WO2021214869A1

WO2021214869A1 - Elevator boarding control device for autonomous moving body

Info

Publication number: WO2021214869A1
Application number: PCT/JP2020/017194
Authority: WO
Inventors: 桜子戸倉
Original assignee: 三菱電機株式会社
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2021-10-28

Abstract

This elevator boarding control device for an autonomous moving body is provided with: an information acquisition means which acquires boarding state information indicating whether or not the autonomous moving body is in a boarded state in which the autonomous moving body has boarded the elevator, operation information relating to user operation on an input means provided for the elevator, and a door open/closed information relating to the open/closed state of the elevator door; and a boarding control means which generates a deboarding request signal for causing the autonomous moving body to deboard the elevator in the case that it is determined on the basis of the boarding state information that the autonomous moving body is in the boarded state, it is determined on the basis of the door open/closed information that the elevator door is in the open state, and it is determined on the basis of the operation information that a predetermined operation has been performed in the input means.

Description

Elevator boarding / alighting control device for autonomous mobiles

The present disclosure relates to an elevator boarding / alighting control device for an autonomous mobile body that controls boarding / alighting of an autonomous mobile body.

Conventionally, an elevator system has been known in which an autonomous moving body such as a robot that moves in a building and a user of the building is placed in an elevator car and transported. Patent Document 1 proposes an elevator system that improves user convenience by controlling the order of transportation so that the transportation of the user is prioritized over the transportation of the autonomous mobile body.

International Publication No. 2018/066057

However, the method of always prioritizing the transportation of the user over the transportation of the autonomous mobile body as described in Patent Document 1 may sacrifice the transportation efficiency of the autonomous mobile body too much, and the elevator system as a whole may be sacrificed. There is a problem that the transportation efficiency of the elevator is reduced.

Therefore, an object of the present disclosure is for an autonomous mobile body that can prevent a decrease in transportation efficiency of the elevator system as a whole while ensuring the convenience of the user when transporting the user and the autonomous mobile body by an elevator. Is to provide an elevator boarding / alighting control device.

The elevator boarding / alighting control device for the first autonomous moving body according to the present disclosure includes boarding state information indicating whether or not the autonomous moving body is in the elevator, and input means provided in connection with the elevator. Based on the information acquisition means for acquiring the operation information related to the user's operation and the door opening / closing information regarding the opening / closing state of the elevator door, and the riding state information, it is determined that the autonomous moving body is in the elevator. When it is determined from the door opening / closing information that the elevator door is open and it is determined from the operation information that a predetermined operation has been performed in the input means, the elevator disembarks from the autonomous moving body. It is provided with a boarding / alighting control means for generating a disembarkation request signal.

The elevator boarding / alighting control device for the second autonomous moving body according to the present disclosure includes boarding state information indicating whether or not the autonomous moving body is in the elevator, and input means provided in connection with the elevator. Information acquisition means for acquiring information operation information regarding user operations performed in the elevator car, user's destination floor information, and elevator car position information, which are user operations, and boarding. When it is determined from the state information that the autonomous moving body is in the elevator, and it is determined from the operation information that a predetermined operation has been performed in the elevator car, the autonomous movement is performed. Canceling the registration of the destination floor information of the body Generates a registration cancellation signal, and then it is determined that the elevator car has arrived at the user's destination floor based on the user's destination floor information and the position information of the elevator car. In this case, it is provided with a boarding / alighting control means for generating a registration signal for re-registering the destination floor information of the autonomous moving body.

According to the first elevator boarding / alighting control device for an autonomous mobile body according to the present disclosure, when transporting a user and an autonomous mobile body by an elevator, the transportation of the entire elevator system is performed while ensuring the convenience of the user. It is possible to prevent a decrease in efficiency.

According to the elevator boarding / alighting control device for the second autonomous mobile body according to the present disclosure, when transporting the user and the autonomous mobile body by the elevator, the transportation of the entire elevator system is performed while ensuring the convenience of the user. It is possible to prevent a decrease in efficiency.

It is a schematic block diagram of the autonomous mobile body-elevator cooperation system 1 which concerns on embodiment of the elevator boarding / alighting control device for the 1st autonomous mobile body. It is a block diagram which shows the structural example of the elevator control device 10 which concerns on 1st Embodiment. It is a block diagram which shows the structural example of the elevator boarding / alighting control device 20. It is a flowchart which shows the flow of the process which concerns on this disclosure performed by the boarding / alighting control unit 22 of an elevator boarding / alighting control device 20. It is a hardware block diagram of an elevator boarding / alighting control device 20. It is a block diagram which shows the structural example of the autonomous mobile body control device 30. It is a flowchart which shows the flow of the process which concerns on this disclosure performed by the boarding / alighting control unit 22 of the leveler boarding / alighting control device 20 which concerns on 2nd Embodiment.

[First Embodiment]
Hereinafter, the first embodiment will be described. FIG. 1 is a diagram showing a schematic configuration of an autonomous mobile-elevator cooperation system 1 according to the first embodiment. The autonomous moving body-elevator cooperation system 1 controls an elevator control device 10 that controls the elevator 2, an autonomous moving body control device 30 that controls the autonomous moving body M, and getting on and off the autonomous moving body M to the elevator 2. It includes an elevator boarding / alighting control device 20. Here, the elevator boarding / alighting control device 20 corresponds to the elevator boarding / alighting control device for the autonomous mobile body of the present disclosure.

