure 5 is a schematic plan view of the floor inside the elevator car for explaining the process of image-based determination of the presence or absence of objects inside the elevator in the collaborative control system. Figure 6 is a schematic plan view of the floor inside the elevator car for explaining the situation in the collaborative control system where an image showing the area of ​​the travel space is projected from a projector onto the floor surface inside the elevator car. Figure 7 is a flowchart for explaining the flow of operation in the collaborative control system. Figure 8 is a flowchart that continues from the flowchart shown in Figure 7.

[0011] (Overview) The following describes the coordinated control system, coordinated control method, and program relating to embodiments and modifications, with reference to the drawings. Note that the embodiments and modifications described below are only one of the various embodiments of this disclosure. Furthermore, the embodiments and modifications described below can be modified in various ways depending on the design, etc., as long as the objectives of this disclosure are achieved. It is also possible to combine the configurations of the modifications as appropriate. In addition, the figures referenced in the following description are schematic diagrams, and the ratios of the size and thickness of each component in the figures do not necessarily reflect the actual dimensional ratios.

[0012] One embodiment of the linked control system 1, as shown in Figure 1, performs linked control to link a mobile body control system 2 that controls an autonomous mobile body 4 and an equipment control system 3 that controls facility equipment E1 within facility F1. The facility equipment E1 includes at least an elevator 5.

[0013] The type of facility F1 in this disclosure is not particularly limited. Facility F1 may be an apartment building or similar multi-unit dwelling, an office building, a theater, a cinema, a public hall, an amusement park, a multi-purpose complex, a restaurant, a department store, a school, a hotel, a ryokan (Japanese inn), a hospital, a nursing home, a kindergarten, a library, a museum, an art gallery, an underground shopping mall, a train station, or an airport, etc. In this disclosure, a person who uses facility F1 is also referred to as user A2 (see Figure 5). User A2 is, for example, a general user of elevator 5, and to give specific examples, if facility F1 is an apartment building, it may be a resident; if facility F1 is an office building, it may be an employee; if facility F1 is a hotel, it may be a guest; and if facility F1 is a hospital, it may be a patient.

[0014] The autonomous mobile unit 4 is an autonomous mobile robot or the like that moves autonomously within facility F1. The autonomous mobile unit 4 can move between multiple floors of facility F1 using elevator 5, which is used by general users, such as user A2. The role that the autonomous mobile unit 4 plays within facility F1 is not particularly limited, but as an example, the autonomous mobile unit 4 may perform management and monitoring within facility F1, transport luggage within facility F1, or guide visitors within facility F1.

[0015] As shown in Figure 1, the cooperative control system 1 comprises a storage unit 17, an area calculation unit 11, a passenger determination unit 12, a route determination unit 13, and a cooperative instruction unit 14. The storage unit 17 stores elevator information. The elevator information includes area information of the floor 50 of the elevator 5 (see Figures 2 to 6) and coordinate information, which is information of the coordinates set for the floor 50. The area calculation unit 11 calculates the available floor area of ​​the elevator 5 when the autonomous mobile unit 4 boards the elevator 5 based on the area information. The passenger determination unit 12 determines whether the autonomous mobile unit 4 can board the elevator 5 based on the available floor area. The route determination unit 13 determines the movement route R1 of the autonomous mobile unit 4 within the elevator 5 based on the coordinate information. The cooperative instruction unit 14 instructs the mobile unit control system 2 and the equipment control system 3 on the control content based on the determination result of the passenger determination unit 12 and the determination result of the route determination unit 13.

[0016] According to the configuration of this collaborative control system 1, control content based on the determination result of the passenger determination unit 12 and the determination result of the route determination unit 13 is instructed to the mobile body control system 2 and the equipment control system 3. As a result, user A2 and the autonomous mobile body 4 can share the elevator 5 more efficiently, improving usability.

[0017] In the following, it is assumed that the collaborative control system 1 (and its multiple functions) is implemented on a server located outside facility F1, communicates wirelessly with the gateway GW1 (see Figure 1) of facility F1, and issues instructions to the mobile control system 2 and the equipment control system 3 via the gateway GW1. Here, "server" includes one or more server devices. If the server includes multiple server devices, a cloud (cloud computing) may be constructed using these multiple server devices.

[0018] Furthermore, the collaborative control system 1 may be implemented on a server installed inside facility F1, in which case it may be implemented on the same server on which the mobile control system 2 or the equipment control system 3 is implemented. Alternatively, the mobile control system 2 and the equipment control system 3 may be implemented on the same server, in which case the collaborative control system 1 may also be implemented on the same server.

[0019] In the following, it is assumed that the linked control system 1 targets only facility F1 shown in Figure 1 and issues instructions to the mobile control system 2 and equipment control system 3 installed in facility F1. However, the linked control system 1 may target multiple facilities F1, including facility F1 shown in Figure 1, and issue instructions to the mobile control system 2 and equipment control system 3 installed in each facility F1.

[0020] One embodiment of the collaborative control method is applied to a collaborative control system 1 that performs collaborative control to link a mobile body control system 2, which controls an autonomous mobile body 4, and an equipment control system 3, which controls facility equipment E1 within a facility F1. The facility equipment E1 includes at least an elevator 5. The collaborative control method includes an area calculation step, a boarding determination step, a route determination step, and a collaborative instruction step. In the area calculation step, the available floor area of ​​the elevator 5 when the autonomous mobile body 4 boards the elevator 5 is calculated based on the area information of the floor 50 of the elevator 5 included in the elevator information stored in the storage unit 17. In the boarding determination step, it is determined whether or not the autonomous mobile body 4 can board the elevator 5 based on the available floor area. In the route determination step, the movement route R1 of the autonomous mobile body 4 within the elevator 5 is determined based on the coordinate information, which is coordinate information set for the floor 50 included in the elevator information. In the collaborative instruction step, the control content based on the determination result of the boarding determination step and the determination result of the route determination step is instructed to the mobile body control system 2 and the equipment control system 3.

[0021] In this configuration of the collaborative control method, user A2 and autonomous mobile unit 4 can share the elevator 5 more efficiently, thereby improving usability.

[0022] This cooperative control method is used on a computer system (cooperative control system 1). In other words, this cooperative control method can also be implemented as a computer program. A program according to one embodiment is a program that causes one or more processors to execute the above cooperative control method. The program may be recorded on a computer-readable non-temporary recording medium. Furthermore, a computer program product according to one embodiment includes a computer program that, when executed by one or more processors, realizes the processing (steps) of the above cooperative control method.

[0023] (Embodiment) (1) Overall Configuration The overall configuration of the integrated management system, including the collaborative control system 1 and its peripheral configuration according to the embodiment, will be described below with reference to Figure 1.

[0024] The integrated management system comprises a cooperative control system 1, a mobile device control system 2, an equipment control system 3, an autonomous mobile device 4, facility equipment E1, and a gateway GW1. The mobile device control system 2 controls the autonomous mobile device 4. The equipment control system 3 controls the facility equipment E1 within facility F1. The cooperative control system 1 performs cooperative control to link the mobile device control system 2 and the equipment control system 3. As mentioned above, the server on which the functions of the cooperative control system 1 are implemented is installed, for example, outside facility F1.

[0025] Facility equipment E1 is equipment installed within facility F1. Facility equipment E1 includes at least an elevator 5, and here, as an example, also includes, in addition to the elevator 5, an imaging device C1, a projector 6, and a security door 7 within facility F1. For convenience, only one elevator 5 is shown in Figure 1, but the number of elevators 5 is not particularly limited, and facility equipment E1 includes one or more elevators 5. Similarly, for convenience, only one imaging device C1, one or more projectors 6, and one or more security doors 7 are shown in Figure 1, but the number of these is not particularly limited, and facility equipment E1 includes one or more imaging devices C1, one or more projectors 6, and one or more security doors 7.

[0026] Elevator 5 has a car 5A (see Figures 2 to 6) that moves up and down within the hoistway of facility F1. The car 5A is a rectangular parallelepiped car with an interior space that can accommodate, for example, a user A2 (see Figure 5) and an autonomous mobile device 4. As shown in Figures 2 to 6, the car 5A further has a floor 50 which is a rectangular (rectangular or square) floor surface in plan view. Note that the shape of the floor surface of the floor 50 in plan view is not limited to a rectangle, and may be circular or elliptical depending on the shape of the car 5A.

[0027] Furthermore, as shown in Figures 2 to 6, the elevator car 5A also has an entrance / exit 51. The entrance / exit 51 is the entrance through which users A2 and / or autonomous mobile units 4 board the elevator car 5A from the landings on each floor and disembark from the elevator car 5A to the landings. The elevator car 5A is equipped with a door (inner door) that opens and closes the entrance / exit 51, and the inner door of the entrance / exit 51 can be opened and closed in conjunction with the outer door provided at the landing on each floor when the elevator car 5A arrives at each floor.

[0028] Furthermore, the car 5A also has an operation panel B1, as shown in Figures 2 to 6. The operation panel B1 is located, for example, on the front right side of the entrance / exit 51 and / or the front left side of the entrance / exit 51 on the inner wall surface of the car 5A. In the illustrated example, the operation panel B1 is located on the front right side when viewed from the perspective of a person (user A2) inside the car 5A looking at the entrance / exit 51.

[0029] The control panel B1 may include destination buttons for specifying the desired destination floor. The control panel B1 may also include open buttons for extending the "open" time of the doors at the entrance / exit 51, and close buttons for shortening the "close" time of the doors. Furthermore, the control panel B1 may include emergency buttons, and a display panel (display device) for displaying the current floor and other information.

[0030] The imaging device C1 is installed inside the elevator 5 (inside the car 5A) and images the inside of the elevator 5 (inside the car 5A). If there are multiple elevators 5, at least one imaging device C1 may be installed for each elevator 5. For example, the imaging device C1 is installed to image the inside of the elevator 5 with a field of view that includes the entire floor surface of the elevator 50 (see Figures 2 to 6). For example, the imaging device C1 is installed on the ceiling of the elevator 5 (the ceiling inside the car 5A) or near the ceiling so as to provide an overhead view of the inside of the elevator 5.

[0031] The imaging device C1 is not limited to being installed in the elevator 5, as long as it can image the inside of the elevator 5. The imaging device C1 may, for example, be installed in an autonomous mobile vehicle 4 that uses the elevator 5.

[0032] The imaging device C1 transmits images (image information) of the interior of the elevator 5 to the equipment control system 3 via wired or wireless connection. The equipment control system 3 transmits the image information from the imaging device C1 to the linked control system 1. The imaging device C1 may also transmit the image information to the linked control system 1 without going through the equipment control system 3.

