JP7047949B1 - Elevator controller and building system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an elevator control device and a building system in which a car door is appropriately opened and closed according to a position of each autonomous moving body with respect to a car when a plurality of autonomous moving bodies issue a door opening / closing request to the car door. I will provide a. An elevator control device is an elevator control device 10 including a door opening / closing control unit 16 that opens / closes a door 41 of a car 2 in response to a door opening / closing request from an autonomous moving body 9 that gets in and out of the elevator car 2. The authentication unit 12 that authenticates based on the identification information received from the autonomous mobile body 9, the position detection unit 11 that detects the position of the autonomous mobile body 9, the authentication result for the identification information authenticated by the authentication unit 12, and the position detection unit 11 The door opening / closing control unit 16 includes an arbitration unit 15 that arbitrates for a door opening / closing request from the autonomous moving body 9 according to the position of the autonomous moving body 9 with respect to the car 2 detected by the arbitration unit 15, based on the arbitration result of the arbitration unit 15. The door 41 of the basket 2 is opened or closed. [Selection diagram] Fig. 2

Description

The present disclosure relates to elevator controls and building systems.

Conventionally, a cooperative operation system of an elevator and a self-driving vehicle has been proposed. The cooperative operation system of the elevator and the self-driving vehicle described in Patent Document 1 transmits a door open request to the interface device. Upon receiving the door open request, the interface device outputs a signal for turning on the command input relay connected to the door open relay. As a result, the door opening relay of the control panel is turned on, and the control panel operates the door opening / closing device to open the door.

WO2019 / 193719

In the cooperative operation system of the elevator and the self-driving car described in Patent Document 1, there is no mention of the case where a plurality of self-driving cars issue door opening and door closing requests, respectively. For example, consider the case where one self-driving car is located outside the car and the other self-driving car is located inside the car. In this case, when one self-driving car issues a door closing request and the other self-driving car issues a door opening request, in the cooperative operation system between the elevator and the self-driving car of Patent Document 1, the door of the car is used. On the other hand, it is not possible to select whether to close or open the door.

The present disclosure solves the above-mentioned problems, and when a plurality of autonomous moving bodies issue a door opening / closing request to a car door, the car door is determined according to the position of each autonomous moving body with respect to the car. It is an object of the present invention to provide an elevator control device and a building system that can be opened and closed appropriately.

The elevator control device according to the present disclosure is an elevator control device including a door opening / closing control unit that opens / closes the door of the car in response to a door opening / closing request from an autonomous moving body that gets on and off the car of the elevator, and is received from the autonomous moving body. The authentication unit that authenticates based on the identification information, the position detection unit that detects the position of the autonomous moving object, the authentication result for the identification information authenticated by the authentication unit, and the positions of the plurality of autonomous moving objects detected by the position detection unit. It is equipped with an arbitration unit that arbitrates for door opening / closing requests from a plurality of autonomous moving bodies depending on whether the position is inside or outside the car, and the door opening / closing control unit sets the door of the car based on the arbitration result of the arbitration unit. Open or close the door.

The building system according to the present disclosure is a building system including an autonomous moving body that gets on and off the car of an elevator and an elevator control device having a door opening / closing control unit that opens / closes the door of the car in response to a door opening / closing request from the autonomous moving body. The elevator control device is an authentication unit that authenticates based on the identification information received from the autonomous mobile body, a position detection unit that detects the position of the autonomous mobile body, an authentication result for the identification information authenticated by the authentication unit, and an authentication result. A door opening / closing unit is provided, which mediates a door opening / closing request from a plurality of autonomous moving bodies depending on whether the position of the plurality of autonomous moving bodies detected by the position detecting unit is inside or outside the car. The control unit opens or closes the door of the car based on the arbitration result of the arbitration unit.

The elevator control device and the building system according to the present disclosure include an arbitration unit that arbitrates a door opening / closing request from a moving body according to the position of the autonomous moving body with respect to the car detected by the position detecting unit that detects the position of the moving body. There is. Therefore, when a plurality of autonomous moving bodies issue a door opening / closing request to the car door, the car door opens and closes appropriately according to the position of each autonomous moving body with respect to the car.

It is an overall block diagram of the building system which concerns on Embodiment 1 of this disclosure. It is a functional block diagram of the building system which concerns on Embodiment 1 of this disclosure. It is a flowchart which shows the operation of the building system which concerns on Embodiment 1 of this disclosure. It is a hardware block diagram of the elevator control apparatus which concerns on Embodiment 1 of this disclosure. It is a functional block diagram of the building system which concerns on Embodiment 2 of this disclosure. It is a flowchart which shows the operation of the building system which concerns on Embodiment 2 of this disclosure. It is a functional block diagram of the building system apparatus which concerns on Embodiment 3 of this disclosure. It is a flowchart which shows the operation of the building system which concerns on Embodiment 3 of this disclosure.

Embodiment 1
FIG. 1 is an overall configuration diagram of an overall configuration diagram of a building system according to the present embodiment. The building system 100 is composed of an elevator 50 and an autonomous mobile body 9. The elevator 50 includes a hoistway 1, a car 2, a landing 3, a balance weight 4, a wire rope 5, a hoist 6, a deflector 7, an elevator control device 10, and a drive device (not shown). The elevator control device 10 commands the car 2 in the hoistway 1 to move up and down. The elevator control device 10 controls the hoisting machine 6 to raise or lower or stop the car 2. The basket 2 and the counterweight 4 are suspended by a wire rope 5 via a deflecting wheel 7. By rotating the hoist 6 around which the wire rope 5 is wound, the basket 2 and the counterweight 4 move up and down in the hoistway 1 in a fishing bottle manner. Although the elevator 50 in FIG. 1 has one car 2, a plurality of hoistways 1 and cars 2 may be installed in parallel. Further, the elevator control device 10 commands the opening and closing of the door when the car 2 is stopped at the landing 3. The autonomous mobile body 9 includes a mobile body control device 90 and an antenna 94.

The car 2 is provided with a car door 21, an image pickup device 22 in the car, a scale 23, and an antenna 24 in the car. The in-car image pickup device 22 images the autonomous moving body 9 in the car 2. The scale 23 measures the weights of passengers (not shown) and the autonomous mobile body 9 in the car 2. The in-car antenna 24 is electrically connected to the elevator control device 10. The antenna 24 in the car and the antenna 94 of the autonomous mobile body 9 are used for communication between the elevator control device 10 and the autonomous mobile body 9 in the car 2.

A landing 3 is installed on each floor, and a landing door 31, a landing image pickup device 32, and a landing antenna 34 are installed in the landing 3. Further, as shown in FIG. 1, an autonomous mobile body 9 is waiting at the landing 3. The landing image pickup device 32 images the autonomous moving body 9 waiting at the landing 3. The landing antenna 34 is electrically connected to the elevator control device 10. The landing antenna 34 and the antenna 94 of the autonomous mobile body 9 are used for communication between the elevator control device 10 and the autonomous mobile body 9 in the landing 3. When the car 2 arrives at the landing 3, the car door 21 and the landing door 31 are interlocked and opened according to the command of the elevator control device 10. After the car door 21 and the landing door 31 are interlocked and opened, the waiting passengers and the autonomous mobile body 9 waiting at the landing 3 can get on the car 2 from the landing 3. Further, the passengers in the car 2 and the autonomous mobile body 9 can get off from the car 2 to the landing 3.