The elevator control device 10, the elevator boarding / alighting control device 20, and the autonomous mobile control device 30 are each connected to the network 9. Communication is performed between the elevator control device 10 and the elevator boarding / alighting control device 20, and between the elevator boarding / alighting control device 20 and the autonomous mobile body control device 30 via the network 9.

The elevator 2 is provided with at least one car 4 that goes up and down in the hoistway 3 of the building. A door 6 is provided between the car 4 and the landing 5 on each floor to open and close the entrance / exit when the car 4 arrives on that floor. In the car 4, a first input means 7a for the user U to input various inputs related to the use of the elevator and a first display means 8a for displaying various information to the user U are provided. Further, the landing 5 is provided with a second input means 7b for the user U to input various inputs related to the use of the elevator and a second display means 8b for displaying various information to the user U.

Here, the operation when the autonomous mobile body M is transported by the elevator 2 in the autonomous mobile body-elevator cooperation system 1 will be described. The autonomous mobile body control device 30 controls the autonomous mobile body M according to a predetermined movement plan and moves it to the landing 5 on the departure floor. The autonomous mobile body control device 30 also transmits information related to the departure floor and the destination floor of the autonomous mobile body M to the elevator boarding / alighting control device 20 via the network 9 according to the movement plan. Upon receiving this information, the elevator boarding / alighting control device 20 transmits a transportation request from the departure floor to the destination floor of the autonomous mobile body M to the elevator control device 10 via the network 9.
The elevator control device 10 allocates the car 4 of the elevator 2 based on the transportation request. When the assigned car 4 arrives at the departure floor and the door 6 is opened, the elevator boarding / alighting control device 20 transmits a boarding request for the car 4 to the autonomous mobile control device 30 via the network 9. Upon receiving this boarding request, the autonomous mobile body control device 30 puts the autonomous mobile body M in the car 4. In this way, the process of placing the autonomous mobile body M on the elevator 2 is performed.

Whether the elevator boarding / alighting control device 20 has been subjected to a predetermined operation by the user via the first input means 7a or the second input means 7b while the autonomous mobile body M is in the car 4. Monitor whether or not. When the user performs the predetermined operation, in the elevator boarding / alighting control device 20, the car 4 is an autonomous mobile body so that the user's transportation is prioritized over the transportation of the autonomous mobile body M. Regardless of whether or not the vehicle has arrived at the destination floor of the M, a disembarkation request signal for disembarking the autonomous mobile M is generated from the car 4 and transmitted to the autonomous mobile control device 30. Upon receiving this disembarkation request signal, the autonomous mobile body control device 30 disembarks the autonomous mobile body M from the car 4. As a result, the autonomous mobile body M returns to the platform 5 on the departure floor. Further, the user U can get on the car 4 instead of the autonomous mobile body M and move to the destination floor.

On the other hand, in the above monitoring, if a predetermined operation is not performed by the user, the elevator boarding / alighting control device 20 has other special circumstances in order to transport the car 4 carrying the autonomous mobile body M to the destination floor. Unless there is, the disembarkation request signal for disembarking the autonomous mobile M is not generated from the car 4 until the car 4 arrives at the destination floor of the autonomous mobile M.

As described above, in the autonomous mobile-elevator cooperation system 1, the elevator control device 10 allocates the car 4 of the elevator 2 based on the transportation request of the autonomous mobile M, and determines in advance by the user in the situation of carrying out the transportation. Only when it is determined that the operation has been performed, the autonomous mobile body M is disembarked from the car 4 to give priority to the transportation of the user. That is, adjustments are made to prioritize the transportation of the user only when the user desires. In other words, if the user does not wish, such adjustment is not made, and for the sake of transportation efficiency, the transportation of the autonomous mobile body M may be prioritized even if the convenience of the user is sacrificed to some extent. Therefore, it is possible to prevent a decrease in the transportation efficiency of the entire system while ensuring the convenience of the user.

FIG. 2 is a block diagram showing a configuration example of the elevator control device 10. As shown in FIG. 2, the elevator control device 10 includes a first communication unit 11, an operation detection unit 12, a transportation request management unit 13, a car allocation unit 14, an elevator control unit 15, and a display control unit 16. And a first storage unit 18.

Various information used in the elevator control device 10 is stored in the first storage unit 18. Specifically, the first storage unit 18 is used by the transportation request registration information 1a, the car allocation information 1b, the car position information 1c, the door opening / closing information 1d, the first input means 7a, and the second input means 7b. The operation information 1e and the like related to the operation of the person U are stored. Further, the display information 2b received from the elevator boarding / alighting control device 20 is stored in the first storage unit 18.

The first communication unit 11 connects to the network 9 to perform communication. The first communication unit 11 periodically or at any time transmits various information necessary for boarding / alighting control of the autonomous mobile body M to the elevator 2 to the elevator boarding / alighting control device 20. Specifically, the first communication unit 11 tells the elevator boarding / alighting control device 20 that the transportation request registration information 1a, the car allocation information 1b, the car position information 1c, and the door opening / closing stored in the first storage unit 18 are stored. Information 1d, operation information 1e, etc. are transmitted.