[0033] The projector 6 is installed inside the elevator 5 (inside the car 5A) to project an image onto the floor 50 of the elevator 5. If there are multiple elevators 5, at least one projector 6 may be installed for each elevator 5. The projector 6 is installed, for example, on the ceiling of the elevator 5 (the ceiling inside the car 5A) or near the ceiling. As will be described in detail later, the projector 6 projects an image H1 (for example, a color image) indicating the boarding space SP1 or the disembarking space SP2 (see Figures 3 and 4) onto the floor 50 of the elevator 5 in response to instructions from the linkage instruction unit 14 of the linkage control system 1.

[0034] The projector 6 is not limited to being installed in the elevator 5, as long as it can project an image onto the floor surface 50 of the elevator 5. The projector 6 may also be installed, for example, on an autonomous mobile vehicle 4 that uses the elevator 5.

[0035] The security door 7 may be installed, for example, in a passageway from the entrance (front door) of facility F1 to the elevator 5 landing, or at the entrance to a specific controlled area within facility F1. The security door 7 opens automatically when the facility control system 3 authorizes user A2 or autonomous mobile device 4 to enter the passageway or controlled area beyond the security door 7 (for example, when authentication is successful).

[0036] Specifically, an authentication reader device is installed near the security door 7. The reader device can read information of user A2 for facial recognition or fingerprint authentication. The reader device can also communicate with a magnetic card or mobile device such as a smartphone carried by user A2 and read information of user A2. Based on the information of user A2 read via the reader device, the equipment control system 3 performs authentication processing for user A2. If authentication is successful, it sends a control signal to the security door 7 to unlock the electric lock on the security door 7. As a result, the security door 7 opens, and user A2 can enter the passage or controlled area beyond the security door 7. If authentication fails, the security door 7 notifies user A2 of the authentication failure, and the electric lock on the security door 7 remains locked.

[0037] The reader device also communicates with the autonomous mobile body 4 over short distances and can read information from the autonomous mobile body 4. Based on the information from the autonomous mobile body 4 read via the reader device, the equipment control system 3 performs authentication processing for the autonomous mobile body 4. If authentication is successful, it sends a control signal to the security door 7 to unlock the electric lock on the security door 7. As a result, the security door 7 opens, and the autonomous mobile body 4 can enter the passage or controlled area beyond the security door 7.

[0038] In particular, the route of the autonomous mobile unit 4 moving (operating) through the passages within facility F1, the floors on which the autonomous mobile unit 4 is permitted to disembark, and the management areas on which the autonomous mobile unit 4 is permitted to enter are predetermined in the operation plan information for the autonomous mobile unit 4. The equipment control system 3 refers to the operation plan information of the autonomous mobile unit 4 to determine whether or not to unlock the electric lock on the security door 7. The operation plan information is managed, for example, by the cooperative control system 1. The operation plan information may also be managed by the mobile unit control system 2. The operation plan information can be transmitted from the cooperative control system 1 (or the mobile unit control system 2) to the equipment control system 3 at any time.

[0039] The equipment control system 3 is communicatively connected to facility equipment E1, including the elevator 5, imaging device C1, projector 6, and security door 7 (and reader device). The communication standard between the equipment control system 3 and facility equipment E1 is not particularly limited, and the communication may be wired or wireless.

[0040] Furthermore, the equipment control system 3 is connected to the gateway GW1 via wireless or wired communication. The gateway GW1 is connected to an external wide-area network NT1, such as the Internet. The equipment control system 3 can communicate with the cooperative control system 1 via the gateway GW1 and the wide-area network NT1.

[0041] The equipment control system 3 can be implemented, for example, on a server installed in a central monitoring room within facility F1. As shown in Figure 1, the equipment control system 3 comprises a processing unit 30 and a communication unit 31.

[0042] The communication unit 31 has a communication interface for individually communicating with facility equipment E1 such as the elevator 5, imaging device C1, projector 6, and security door 7 (and reader device), as well as with the cooperative control system 1 (its communication unit 18). The facility control system 3 may also be connected to the mobile control system 2 for communication, and the communication unit 31 may have a communication interface for communicating with the mobile control system 2.

[0043] The processing unit 30 is implemented, for example, by a computer system having one or more processors and one or more memories. In other words, multiple functions of the processing unit 30 are realized by one or more processors executing a program stored in memory. The program may be pre-stored in memory, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0044] The processing unit 30 performs control related to the elevation operation of the elevator 5 within the hoistway, the operation of the inner door of the entrance 51, and the operation of the outer door of the landing on each floor, etc. The processing unit 30 also performs control related to the opening and closing operation of the security door 7, etc. Furthermore, as described above, the processing unit 30 performs authentication processing based on the information of the user A2 or the autonomous mobile body 4 read via the reader device, and when the authentication succeeds, transmits a control signal for unlocking the electric lock of the security door 7 to the security door 7.

[0045] The processing unit 30 also controls the facility equipment E1 such as the elevator 5 in accordance with operation plan information, boarding instruction information, and alighting instruction information (which will be described later) that can be received from the cooperative control system 1 as needed.

[0046] As described above, the autonomous mobile body 4 is an automatic traveling robot or the like that autonomously moves within the facility F1. The autonomous mobile body 4 is connected to the mobile body control system 2 so as to enable wireless communication. The autonomous mobile body 4 operates in accordance with control from the mobile body control system 2. For example, the autonomous mobile body 4 operates in accordance with the control of the mobile body control system 2 based on operation plan information, boarding instruction information, and alighting instruction information. The autonomous mobile body 4 can move across multiple floors of the facility F1 by using the elevator 5 used by the user A2. The operation plan information includes, for example, floor map information of each floor in the facility F1, and information that the autonomous mobile body 4 moves from a predetermined departure floor (e.g., the first floor of the facility F1) to a predetermined destination floor (e.g., the fifth floor of the facility F1) to transport luggage. In accordance with the control of the mobile body control system 2, the autonomous mobile body 4 boards the elevator 5 (car 5A) at the landing of the departure floor and gets off the elevator 5 at the destination floor in order to move from the departure floor to the destination floor. The call for the elevator 5 that the autonomous mobile body 4 boards is made from the equipment control system 3 based on the operation plan information.

[0047] The boarding instruction information is instruction (information) related to boarding processing (which will be described later) when the autonomous mobile body 4 boards the elevator 5 that has arrived at the departure floor. The alighting instruction information is instruction (information) related to alighting processing (which will be described later) when the autonomous mobile body 4 gets off the elevator 5 that has arrived at the destination floor.

[0048] The moving body control system 2 is connected to the autonomous mobile body 4 so as to enable wireless communication. The standard for wireless communication between the moving body control system 2 and the autonomous mobile body 4 is not particularly limited.

[0049] Further, the moving body control system 2 is communicably connected to the gateway GW1 via wireless or wired connection. The moving body control system 2 can communicate with the cooperative control system 1 via the gateway GW1 and the wide area network NT1.

[0050] The moving body control system 2 can be implemented, for example, in a server installed in a central monitoring room or the like in the facility F1. As shown in FIG. 1, the moving body control system 2 includes a processing unit 20 and a communication unit 21.

[0051] The communication unit 21 has communication interfaces for individually communicating with the autonomous mobile body 4 and (the communication unit 18 of) the cooperative control system 1. Note that the moving body control system 2 may also be communicably connected to the facility control system 3, and the communication unit 21 may have a communication interface for communicating with the facility control system 3.

[0052] The processing unit 20 is implemented by, for example, a computer system including one or more processors and one or more memories. That is, a plurality of functions of the processing unit 20 are realized when one or more processors execute a program recorded in a memory. The program may be pre-recorded in a memory, may be provided through a telecommunication line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0053] The processing unit 20 basically performs control related to the operation of the autonomous mobile body 4 based on operation plan information. As described above, the operation plan information is managed by the cooperative control system 1 and transmitted from the cooperative control system 1 to the moving body control system 2. Further, the processing unit 20 controls the autonomous mobile body 4 in accordance with instructions (boarding instruction information or alighting instruction information) that can be received from the cooperative control system 1 as needed.

[0054] (2) Configuration of Cooperative Control System Hereinafter, the configuration of the cooperative control system 1 will be described in detail.

[0055] As shown in Figure 1, the cooperative control system 1 comprises a processing unit 10, a storage unit 17, and a communication unit 18.

[0056] The communication unit 18 has a communication interface for communicating individually with the mobile control system 2 and the equipment control system 3 via the wide-area network NT1 and the gateway GW1. The communication unit 18 also has a communication interface for communicating with a configuration terminal (smartphone, tablet, laptop, or stationary PC, etc.) used by the administrator of facility F1 via the wide-area network NT1 and the gateway GW1.

[0057] The memory unit 17 is, for example, a non-volatile memory. The memory unit 17 pre-stores the operation plan information for the autonomous mobile unit 4. As described above, the operation plan information includes floor map information and information such as the autonomous mobile unit 4 moving from the departure floor to the destination floor to transport the cargo. The operation plan information can be set by the administrator of facility F1 or the like via a setting terminal.

[0058] Furthermore, the memory unit 17 stores elevator information. If there are multiple elevators 5 in facility F1, the memory unit 17 stores elevator information corresponding to each elevator 5. The elevator information can be set by the administrator of facility F1 or the like via a setting terminal.

[0059] The elevator information (see Figure 2) includes area information and coordinate information. The area information is about the area of ​​the floor surface 50 of the elevator car 5A. In the illustrated example, the floor surface 50 is approximately square in plan view. The coordinate information is the coordinate information set for the floor 50. More specifically, the coordinate information is map information representing the floor surface 50 (when viewed from the ceiling side of the elevator car 5A) with the x and y axes representing the origin at the lower left corner in plan view, as shown in Figure 2. In the illustrated example, the entrance / exit 51 and the control panel B1 of the elevator 5 are located on the x axis.

[0060] Figure 2 illustrates the movement route R1 when the autonomous mobile unit 4 (labeled "robot" in the illustrated example) moves across the floor 50 inside the elevator 5. In the example in Figure 2, the boarding route R2 when the autonomous mobile unit 4 boards the elevator 5 is also illustrated. The boarding route R2 is the route from the entrance / exit 51 of the elevator 5 to the waiting position P1 where the autonomous mobile unit 4 waits inside the elevator 5.

[0061] Here, the coordinate information (map information) is information that specifies the coordinates of each of the multiple regions 8 (grids) when the floor 50 of the elevator 5 (car 5A) is divided into multiple regions 8. Each of the multiple regions 8 is a region determined based on the autonomous mobile body 4. Each region 8 is preferably rectangular (rectangle or square), and in the illustrated example, it is square. The number of multiple regions 8 and the size of each region 8 can be determined for each elevator 5 (car 5A). In the illustrated example, the number of multiple regions 8 is 5 × 5 = 25. In this embodiment, the movement route R1 of the autonomous mobile body 4 applies a route based on the region 8 as a unit.