After the passengers and the car 2 of the autonomous mobile body 9 have been boarded and disembarked, the car door 21 and the landing door 31 are closed in conjunction with each other by the command of the elevator control device 10. After the car door 21 and the landing door 31 are interlocked and closed, the car 2 moves up and down in the hoistway 1. In this way, the passenger and the autonomous mobile body 9 can move between the floors of each floor.

Hereinafter, the opening of the car door 21 and the landing door 31 in conjunction with each other is simply referred to as the door opening. Closing the car door 21 and the landing door 31 in conjunction with each other is simply referred to as closing the door 41. The opening and closing of the car door 21 and the landing door 31 in conjunction with each other is simply referred to as the door opening and closing of the door 41.

FIG. 2 is a functional configuration diagram of the building system according to the present embodiment. As shown in FIG. 2, the building system 100 has an elevator control device 10 and an autonomous mobile body 9 including a mobile body control device 90. The elevator control device 10 includes a position detection unit 11, an authentication unit 12, an arbitration unit 15, a door open / close control unit 16, a transmission unit 17, a reception unit 18, and a priority storage unit 19. The mobile control device 90 included in the autonomous mobile 9 includes a transmission unit 91, a door open / close request unit 92, and a reception unit 93. The mobile body control device 90 does not necessarily have to be mounted on the autonomous mobile body 9. The mobile control device 90 may be an external server or the like. In this case, wireless communication is performed between the mobile control device 90 and the autonomous mobile 9. In this case, the autonomous mobile body 9 and the elevator control device 10 indirectly communicate with each other via the mobile body control device 90 mounted on the external server. The present embodiment will be described assuming that the autonomous mobile body 9 is provided with the mobile body control device 90.

Next, the detailed configuration of the elevator control device 10 will be described. The receiving unit 18 receives the identification information corresponding to the autonomous mobile body 9 transmitted by the autonomous mobile body 9. The receiving unit 18 receives the door opening / closing request for the door 41 transmitted by the autonomous mobile body 9. The authentication unit 12 authenticates based on the identification information corresponding to the autonomous mobile body 9 received by the receiving unit 18. The position detection unit 11 detects the position of the autonomous moving body 9. The position detection unit 11 detects whether the autonomous moving body 9 is in the car 2 or is waiting at the landing 3. The position detection unit 11 detects, for example, whether the autonomous mobile body 9 is in the car 2 or is waiting at the landing 3 based on the images captured by the in-car image pickup device 22 and the landing image pickup device 32. In this case, the main body of the autonomous mobile body 9 may be provided with a two-dimensional code for identifying the autonomous mobile body 9. As a result, the position detection unit 11 can identify and detect the autonomous mobile body 9 in which the autonomous mobile body 9 is in the car 2 and the autonomous mobile body 9 waiting in the landing 3. Further, the position detection unit 11 is provided with reading devices (not shown) in the car 2 and in the landing 3, and each reading device (not shown) outputs identification information corresponding to the autonomous moving body 9 from the autonomous moving body 9. You may try to receive it. In this case, it is not necessary to provide the main body of the autonomous mobile body 9 with a two-dimensional code for identifying the autonomous mobile body 9. Further, when the mobile body control device 90 is not mounted on the autonomous mobile body 9, the position detection unit 11 determines that the autonomous mobile body 9 is based on the position information of each autonomous mobile body 9 grasped by the mobile body control device 90. It may be possible to detect whether the vehicle is in the car 2 or is waiting at the landing 3.

The arbitration unit 15 requests the door opening / closing from the autonomous mobile body 9 according to the authentication result for the identification information of the autonomous mobile unit 9 authenticated by the authentication unit 12 and the position of the autonomous mobile unit 9 with respect to the car 2 detected by the position detection unit 11. Mediate against. The priority storage unit 19 stores the priority when the arbitration unit 15 arbitrates for the door opening / closing request from the autonomous mobile body 9. The door open / close control unit 16 opens or closes the door 41 of the car 2 based on the arbitration result of the arbitration unit 15. Details of the configuration and operation of the arbitration unit 15 and the priority storage unit 19 will be described later. The transmission unit 17 transmits the arbitration result of the arbitration unit 15 to the mobile control device 90. The arbitration result is a command (door opening / closing) of the elevator control device 10 to the door 41 in response to the door opening / closing request of the autonomous mobile body 9.

Next, the detailed configuration of the mobile control device 90 will be described. The door open / close request unit 92 issues a command to transmit a door open / close request corresponding to the autonomous mobile body 9 to the transmission unit 91. The transmission unit 91 transmits the identification information corresponding to the autonomous mobile body 9. The transmission unit 91 transmits a door opening / closing request corresponding to the autonomous mobile body 9. The receiving unit 93 receives the arbitration result for the door opening / closing request of the autonomous mobile body 9 transmitted by the transmitting unit 17.

For example, consider a case where the autonomous mobile body 9 is waiting at the landing 3 and the mobile body control device 90 transmits a door opening request corresponding to the autonomous mobile body 9 to the elevator control device 10. When the arbitration result for the door opening request of the autonomous moving body 9 received by the receiving unit 93 is the door opening, the door 41 opens the door, so that the autonomous moving body 9 may move from the landing 3 to the car 2. When the arbitration result for the door opening request of the autonomous moving body 9 received by the receiving unit 93 is the door closing, the door 41 closes, so that the autonomous moving body 9 may stand by at the landing 3.

For example, consider a case where the autonomous mobile body 9 is waiting in the car 2 and the mobile body control device 90 transmits a door opening request corresponding to the autonomous mobile body 9 to the elevator control device 10. When the arbitration result for the door opening request of the autonomous moving body 9 received by the receiving unit 93 is the door opening, the door 41 opens the door, so that the autonomous moving body 9 may move from the inside of the car 2 to the landing 3. When the arbitration result for the door opening request of the autonomous moving body 9 received by the receiving unit 93 is the door closing, the door 41 closes, so that the autonomous moving body 9 may stand by in the car 2.

Next, the operation of the building system 100 will be described. FIG. 3 is a flowchart showing the operation of the building system according to the present embodiment. Hereinafter, it is assumed that the autonomous mobile body 9 is waiting in at least one of the landing 3 and the car 2. Further, it is assumed that the identification information of each autonomous mobile body 9 is registered in advance in the elevator control device 10.

First, the receiving unit 18 receives the identification information of the autonomous mobile body 9 transmitted by the mobile body control device 90 (S101). When the receiving unit 18 receives the identification information of the autonomous mobile body 9 (YES in S101), the process proceeds to S102. When the receiving unit 18 does not receive the identification information of the autonomous mobile body 9 (NO in S101), the process of S101 is repeated.

Next, the authentication unit 12 determines whether or not the identification information of each autonomous mobile unit 9 registered in advance in the elevator control device 10 includes information that matches the identification information received by the reception unit 18. to decide. That is, the authentication unit 12 authenticates the identification information received by the receiving unit 18 for the identification information of each autonomous mobile body 9 registered in advance in the elevator control device 10 (S102). When the authentication unit 12 includes the identification information of each autonomous mobile body 9 registered in advance in the elevator control device 10 that matches the identification information received by the reception unit 18 (in the case of authentication OK). , S102 YES), proceed to the process of S103. When the authentication unit 12 does not include the identification information of each autonomous mobile body 9 registered in advance in the elevator control device 10 that matches the identification information received by the reception unit 18 (in the case of authentication NG). , S102 NO), return to the processing of S101.