Further, the first communication unit 11 maintains the information regarding the transportation request of the autonomous mobile body M from the elevator boarding / alighting control device 20 and the door 6 in an open state when the autonomous mobile body M gets on or off the elevator 2. It receives a signal requesting that, a signal canceling the request, display information 2b to be displayed on either or both of the first display means 8a and the second display means 8b, and the like.

The operation detection unit 12 detects the operation of the user U in the first input means 7a and the second input means 7b. The first input means 7a may be a mechanical button, a touch panel, or the like provided on the wall surface in the car 4, or may be brought into the car 4 by the user U and operated by the mechanical button, the touch panel, or the like. It may be a mobile terminal on which application software that enables similar operations is installed. Further, the second input means 7b may be a mechanical button, a touch panel or the like provided on the wall surface of the landing 5, or may be brought to the landing 5 by the user U and operated by the mechanical button, the touch panel or the like. It may be a mobile terminal on which application software that enables similar operations is installed. The operation detection unit 12 detects, for example, the order in which the buttons are pressed, the length, the direction in which the screen of the touch panel is traced by the finger, the locus, and the like as the operations of the user U. The detected operation information 1e regarding the operation of the user U is stored in the first storage unit 18.

The transportation request management unit 13 receives transportation requests from the departure floor to the destination floor of the user U and the autonomous mobile body M, and registers (stores) them in the first storage unit 18 for management. The transportation request management unit 13 deletes the registration when the transportation related to the transportation request is completed or when the transportation request is canceled. The transportation request from the user U is input by the operation of the user U in the first input means 7a and / or the second input means 7b, and the transportation request of the autonomous mobile body M is transmitted from the elevator boarding / alighting control device 20. Information is received.

The car allocation unit 14 allocates the car 4 for executing the transportation for each of the above-registered transportation requests. At this time, the car allocation unit 14 allocates the car 4 that minimizes the transportation cost and maximizes the transportation efficiency based on the information such as the departure floor information, the destination floor information, and the current floor information of the car 4 related to the transportation request. .. As a result, each transportation request is scheduled to be executed in which car 4 and in what order. The car allocation information 1b regarding the allocation of the car 4 to the transportation request is stored in the first storage unit 18. When the user U or the autonomous mobile body M cannot get in the assigned car 4, the car allocation unit 14 allocates the car 4 again.

The elevator control unit 15 sequentially executes the registered transportation requests by controlling a series of operations of the elevator 2. The elevator control unit 15 controls the departure and arrival of the car 4 and the opening and closing of the door 6 based on the transportation request registration information 1a, the car allocation information 1b, and the like stored in the first storage unit 18. The car position information 1c regarding the car position (current floor, etc.) controlled by the elevator control unit 15 and the door open / close information 1d regarding the open / closed state of the door 6 are stored in the first storage unit 18. When the transportation request being executed is canceled in the middle, the elevator control unit 15 ends the operation related to the execution of the transportation request there.

The display control unit 16 controls various displays on the first display means 8a and the second display means 8b. The display control unit 16 receives the display information 2b to be displayed on either or both of the first display means 8a and the second display means 8b from the elevator boarding / alighting control device 20, and receives the received display information 2b as the first display information 2b. Is displayed on the display means 8a and / or the second display means 8b.

FIG. 3 is a block diagram showing a configuration example of the elevator boarding / alighting control device 20. As shown in FIG. 3, the elevator boarding / alighting control device 20 includes a second communication unit 21, a boarding / alighting control unit 22, a notification unit 23, and a second storage unit 28. Here, the second communication unit 21 corresponds to the information acquisition means of the present disclosure.

The second communication unit 21 connects to the network 9 to perform communication. The second communication unit 21 receives the transportation request registration information 1a, the car allocation information 1b, the car position information 1c, the door opening / closing information 1d, the operation information 1e, and the like from the elevator control device 10.

Further, the second communication unit 21 causes the elevator control device 10 to receive information received from the autonomous mobile control device 30 and stored in the second storage unit 28, a control signal generated by the boarding / alighting control unit 22, and the like. To send. Specifically, the second communication unit 21 informs the elevator control device 10 about the transportation request of the autonomous mobile body M, and the state in which the door 6 is opened when the autonomous mobile body M gets on or off the elevator 2. Sends a signal requesting maintenance, a signal canceling the request, and the like.

Further, the second communication unit 21 receives the transportation request information 3d regarding the transportation request of the autonomous mobile body M from the autonomous mobile body control device 30, and the boarding indicating whether or not the autonomous mobile body M is in the elevator 2. Receives state information 3e and the like.

Further, the second communication unit 21 causes the autonomous mobile control device 30 to receive information received from the elevator control device 10 and stored in the second storage unit 28, a control signal generated by the boarding / alighting control unit 22, and the like. To send. Specifically, the second communication unit 21 causes the autonomous mobile control device 30 to get the information of the car 4 assigned to the transportation request of the autonomous mobile M, and the autonomous mobile M to ride in the car 4. A boarding request signal, a disembarkation request signal for disembarking the autonomous mobile body M from the car 4, and the like are transmitted.

The notification unit 23 may prioritize the transportation of the user U over the transportation of the autonomous mobile body M by performing a predetermined operation in the first input means 7a or the second input means 7b. Display information 2b for notifying the user U of what can be done is generated, and is transmitted by the second communication unit 21 to the first communication unit 11 of the elevator control device 10. The display information 2b is one of the first display means 8a provided in the car 4 of the elevator 2 and the second display means 8b provided in the landing 5 by the elevator control device 10 display control unit 16. Or it is displayed on both. The display information 2b may inform the user U that the autonomous mobile body M can be disembarked from the elevator 2 by performing the above-mentioned predetermined operation, for example. The display information 2b may be information consisting of only characters, or information consisting of still images or moving images.