[0062] The size of each region 8 is preferably set between the minimum size region 81 and the maximum size region 82, as shown in Figure 2. In Figure 2, etc., the external appearance (size) of the autonomous mobile unit 4 as viewed from the ceiling side of the cage 5A is schematically shown by circles. The size of region 81 is the minimum size that the autonomous mobile unit 4 can recognize as a recognition point when it moves along the movement route R1 on the floor 50 and can move without going outside of region 8, and may vary depending on the mobility performance of the autonomous mobile unit 4. The size of region 82 is the maximum size that can accommodate one autonomous mobile unit 4, and may vary depending on the size of the autonomous mobile unit 4. In other words, the size of each region 8 can be determined based on the mobility performance and size of the autonomous mobile unit 4. Note that the sizes of the 25 regions 8 in the illustrated example are those for which the size of region 82 is applied.

[0063] In this embodiment, the movement route R1 of the autonomous mobile unit 4 within the elevator 5 is determined by coordinate information based on such multiple regions 8, as described later. Therefore, it is easier to give control instructions regarding the movement of the autonomous mobile unit 4.

[0064] In the following explanation, the position of area 8 (square) in front of the destination button (operation panel B1) will be represented as (x, y) = (1, 1). When the autonomous mobile unit 4 enters the elevator 5 from the entrance / exit 51, the initial position of area 8 is (x, y) = (3, 1).

[0065] The elevator information also includes height information from the floor 50 to the ceiling of the elevator 5, information on the number of passengers that can be accommodated in the elevator 5, and location information of destination buttons installed inside the elevator 5. The height information may also be the height information of the entrance / exit 51 of the elevator 5. The height information can be used to determine whether the autonomous mobile body 4 can board the elevator 5 without colliding with the ceiling or the upper edge of the entrance / exit 51, by comparing it with the height of the autonomous mobile body 4. The passenger information can be used to determine the remaining number of passengers that can be accommodated from the number of users A2 currently on board, and to determine whether the autonomous mobile body 4 can board the elevator 5 without exceeding the passenger limit (i.e., weight limit) of the elevator 5. The location information of the destination buttons (location information of the control panel B1) can be used to determine the waiting position P1 where the autonomous mobile body 4 waits inside the elevator 5.

[0066] In this embodiment, as an example, the standby position P1 is set by default in front of the side where the destination button (operation panel B1) is not installed. As shown in Figure 2, since the destination button is located on the front left side of the entrance / exit 51 (the front right side from the perspective of the passenger A2 who has boarded), the standby position P1 is set on the opposite side, the front right side. Specifically, the standby position P1 is set at coordinates (5, 2), which is in front of the side where the destination button is not installed.

[0067] In addition, there may be elevators 5 in which destination buttons are installed on both the left and right sides of the entrance / exit 51. In that case, the standby position P1 may be set in front of either of the destination buttons (for example, coordinates (1, 2) or (5, 2)).

[0068] Furthermore, the elevator information includes predetermined threshold information for comparison with the available floor area, as described later.

[0069] The processing unit 10 is implemented, for example, by a computer system having one or more processors and one or more memories. In other words, multiple functions of the processing unit 10 are realized by one or more processors executing a program stored in memory. The program may be pre-stored in memory, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0070] The processing unit 10 executes boarding processing when the autonomous mobile unit 4 boards the elevator 5 and provides control instructions to the mobile unit control system 2 and the equipment control system 3 as needed (transmission of boarding instruction information). The processing unit 10 also executes disembarking processing when the autonomous mobile unit 4 disembarks from the elevator 5 and provides control instructions to the mobile unit control system 2 and the equipment control system 3 as needed (transmission of disembarking instruction information).

[0071] Specifically, the processing unit 10 includes an area calculation unit 11, a boarding determination unit 12, a route determination unit 13, a coordination instruction unit 14, an image acquisition unit 15, and an image determination unit 16 (see Figure 1).

[0072] The area calculation unit 11 calculates the available floor area of ​​the elevator 5 when the autonomous mobile unit 4 boards the elevator 5, based on the area information. For example, the area calculation unit 11 calculates the available floor area based on the detection result of object A1 (see Figure 5) in the image of the inside of the elevator 5.

[0073] First, let's explain the detection of object A1 inside elevator 5.

[0074] Images (information) of the interior of elevator 5 are obtained from the imaging device C1. That is, the image acquisition unit 15 acquires image information from the imaging device C1, which images the interior of elevator 5. The image information acquired by the image acquisition unit 15 may be still image information, moving image information, or frame by frame information. Figure 5 shows an example of an image (for example, a still image) obtained from the imaging device C1. Note that in Figure 5, for clarity, the reference numerals related to elevator 5 that are visible in the image are shown as they are.

[0075] The image determination unit 16 determines whether or not object A1 exists inside the elevator 5 based on the image information. Here, object A1 includes user A2 (person), as shown in Figure 5, and may also include object A3 if user A2 is carrying luggage or other object A3. The image determination unit 16 performs image analysis processing on the image information to determine whether or not object A1 exists, and outputs the determination result to the area calculation unit 11. If object A1 exists, the image determination unit 16 distinguishes between user A2 and object A3 in its determination. The information on the number of users A2 currently riding the elevator, as described above, is obtained based on the determination result of the image determination unit 16.

[0076] Furthermore, the image determination unit 16 detects the area (bounding box G1) on the floor surface 50 occupied by user A2 (object A1) in the image. Also, if user A2 is carrying object A3, the image determination unit 16 detects the area (bounding box G1) on the floor surface 50 occupied by user A2 and object A3 (object A1). In the example shown in Figure 5, three bounding boxes G1 (G11 to G13) are detected. Bounding box G11 contains one user A2 and one object A3. Bounding box G12 contains one user A2 and two objects A3. Bounding box G13 contains only one user A2.

[0077] The image determination unit 16 outputs the detection result of one or more bounding boxes G1 to the area calculation unit 11. The area calculation unit 11 converts the total area of ​​one or more bounding boxes G1 into the area units of the elevator 5 to determine the occupied area of ​​the floor surface occupied by all objects A1 inside the elevator 5. Then, the area calculation unit 11 calculates the available floor area by subtracting the occupied area of ​​objects A1 from the floor surface area of ​​the area information contained in the elevator information in the storage unit 17.

[0078] In short, when the autonomous mobile unit 4 boards the elevator 5, if the image determination unit 16 determines that object A1 is present inside the elevator 5, the area calculation unit 11 calculates the available floor area based on the area information and the occupied area. The occupied area is the area of ​​the elevator 5 floor 50 occupied by object A1, obtained from the image information. The area calculation unit 11 outputs the calculated available floor area information to the boarding determination unit 12.

[0079] The boarding determination unit 12 determines whether the autonomous mobile unit 4 can board the elevator 5 based on the available floor space. For example, the elevator information in the storage unit 17 includes information on a predetermined threshold for comparison with the available floor space. The threshold is in the same unit as the area unit of the elevator 5. If there are multiple elevators 5, a threshold may be set for each elevator 5.

[0080] When the autonomous mobile device 4 is about to board the elevator 5, if the image determination unit 16 determines that object A1 is present inside the elevator 5, the boarding determination unit 12 compares the available floor space with a predetermined threshold. If the available floor space is greater than the threshold, the boarding determination unit 12 determines that the autonomous mobile device 4 can board the elevator 5; if the available floor space is less than or equal to the threshold, the boarding determination unit 12 determines that the autonomous mobile device 4 cannot board the elevator 5.

[0081] When it is determined that object A1 is present inside the elevator 5, the system compares the available floor space with a predetermined threshold to determine whether the autonomous mobile unit 4 can board the elevator 5. This allows for efficient control instructions regarding the movement of the autonomous mobile unit 4 when it boards the elevator. Furthermore, the operating efficiency of the elevator 5 is improved.

[0082] If the boarding determination unit 12 determines that the autonomous mobile unit 4 is able to board the elevator 5, it outputs the determination result to the route determination unit 13 and proceeds to the process of determining the autonomous mobile unit 4's travel route R1. On the other hand, if the boarding determination unit 12 determines that the autonomous mobile unit 4 is unable to board the elevator 5, it outputs the determination result to the coordination instruction unit 14 and proceeds to the process of canceling the boarding of the autonomous mobile unit 4.

[0083] In addition to determining whether the autonomous mobile vehicle 4 can board the elevator based on the available floor space, the boarding determination unit 12 can also determine whether the autonomous mobile vehicle 4 can board the elevator based on the height information of the elevator 5, and based on the number of people information. That is, the boarding determination unit 12 further determines whether the autonomous mobile vehicle 4 can board the elevator 5 based on the height information and the number of people information. For example, even if the available floor space is larger than the threshold, if the height of the autonomous mobile vehicle 4 is unsuitable for the height of the elevator 5, the boarding determination unit 12 may determine that the autonomous mobile vehicle 4 cannot board the elevator 5. Also, for example, even if the available floor space is larger than the threshold, if the number of users A2 currently riding the elevator has reached the maximum number of people that can board the elevator 5, the boarding determination unit 12 may determine that the autonomous mobile vehicle 4 cannot board the elevator 5.

[0084] The route determination unit 13 determines the movement route R1 of the autonomous mobile body 4 within the elevator 5 based on the coordinate information. More specifically, the route determination unit 13 determines the movement route R1 based on the determination result of the image determination unit 16 (whether or not object A1 exists) and the coordinate information. The movement route R1 referred to here is either the boarding route R2 (see Figure 3) when the autonomous mobile body 4 boards the elevator 5, or the disembarking route R3 (see Figure 4) when the autonomous mobile body 4 disembarks from the elevator 5. In other words, the route determination unit 13 determines the boarding route R2 of the autonomous mobile body 4 when it boards, and determines the disembarking route R3 of the autonomous mobile body 4 when it disembarks. The route determination unit 13 outputs the information of the determined movement route R1 to the linkage instruction unit 14. The movement route R1 is determined by coordinates with the region 8 as the unit. The travel route R1 is the shortest route from the boarding / alighting area 51 to the waiting area P1 (or from the waiting area P1 to the boarding / alighting area 51).