Next, the receiving unit 18 receives the door opening / closing request corresponding to the autonomous moving body 9 transmitted by the moving body control device 90 (S103). When the receiving unit 18 receives the door opening / closing request of the autonomous mobile body 9 (YES in S103), the process proceeds to S104. When the receiving unit 18 does not receive the identification information of the autonomous mobile body 9 (NO in S103), the process returns to the process of S101.

Next, the position detection unit 11 detects whether the autonomous moving body 9 is located inside the car 2, or is located outside the landing 3, that is, the car 2 (S104). After that, the process proceeds to S105.

Next, the arbitration unit 15 from the autonomous mobile body 9 depends on the authentication result for the authentication information of the autonomous mobile body 9 authenticated by the authentication unit 12 and the position of the autonomous mobile body 9 detected by the position detection unit 11 with respect to the car 2. Mediation is performed for the door opening / closing request (S105). After that, the process proceeds to S106.

Next, the transmission unit 17 transmits the arbitration result for the door opening / closing request to the autonomous mobile body 9 based on the arbitration result of the arbitration unit 15, and the reception unit 93 of the mobile body control device 90 receives the arbitration result. (S106). After that, the process proceeds to S107.

Next, the door opening / closing control unit 16 opens / closes the door 41 based on the arbitration result of the arbitration unit 15 (S107). After that, the process returns to S101.

Next, the details of the configuration and operation of the arbitration unit 15 and the priority storage unit 19 in the present embodiment will be described. The arbitration unit 15 is autonomous according to the authentication result for the identification information authenticated by the authentication unit 12, the position of the autonomous mobile unit 9 detected by the position detection unit 11 with respect to the car 2, and the priority for the door opening / closing request from the autonomous mobile unit 9. Mediation is performed for the door opening / closing request issued by the mobile body 9. Hereinafter, three setting examples of the priority storage unit 19 will be described.

Priority storage unit setting example 1
Table 1 shows the internal data structure of the priority storage unit 19 in the present embodiment. Table 1 shows an example of setting the priority of the priority storage unit 19 in the present embodiment. Table 1 shows an example of the authentication status of the autonomous mobile body 9, the position of the autonomous mobile body 9 with respect to the car 2, and the priority of the autonomous mobile body 9 corresponding to the car 2 of the autonomous mobile body 9 with respect to the door opening / closing request. In this example, the door opening / closing request having a large priority value is prioritized. The door opening / closing request of priority 0 (predetermined priority described in the claims) is ignored. As shown in Table 1, when the autonomous moving body 9 is determined to be authentication NG by the authentication unit 12, the priority of the door opening / closing request is 0 regardless of the position of the autonomous moving body 9 and the content of the door opening / closing request. Therefore, the door opening / closing request of the autonomous mobile body 9 is ignored. The autonomous mobile body 9 that has not yet been authenticated by the authentication unit 12 may be handled in the same manner as in the case of authentication NG in Table 1 below.

As shown in Table 1, when the authentication unit 12 determines that the authentication is OK for the autonomous mobile body 9, priority is given to the door opening / closing request of the autonomous mobile body 9 to the door 41 with respect to the position of the autonomous mobile body 9 with respect to the car 2. The degree is set as follows. When the position of the autonomous moving body 9 is in the car 2, the priority of the door closing request to the door 41 is set to 3. When the position of the autonomous moving body 9 is in the car 2, the priority of the door opening request to the door 41 is set to 4. When the position of the autonomous moving body 9 is outside the car 2, the priority of the door opening request to the door 41 is set to 1. When the position of the autonomous moving body 9 is outside the car 2, the priority of the door opening request to the door 41 is set to 2.

Tables 2 to 4 show the arbitration results of the arbitration unit 15 when each of the two autonomous mobile units 9 issues a door open / close request in the priority storage unit setting example 1. The arbitration unit 15 arbitrates for each door opening / closing request as shown in Tables 2 to 4 according to the position for each car 2 and the priority for the door opening / closing request for the door 41. It is assumed that the two autonomous mobile bodies 9 are judged to be authentication OK by the authentication unit 12. According to Tables 2 to 4, the identification information of the two autonomous mobile bodies 9 is R1 and R2, respectively. Hereinafter, the autonomous mobile body 9 of the identification information R1 is referred to as an autonomous mobile body R1, and the autonomous mobile body 9 of the identification information R2 is referred to as an autonomous mobile body R2.

Table 2 shows an arbitration unit when both the autonomous mobile body R1 and the autonomous mobile body R2 issue a door opening / closing request to the door 41 when the autonomous mobile body R1 is inside the car 2 and the autonomous mobile body R2 is outside the car 2. It shows 15 arbitration results. As shown in Table 2, when the door opening / closing request issued by the autonomous mobile body R1 and the door opening / closing request issued by the autonomous mobile body R2 are both door open, the arbitration result of the arbitration unit 15 is door open. As shown in Table 2, when the door opening / closing request issued by the autonomous mobile body R1 and the door opening / closing request issued by the autonomous mobile body R2 are both closed, the arbitration result of the arbitration unit 15 is closed.

On the other hand, as shown in Table 2, when the door opening / closing request issued by the autonomous mobile body R1 is the door open and the door open / close request issued by the autonomous mobile body R2 is the door closed, the arbitration result of the arbitration unit 15 is the door open. be. In this case, since the door opening request of the autonomous moving body R1 inside the car 2 is prioritized to the door closing request of the autonomous moving body R2 outside the car 2, the autonomous moving body R1 is scheduled to disembark. It is possible to prevent the autonomous moving body R1 from being unable to disembark from the car 2 due to the door 41 closing. It is usually desirable to prevent the autonomous mobile body R1 from being unable to disembark on the floor where it is scheduled to disembark.

Further, as shown in Table 2, when the door opening / closing request issued by the autonomous mobile body R1 is the door closing and the door opening / closing request issued by the autonomous mobile body R2 is the door closing, the arbitration result of the arbitration unit 15 is the door closing. be. In this case, the request for closing the door of the autonomous mobile body R1 outside the car 2 is prioritized over the request for opening the door of the autonomous mobile body R1 inside the car 2. That is, it is not necessary for the autonomous mobile body R1 already in the car 2 to wait for the autonomous mobile body R2 to get in the car 2, and the car 2 is operated more efficiently. In this case, for example, the autonomous mobile body R1 outside the car 2 may be placed in another car 2 that comes next. For example, the autonomous mobile body R1 may request the elevator 50 to call the landing again.

Table 3 shows the arbitration result of the arbitration unit 15 when both the autonomous mobile body R1 and the autonomous moving body R2 issue a door opening / closing request when both the autonomous moving body R1 and the autonomous moving body R2 are in the car 2. There is. As shown in Table 3, when both the autonomous mobile body R1 and the autonomous mobile body R2 issue the door closing request, the arbitration result of the arbitration unit 15 is the door closing.