The second storage unit 28 stores various information used in the elevator boarding / alighting control device 20. Specifically, in the second storage unit 28, the transportation request registration information 1a, the car allocation information 1b, the car position information 1c, and the door opening / closing information 1d received from the elevator control device 10 by the second communication unit 21. Operation information 1e and the like are stored. Further, the second storage unit 28 stores specific operation information 2a, display information 2b, and the like, which will be described later. Further, the second storage unit 28 stores the transportation request information 3d, the boarding state information 3e, and the like received from the autonomous mobile control device 30 by the second communication unit 21.

The specific operation information 2a desires to prioritize the transportation of the user U over the transportation of the autonomous mobile body M among the operations performed by the user U in the first input means 7a or the second input means 7b. This is information related to a predetermined operation that represents the intention of the user U.

As this predetermined operation, the first operation of continuously pressing one button provided on the first input means 7a or the second input means 7b for a predetermined time or longer, and the second or more buttons being pressed at the same time. Operation 2, pressing two or more buttons in a predetermined order Third operation, when the first input means 7a and the second input means 7b are touch panels, the screen of the touch panel is pressed in a predetermined direction or locus with a finger. It can include any of the fourth operations to be traced.

For example, an operation of continuously pressing the door open button, the up / down button or the destination floor button for a predetermined time or longer, an operation of pressing two or more of the door open button, the door close button, the up / down button and the destination floor button at the same time, and the door open button. , Pressing two or more of the door close button, up / down button, and destination floor button in a predetermined order, tracing the touch panel screen in a fixed direction up / down / left / right, tracing the touch panel screen in an L shape, etc. It can be a predetermined operation. Further, two or more types of operations among the above-exemplified operations can be set as the above-mentioned predetermined operations.

The boarding / alighting control unit 22 mediates communication between the elevator control device 10 and the autonomous mobile body control device 30 regarding boarding / alighting of the autonomous mobile body M to / from the elevator 2. Further, the boarding / alighting control unit 22 generates a control signal for controlling the boarding / alighting of the autonomous moving body M to the elevator 2 based on various information and signals received from the elevator control device 10 and the autonomous moving body control device 30. , The second communication unit 21 transmits to the elevator control device 10 or the autonomous mobile control device 30.

Specifically, the boarding / alighting control unit 22 receives the transportation request information 3d from the autonomous mobile control device 30, and transmits the information regarding the transportation request to the elevator control device 10. Then, the elevator control device 10 receives the information of the car 4 assigned to the transportation request and transfers the information to the autonomous mobile control device 30. When the boarding / alighting control unit 22 cannot get in the car 4 to which the autonomous mobile body M is assigned for some reason, the boarding / alighting control unit 22 receives the information of the car 4 newly assigned to the transportation request of the autonomous mobile body M from the elevator control device 10. Then, it is transferred to the autonomous mobile control device 30.

After that, the boarding / alighting control unit 22 refers to the car position information 1c and the door opening / closing information 1d received from the elevator control device 10, and the car 4 assigned to the transportation request of the autonomous mobile body M departs for the transportation request. It monitors whether or not the vehicle has arrived on the floor and the door 6 between the car 4 and the landing 5 is open (hereinafter referred to as a boarding / alighting state). Then, when it is determined that the boarding / alighting state is possible, the boarding / alighting control unit 22 generates a boarding request signal for getting the autonomous moving body M into the car 4 and transmits the boarding request signal to the autonomous moving body control device 30 and the door 6. Generates a signal requesting that the elevator be kept open and transmits it to the elevator control device 10. After that, when the boarding / alighting control unit 22 receives the boarding state information 3e indicating that the autonomous moving body M is in the elevator 2 from the autonomous moving body control device 30, the boarding / alighting control unit 22 keeps the door 6 open. A signal for canceling the request is generated and transmitted to the elevator control device 10.

After that, the boarding / alighting control unit 22 refers to the car position information 1c received from the elevator control device 10 and the door opening / closing information 1d, and the car 4 assigned to the transportation request of the autonomous mobile body M relates to the transportation request. It monitors whether or not the door 6 has arrived at the destination floor and the door 6 between the car 4 and the landing 5 is open. Then, when it is determined that the state is such, the boarding / alighting control unit 22 generates a disembarkation request signal for disembarking the autonomous mobile body M from the car 4 and transmits the disembarkation request signal to the autonomous mobile body control device 30 and the door. A signal requesting that 6 be kept open is generated and transmitted to the elevator control device 10. After that, when the boarding / alighting control unit 22 receives the boarding state information 3e indicating that the autonomous moving body M has disembarked from the elevator 2 from the autonomous moving body control device 30, the boarding / alighting control unit 22 keeps the door 6 open. A signal for canceling the request is generated and transmitted to the elevator control device 10.