[0085] The boarding route R2 is the movement route R1 when moving from the entrance / exit 51 to the waiting position P1, and as shown by the arrows in Figure 3, it includes a first route R21 that moves in the positive direction of the y axis and a second route R22 that moves in the positive direction of the x axis. The route determination unit 13 determines the waiting position P1 of the autonomous mobile body 4 inside the elevator 5 based on the position information of the destination button (operation panel B1). Here, as an example, as described above, the waiting position P1 is set by default to the coordinates (5, 2) in front of the side where the destination button (operation panel B1) is not installed. The boarding route R2 is shown in coordinates with region 8 as the unit, for example, in the example in Figure 3, such as (x, y) = (3, 1) → (3, 2) → (4, 2) → (5, 2).

[0086] The disembarking route R3 is the movement route R1 when moving from the waiting position P1 to the boarding / alighting door 51, and as shown by the arrows in Figure 4, it includes a first route R31 that moves in the negative x-axis direction and a second route R32 that moves in the negative y-axis direction. The disembarking route R3 is represented by coordinates in units of region 8, for example, in the example in Figure 4, such as (x, y) = (5, 2) → (4, 2) → (3, 2) → (3, 1).

[0087] The coordination instruction unit 14 instructs the mobile vehicle control system 2 and the equipment control system 3 on the control content based on the determination result of the boarding determination unit 12 and the determination result of the route determination unit 13.

[0088] For example, if the boarding determination unit 12 determines that the autonomous mobile unit 4 is unable to board the elevator 5, the coordination instruction unit 14 instructs the mobile unit control system 2 and the equipment control system 3 to perform control actions corresponding to the cancellation of boarding determined by the boarding determination unit 12.

[0089] For example, if the boarding determination unit 12 determines that the autonomous mobile vehicle 4 is able to board the elevator 5, the coordination instruction unit 14 instructs the mobile vehicle control system 2 and the equipment control system 3 to perform control actions corresponding to the boarding route R2 determined by the route determination unit 13.

[0090] Furthermore, the coordination instruction unit 14 instructs the mobile vehicle control system 2 and the equipment control system 3 on control content not only when boarding but also when disembarking. For example, when the autonomous mobile vehicle 4 is ready to disembark from the elevator 5, the coordination instruction unit 14 instructs the mobile vehicle control system 2 and the equipment control system 3 to perform control content corresponding to the disembarking route R3 determined by the route determination unit 13.

[0091] Instructions from the coordination instruction unit 14, including control details (boarding instruction information, alighting instruction information), are transmitted via the communication unit 18 to the mobile vehicle control system 2 and the equipment control system 3.

[0092] (3) Operation of the Cooperative Control System Next, the operation of the cooperative control system 1 (boarding and alighting processes) will be explained in detail, with reference to the flowcharts in Figures 7 and 8 as needed. Note that the flowcharts shown in Figures 7 and 8 are merely examples of the operation flow for the cooperative control system 1, and the order of processing may be changed as appropriate, or processing may be added or omitted as appropriate. Note that Figure 8 is a flowchart that continues from the flowchart shown in Figure 7.

[0093] [Boarding Process] First, the autonomous mobile unit 4 operates according to the control of the mobile unit control system 2 based on the operation plan information, moves to the landing on the departure floor, and waits at the landing until the elevator 5 (which was called) arrives (Step ST1 in Figure 7).

[0094] When the elevator 5 arrives at the departure floor of the autonomous mobile unit 4 and the autonomous mobile unit 4 boards the elevator 5, the image determination unit 16 determines whether or not an object A1 (indicated as "object / person" in Figure 7) is present inside the elevator car 5A of the elevator 5 (step ST2 in Figure 7). The determination in step ST2 is made based on image information acquired by the image acquisition unit 15 from the imaging device C1.

[0095] The determination in step ST2 may be made a little before elevator 5 arrives at the departure floor, or when elevator 5 arrives at the departure floor, or a little after. However, at the departure floor landing of autonomous mobile 4, not only autonomous mobile 4 but also one or more users A2 may be waiting for elevator 5 to arrive. Also, one or more users A2 may disembark from the arriving elevator 5 at the departure floor where the autonomous mobile 4 is waiting. It is preferable that the determination in step ST2 be made after waiting for users A2 to board or alight from elevator 5. For example, it is preferable that the determination in step ST2 be made after a certain amount of time (e.g., several seconds to tens of seconds) has elapsed since elevator 5 arrived at the departure floor and the inner door of elevator 5 and the outer door of the landing opened. Considering the possibility that there may be users A2 boarding from the departure floor and / or users A2 alighting at the departure floor, an audio message such as "The robot will board later, so please board or alight first" may be output from the speaker of elevator 5 or autonomous mobile 4.

[0096] [Processing upon boarding: No object] When the autonomous mobile unit 4 boards the elevator 5, if the image determination unit 16 determines that no object A1 is present inside the elevator 5 (step ST2: No. in Figure 7), the route determination unit 13 determines the boarding route R2 as the travel route R1. As described above, the boarding route R2 is the route from the entrance / exit 51 of the elevator 5 to the waiting position P1 where the autonomous mobile unit 4 waits inside the elevator 5.

[0097] The control unit 14 then instructs the autonomous mobile unit 4 to move according to the boarding route R2.

[0098] For example, the control unit 14 instructs the mobile control system 2 on control content that includes coordinate information (map information) within the elevator 5 and a boarding route R2 such as (x, y) = (3, 1) → (3, 2) → (4, 2) → (5, 2) (see Figure 3). As a result, the mobile control system 2 executes control of the autonomous mobile 4 to enter the elevator car 5A from the landing on the departure floor through the entrance / exit 51 of the elevator 5 and move according to the boarding route R2. Therefore, the autonomous mobile 4 moves to the instructed position (standby position P1) (step ST3 in Figure 7).

[0099] Furthermore, the coordination instruction unit 14 instructs the equipment control system 3 to, for example, open the inner door of the elevator 5 and the outer door of the landing for a certain period of time, then close them and control the elevator car 5A to ascend (or descend) to the destination floor. The autonomous mobile unit 4 waits at the standby position P1 until it arrives at the destination floor (step ST4 in Figure 7).

[0100] When it is determined that object A1 is not present inside elevator 5, control instructions are efficiently given regarding the movement of the autonomous mobile unit 4 when it boards. As a result, the operating efficiency of elevator 5 is improved.

[0101] [Processing upon boarding: Object present] When the autonomous mobile unit 4 boards the elevator 5, if the image determination unit 16 determines that an object A1 is present inside the elevator 5 (Step ST2 in Figure 7: Yes), the area calculation unit 11 calculates the available floor area (Step ST7 in Figure 7). Then, the boarding determination unit 12 compares the available floor area with a threshold to determine whether the autonomous mobile unit 4 can board (Step ST8 in Figure 7). Although omitted in the flowchart of Figure 7, the boarding determination unit 12 may also further determine whether the autonomous mobile unit 4 can board based on height information and passenger information.

[0102] The boarding determination unit 12 determines that the autonomous mobile unit 4 cannot board the elevator if the available floor space is below a threshold (step ST8: No. in Figure 7). If the boarding determination unit 12 determines that the autonomous mobile unit 4 cannot board the elevator, the coordination instruction unit 14 instructs the elevator 5 to cancel the boarding of the autonomous mobile unit 4. As a result, the boarding of the autonomous mobile unit 4 is canceled (step ST10 in Figure 7), and the autonomous mobile unit 4 waits at the landing until the elevator 5 arrives (step ST1 in Figure 7).

[0103] More specifically, the coordination instruction unit 14 instructs the mobile control system 2 to have the autonomous mobile unit 4 wait at the departure floor landing, rather than boarding the currently arriving elevator 5, until the elevator 5 arrives again. If there are multiple elevators 5, the instruction is to have the unit wait until the first elevator 5 to arrive arrives.

[0104] Furthermore, the control unit 14 instructs the equipment control system 3 that, since boarding by the autonomous mobile unit 4 has been canceled, the inner door of the elevator 5 and the outer door of the landing should be closed, and the elevator car 5A should be controlled to ascend (or descend) as usual for user A2.

[0105] In this way, if it is determined that the autonomous mobile device 4 cannot board the elevator, boarding by the autonomous mobile device 4 is canceled, thereby improving the operating efficiency of the elevator 5.

[0106] On the other hand, the boarding determination unit 12 determines that the autonomous mobile unit 4 can board if the available floor area is greater than a threshold (step ST8 in Figure 7: Yes). If the boarding determination unit 12 determines that the autonomous mobile unit 4 can board, the route determination unit 13 determines the boarding route R2 from the entrance / exit 51 of the elevator 5 to the waiting position P1 where the autonomous mobile unit 4 waits inside the elevator 5 as the travel route R1. The coordination instruction unit 14 also instructs the display of space information to secure the boarding space SP1 (see Figure 3) necessary for the autonomous mobile unit 4 to move inside the elevator 5, based on the boarding route R2. As a result, as described later, the boarding route R2 and the boarding space SP1 on the floor 50 are displayed by the projector 6 (step ST9 in Figure 7).

[0107] Here, as an example, even after the boarding route R2 is determined, the coordination instruction unit 14 does not immediately instruct the mobile vehicle control system 2 to move the autonomous mobile vehicle 4 according to the boarding route R2. Even after the boarding route R2 is determined, the coordination instruction unit 14 instructs the mobile vehicle control system 2 to have the autonomous mobile vehicle 4 wait at the boarding area until boarding permission is given, and instructs the equipment control system 3 to provide space information.

[0108] The means for presenting space information includes at least one (in this case, all) of the following: a means for presenting information by sound output, a means for presenting information by text output, and a means for presenting information by light output (video output). The means for presenting space information is provided, for example, inside elevator 5.

[0109] The means of presentation using light output (video output) is the projector 6. Specifically, the coordination instruction unit 14 instructs the projector 6 to project an image showing the area of ​​the passenger space SP1 onto the floor 50 of the elevator 5 as a means of presenting space information. For example, the coordination instruction unit 14 instructs the equipment control system 3 to perform control operations that include coordinate information (map information) within the elevator 5 and the coordinates of six areas 8 corresponding to the passenger space SP1. As a result, as shown in Figure 3, the projector 6 displays an image H1 (see Figures 3 and 6) showing the six areas 8 corresponding to the passenger space SP1 on the floor 50. The six areas 8 corresponding to the passenger space SP1 include at least four areas 8 corresponding to the passenger route R2 (included in the area 8 of the waiting position P1). As shown in the illustrated example, the six regions 8 corresponding to the passenger space SP1 are preferably wider than the four regions 8 corresponding to the passenger route R2 in order to suppress the possibility of contact between object A1 and the autonomous mobile body 4 (setting the margin).