On the other hand, when at least one of the autonomous mobile body R1 or the autonomous mobile body R2 issues the door opening request, the arbitration result of the arbitration unit 15 is the door opening. In this case, even if at least one of the autonomous moving body R1 or the autonomous moving body R2 issues a door opening request and the other issues a door closing request, the door 41 of the car 2 opens the door, so a door opening request is issued. It is possible to prevent one of the autonomous moving bodies 9 from being unable to disembark from the car 2.

Table 4 shows the arbitration result of the arbitration unit 15 when both the autonomous mobile body R1 and the autonomous moving body R2 issue a door opening / closing request when both the autonomous moving body R1 and the autonomous moving body R2 are outside the car 2. There is. As shown in Table 4, when both the autonomous mobile body R1 and the autonomous mobile body R2 issue the door closing request, the arbitration result of the arbitration unit 15 is the door closing.

On the other hand, when at least one of the autonomous mobile body R1 or the autonomous mobile body R2 issues the door opening request, the arbitration result of the arbitration unit 15 is the door opening. In this case, even if at least one of the autonomous mobile body R1 or the autonomous mobile body R2 issues a door opening request and the other issues a door closing request, the door 41 opens the door, so that one of the door opening requests is issued. It is possible to prevent the autonomous mobile body 9 from being unable to ride in the car 2. This is effective in a situation where the car 2 is not congested and the autonomous mobile body 9 can get in the car 2.

Priority storage unit setting example 2
Table 5 shows another example of setting the priority of the priority storage unit 19 in the present embodiment. Table 5 shows another example of the authentication status of the autonomous mobile body 9, the position of the autonomous mobile body 9 with respect to the car 2, and the priority of the autonomous mobile body 9 corresponding to the car 2 of the autonomous mobile body 9 with respect to the door opening / closing request. There is.

As shown in Table 5, when the authentication unit 12 determines that the authentication is OK for the autonomous mobile body 9, priority is given to the door opening / closing request of the autonomous mobile body 9 to the door 41 with respect to the position of the autonomous mobile body 9 with respect to the car 2. The degree is set as follows. When the position of the autonomous moving body 9 is in the car 2, the priority of the door closing request to the door 41 is set to 1. When the position of the autonomous moving body 9 is in the car 2, the priority of the door opening request to the door 41 is set to 2. When the position of the autonomous moving body 9 is outside the car 2, the priority of the door closing request to the door 41 is set to 1. When the position of the autonomous moving body 9 is outside the car 2, the priority of the door opening request to the door 41 is set to 2.

Tables 6 to 8 show the arbitration results of the arbitration unit 15 when each of the two autonomous mobile units 9 issues a door opening / closing request in the priority storage unit setting example 2. The arbitration unit 15 arbitrates for each door opening / closing request as shown in Tables 6 to 8 according to the position for each car 2 and the priority for the door opening / closing request for the door 41. As in the case of the priority storage unit setting example 1 described above, it is assumed that the two autonomous mobile bodies 9 are determined by the authentication unit 12 to be authentication OK.

Table 6 shows an arbitration unit when both the autonomous mobile body R1 and the autonomous mobile body R2 issue a door opening / closing request to the door 41 when the autonomous mobile body R1 is inside the car 2 and the autonomous mobile body R2 is outside the car 2. It shows 15 arbitration results. As shown in Table 6, when the door opening / closing request issued by the autonomous mobile body R1 and the door opening / closing request issued by the autonomous mobile body R2 are both door open, the arbitration result of the arbitration unit 15 is door open. As shown in Table 2, when the door opening / closing request issued by the autonomous mobile body R1 and the door opening / closing request issued by the autonomous mobile body R2 are both closed, the arbitration result of the arbitration unit 15 is closed.

On the other hand, as shown in Table 6, when the door opening / closing request issued by the autonomous mobile body R1 is the door open and the door open / close request issued by the autonomous mobile body R2 is the door closed, the arbitration result of the arbitration unit 15 is the door open. be. In this case, since the door opening request of the autonomous moving body R1 inside the car 2 is prioritized to the door closing request of the autonomous moving body R2 outside the car 2, the autonomous moving body R1 is scheduled to disembark. It is possible to prevent the autonomous moving body R1 from being unable to disembark from the car 2 because the door of the car 2 is closed.

Further, as shown in Table 6, when the door opening / closing request issued by the autonomous mobile body R1 is the door closing and the door opening / closing request issued by the autonomous mobile body R2 is the door closing, the arbitration result of the arbitration unit 15 is the door opening. be. In this case, since the door opening request of the autonomous moving body R2 outside the car 2 is prioritized over the door closing request of the autonomous moving body R1 in the car 2, the autonomous moving body R1 is scheduled to board. It is possible to prevent the autonomous moving body R1 from being unable to board the car 2 because the door of the car 2 is closed.

Table 7 shows the arbitration of the arbitration unit 15 when both the autonomous mobile body R1 and the autonomous moving body R2 issue a door opening / closing request to the door 41 when both the autonomous moving body R1 and the autonomous moving body R2 are in the car 2. The result is shown. As shown in Table 3, when both the autonomous mobile body R1 and the autonomous mobile body R2 issue the door closing request, the arbitration result of the arbitration unit 15 is the door closing.

On the other hand, when at least one of the autonomous mobile body R1 or the autonomous mobile body R2 issues the door opening request, the arbitration result of the arbitration unit 15 is the door opening. In this case, even if at least one of the autonomous moving body R1 or the autonomous moving body R2 issues a door opening request and the other issues a door closing request, the door of the car 2 will open, so a door opening request is issued. It is possible to prevent one of the autonomous mobile bodies 9 from being unable to disembark from the car 2.

Table 8 shows the arbitration result of the arbitration unit 15 when both the autonomous mobile body R1 and the autonomous moving body R2 issue a door opening / closing request when both the autonomous moving body R1 and the autonomous moving body R2 are outside the car 2. There is. As shown in Table 8, when both the autonomous mobile body R1 and the autonomous mobile body R2 issue the door closing request, the arbitration result of the arbitration unit 15 is the door closing.

On the other hand, when at least one of the autonomous mobile body R1 or the autonomous mobile body R2 issues the door opening request, the arbitration result of the arbitration unit 15 is the door opening. In this case, even if at least one of the autonomous moving body R1 or the autonomous moving body R2 issues a door opening request and the other issues a door closing request, the door of the car 2 will open, so a door opening request is issued. It is possible to prevent one of the autonomous mobile bodies 9 from being unable to ride in the car 2. This is effective in a situation where the car 2 is not congested and the autonomous mobile body 9 can get on the car 2 as in the priority storage unit setting example 1.

In the priority storage unit setting example 1, the autonomous moving body R1 is inside the car 2 and the autonomous moving body R2 is outside the car 2, the door opening / closing request issued by the autonomous moving body R1 is closed, and the autonomous moving body R2 is. When the issued door opening / closing request was closed, the arbitration result of the arbitration unit 15 was closed. On the other hand, in the priority storage unit setting example 2, the arbitration result of the arbitration unit 15 is open as described above. If you want to place more importance on the operation efficiency of the elevator, it is better to select the priority storage unit setting example 1. If it is desired to prevent the autonomous moving body 9 from failing to ride, it is better to select the priority storage unit setting example 2.