Further, whether or not the boarding / alighting control unit 22 is in a state requiring execution of a process for prioritizing the transportation of the user U over the transportation of the autonomous mobile body M as the process according to the present disclosure during the boarding / alighting possible state. When monitoring is performed and it is determined that the situation is such, a control signal for changing the transportation schedule of the autonomous mobile body M by the elevator 2 is generated so that the transportation of the user U is preferentially performed. At this time, the state requiring execution of the process of prioritizing the transportation of the user U over the transportation of the autonomous mobile body M is at least the state in which the autonomous mobile body M is on the elevator 2 and the first input. A predetermined operation by the user U can be performed in the means 7a or the second input means 7b.

Specifically, the boarding / alighting control unit 22 refers to the boarding state information 3e, the door opening / closing information 1d, the operation information 1e, and the specific operation information 2a stored in the second storage unit 28, and the autonomous moving body M Is in the state of being in the elevator 2, the door 6 of the elevator 2 is open, and the operation predetermined by the user U in the first input means 7a or the second input means 7b is performed. It monitors whether or not it has been performed, and if it is in such a state, it generates a disembarkation request signal for disembarking the autonomous moving body M from the car 4 and transmits it to the autonomous moving body control device 30.

Here, with reference to the flowchart shown in FIG. 4, the flow of processing according to the present disclosure performed by the boarding / alighting control unit 22 will be described. In response to the determination that the boarding / alighting control unit 22 is in the boarding / alighting possible state, as the process according to the present disclosure, first, the autonomous mobile body M is boarding the elevator 2 based on the boarding state information 3e. It is determined whether or not it is in a state (step S11). If it is determined in step S11 that the autonomous mobile body M is not in the elevator 2 (steps S11, NO), the process proceeds to step S12 to determine whether the elevator 2 can continue to get on and off. Determine (step S12). When it is determined that the autonomous mobile body M is not in the elevator 2 state, for example, it is conceivable that the autonomous mobile body M cannot board due to some obstacle on the boarding route. Further, in step S12, whether or not the vehicle can get on and off is determined by referring to the car position information 1c and the door opening / closing information 1d stored in the second storage unit 28, and the autonomous moving body M is transported. This is done by determining whether the car 4 assigned to the request has arrived at the departure floor for the transportation request and the door 6 between the car 4 and the landing 5 is open. If it is determined in step S12 that the vehicle is not in the boarding / alighting state, for example, if the door 6 is closed while the autonomous mobile body M is not in the elevator 2 (step S12, NO), the process ends there. .. On the other hand, if it is determined that the passenger can continue to get on and off (step S12, NO), the process returns to step S11.

If it is determined in step S11 that the autonomous mobile body M is in the elevator 2 (YES in steps S11), whether or not the door 6 is in the open state based on the door opening / closing information 1d. Is determined (step S13). If it is determined in step S13 that the door 6 is not in the open state (step S13, NO), the process proceeds to step S12, and the processes after step S12 are performed. On the other hand, in step S13, when it is determined that the door 6 is in the open state (step S13, YES), the operation information 1e is compared with the specific operation information 2a, so that the operation predetermined by the user U is performed. Is determined (step S14).

If it is determined in step S14 that the predetermined operation has not been performed (step S14, NO), the process proceeds to step S12, and the processes after step S12 are performed. On the other hand, if it is determined in step S14 that a predetermined operation has been performed (step S14, YES), a series of processes for disembarking the autonomous mobile body M from the car 4 is performed (step S15), and the process is performed. To finish. As a series of processes for disembarking the autonomous mobile body M from the car 4, first, a disembarkation request signal for disembarking the autonomous mobile body M from the car 4 is generated and transmitted to the autonomous mobile body control device 30 and the door. A signal requesting that 6 be kept open is generated and transmitted to the elevator control device 10. Then, when the autonomous mobile body control device 30 receives the boarding state information 3e indicating that the autonomous mobile body M has disembarked from the elevator 2, it generates a signal for canceling the request to keep the door 6 open. It is transmitted to the elevator control device 10.

Each configuration of the elevator boarding / alighting control device 20 is composed of a computer having a processor 51, a memory 52, and a signal input / output unit 53 as shown in FIG. The functions of the second communication unit 21, the boarding / alighting control unit 22, and the notification unit 23 are realized by this computer. That is, the memory 52 of the computer stores a program (elevator boarding / alighting control program) for realizing the functions of the second communication unit 21, the boarding / alighting control unit 22, and the notification unit 23. Further, various information stored in the second storage unit 28 is stored in the memory 52. The processor 51 executes arithmetic processing related to the function of the elevator boarding / alighting control device 20 based on the program stored in the memory 52.

FIG. 6 is a block diagram showing a configuration example of the autonomous mobile control device 30. As shown in FIG. 6, the autonomous mobile control device 30 includes a third communication unit 31, a movement plan creation unit 32, an autonomous mobile control unit 33, and a third storage unit 38.

The third communication unit 31 connects to the network 9 to perform communication. The third communication unit 31 tells the elevator boarding / alighting control device 20 that the transport request information 3d regarding the transport request of the autonomous mobile body M and the boarding state information indicating whether or not the autonomous mobile body M is in the elevator 2. 3e etc. are transmitted.

Further, the third communication unit 31 receives information on the car 4 assigned to the transportation request of the autonomous mobile body M from the elevator boarding / alighting control device 20, a boarding request signal for getting the autonomous mobile body M into the car 4, and autonomous. Receives a disembarkation request signal or the like for disembarking the moving body M from the car 4.