[0110] As shown in Figure 6, the image H1 showing the area 8 corresponding to the boarding space SP1 (and similarly for the disembarking space SP2 described later) is displayed on the floor surface 50, including text messages such as "Please leave this space open." In this case, the projector 6 can also function as a means of displaying text. Furthermore, so that user A2 can understand the boarding route R2 of the autonomous mobile device 4, the image H1 is displayed on the floor surface 50, including arrows (first route R21, second route R22) as shown in Figure 3.

[0111] The means of providing information via sound output is, for example, a speaker installed on the control panel B1 of elevator 5. The coordination instruction unit 14 instructs the equipment control system 3 to provide space information from the speaker. Specifically, the coordination instruction unit 14 instructs the equipment control system 3 to output an audio message from the speaker such as, "A robot will be boarding, so please make space."

[0112] Furthermore, the means of displaying information via text output is, for example, a display device (e.g., a liquid crystal display) installed on the operation panel B1 of the elevator 5. The coordination instruction unit 14 instructs the equipment control system 3 to display space information from the display device. Specifically, the coordination instruction unit 14 instructs the equipment control system 3 to display a text message such as "A robot will be boarding, so please make space" on the display device.

[0113] The means for displaying space information (projector 6, speaker, and display device) may be provided on the autonomous mobile body 4 itself. In this case, the coordination instruction unit 14 instructs the mobile body control system 2 to display space information. For example, the autonomous mobile body 4 may output an audio message such as "I'm boarding, please make space."

[0114] The image determination unit 16 then determines, based on the image information, whether or not the passenger space SP1 has been secured (become available). For example, the image determination unit 16 determines whether or not the passenger space SP1 has been secured (become available) within a predetermined time from the presentation of the space information (step ST11 in Figure 7). The predetermined time is, for example, a few seconds to several tens of seconds.

[0115] If it is determined that the boarding space SP1 has been secured (become available) within a predetermined time elapsed since the presentation of space information (Step ST11 in Figure 7: Yes), the coordination instruction unit 14 instructs the autonomous mobile unit 4 to move according to the boarding route R2. As a result, the autonomous mobile unit 4 moves to the waiting position P1 (instructed position) along the boarding route R2 (instructed route) (Step ST12 in Figure 7), and waits at the waiting position P1 until it arrives at the destination floor (Step ST14 in Figure 7).

[0116] More specifically, the image determination unit 16 performs image analysis processing on the image information acquired from the imaging device C1 after a predetermined time has elapsed since the presentation of space information, and executes a passenger space determination process to determine whether or not object A1 exists within the passenger space SP1 on the image. If even one user A2 or object A3 is present within the passenger space SP1, the image determination unit 16 determines that the passenger space SP1 is not secured. If neither user A2 nor object A3 is present within the passenger space SP1 at all, the image determination unit 16 determines that the passenger space SP1 is secured.

[0117] If the boarding space determination process determines that boarding space SP1 is secured, the coordination instruction unit 14 instructs the mobile control system 2 to allow the autonomous mobile unit 4 to board. Specifically, the coordination instruction unit 14 instructs the mobile control system 2 to provide control information including coordinate information (map information) within the elevator 5 and a boarding route R2 such as (x, y) = (3, 1) → (3, 2) → (4, 2) → (5, 2). As a result, the mobile control system 2 executes the operation control of the autonomous mobile unit 4 so that it enters the car 5A from the landing on the departure floor through the entrance / exit 51 of the elevator 5 and moves according to the boarding route R2. The coordination instruction unit 14 also instructs the equipment control system 3 to close the inner door of the elevator 5 and the outer door of the landing after a certain period of time, and to control the car 5A to ascend (or descend) to the destination floor of user A2 and the autonomous mobile unit 4.

[0118] On the other hand, if the image determination unit 16 determines that the passenger space SP1 is not secured (step ST11: No. in Figure 7), it determines whether the number of times the passenger space determination process is executed (loop count) is less than or equal to the upper limit (step ST13 in Figure 7). The upper limit is, for example, 3 times.

[0119] If the number of executions (loop counts) is less than or equal to the upper limit (step ST13 in Figure 7: Yes), the coordination instruction unit 14 instructs the equipment control system 3 to display the space information again (continuously). That is, the boarding route R2 to the floor 50 and the boarding space SP1 are displayed by the projector 6 (step ST9 in Figure 7). Then, the image determination unit 16 executes the boarding space determination process again. That is, the image determination unit 16 determines whether or not the boarding space SP1 has been secured (become available) within a predetermined time (step ST11 in Figure 7).

[0120] If the number of executions (loop counts) exceeds the upper limit (Step ST13: No. in Figure 7), the coordination instruction unit 14 instructs the autonomous mobile unit 4 to cancel its boarding of the elevator 5. As a result, boarding of the autonomous mobile unit 4 is canceled (Step ST10 in Figure 7), and the autonomous mobile unit 4 waits at the landing until the elevator 5 arrives (Step ST1 in Figure 7). Specifically, the coordination instruction unit 14 instructs the mobile unit control system 2 to have the autonomous mobile unit 4 wait at the landing of its departure floor, rather than boarding the elevator 5 that has just arrived, and to wait until the elevator 5 arrives again. If there are multiple elevators 5, the instruction is to wait until the arrival of any elevator 5 that will arrive first. Furthermore, the control unit 14 instructs the equipment control system 3 that, since boarding by the autonomous mobile unit 4 has been canceled, the inner door of the elevator 5 and the outer door of the landing should be closed, and the elevator car 5A should be controlled to ascend (or descend) as usual for user A2.

[0121] In short, the cooperative control system 1 loops the presentation of space information and the boarding space determination process until it is determined that boarding space SP1 has been secured, with a limit on the number of times.

[0122] In this way, user A2 of elevator 5 can learn that the boarding space SP1 needs to be cleared by the display of space information, improving user A2's convenience and further improving the operating efficiency of elevator 5.

[0123] Furthermore, user A2 of elevator 5 can visually understand the area of ​​the passenger space SP1 through the image projected onto the floor 50 from the projector 6, improving user A2's convenience and further improving the operating efficiency of elevator 5.

[0124] Furthermore, if it is determined that the boarding space SP1 is not secured even if the number of loops exceeds the upper limit, boarding of the autonomous mobile unit 4 is canceled, allowing for more efficient control instructions regarding the movement of the autonomous mobile unit 4 while it is boarding. In addition, the operating efficiency of the elevator 5 is further improved.

[0125] Note that the processing in step ST13 (loop processing) is not mandatory and may be omitted. In other words, if it is determined that the boarding space SP1 is not secured (not available) even after a predetermined time has elapsed (step ST11: No. in Figure 7), the coordination instruction unit 14 may instruct the elevator 5 to cancel the boarding of the autonomous mobile unit 4.

[0126] [Processing upon disembarking] This will be explained with reference to Figure 8, continuing from step ST4 or step ST14 in Figure 7. When the elevator 5 arrives at the destination floor of the autonomous mobile unit 4, and the autonomous mobile unit 4 disembarks from the elevator 5, the image determination unit 16 determines whether or not an object A1 (indicated as "object / person" in Figure 8) is present inside the elevator car 5A of the elevator 5 (step ST5 in Figure 8). The determination in step ST5 is made based on image information acquired by the image acquisition unit 15 from the imaging device C1.

[0127] The determination in step ST5 may be made a little before elevator 5 arrives at the destination floor, or when elevator 5 arrives at the destination floor, or a little after. However, even if there are no users A2 inside elevator 5, one or more users A2 may board from the destination floor after elevator 5 has arrived at the destination floor. Considering this point, it is preferable to complete the determination in step ST5 before users A2 board from the destination floor. In other words, it is preferable to make the determination in step ST5 a little before elevator 5 arrives at the destination floor, or when elevator 5 arrives at the destination floor.

[0128] [Processing upon disembarking: No object] When the autonomous mobile unit 4 disembarks from the elevator 5, if the image determination unit 16 determines that no object A1 is present inside the elevator 5 (step ST5: No. in Figure 8), the route determination unit 13 determines the disembarking route R3 as the travel route R1. As described above, the disembarking route R3 is the route from the waiting position P1 where the autonomous mobile unit 4 waits inside the elevator 5 to the entrance / exit 51 of the elevator 5.

[0129] The control unit 14 then instructs the autonomous mobile unit 4 to move according to the disembarking route R3.

[0130] More specifically, the coordination instruction unit 14 instructs the mobile control system 2 on control content including coordinate information (map information) within the elevator 5 and a disembarking route R3 such as (x, y) = (5, 2) → (4, 2) → (3, 2) → (3, 1) (see Figure 4). As a result, the mobile control system 2 controls the operation of the autonomous mobile 4 so that it moves from the waiting position P1 within the elevator 5 according to the disembarking route R3 and disembarks from the elevator car 5A through the entrance / exit 51 to the landing of the destination floor. Therefore, the autonomous mobile 4 moves and disembarks according to the disembarking route R3 (instructed route) (step ST6 in Figure 8). Considering the possibility that there may be a user A2 on this elevator 5, an audio message such as "Please wait to board as a robot is disembarking" may be output from the speaker of the elevator 5 or the autonomous mobile 4.

[0131] Furthermore, the control unit 14 instructs the equipment control system 3 to, for example, open the inner door of the elevator 5 and the outer door of the landing for a certain period of time, then close them, and control the elevator car 5A to ascend (or descend, or stop at that floor until a call is made) as in normal operation.

[0132] In this way, when it is determined that object A1 is not present inside elevator 5, control instructions can be efficiently given regarding the movement of the autonomous mobile unit 4 when it disembarks. Furthermore, the operating efficiency of elevator 5 is further improved.

[0133] [Processing upon disembarking: Object present] When the autonomous mobile unit 4 disembarks from the elevator 5, if the image determination unit 16 determines that an object A1 is present inside the elevator 5 (step ST5 in Figure 8: Yes), the coordination instruction unit 14 first makes an announcement instructing user A2 to disembark first (hereinafter, "disembark first") (step ST15 in Figure 8). In other words, the coordination instruction unit 14 instructs the system to make an announcement to user A2 inside the elevator 5 asking them to disembark before the autonomous mobile unit 4.

[0134] Specifically, for example, the coordination instruction unit 14 instructs the equipment control system 3 to open the inner door of the elevator 5 and the outer door of the landing on the destination floor, and then announce that passengers should disembark first from the elevator 5. As a result, the equipment control system 3 outputs an audio message such as "Please disembark before the robot" from the speaker on the elevator 5's operation panel B1. The equipment control system 3 also outputs a text message such as "Please disembark before the robot" from the display device (e.g., liquid crystal display) on the elevator 5's operation panel B1. Such announcements using audio and text messages may also be made from the speaker and display device of the autonomous mobile unit 4, in which case the coordination instruction unit 14 instructs the mobile unit control system 2 to announce that passengers should disembark first from the autonomous mobile unit 4.