Priority storage unit setting example 3
Table 9 shows still another example of setting the priority of the priority storage unit 19 in the present embodiment. Table 9 shows yet another example of the authentication status of the autonomous mobile body 9, the position of the autonomous mobile body 9 with respect to the car 2, and the priority of the autonomous mobile body 9 corresponding to the car of the autonomous mobile body 9 with respect to the door opening / closing request. .. This example is an appropriate example when the occupancy rate of the car 2 is close to 100% in a crowded situation.

As shown in Table 9, when the authentication unit 12 determines that the authentication is OK for the autonomous mobile body 9, priority is given to the door opening / closing request of the autonomous mobile body 9 to the door 41 with respect to the position of the autonomous mobile body 9 with respect to the car 2. The degree is set as follows. When the position of the autonomous moving body 9 is in the car 2, the priority of the door closing request to the door 41 is set to 3. When the position of the autonomous moving body 9 is in the car 2, the priority of the door opening request to the door 41 is set to 4. When the position of the autonomous moving body 9 is outside the car 2, the priority of the door closing request to the door 41 is set to 2. When the position of the autonomous moving body 9 is outside the car 2, the priority of the door opening request to the door 41 is set to 1.

Tables 10 to 12 show the arbitration results of the arbitration unit 15 when each of the two autonomous mobile units 9 issues a door opening / closing request in the priority storage unit setting example 3. The arbitration unit 15 arbitrates for each door opening / closing request as shown in Tables 10 to 12 according to the position for each car 2 and the priority for the door opening / closing request for the door 41. As in the case of the priority storage unit setting examples 1 and 2 described above, it is assumed that the two autonomous mobile bodies 9 are determined by the authentication unit 12 to be authentication OK.

Table 10 shows an arbitration unit when both the autonomous mobile body R1 and the autonomous mobile body R2 issue a door opening / closing request to the door 41 when the autonomous mobile body R1 is inside the car 2 and the autonomous mobile body R2 is outside the car 2. It shows 15 arbitration results. As shown in Table 10, when the door opening / closing request issued by the autonomous mobile body R1 and the door opening / closing request issued by the autonomous mobile body R2 are both door open, the arbitration result of the arbitration unit 15 is door open. As shown in Table 2, when the door opening / closing request to the door 41 issued by the autonomous mobile body R1 and the door opening / closing request issued by the autonomous mobile body R2 are both closed, the arbitration result of the arbitration unit 15 is closed. be.

On the other hand, as shown in Table 10, when the door opening / closing request issued by the autonomous mobile body R1 is the door open and the door open / close request issued by the autonomous mobile body R2 is the door closed, the arbitration result of the arbitration unit 15 is the door open. be. In this case, since the door opening request of the autonomous moving body R1 inside the car 2 is prioritized to the door closing request of the autonomous moving body R2 outside the car 2, the autonomous moving body R1 is scheduled to disembark. It is possible to prevent the autonomous moving body R1 from being unable to disembark from the car 2 because the door of the car 2 is closed.

Further, as shown in Table 10, when the door opening / closing request issued by the autonomous mobile body R1 is the door closing and the door opening / closing request issued by the autonomous mobile body R2 is the door opening, the arbitration result of the arbitration unit 15 is the door closing. be. In this case, since the door closing request of the autonomous moving body R1 inside the car 2 is prioritized to the door opening request of the autonomous moving body R2 outside the car 2, the car 2 is full and the autonomous moving body R2 is full. It is possible to prevent the car 2 from being unable to depart due to the door opening of the car 2 despite the situation in which the vehicle cannot be boarded.

Table 11 shows that when both the autonomous mobile body R1 and the autonomous mobile body R2 are in the car 2, the door opens or closes when both the autonomous mobile body R1 and the autonomous mobile body R2 issue a door open / close request. Is shown. As shown in Table 3, when both the autonomous mobile body R1 and the autonomous mobile body R2 issue the door opening request, the arbitration result of the arbitration unit 15 is the door opening.

On the other hand, when at least one of the autonomous mobile body R1 or the autonomous mobile body R2 issues a door closing request, the arbitration result of the arbitration unit 15 is the door closing. In this case, even if at least one of the autonomous moving body R1 or the autonomous moving body R2 issues a door opening request and the other issues a door closing request, the door of the car 2 will open, so a door opening request is issued. It is possible to prevent one of the autonomous mobile bodies 9 from being unable to disembark from the car 2.

Table 12 shows the arbitration result of the arbitration unit 15 when both the autonomous mobile body R1 and the autonomous moving body R2 issue a door opening / closing request when both the autonomous moving body R1 and the autonomous moving body R2 are outside the car 2. There is. As shown in Table 4, when both the autonomous mobile body R1 and the autonomous mobile body R2 issue the door opening request, the arbitration result of the arbitration unit 15 is the door opening.

On the other hand, when at least one of the autonomous mobile body R1 or the autonomous mobile body R2 issues a door closing request, the arbitration result of the arbitration unit 15 is the door closing. In this case, even if at least one of the autonomous moving body R1 or the autonomous moving body R2 issues a door opening request and the other issues a door closing request, the door 41 closes the door, so that the car 2 is full and autonomous movement is performed. It is possible to prevent the door of the car 2 from opening and the car 2 from being unable to depart even though the body R2 cannot get on the car.

Next, the action and effect of this embodiment will be described.

As described above, in the elevator control device 10 in the present embodiment, the arbitration unit 15 has the authentication result for the identification information authenticated by the authentication unit 12, and the position of the autonomous mobile body 9 detected by the position detection unit 11 with respect to the car 2. Mediation is performed for the door opening / closing request from the autonomous mobile body 9. Specifically, the authentication result for the identification information authenticated by the authentication unit 12, the position of the autonomous mobile body 9 detected by the position detection unit 11 with respect to the car 2, and the priority for the door opening / closing request from the autonomous mobile body are used. Mediate for door opening / closing requests. The door open / close control unit 16 opens or closes the door 41 based on the arbitration result of the arbitration unit 15.

Therefore, when a plurality of autonomous mobile bodies 9 issue a door open / close request to the door 41 of the car 2, the door 41 of the car 2 is appropriately opened or opened according to the position of each of the autonomous mobile bodies 9 with respect to the car 2. It has the effect of obtaining an elevator 50 that closes the door. Further, by appropriately setting the priority, it is possible to obtain an elevator 50 in which the door 41 of the car 2 is appropriately opened or closed according to the usage status of the elevator 50. For example, in a time zone when the elevator is not congested, the priority may be set as in the priority storage unit setting example 1 or the priority storage unit setting example 2. On the other hand, in a time zone when the elevator is crowded, the priority may be set as in the priority storage unit setting example 3. That is, there is an effect that an elevator that can flexibly open and close the door can be obtained depending on the usage state of the elevator.

Further, the authentication result for the identification information authenticated by the authentication unit 12, the position of the autonomous moving body 9 detected by the position detecting unit 11 with respect to the car 2, and the priority for the door opening / closing request from the autonomous moving body are predetermined priorities. (For example, priority 0), the arbitration unit 15 ignores the door opening / closing request from the autonomous mobile body 9. For example, the door opening / closing request from the autonomous mobile body 9 whose authentication result by the authentication unit 12 is authentication NG is ignored. For example, the door opening / closing request from the autonomous mobile body 9 for which the authentication by the authentication unit 12 has not yet been performed is ignored. Therefore, since the door opening / closing request from the suspicious autonomous mobile body 9 is ignored, it is possible to obtain a further effect that a higher security elevator can be obtained.