The movement plan creation unit 32 creates a movement plan according to the purpose (for example, cleaning, security, mailing) of the autonomous moving body M with reference to the map information 3a stored in the third storage unit 38. Here, the movement plan means the movement route and schedule of the autonomous mobile body M in the building. The movement plan information 3b regarding the created movement plan is stored in the third storage unit 38.

The autonomous mobile body control unit 33 controls the operation of the autonomous mobile body M. The autonomous mobile body control unit 33 controls to move the autonomous mobile body M according to the movement plan created by the movement plan creation unit 32 while referring to the autonomous mobile body position information 3c regarding the position of the autonomous mobile body M. I do. The autonomous mobile body position information 3c is stored in the third storage unit 38 and is updated as needed. Further, when the movement plan includes boarding / alighting on the elevator 2, the autonomous mobile body control unit 33 generates transport request information 3d regarding the transport request of the autonomous mobile body M and transmits it to the elevator boarding / alighting control device 20. Then, the autonomous mobile body control unit 33 receives the information of the car 4 assigned to the transportation request from the elevator boarding / alighting control device 20, and moves the autonomous mobile body M to the boarding standby position near the assigned car 4.

After that, the autonomous mobile body control unit 33 receives the boarding request signal from the elevator boarding / alighting control device 20, and moves the autonomous mobile body M to the boarding position in the car 4. When the movement related to the riding of the autonomous moving body M is completed, the autonomous moving body control unit 33 transmits the riding state information 3e indicating that the autonomous moving body M is in the elevator 2 riding state. The riding state information 3e indicating whether or not the autonomous moving body M is in the elevator 2 is stored in the third storage unit 38, and is accompanied by a change in the riding state of the autonomous moving body M in the elevator 2. , Updated from time to time.

After that, the autonomous mobile control unit 33 receives the disembarkation request signal from the elevator boarding / alighting control device 20, and moves the autonomous mobile M from the car 4 to the landing 5. When the movement related to the disembarkation of the autonomous mobile body M is completed, the autonomous mobile body control unit 33 transmits the boarding state information 3e indicating that the autonomous mobile body M has disembarked from the elevator 2. When the autonomous mobile body M is disembarked from the car 4 on a floor other than the destination floor related to the transportation request of the autonomous mobile body M for some reason, the autonomous mobile body control unit 33 starts from the elevator boarding / alighting control device 20. The information of the car 4 assigned to the transportation request of M is received again, and the autonomous moving body M is moved to the boarding standby position near the assigned car 4.

As described above, the elevator boarding / alighting control device 20 is determined to be in a state in which the autonomous mobile body M is in the elevator 2, is determined to be in a state in which the door 6 of the elevator 2 is open, and is in an elevator. In the first input means 7a or the second input means 7b provided in 2, the intention of the user U who desires to prioritize the transportation of the user U over the transportation of the autonomous mobile body M is expressed in advance. When it is determined that the predetermined operation has been performed, a disembarkation request signal for disembarking the autonomous mobile body M is generated from the car 4 of the elevator 2. As a result, the autonomous mobile body M gets off, and the user U can get on the car 4 instead of the autonomous mobile body M and move to the destination floor. That is, the elevator boarding / alighting control device 20 is adjusted to prioritize the transportation of the user only when the user desires. In other words, if the user does not wish, such adjustment is not made, and for the sake of transportation efficiency, the transportation of the autonomous mobile body M may be prioritized even if the convenience of the user is sacrificed to some extent. Therefore, it is possible to prevent a decrease in the transportation efficiency of the elevator system as a whole while ensuring the convenience of the user U.

[Second Embodiment]
Hereinafter, the second embodiment will be described. In the second embodiment, when the boarding / alighting control unit 22 satisfies the predetermined condition as the process according to the present disclosure, instead of the process of disembarking the autonomous mobile body M from the elevator 2 when the predetermined condition is satisfied. It differs from the first embodiment in that processing such as canceling the transportation request of the autonomous mobile body M is performed. In the following description, only the differences will be described, and the description of the same configuration as that of the first embodiment will be omitted.

As a process according to the present disclosure, the boarding / alighting control unit 22 causes the car 4 assigned to the transportation request of the autonomous mobile body M to arrive at the departure floor related to the transportation request, and the door 6 between the car 4 and the landing 5. In a state where it is necessary to execute a process that prioritizes the transportation of the user U over the transportation of the autonomous mobile M from the time when the is opened (the state where boarding / alighting is possible) to the completion of the transportation of the autonomous mobile M. It monitors whether or not there is, and if it is in such a state, the registration of the transportation request of the autonomous mobile body M is canceled once and the transportation of the user U is completed so that the transportation of the user U is prioritized. After that, the process of registering again is performed.

Specifically, the boarding / alighting control unit 22 refers to the boarding state information 3e, the operation information 1e, and the specific operation information 2a stored in the second storage unit 28, and the autonomous moving body M gets on the elevator 2. In addition, the first input means 7a provided in the car 4 of the elevator 2 monitors whether or not a predetermined operation has been performed by the user U. In such a state, a signal requesting cancellation of the registration of the transportation request of the autonomous moving body M is generated and transmitted to the elevator control device 10. The signal requesting the cancellation of the registration of the transportation request corresponds to the registration cancellation signal of the present disclosure.