[0135] The announcement for passengers to disembark first is made, for example, for a predetermined disembarkation period (e.g., a few seconds to tens of seconds). Therefore, if there is a user A2 in elevator 5 who wants to get off at the same destination floor as the autonomous mobile device 4, they may disembark first within the disembarkation period.

[0136] In this way, by making an announcement to disembark first, user A2 of elevator 5 can learn from the announcement that it is better to disembark before the autonomous mobile device 4, thereby improving user A2's convenience. In addition, the operating efficiency of elevator 5 is further improved.

[0137] Furthermore, when the autonomous mobile unit 4 disembarks from the elevator 5, if the image determination unit 16 determines that object A1 is present inside the elevator 5 (step ST5 in Figure 8: Yes), the route determination unit 13 determines the disembarking route R3 as the travel route R1. As described above, the disembarking route R3 is the route from the waiting position P1 where the autonomous mobile unit 4 waits inside the elevator 5 to the entrance / exit 51 of the elevator 5.

[0138] The control unit 14 then instructs the autonomous mobile unit 4 to display space information to secure the necessary disembarking space SP2 (see Figure 4) for the autonomous mobile unit 4 to move within the elevator 5, based on the disembarking route R3. As a result, the projector 6 displays the disembarking route R3 and the disembarking space SP2 on the floor 50, as described later (step ST16 in Figure 8).

[0139] The display of space information may begin before, during, or after the designated disembarkation period in which the aforementioned disembarkation announcement is made.

[0140] Here, as an example, even after the disembarking route R3 is determined, the coordination instruction unit 14 does not immediately instruct the mobile body control system 2 to move the autonomous mobile body 4 according to the disembarking route R3. Even after the disembarking route R3 is determined, the coordination instruction unit 14 instructs the mobile body control system 2 to keep the autonomous mobile body 4 waiting at the waiting position P1 until permission to disembark is given, and instructs the equipment control system 3 to provide space information.

[0141] The means for presenting space information to secure the disembarking space SP2 is assumed to be a projector 6, a speaker, and a display device, similar to the case of the boarding space SP1.

[0142] In other words, the coordination instruction unit 14 instructs the projector 6 to project an image showing the area of ​​the disembarking space SP2 onto the floor 50 of the elevator 5 as a way of presenting space information. For example, the coordination instruction unit 14 instructs the equipment control system 3 to perform control operations that include coordinate information (map information) within the elevator 5 and the coordinates of six areas 8 corresponding to the disembarking space SP2. As a result, as shown in Figure 4, the projector 6 inside the elevator 5 displays an image H1 (see Figures 4 and 6) showing the six areas 8 corresponding to the disembarking space SP2 on the floor 50. The six areas 8 corresponding to the disembarking space SP2 include at least four areas 8 corresponding to the disembarking route R3 (included in the area 8 of the waiting position P1). As shown in the illustrated example, it is preferable that the six areas 8 corresponding to the disembarking space SP2 are wider than the four areas 8 corresponding to the disembarking route R3 in order to suppress the possibility of contact between object A1 and the autonomous mobile body 4 (setting a margin).

[0143] As shown in Figure 6, the image H1 showing the area 8 corresponding to the disembarking space SP2 is displayed on the floor surface 50, including text messages such as "Please leave this space open." In this case, the projector 6 can also function as a means of displaying text. Furthermore, so that user A2 can understand the disembarking route R3 of the autonomous mobile device 4, the image H1 is displayed on the floor surface 50, including arrows (first route R31, second route R32) as shown in Figure 4.

[0144] Furthermore, the coordination instruction unit 14 instructs the equipment control system 3 to display space information from the speaker inside the elevator 5. Specifically, the coordination instruction unit 14 instructs the equipment control system 3 to output an audio message from the speaker such as, "A robot is getting off, so please make space."

[0145] Furthermore, the coordination instruction unit 14 instructs the equipment control system 3 to display space information from the display device inside the elevator 5. Specifically, the coordination instruction unit 14 instructs the equipment control system 3 to display a text message such as "A robot is getting off, so please make space" on the display device.

[0146] The means for displaying space information (projector 6, speaker, and display device) may be provided on the autonomous mobile body 4 itself. In this case, the coordination instruction unit 14 instructs the mobile body control system 2 to display space information. For example, the autonomous mobile body 4 may output an audio message such as "I'm getting off, so please make space."

[0147] The image determination unit 16 then determines, based on the image information, whether or not the disembarking space SP2 has been secured. For example, the image determination unit 16 determines whether or not the disembarking space SP2 has been secured (become available) within a predetermined time from the presentation of the space information (step ST17 in Figure 8). The predetermined time is, for example, several seconds to several tens of seconds. The predetermined time in step ST17 may be the same as or different from the predetermined time in step ST11 when boarding.

[0148] If it is determined that the disembarking space SP2 is secured (available), the coordination instruction unit 14 instructs the autonomous mobile unit 4 to move according to the disembarking route R3. In this embodiment, if it is determined that the disembarking space SP2 is secured (available) within a predetermined time elapsed from the presentation of space information (step ST17 in Figure 8: Yes), the coordination instruction unit 14 instructs the autonomous mobile unit 4 to move according to the disembarking route R3. The autonomous mobile unit 4 moves according to the disembarking route R3 (instructed route) and disembarks (step ST6 in Figure 8). Considering the possibility that there may be a user A2 to board the elevator 5, an audio message such as "Please wait to board as a robot is disembarking" may be output from the speaker of the elevator 5 or the autonomous mobile unit 4.

[0149] More specifically, the image determination unit 16 performs image analysis processing on the image information acquired from the imaging device C1 after a predetermined time has elapsed since the presentation of space information, and executes a disembarking space determination process to determine whether or not object A1 is present in the disembarking space SP2 on the image. If either user A2 or object A3 is present in the disembarking space SP2, the image determination unit 16 determines that the disembarking space SP2 is not secured. If neither user A2 nor object A3 is present in the disembarking space SP2 at all, the image determination unit 16 determines that the disembarking space SP2 is secured.

[0150] If the disembarking space determination process determines that disembarking space SP2 has been secured, the coordination instruction unit 14 instructs the mobile control system 2 to allow the autonomous mobile unit 4 to disembark. Specifically, the coordination instruction unit 14 instructs the mobile control system 2 on control content that includes coordinate information (map information) inside the elevator 5 and a disembarking route R3 such as (x, y) = (5, 2) → (4, 2) → (3, 2) → (3, 1). As a result, the mobile control system 2 executes the operation control of the autonomous mobile unit 4 so that it moves from the waiting position P1 inside the car 5A according to the disembarking route R3 and disembarks from the car 5A. The coordination instruction unit 14 also instructs the equipment control system 3 to close the inner door of the elevator 5 and the outer door of the landing, for example, after a certain period of time, and to control the car 5A to ascend (or descend) to the destination floor of user A2.

[0151] On the other hand, if the disembarking space determination process determines that the disembarking space SP2 is not secured (step ST17: No. in Figure 8), the coordination instruction unit 14 instructs the mobile body control system 2 to keep the autonomous mobile body 4 waiting at the standby position P1 without disembarking from the elevator 5. The coordination instruction unit 14 also instructs the equipment control system 3 to continue displaying space information using the projector 6, speaker, and display device. That is, the disembarking route R3 to the floor 50 and the disembarking space SP2 are displayed by the projector 6 (step ST16 in Figure 8). Then, the image determination unit 16 executes the disembarking space determination process again. That is, the image determination unit 16 determines whether or not the disembarking space SP2 has been secured (become available) within a predetermined time (step ST17 in Figure 8).

[0152] In short, the collaborative control system 1 loops through the presentation of space information and the disembarking space determination process until it determines that a disembarking space SP2 has been secured.

[0153] As an example, unlike the boarding space determination process, there is no upper limit on the number of times the disembarking space determination process is executed (loop count). The presentation of space information and the disembarking space determination process are looped until it is determined that disembarking space SP2 has been secured. In other words, the cancellation of disembarking by the autonomous mobile unit 4 due to the disembarking space SP2 not being secured for a long period of time is not anticipated. However, as with the boarding space determination process, the number of times the disembarking space determination process is executed (loop count) is limited to an upper limit. If it is determined that disembarking space SP2 has not been secured even after reaching the upper limit, the system may decide to cancel the disembarking of the autonomous mobile unit 4. In this case, the cooperative control system 1 may instruct the elevator 5 to initially postpone the disembarking of the autonomous mobile unit 4, and after it has traveled to the destination floor of user A2, it may instruct the elevator 5 to stop again at the destination floor of the autonomous mobile unit 4. Then, when the elevator 5 arrives at the destination floor of the autonomous mobile unit 4 again, the cooperative control system 1 may execute the disembarking process.

[0154] In this way, user A2 of elevator 5 can learn that the disembarking space SP2 needs to be cleared by the display of space information, improving user A2's convenience and further improving the operating efficiency of elevator 5.

[0155] Furthermore, user A2 of elevator 5 can visually understand the area of ​​the disembarking space SP2 through the image projected onto the floor 50 from the projector 6, improving user A2's convenience and further improving the operating efficiency of elevator 5.

[0156] Furthermore, when it is determined that a disembarking space SP2 has been secured, the autonomous mobile unit 4 will move according to the disembarking route R3, allowing for efficient control instructions regarding the movement of the autonomous mobile unit 4 during disembarking. In addition, the operating efficiency of the elevator 5 is further improved.

[0157] (4) Modifications The following are examples of modifications. Each modification described below can be applied in appropriate combination with the above embodiment or other modifications.

[0158] Functions similar to those of the collaborative control system 1 according to the above embodiment may be implemented by a collaborative control method, a computer program, or a non-temporary recording medium on which a computer program is stored.

[0159] The collaborative control system 1 in this disclosure includes a computer system. The computer system mainly consists of a processor and memory as hardware. The functions of the collaborative control system 1 in this disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The integrated circuits such as ICs or LSIs referred to here are named differently depending on the degree of integration, and include integrated circuits called system LSIs, VLSIs (Very Large Scale Integrations), or ULSIs (Ultra Large Scale Integrations). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmed after the manufacture of the LSI, or logic devices that allow for the reconstruction of junction relationships or circuit compartments within the LSI, can also be used as processors. Multiple electronic circuits may be integrated onto a single chip or distributed across multiple chips. Multiple chips may be integrated onto a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller also consists of one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0160] Furthermore, it is not essential that the multiple functions of the collaborative control system 1 be integrated within a single housing. For example, the components of the collaborative control system 1 may be distributed across multiple housings.