The priority storage unit 19 of the elevator control device 10 in the present embodiment has the same priority (for example, priority 1) for the door closing request and the door opening request to the door 41 as shown in Table 13 below. May be set (priority storage unit setting example 4). In this case, the arbitration unit 15 may give priority to the door closing request or the door opening request.

However, it is assumed that, for example, one autonomous mobile 9 issues a door closing request and the other autonomous mobile 9 issues a door opening request. Since each autonomous moving body 9 performs autonomous movement, the door opening / closing control unit 16 closes the door 41 of the car 2 in response to the door closing request of one of the autonomous moving bodies 9. The other autonomous mobile body 9 may be pinched by the door of the car 2 that closes the door. Therefore, preferably, when the priority of the door closing request and the door opening request to the door 41 is set to the same priority (for example, priority 1), it is desirable that the arbitration unit 15 gives priority to the door opening request. That is, when the priority of the door closing request from one autonomous moving body 9 and the priority of the door opening request from the other autonomous moving body 9 are the same, the door opening request from the other autonomous moving body 9 has priority. It is desirable to do. By doing so, it has the further effect of obtaining a safer elevator.

Next, an example of the elevator control device 10 will be described with reference to FIG. FIG. 4 is a hardware configuration diagram of the elevator control device according to the first embodiment.

Each function of the elevator control device 10 can be realized by a processing circuit. For example, the processing circuit comprises at least one processor 1001 and at least one memory 1002. For example, the processing circuit comprises at least one dedicated hardware 2001.

When the processing circuit includes at least one processor 1001 and at least one memory 1002, each function of the elevator control device 10 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 1002. At least one processor 1001 realizes each function of the elevator control device 10 by reading and executing a program stored in at least one memory 1002. At least one processor 1002 is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 1002 is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

If the processing circuit comprises at least one dedicated hardware 2001, the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. To. For example, each function of the elevator control device 10 is realized by a processing circuit. For example, each function of the elevator control device 10 is collectively realized by a processing circuit.

For each function of the elevator control device 10, a part may be realized by the dedicated hardware 2001, and the other part may be realized by software or firmware. For example, the function of the door opening / closing control unit 16 is realized by a processing circuit as dedicated hardware 2001, and the function other than the door opening / closing control unit 16 is a program in which at least one processor 1001 is stored in at least one memory 1002. It may be realized by reading and executing.

As described above, the processing circuit realizes each function of the elevator control device 10 by hardware 2001, software, firmware, or a combination thereof.

Although not shown, each function of the mobile control device 90 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the elevator control device 10.

Embodiment 2
FIG. 5 is a functional configuration diagram of the building system according to the present embodiment. As shown in FIG. 5, the building system 100 of the present embodiment further includes an operating state storage unit 13 with respect to the building system 100 of the first embodiment. Since the points other than the above are the same, detailed description thereof will be omitted.

The operation state storage unit 13 stores the operation state (operation mode) of the car 2. The operation state storage unit 13 stores, for example, an operation mode (normal operation mode, VIP operation mode, disaster occurrence mode, firefighter mode) as shown in Table 14. The elevator operates based on the operation mode stored in the operation state storage unit 13.

The normal operation mode is an operation state when the car 2 is in normal operation. In normal driving, a normal passenger (not shown) and an autonomous moving body 9 get on a car 2 and travel on a hoistway 1, or a passenger (not shown) and an autonomous moving body 9 waiting at a landing 3. It refers to a normal driving state such as traveling on the hoistway 1 in response to the registered landing call.

The VIP operation mode is an operation state when the car 2 is in VIP-compatible operation. VIP-compatible operation refers to an operating state in which VIP passengers (not shown) and the autonomous mobile body 9 that guides the VIP use the car 2. During the VIP operation mode, it is desirable that the normal passengers who are not VIP and the normal autonomous mobile 9 which is not VIP compatible cannot use the car 2. The transition from the normal operation mode to the VIP operation mode is set by, for example, the building manager. The transition from the normal operation mode to the VIP operation mode is performed, for example, by authenticating a storage medium possessed by a VIP passenger. The transition from the VIP operation mode to the normal operation mode is set by, for example, the building manager. The transition from the normal operation mode to the VIP operation mode is performed, for example, by detecting that a VIP passenger has disembarked.

The disaster occurrence mode is an operating state when the car 2 is operating in response to a disaster. Disaster response operation refers to the operating state when a disaster such as a fire or an earthquake occurs. During the disaster occurrence mode, it is desirable that the passengers and the autonomous mobile body 9 in the car 2 get off quickly and evacuate. On the other hand, during the disaster occurrence mode, it is desirable that the passengers and the autonomous mobile 9 in the landing 3 cannot board until the firefighter and the autonomous mobile 9 corresponding to the firefighter are ready for evacuation guidance. The transition from another operation mode such as the normal operation mode to the disaster occurrence mode is set by, for example, the building manager who has been notified of the disaster. The transition from another operation mode such as the normal operation mode to the disaster occurrence mode is performed by an external input such as a fire alarm.

The firefighter mode is an operating state when the car 2 is driving for a firefighter. The operation for firefighters refers to the driving state in which the firefighters (not shown) and the autonomous mobile body 9 for firefighters guide the passengers in the building to evacuate when a disaster occurs. In the firefighter mode, it is desirable that only the firefighter (not shown) and the autonomous mobile body 9 corresponding to the firefighter operate the door 41 to guide passengers in the building to evacuate. The firefighter mode transitions after the disaster occurrence mode. The transition from the disaster occurrence mode to the firefighter mode is, for example, when the building manager and the evacuees requiring evacuation guidance in the building are ready for evacuation guidance by the firefighter or the autonomous moving body 9 for the firefighter in the disaster occurrence mode. Set by the firefighter.

Next, the operation of the building system 100 will be described. FIG. 6 is a flowchart showing the operation of the building system according to the present embodiment. As shown in FIG. 6, the building system 100 of the present embodiment performs the operation of S115 instead of the operation of S105 in the flowchart of FIG. Since the points other than the above are the same, detailed description thereof will be omitted.

The process up to S104 is the same as the operation of the building system 100 of the first embodiment, and detailed description thereof will be omitted. After the processing of S104, the arbitration unit 15 stores the authentication result for the authentication information of the autonomous moving body 9 authenticated by the authentication unit 12, the position of the autonomous moving body 9 detected by the position detecting unit 11 with respect to the car 2, and the operating state storage. Mediation is performed for the door opening / closing request from the autonomous moving body 9 based on the operation mode stored in the unit 13 (S115). After that, the process proceeds to S106. Since the subsequent operations are the same as the operations of the building system 100 of the first embodiment, detailed description thereof will be omitted.