After that, the boarding / alighting control unit 22 refers to the transportation request registration information 1a and the car position information 1c stored in the second storage unit 28, and the car 4 assigned to the autonomous mobile body M is the destination of the user U. It monitors whether or not it has arrived at the floor, and when it arrives at the destination floor of the user U, it again transmits the transportation request information 3d regarding the transportation request of the autonomous mobile body M to the elevator control device 10. This transportation request information 3d corresponds to the registration signal of the present disclosure.

Here, with reference to the flowchart shown in FIG. 7, the flow of processing according to the present disclosure performed by the boarding / alighting control unit 22 will be described. In response to the determination that the boarding / alighting control unit 22 is in the boarding / alighting possible state, as the process according to the present disclosure, first, the autonomous mobile body M is boarding the elevator 2 based on the boarding state information 3e. It is determined whether or not it is in a state (step S21). If it is determined in step S21 that the autonomous mobile body M is not in the elevator 2 (steps S21, NO), the process proceeds to step S22 to determine whether or not the transportation of the autonomous mobile body M has been completed. Determine (step S22). If it is determined in step S22 that the transportation of the autonomous mobile body M is completed (step S22, YES), the process ends there. On the other hand, if it is determined that the transportation of the autonomous mobile body M is not completed (step S22, NO), the process returns to step S21.

In step S21, when it is determined that the autonomous mobile body M is in the elevator 2 (step S21, YES), the operation information 1e is compared with the specific operation information 2a, so that the car of the elevator 2 is used. In the first input means 7a provided in 4, it is determined whether or not a predetermined operation has been performed by the user U (step S23).

If it is determined in step S23 that the predetermined operation has not been performed (step S23, NO), the process proceeds to step S22, and the processes after step S22 are performed. On the other hand, if it is determined in step S23 that a predetermined operation has been performed (step S23, YES), the boarding / alighting control unit 22 generates a signal requesting cancellation of the registration of the transportation request of the autonomous mobile body M. The signal is transmitted to the elevator control device 10 (step S24).

Next, the boarding / alighting control unit 22 determines whether or not the car 4 assigned to the autonomous mobile body M has arrived at the destination floor of the user U with reference to the transportation request registration information 1a and the car position information 1c (). Step S25). The boarding / alighting control unit 22 repeats the determination in step S25 until it is determined that the user U has arrived at the destination floor, and when it is determined that the user U has arrived at the destination floor (step S25, YES), the boarding / alighting control unit 22 autonomously performs the determination. The transport request information 3d relating to the transport request of the mobile body M is transmitted to the elevator control device 10 again (step S26), and the process ends.

As described above, the elevator boarding / alighting control device 20 according to the second embodiment is determined to be in a state where the autonomous mobile body M is in the elevator 2, and is provided in the car 4 of the elevator 2. In the first input means 7a or the second input means 7b provided, it is predetermined to represent the intention of the user U who desires to prioritize the transportation of the user U over the transportation of the autonomous mobile body M. Cancel registration of destination floor information of autonomous mobile M so that user U is prioritized over transportation of autonomous mobile M by elevator 2 when it is determined that an operation has been performed. When a signal is generated, and then it is determined by the destination floor information of the user U and the car position information 1c of the elevator 2 that the car 4 of the elevator 2 has arrived at the destination floor of the user U, the autonomous moving body. Since the registration signal for re-registering the transportation request of M is generated, the adjustment for giving priority to the transportation of the user is made only when the user desires. In other words, if the user does not wish, such adjustment is not made, and for the sake of transportation efficiency, the transportation of the autonomous mobile body M may be prioritized even if the convenience of the user is sacrificed to some extent. Therefore, it is possible to prevent a decrease in the transportation efficiency of the elevator system as a whole while ensuring the convenience of the user U.

In the first embodiment, the boarding / alighting control unit 22 of the elevator boarding / alighting control device 20 performs a process of disembarking the autonomous mobile body M from the elevator 2 when a predetermined condition is satisfied as the process according to the present disclosure. The case will be described, and in the second embodiment, when the boarding / alighting control unit 22 of the elevator boarding / alighting control device 20 satisfies a predetermined condition as the process according to the present disclosure, the transportation request of the autonomous mobile body M is temporary. The case of performing the cancellation process has been described, but the present invention is not limited to this. For example, the boarding / alighting control unit 22 of the elevator boarding / alighting control device 20 simultaneously performs both the process described in the first embodiment and the process described in the second embodiment as the process according to the present disclosure. It may be an alternative.

Further, in each of the above embodiments, the elevator boarding / alighting control device 20 is configured independently of both the elevator control device 10 and the autonomous mobile control device 30, and the elevator control device 10 and the autonomous mobile control device 30 are combined. The case where the autonomous mobile body M is controlled to get on and off the elevator 2 based on the communication has been described, but the present invention is not limited to this. For example, a configuration that realizes each function of the elevator boarding / alighting control device 20 is incorporated in the elevator control device 10, and the built-in configuration allows cooperation with other configurations of the elevator control device 10 and communication with the autonomous mobile control device 30. Based on the above, the autonomous moving body M may be controlled to get on and off the elevator 2. Similarly, a configuration that realizes each function of the elevator boarding / alighting control device 20 is incorporated into the autonomous mobile control device 30, and the built-in configuration allows cooperation with other configurations of the autonomous mobile control device 30 and the elevator control device 10. The boarding / alighting of the autonomous mobile body M in the elevator 2 may be controlled based on the communication with the elevator 2.