[0161] Conversely, multiple functions in the collaborative control system 1 may be consolidated within a single housing. Furthermore, at least some of the functions of the collaborative control system 1, for example, some of the functions of the collaborative control system 1, may be implemented by the cloud (cloud computing), etc.

[0162] In the above embodiment, the standby position P1 is set by default to the coordinates (x, y) = (5, 2), which is in front of the side where the destination button (operation panel B1) is not installed. However, the standby position P1 may be changed depending on the usage status of the elevator 5. For example, if the image determination unit 16 determines that no object A1 is present inside the elevator 5 when boarding, and the conditions are met that the destination floor of the autonomous mobile unit 4 is the top floor above the departure floor (or the bottom floor below the departure floor), the standby position P1 may be at the rear corner. If the above conditions are met, the route determination unit 13 may change the standby position P1 from the default coordinates (5, 2) to the rear corner coordinates (1, 5) or (5, 5) and determine the travel route R1.

[0163] In the above embodiment, the boarding space SP1 and the disembarking space SP2 are indicated by projecting an image H1 from a projector 6 onto the floor surface 50 of the elevator 5. However, instead of the projector 6, for example, multiple lighting devices may be used. In this case, the facility equipment E1 includes multiple lighting devices. For example, the floor surface 50 may be made of a light-transmitting material, and multiple lighting devices may be installed below the floor surface so as to correspond to multiple areas 8. The space may then be indicated by turning on the lighting devices in the areas 8 corresponding to the boarding space SP1 and the disembarking space SP2, respectively.

[0164] (Summary) Based on the embodiments described above, the following embodiments are disclosed.

[0165] The first embodiment of the cooperative control system (1) performs cooperative control to link a mobile control system (2) that controls an autonomous mobile body (4) with an equipment control system (3) that controls facility equipment (E1) within a facility (F1). The facility equipment (E1) includes at least an elevator (5). The cooperative control system (1) comprises a storage unit (17), an area calculation unit (11), a boarding determination unit (12), a route determination unit (13), and a cooperative instruction unit (14). The storage unit (17) stores elevator information. The elevator information includes area information of the floor (50) of the elevator (5) and coordinate information which is coordinate information set for the floor (50). The area calculation unit (11) calculates the available floor area of ​​the elevator (5) when the autonomous mobile body (4) boards the elevator (5) based on the area information. The boarding determination unit (12) determines whether the autonomous mobile unit (4) can board the elevator (5) based on the available floor space. The route determination unit (13) determines the movement route (R1) of the autonomous mobile unit (4) within the elevator (5) based on the coordinate information. The coordination instruction unit (14) instructs the mobile unit control system (2) and the equipment control system (3) on the control content based on the determination result of the boarding determination unit (12) and the determination result of the route determination unit (13).

[0166] According to the above embodiment, the cooperative control system (1) has the advantage of improving the shareability of the elevator (5) between the user (A2) and the autonomous mobile unit (4).

[0167] In the second embodiment of the cooperative control system (1), in the first embodiment, the elevator information further includes height information from the floor (50) to the ceiling of the elevator (5), information on the number of passengers that can be boarded in the elevator (5), and position information of destination buttons installed inside the elevator (5). The boarding determination unit (12) further determines whether or not the autonomous mobile unit (4) can board the elevator (5) based on the height information and the number of passengers information. The route determination unit (13) determines the waiting position (P1) of the autonomous mobile unit (4) inside the elevator (5) based on the position information.

[0168] According to the above embodiment, since the elevator information further includes height information, number of people information, and destination button location information, the usability between the user (A2) and the autonomous mobile unit (4) is further improved by utilizing this information.

[0169] With respect to the third embodiment of the cooperative control system (1), in the first or second embodiment, the coordinate information is information that specifies the coordinates of each of the multiple regions (8) when the floor (50) of the elevator (5) is divided into multiple regions (8). Each of the multiple regions (8) is a region determined based on the autonomous mobile body (4).

[0170] According to the above embodiment, the movement route (R1) of the autonomous mobile unit (4) is determined by coordinate information based on multiple regions (8), making it easier to give control instructions regarding the movement of the autonomous mobile unit (4), and improving the shareability between the user (A2) and the autonomous mobile unit (4).

[0171] The fourth embodiment of the cooperative control system (1) further comprises an image acquisition unit (15) and an image determination unit (16) in any one of the first to third embodiments. The image acquisition unit (15) acquires image information from an imaging device (C1) that images the inside of the elevator (5). The image determination unit (16) determines whether or not an object (A1) exists inside the elevator (5) based on the image information. The route determination unit (13) determines a travel route (R1) based on the determination result of the image determination unit (16) and coordinate information.

[0172] According to the above embodiment, the travel route (R1) can be more easily determined based on the result of determining whether or not an object (A1) is present inside the elevator (5), thereby improving the usability between the user (A2) and the autonomous mobile unit (4).

[0173] With respect to the fifth embodiment of the cooperative control system (1), in the fourth embodiment, when the autonomous mobile body (4) boards the elevator (5), if the image determination unit (16) determines that there is no object (A1) inside the elevator (5), the route determination unit (13) determines the boarding route (R2) from the entrance / exit (51) of the elevator (5) to the waiting position (P1) where the autonomous mobile body (4) waits inside the elevator (5) as the movement route (R1). The cooperative instruction unit (14) also instructs the autonomous mobile body (4) to move according to the boarding route (R2).

[0174] According to the above embodiment, when it is determined that no object (A1) is present inside the elevator (5), control instructions can be efficiently given regarding the movement of the autonomous mobile unit (4) when it is boarding. In addition, the operating efficiency of the elevator (5) is improved.

[0175] With respect to the cooperative control system (1) according to the sixth embodiment, in the fourth or fifth embodiment, when the autonomous mobile body (4) boards the elevator (5), if the image determination unit (16) determines that an object (A1) is present inside the elevator (5), the area calculation unit (11) calculates the available floor area based on the area information and the occupied area of ​​the elevator (50) floor (5) that the object (A1) occupies, obtained from the image information. The boarding determination unit (12) compares the available floor area with a predetermined threshold, and determines that the autonomous mobile body (4) can board the elevator (5) if the available floor area is greater than the threshold, and determines that the autonomous mobile body (4) cannot board the elevator (5) if the available floor area is less than or equal to the threshold.

[0176] According to the above embodiment, even if it is determined that an object (A1) is present inside the elevator (5), it is determined whether or not the autonomous mobile unit (4) can board the elevator (5) by comparing the available floor space with a predetermined threshold. Therefore, control instructions can be efficiently given regarding the movement of the autonomous mobile unit (4) when it boards the elevator. In addition, the operating efficiency of the elevator (5) is improved.

[0177] With respect to the seventh embodiment of the cooperative control system (1), in the sixth embodiment, if the boarding determination unit (12) determines that the autonomous mobile body (4) is unable to board, the cooperative instruction unit (14) instructs the elevator (5) to cancel the boarding of the autonomous mobile body (4).

[0178] According to the above embodiment, the operating efficiency of the elevator (5) is improved.

[0179] With respect to the eighth embodiment of the cooperative control system (1), in the sixth or seventh embodiment, if the boarding determination unit (12) determines that the autonomous mobile body (4) is able to board, the route determination unit (13) determines the boarding route (R2) from the entrance / exit (51) of the elevator (5) to the waiting position (P1) where the autonomous mobile body (4) waits inside the elevator (5) as the travel route (R1). The cooperative instruction unit (14) also instructs the system to provide space information to secure the necessary boarding space (SP1) for the autonomous mobile body (4) to move inside the elevator (5) based on the boarding route (R2).

[0180] According to the above configuration, the user (A2) of the elevator (5) can learn that it is necessary to leave the passenger space (SP1) free by the display of space information, thereby improving the convenience of the user (A2). In addition, the operating efficiency of the elevator (5) is improved.

[0181] With respect to the ninth embodiment of the cooperative control system (1), in the eighth embodiment, a projector (6) is provided inside the elevator (5) or in the autonomous mobile unit (4) to project an image onto the floor surface (50) of the elevator (5). The cooperative instruction unit (14) instructs the projector (6) to project an image showing the area of ​​the passenger space (SP1) onto the floor surface (50) of the elevator (5) as a presentation of space information.

[0182] According to the above configuration, the user (A2) of the elevator (5) can visually understand the area of ​​the passenger space (SP1) by the image projected onto the floor (50) from the projector (6), thereby improving the convenience of the user (A2). In addition, the operating efficiency of the elevator (5) is improved.

[0183] With respect to the cooperative control system (1) according to the tenth embodiment, in the eighth or ninth embodiment, the image determination unit (16) determines, based on the image information, whether or not a boarding space (SP1) has been secured. If it is determined that a boarding space (SP1) has been secured within a predetermined time elapsed since the presentation of the space information, the cooperative instruction unit (14) instructs the autonomous mobile unit (4) to move according to the boarding route (R2). If it is determined that a boarding space (SP1) has not been secured even after the predetermined time has elapsed, the cooperative instruction unit (14) instructs the autonomous mobile unit (4) to cancel boarding the elevator (5).

[0184] According to the above configuration, control instructions can be efficiently given regarding the movement of the autonomous mobile unit (4) while it is in use. In addition, the operating efficiency of the elevator (5) is improved.

[0185] Regarding the cooperative control system (1) according to the 11th embodiment, in any one of the 4th to 10th embodiments, when the autonomous mobile body (4) is about to disembark from the elevator (5), if the image determination unit (16) determines that there is no object (A1) inside the elevator (5), the route determination unit (13) determines the disembarkation route (R3) from the waiting position (P1) where the autonomous mobile body (4) is waiting inside the elevator (5) to the entrance / exit (51) of the elevator (5) as the movement route (R1). The cooperative instruction unit (14) also instructs the autonomous mobile body (4) to move according to the disembarkation route (R3).

[0186] According to the above configuration, when it is determined that no object (A1) is present inside the elevator (5), control instructions can be efficiently given regarding the movement of the autonomous mobile unit (4) upon disembarking. Furthermore, the operating efficiency of the elevator (5) is improved.

[0187] Regarding the cooperative control system (1) according to the twelfth embodiment, in any one of the fourth to eleventh embodiments, when the autonomous mobile body (4) is disembarking from the elevator (5), if the image determination unit (16) determines that an object (A1) is present inside the elevator (5), the route determination unit (13) determines the disembarking route (R3) from the waiting position (P1) where the autonomous mobile body (4) is waiting inside the elevator (5) to the entrance / exit (51) of the elevator (5) as the movement route (R1). The cooperative instruction unit (14) also instructs the system to provide space information to secure the disembarking space (SP2) necessary for the autonomous mobile body (4) to move inside the elevator (5), based on the disembarking route (R3).