Next, the details of the configuration and operation of the arbitration unit 15 and the priority storage unit 19 in the present embodiment will be described. Table 15 shows the internal data structure of the priority storage unit 19 in the present embodiment. Table 15 shows the authentication status of the autonomous mobile body 9 in each operation mode of the car 2, the position of the autonomous mobile body 9 with respect to the car 2, and the priority of the door opening / closing request of the autonomous mobile body 9 corresponding to the car 2 of the autonomous mobile body 9. An example is shown. The authentication information in the present embodiment has the attribute of the autonomous mobile body 9. The attributes of the autonomous mobile body 9 are, for example, "general" that performs normal guidance, cleaning, and the like, "VIP" that guides VIP users, and "firefighter" that guides evacuation in the event of a disaster.

The operation of the arbitration unit 15 for each operation mode stored in the operation state storage unit 13 will be described.

(1) Normal operation mode: As shown in Table 15, the priority stored in the priority storage unit 19 is, for example, the type of identification information of the autonomous mobile body 9 authenticated by the authentication unit 12, and the autonomous mobile body 9. The priority is 1 regardless of the position with respect to the car 2 and the type of the door opening / closing request issued by the autonomous moving body 9. This is the same setting as in the priority storage unit setting example 4 of the first embodiment, and detailed description thereof will be omitted.

(2) VIP operation mode: As shown in Table 15, the priority stored in the priority storage unit 19 is autonomous when the type of identification information of the autonomous mobile body 9 authenticated by the authentication unit 12 is "VIP". The priority is 1 regardless of the position of the moving body 9 with respect to the car 2 and the type of the door opening / closing request issued by the autonomous moving body 9. When the type of identification information of the autonomous mobile body 9 authenticated by the authentication unit 12 is other than "VIP" (for example, "general" and "firefighter"), the priority when the autonomous mobile body 9 is in the car 2 is to open and close the door. It has the same priority of 1 regardless of the type of request. On the other hand, when the type of the identification information of the autonomous mobile body 9 authenticated by the authentication unit 12 is other than "VIP" (for example, "general" and "firefighter"), the priority when the autonomous mobile body 9 is outside the car 2 is. The same priority is 0 regardless of the type of door opening / closing request.

That is, the arbitration unit 15 does not ignore the door opening / closing request for the door 41 from the inside of the car 2 of the autonomous mobile body 9 other than the “VIP”. Therefore, it is possible to get off the autonomous mobile body 9 other than the "VIP" from the car 2 in the VIP mode. On the other hand, the arbitration unit 15 ignores the door opening / closing request for the door 41 from outside the car 2 of the autonomous mobile body 9 other than the “VIP”. Therefore, it is possible to prevent an autonomous mobile body 9 other than the "VIP" from inadvertently getting into the car 2 in the VIP mode.

(3) Disaster occurrence mode: As shown in Table 15, the priority stored in the priority storage unit 19 is, for example, autonomous movement regardless of the type of identification information of the autonomous mobile body 9 authenticated by the authentication unit 12. When the position of the body 9 with respect to the car 2 is within the car 2 and the door opening / closing request issued by the autonomous moving body 9 is the door opening, the priority is 1. On the other hand, regardless of the type of identification information of the autonomous mobile body 9 authenticated by the authentication unit 12, the position of the autonomous mobile body 9 with respect to the car 2 is within the car 2, and the door opening / closing request issued by the autonomous mobile body 9 is closed. In the case of, the priority is 0. Further, regardless of the type of the identification information of the autonomous mobile body 9 authenticated by the authentication unit 12, when the position of the autonomous mobile body 9 with respect to the car 2 is outside the car 2, the same priority is 0 regardless of the type of the door opening / closing request. Is.

That is, the arbitration unit 15 accepts only the door opening request for the door 41 from the inside of the car 2 from the autonomous mobile body 9, regardless of the attribute of the autonomous mobile body 9. The elevator 50 is operated to disembark the passengers in the car 2 on the fire evacuation floor, and it is not necessary to board the car 2 with new passengers and the autonomous mobile body 9. Therefore, the arbitration unit 15 ignores the door opening / closing request from the autonomous mobile body 9 outside the car 2. The arbitration unit 15 can accept only the door opening request from the autonomous mobile body 9 already in the car 2.

(4) Firefighter operation mode: As shown in Table 15, the priority stored in the priority storage unit 19 is when the type of identification information of the autonomous mobile body 9 authenticated by the authentication unit 12 is "firefighter". , The priority 1 is the same regardless of the position of the autonomous moving body 9 with respect to the car 2 and the type of the door opening / closing request issued by the autonomous moving body 9. On the other hand, the priority stored in the priority storage unit 19 is the position of the autonomous mobile body 9 with respect to the basket 2 when the type of identification information of the autonomous mobile body 9 authenticated by the authentication unit 12 is other than "firefighter". The priority is 0 regardless of the type of door opening / closing request issued by the autonomous mobile body 9.

The firefighter operation mode is, for example, an operation mode used during fire extinguishing activities and evacuation guidance activities by firefighters. The arbitration unit 15 only accepts a door opening / closing request for the door 41 of the autonomous mobile body 9 having the "firefighter" attribute. The arbitration unit 15 ignores only the door opening / closing request for the door 41 of the autonomous mobile body 9 other than the "firefighter" attribute. Preventing autonomous mobiles 9 with attributes other than "firefighters" from inadvertently requesting the opening and closing of doors, endangering passengers and autonomous mobiles 9 or hindering fire extinguishing activities and evacuation guidance activities by firefighters. Is possible.

Next, the action and effect of this embodiment will be described. As described above, the building system 100 of the present embodiment also has the same effect as the building system 100 of the first embodiment. In addition to that, the building system 100 has the following new effects.

Further, the building system 100 in the present embodiment further includes an operation state storage unit 13 for setting an operation state of the elevator. The arbitration unit 15 arbitrates for a door opening / closing request based on the operating state of the elevator stored in the operating state storage unit 13. In the normal operation mode, for example, it is appropriate for the arbitration unit 15 to arbitrate for the door opening / closing request shown in the priority storage unit setting examples 1 to 4 of the first embodiment, for example. However, for example, in the case of VIP operation mode, disaster occurrence mode, firefighter mode, etc., it is not always appropriate to arbitrate for the door opening / closing request similar to the normal operation mode. By arbitrating the door opening / closing request based on the operating state of the elevator stored in the operating state storage unit 13, the arbitration unit 15 can flexibly open / close the door according to various operating conditions of the elevator 50. It has a further effect.

Embodiment 3
FIG. 7 is a functional configuration diagram of the building system according to the present embodiment. As shown in FIG. 7, the building system 100 of the present embodiment further includes a congestion degree detection unit 14 with respect to the building system 100 of the second embodiment. Since the points other than the above are the same, detailed description thereof will be omitted.

The congestion degree detection unit 14 detects the congestion degree of the car 2. For example, the congestion degree detection unit 14 determines whether or not the car 2 is full. For example, the congestion degree detection unit 14 determines whether or not the car 2 is full by using the measurement result of the scale 23 provided on the floor surface of the car 2. In that case, the congestion degree detection unit 14 determines whether or not the car 2 is full based on the total weight of the passengers (not shown) and the autonomous mobile body 9 in the car 2 measured by the scale 23.

Further, for example, the congestion degree detection unit 14 determines whether or not the car 2 is full by using the image captured by the image pickup device 22 provided in the car 2. In that case, the congestion degree detection unit 14 analyzes the image captured by the image pickup device 22, recognizes the passengers (not shown) and the autonomous mobile body 9 included in the image, and determines whether or not the car 2 is full. judge.