Further, in each of the above embodiments, the notification unit 23 uses the first input means 7a or the second input means 7b rather than transporting the autonomous mobile body M by performing a predetermined operation by the user U. The case where the display information 2b for displaying the information that the transportation of the person U can be prioritized on either or both of the first display means 8a and the second display means 8b will be described. However, it is not limited to this. The notification unit 23 announces the above information from a speaker provided in the car 4 of the elevator 2 or at the landing 5, or transmits and displays the above information to a mobile terminal carried by the user U. , The above information may be notified to the user U.

Further, in each of the above embodiments, the boarding / alighting control unit 22 generates a signal requesting that the autonomous mobile body M keep the door 6 open when getting on or off the elevator 2, and the elevator control device 10 Although the case where the product is to be transmitted to the user has been described, this request may be omitted as appropriate.

1 Autonomous mobile body-elevator cooperation system 2 Elevator 3 Hoistway 4 Car 5 Landing 6 Door 9 Network 10 Elevator control device 11 1st communication unit 12 Operation detection unit 13 Transportation request management unit 14 Car allocation unit 15 Elevator control unit 16 Display Control unit 18 First storage unit 1a Transport request registration information 1b Car allocation information 1c Car position information 1d Door opening / closing information 1e Operation information 20 Elevator boarding / alighting control device 21 Second communication unit 22 Boarding / alighting control unit 23 Notification unit 28 Second Storage unit 2a Specific operation information 2b Display information 30 Autonomous moving body control device 31 Third communication unit 32 Movement plan creation unit 33 Autonomous moving body control unit 38 Third storage unit 3a Map information 3b Movement plan information 3c Autonomous moving body position Information 3d Transportation request information 3e Boarding status information 51 Processor 52 Memory 53 Signal input / output unit 7a First input means 7b Second input means 8a First display means 8b Second display means

Claims

Riding state information indicating whether or not the autonomous moving body is in the elevator, operation information regarding the operation of the user in the input means provided in connection with the elevator, and the open / closed state of the elevator door. Information acquisition means for acquiring door opening / closing information,
Based on the riding state information, it is determined that the autonomous moving body is in the elevator, and based on the door opening / closing information, it is determined that the elevator door is open, and the operation. For an autonomous mobile body including a boarding / alighting control means for generating a disembarkation request signal for disembarking the autonomous mobile body from the elevator when it is determined from the information that a predetermined operation has been performed in the input means. Elevator boarding / alighting control device.
The operation information includes information regarding the operation of the user performed in the car of the elevator.
The information acquisition means further acquires the destination floor information of the user and the position information of the car of the elevator.
The boarding / alighting control means is determined to be in a state in which the autonomous moving body is in the elevator based on the boarding state information, and is predetermined in the elevator car based on the operation information. When it is determined that the operation has been performed, a registration cancellation signal for canceling the registration of the destination floor information of the autonomous moving body is generated, and then further based on the destination floor information of the user and the position information of the elevator car. The autonomous mobile body according to claim 1, which generates a registration signal for re-registering the destination floor information of the autonomous mobile body when it is determined that the elevator car has arrived at the destination floor of the user. Elevator boarding / alighting control device.
Riding state information indicating whether or not the autonomous moving body is in the elevator, and information on the user's operation in the input means provided in connection with the elevator, which is performed in the elevator car. An information acquisition means for acquiring operation information including information on the operation of the user, destination floor information of the user, and position information of the elevator car.
Based on the riding state information, it is determined that the autonomous moving body is in a state of being in the elevator, and based on the operation information, it is determined that the predetermined operation has been performed in the elevator car. When this is done, a registration cancellation signal for canceling the registration of the destination floor information of the autonomous moving body is generated, and then the elevator car is moved by the user's destination floor information and the position information of the elevator car. An elevator boarding / alighting control device for an autonomous moving body provided with a boarding / alighting control means for generating a registration signal for re-registering the destination floor information of the autonomous moving body when it is determined that the user has arrived at the destination floor.
The information acquisition means further acquires door opening / closing information regarding the opening / closing state of the elevator door.
The boarding / alighting control means determines that the autonomous moving body is in the elevator based on the boarding state information, and determines that the elevator door is open based on the door opening / closing information. The autonomy according to claim 3, wherein a disembarkation request signal for disembarking the autonomous moving body is generated from the elevator when it is determined from the operation information that the predetermined operation has been performed. Elevator boarding / alighting control device for mobile objects.
The predetermined operation is a first operation in which one button is continuously pressed for a predetermined time or longer when the input means has a button, and a second operation in which two or more buttons are simultaneously pressed when the input means has a button. The second operation, the third operation of pressing two or more buttons in a predetermined order when the input means has buttons, and the third operation of pressing the two or more buttons in a predetermined order when the input means is a touch panel, the screen of the touch panel is moved to a predetermined direction or locus with a finger. The elevator boarding / alighting control device for an autonomous moving body according to any one of claims 1 to 4, which includes any of the fourth operations of tracing.
The user can prioritize the movement of the user to the destination floor over the movement of the autonomous moving body to the destination floor by performing the predetermined operation in the elevator car. The elevator boarding / alighting control device for an autonomous mobile body according to any one of claims 1 to 5, further comprising a notification means for notifying the user.