[0188] According to the above configuration, the user (A2) of the elevator (5) can learn that it is necessary to leave the disembarking space (SP2) open by the display of space information, thereby improving the convenience of the user (A2). In addition, the operating efficiency of the elevator (5) is improved.

[0189] Regarding the cooperative control system (1) according to the 13th embodiment, in the 12th embodiment, a projector (6) is provided inside the elevator (5) or in the autonomous mobile unit (4) to project an image onto the floor surface (50) of the elevator (5). The cooperative instruction unit (14) instructs the projector (6) to project an image showing the area of ​​the disembarking space (SP2) onto the floor surface (50) of the elevator (5) as a presentation of space information.

[0190] According to the above configuration, the user (A2) of the elevator (5) can visually identify the area of ​​the disembarking space (SP2) through the image projected onto the floor (50) from the projector (6), thereby improving the convenience of the user (A2). In addition, the operating efficiency of the elevator (5) is improved.

[0191] With respect to the cooperative control system (1) according to the 14th embodiment, in the 12th or 13th embodiment, the image determination unit (16) determines, based on the image information, whether or not a disembarking space (SP2) has been secured. If it is determined that a disembarking space (SP2) has been secured, the cooperative instruction unit (14) instructs the autonomous mobile unit (4) to move according to the disembarking route (R3).

[0192] According to the above configuration, control instructions can be efficiently given regarding the movement of the autonomous mobile unit (4) when it disembarks. In addition, the operating efficiency of the elevator (5) is improved.

[0193] With respect to the cooperative control system (1) according to the 15th embodiment, in any one of the 4th to 14th embodiments, when the autonomous mobile body (4) is about to disembark from the elevator (5), if the image determination unit (16) determines that an object (A1) is present inside the elevator (5), the cooperative instruction unit (14) instructs the unit to make an announcement to the user (A2) inside the elevator (5) asking them to disembark before the autonomous mobile body (4).

[0194] According to the above configuration, the user (A2) of the elevator (5) can be informed by the announcement that they may disembark before the autonomous mobile vehicle (4), thereby improving the convenience of the user (A2). In addition, the operating efficiency of the elevator (5) is improved.

[0195] The sixteenth embodiment of the cooperative control method is applied to a cooperative control system (1) that performs cooperative control to coordinate a mobile control system (2) that controls an autonomous mobile body (4) and an equipment control system (3) that controls facility equipment (E1) within a facility (F1). The facility equipment (E1) includes at least an elevator (5). The cooperative control method includes an area calculation step, a boarding determination step, a route determination step, and a cooperative instruction step. In the area calculation step, the available floor area of ​​the elevator (5) when the autonomous mobile body (4) boards the elevator (5) is calculated based on the area information of the elevator floor (50) of the elevator (5) contained in the elevator information stored in the memory unit (17). In the boarding determination step, it is determined whether or not the autonomous mobile body (4) can board the elevator (5) based on the available floor area. In the route determination step, the movement route (R1) of the autonomous mobile body (4) within the elevator (5) is determined based on the coordinate information contained in the elevator information. The coordinate information is information about the coordinates set relative to the floor (50). In the coordinated instruction step, the mobile body control system (2) and the equipment control system (3) are instructed to perform control based on the determination result of the boarding determination step and the determination result of the route determination step.

[0196] According to the above embodiment, a cooperative control method is provided that can improve the shared accessibility between the user (A2) and the autonomous mobile unit (4) to the elevator (5).

[0197] The program according to the 17th embodiment is a program that causes one or more processors to execute the cooperative control method according to the 16th embodiment.

[0198] According to the above embodiment, it is possible to provide a function that can improve the shared use of the elevator (5) between the user (A2) and the autonomous mobile unit (4).

[0199] 1. Cooperative control system 11. Area calculation unit 12. Boarding determination unit 13. Route determination unit 14. Cooperative instruction unit 15. Image acquisition unit 16. Image determination unit 17. Memory unit 2. Mobile object control system 3. Equipment control system 4. Autonomous mobile object 5. Elevator 50. Floor 51. Entrance / exit 6. Projector 8. Area A1. Object A2. User C1. Imaging device E1. Facility equipment F1. Facility P1. Standby position R1. Movement route R2. Boarding route R3. Disembarking route SP1. Boarding space SP2. Disembarking space

Claims

1. A coordinated control system that performs coordinated control to link a mobile body control system that controls an autonomous mobile body and an equipment control system that controls facility equipment, including at least an elevator, within a facility, comprising: a storage unit that stores elevator information including floor area information of the elevator and coordinate information which is coordinate information set for the floor; an area calculation unit that calculates the available floor area of ​​the elevator when the autonomous mobile body boards the elevator based on the area information; a boarding determination unit that determines whether or not the autonomous mobile body can board the elevator based on the available floor area; a route determination unit that determines the movement route of the autonomous mobile body within the elevator based on the coordinate information; and a coordinated instruction unit that instructs the mobile body control system and the equipment control system on control content based on the determination result of the boarding determination unit and the determination result of the route determination unit.

2. The elevator information further includes height information from the floor to the ceiling of the elevator, information on the number of passengers the elevator can accommodate, and location information of destination buttons installed inside the elevator; the boarding determination unit further determines whether the autonomous mobile vehicle can board the elevator based on the height information and the passenger information; and the route determination unit determines the waiting position of the autonomous mobile vehicle inside the elevator based on the location information; the coordinated control system according to claim 1.

3. The coordinate information is information that specifies the coordinates of each of the multiple regions when the elevator floor is divided into multiple regions, and each of the multiple regions is a region determined based on the autonomous mobile body, as described in claim 1 or 2.

4. The cooperative control system according to any one of claims 1 to 3, further comprising: an image acquisition unit that acquires image information from an imaging device that images the interior of the elevator; and an image determination unit that determines whether or not an object exists inside the elevator based on the image information, wherein the route determination unit determines the travel route based on the determination result of the image determination unit and the coordinate information.

5. When the autonomous mobile body boards the elevator, if the image determination unit determines that the object is not present inside the elevator, the route determination unit determines the boarding route from the elevator entrance to the waiting position where the autonomous mobile body waits inside the elevator as the travel route, and the coordination instruction unit instructs the autonomous mobile body to move according to the boarding route, the coordination control system according to claim 4.

6. When the autonomous mobile vehicle boards the elevator, if the image determination unit determines that the object is present inside the elevator, the area calculation unit calculates the available floor area based on the area information and the occupied area of ​​the elevator floor occupied by the object obtained from the image information; the boarding determination unit compares the available floor area with a predetermined threshold, and determines that the autonomous mobile vehicle can board the elevator if the available floor area is greater than the threshold, and determines that the autonomous mobile vehicle cannot board the elevator if the available floor area is less than or equal to the threshold, the cooperative control system according to claim 4 or 5.

7. The cooperative control system according to claim 6, wherein if the boarding determination unit determines that the autonomous mobile vehicle is unable to board the elevator, the cooperative instruction unit instructs the elevator to cancel the boarding of the autonomous mobile vehicle.

8. When the boarding determination unit determines that the autonomous mobile body is capable of boarding, the route determination unit determines a boarding route from the elevator entrance to a waiting position where the autonomous mobile body waits inside the elevator as the travel route, and the cooperation instruction unit instructs the system to provide space information to secure the necessary boarding space for the autonomous mobile body to move inside the elevator, based on the boarding route, the cooperative control system according to claim 6 or 7.

9. The coordinated control system according to claim 8, wherein a projector is provided inside the elevator or on the autonomous mobile body for projecting an image onto the floor surface of the elevator, and the coordinated instruction unit instructs the projector to project an image showing the area of ​​the passenger space onto the floor surface of the elevator as a presentation of space information.

10. The coordinated control system according to claim 8 or 9, wherein the image determination unit determines, based on the image information, whether or not the boarding space has been secured; if it is determined that the boarding space has been secured within a predetermined time elapsed since the presentation of the space information, the coordinated instruction unit instructs the autonomous mobile body to move according to the boarding route; and if it is determined that the boarding space has not been secured even after the predetermined time has elapsed, the coordinated instruction unit instructs the autonomous mobile body to cancel boarding the elevator.

11. When the autonomous mobile vehicle disembarks from the elevator, if the image determination unit determines that the object is not present inside the elevator, the route determination unit determines the disembarkation route from the waiting position where the autonomous mobile vehicle waits inside the elevator to the elevator entrance / exit as the movement route, and the coordination instruction unit instructs the autonomous mobile vehicle to move according to the disembarkation route, the coordination control system according to any one of claims 4 to 10.

12. When the autonomous mobile vehicle disembarks from the elevator, if the image determination unit determines that the object is present inside the elevator, the route determination unit determines the disembarkation route from the waiting position where the autonomous mobile vehicle waits inside the elevator to the entrance / exit of the elevator as the movement route, and the cooperation instruction unit instructs the system to provide space information to secure the necessary disembarkation space for the autonomous mobile vehicle to move inside the elevator, according to any one of claims 4 to 11.

13. The coordinated control system according to claim 12, wherein a projector is provided inside the elevator or on the autonomous mobile body for projecting an image onto the floor surface of the elevator, and the coordinated instruction unit instructs the projector to project an image showing the area of ​​the disembarking space onto the floor surface of the elevator as a presentation of space information.

14. The coordinated control system according to claim 12 or 13, wherein the image determination unit determines, based on the image information, whether or not the disembarking space has been secured, and if it is determined that the disembarking space has been secured, the coordinated instruction unit instructs the autonomous mobile body to move according to the disembarking route.

15. When the autonomous mobile vehicle is disembarking from the elevator, if the image determination unit determines that the object is present inside the elevator, the cooperation instruction unit instructs the unit to make an announcement to the users inside the elevator asking them to disembark before the autonomous mobile vehicle, the cooperation control system according to any one of claims 4 to 14.

16. A collaborative control method applicable to a collaborative control system that performs collaborative control to coordinate a mobile body control system that performs control on an autonomous mobile body and an equipment control system that performs control on facility equipment including at least an elevator within a facility, the collaborative control method comprising: an area calculation step of calculating the available floor area of ​​the elevator when the autonomous mobile body boards the elevator based on the floor area information of the elevator included in the elevator information stored in the memory unit; a boarding determination step of determining whether the autonomous mobile body can board the elevator based on the available floor area; a route determination step of determining the movement route of the autonomous mobile body within the elevator based on coordinate information which is coordinate information set for the floor included in the elevator information; and a collaborative instruction step of instructing the mobile body control system and the equipment control system on control content based on the determination result of the boarding determination step and the determination result of the route determination step.

17. A program that causes one or more processors to execute the cooperative control method described in claim 16.

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