The arbitration unit 15 stores the authentication result for the authentication information of the autonomous moving body 9 authenticated by the authentication unit 12, the position of the autonomous moving body 9 with respect to the car 2 detected by the position detecting unit 11, and the operating state storage unit 13. Mediation is performed for the door opening / closing request from the autonomous moving body 9 depending on the operation mode and whether or not the car 2 determined by the congestion degree detection unit 14 is full. When the congestion degree detection unit 14 determines that the car 2 is full, the arbitration unit 15 may arbitrate with the same priority setting as in the priority storage unit setting example 3 (Table 9) of the first embodiment, for example. good. When the congestion degree detection unit 14 determines that the car 2 is not full, the arbitration unit 15 may be referred to, for example, the priority storage unit setting example 1 or the priority storage unit setting example 2 (Tables 1 and 5) of the first embodiment. Mediation may be performed with the same priority setting.

Next, the operation of the building system 100 will be described. FIG. 8 is a flowchart showing the operation of the building system according to the present embodiment. As shown in FIG. 8, in the building system 100 of the present embodiment, the operation of S128 is added after the operation of S104 in the flowchart of FIG. 6 showing the operation of the building system 100 of the second embodiment, and the operation of S115 is further added. Instead of, the operation of S125 is performed. Since the points other than the above are the same, detailed description thereof will be omitted.

The process up to the process of S104 is the same as the operation of the building system 100 of the first and second embodiments, and detailed description thereof will be omitted. After the processing of S104, the congestion degree detection unit 14 determines whether or not the car 2 is full (S128). After that, the process proceeds to S125.

Next, the arbitration unit 15 stores the authentication result for the authentication information of the autonomous moving body 9 authenticated by the authentication unit 12, the position of the autonomous moving body 9 with respect to the car 2 detected by the position detecting unit 11, and the operating state storage unit 13. Mediation is performed for the door opening / closing request from the autonomous moving body 9 depending on the operation mode being set and whether or not the car 2 determined by the congestion degree detection unit 14 is full (S115). After that, the process proceeds to S106. Since the subsequent operations are the same as the operations of the building system 100 of the second embodiment, detailed description thereof will be omitted.

Next, the action and effect of this embodiment will be described. As described above, the building system 100 of the present embodiment also has the same effect as the building system 100 of the first embodiment. In addition to that, the building system 100 has the following new effects.

Further, as described above, the building system 100 in the present embodiment includes a congestion degree detection unit 14 for detecting the congestion degree of the car 2. The arbitration unit 15 arbitrates the door opening / closing request according to the degree of congestion of the car 2. As described in the first embodiment, depending on whether or not the car 2 is congested, the authentication status of the autonomous mobile body 9, the position of the autonomous mobile body 9 with respect to the car 2, and the autonomous movement corresponding to the car 2 of the autonomous mobile body 9 It is desirable to change the priority for the door opening / closing request of the body 9.

When the car 2 is not congested, it is desirable that the arbitration unit 15 arbitrates for the door opening / closing request based on, for example, the priority storage unit setting example 1 or the priority storage unit setting example 2 described in the first embodiment. On the other hand, when the car 2 is congested, it is desirable that the arbitration unit 15 arbitrates for the door opening / closing request based on, for example, the priority storage unit setting example 3 described in the first embodiment. The building system according to the present embodiment includes a congestion degree detection unit 14, and mediates the door opening / closing request according to the congestion degree of the car 2 detected by the congestion degree detection unit. That is, it is possible to automatically arbitrate for a more appropriate door opening / closing request according to the degree of congestion of the car 2. Therefore, it is possible to obtain a more convenient elevator 50, which is a further effect.

In the first to third embodiments, the case where the number of autonomous mobile bodies 9 is two in total and two outside the car 2 has been described. However, it goes without saying that the same effect can be obtained even if the number of autonomous mobile bodies 9 is 3 or more.

The present disclosure is not limited to the first to third embodiments. Within the scope of the present invention, each embodiment can be freely combined, and a part thereof can be appropriately changed or omitted.

1 hoistway,
2 car, 21 car door, 22 car imager, 23 scale, 24 car antenna,
3 landings, 31 landing units, 32 landing image pickup devices, 34 landing antennas, 41 units,
4 balance weight, 5 wire rope, 6 hoist, 7 deflector, 50 elevator,
9 autonomous mobile, 90 mobile controller,
91 Transmitter, 92 Door open / close requester, 93 Receiver, 94 Antenna 10 Elevator controller,
11 Position detection unit, 12 Authentication unit, 13 Operation status storage unit, 14 Congestion degree detection unit,
15 arbitration section, 16 door open / close control section, 17 transmitter section, 18 receiver section,
19 Priority storage unit.

Claims (7)

An elevator control device provided with a door opening / closing control unit that opens / closes the door of the car in response to a door opening / closing request from an autonomous mobile body that gets in and out of the elevator car.
An authentication unit that authenticates based on the identification information received from the autonomous mobile body,
A position detection unit that detects the position of the autonomous moving body, and
A plurality of the autonomous mobile bodies depending on the authentication result for the identification information authenticated by the authentication unit and whether the position of the plurality of the autonomous mobile bodies detected by the position detection unit is either inside or outside the car. Equipped with an arbitration section that arbitrates for door opening / closing requests from
The door open / close control unit is an elevator control device that opens or closes the door of the car based on the arbitration result of the arbitration unit. It is provided with an operation state storage unit for setting the operation state of the elevator.
The elevator control device according to claim 1, wherein the arbitration unit arbitrates for the door opening / closing request based on the operation state of the elevator stored in the operation state storage unit. It is equipped with a congestion level detection unit that detects the congestion level of the car.
The elevator control device according to claim 1 or 2, wherein the arbitration unit arbitrates for the door opening / closing request according to the degree of congestion. In the arbitration unit, the authentication result for the identification information authenticated by the authentication unit, the position of the plurality of autonomous moving objects detected by the position detection unit is either inside or outside the car , and a plurality of positions. The elevator control device according to claim 1 to 3, wherein arbitration is performed for the door opening / closing request according to the priority of the door opening / closing request from the autonomous moving body. The elevator control device according to claim 4, wherein the arbitration unit ignores a door opening / closing request from the autonomous mobile body when the priority is a predetermined priority. When the priority of the door closing request from one of the autonomous moving bodies and the priority of the door opening request from the other autonomous moving body are the same, the arbitration unit opens the door from the other autonomous moving body. The elevator control device according to claim 4 or 5, wherein the request is prioritized. A building system including an autonomous mobile body that gets in and out of an elevator car and an elevator control device having a door opening / closing control unit that opens / closes the door of the car according to a door opening / closing request from the autonomous moving body.
The elevator control device is
An authentication unit that authenticates based on the identification information received from the autonomous mobile body ,
A position detection unit that detects the position of the autonomous moving body, and
A plurality of the autonomous mobile bodies depending on the authentication result for the identification information authenticated by the authentication unit and whether the position of the plurality of the autonomous mobile bodies detected by the position detection unit is either inside or outside the car. Equipped with an arbitration section that arbitrates for door opening / closing requests from
The door open / close control unit is a building system that opens or closes the door of the car based on the mediation result of the mediation unit.

Images