JP6682672B1 - Elevator system, elevator group management control device, and elevator number allocation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an elevator system, an elevator group management control device and an elevator machine number allocation method capable of avoiding generation of useless response to a hall call of an autonomous mobile body. An elevator system including an autonomous moving body and an elevator group management control device that performs group management control of a plurality of elevators allowed to ride on the autonomous moving body and a user. A mobile body call acquisition means for acquiring the registered hall call as a mobile body call, a car interior state prediction means for predicting the state inside the car when each car responds to the acquired mobile body call, and a predicted car Based on the internal state, the shape information of the autonomous moving body, and the traveling information of the autonomous moving body, it is determined whether or not the autonomous moving body can get in each car, and the boarding possibility information is generated. And means for deciding an allocation candidate number based on the boarding availability information and allocating the number to the autonomous mobile body. [Selection diagram] Figure 2

Description

  The present invention relates to an elevator system, an elevator group management control device, and an elevator car number allocation method.

  Conventionally, when an autonomous mobile robot (autonomous mobile body) that moves autonomously uses an elevator, it waits until a general user does not use it, switches to robot dedicated operation, and only the autonomous mobile robot operates. I try to get in the car and move around.

  In some cases, the riding of the autonomous mobile robot with the user is permitted, and after the car responds to the hall call (also called “moving body call” or “robot call”) from the autonomous mobile robot, There is also a technology that checks the inside of the car while the door is open to determine if it is possible to board.

JP, 4-324471, A JP2012-17184A

  If the autonomous mobile robot is allowed to ride with the user, it is necessary to consider the number of people in the car and the size of the autonomous mobile robot.

  However, conventionally, after the car responds to the robot call, it is determined whether the autonomous mobile robot can board. For this reason, if the autonomous mobile robot cannot get in, there is a problem that the response becomes useless and the operation efficiency deteriorates.

  An embodiment of the present invention has an object to provide an elevator system, an elevator group management control device, and an elevator machine number allocation method capable of avoiding generation of useless response to a hall call of an autonomous mobile body.

  Embodiments of the present invention include an autonomous mobile body having a function of autonomously moving, and an elevator group management control device that performs group management control of a plurality of elevators allowed to ride together with the autonomous mobile body. An elevator system comprising: a mobile body call acquisition means for acquiring a landing call registered by the autonomous mobile body as a mobile body call; and a state in the car when each car responds to the acquired mobile body call. Whether or not it is possible for the autonomous mobile body to get into each car based on the predicting in-car state predicting means, the predicted in-car state, the shape information of the autonomous moving body, and the traveling information of the autonomous moving body. Boarding propriety information generating means for generating the boarding propriety information based on the judgment, and an allocation machine number deciding means for narrowing down allocation candidate machines based on the boarding propriety information and allocating the machine to the autonomous mobile body. , Comprising a.

The schematic diagram about the composition of the elevator system concerning the 1st embodiment-6th embodiment of the present invention. The block diagram which shows schematic structure of the elevator group management control apparatus concerning 1st Embodiment of this invention. 3 is a flowchart showing a processing procedure at the time of allocation according to the first embodiment of the present invention. 6 is a flowchart showing a processing procedure at the time of reviewing allocation according to the first embodiment of the present invention. Explanatory drawing which shows the operation image concerning 1st Embodiment of this invention. The block diagram which shows schematic structure of the elevator group management control apparatus concerning 2nd Embodiment of this invention. The flowchart which shows the process procedure at the time of the allocation concerning 2nd Embodiment of this invention. Explanatory drawing which shows the operation image concerning 2nd Embodiment of this invention. The block diagram which shows the schematic structure of the elevator group management control apparatus concerning 3rd Embodiment of this invention. The flowchart which shows the process procedure at the time of the allocation concerning 3rd Embodiment of this invention. Explanatory drawing which shows the operation image concerning 3rd Embodiment of this invention. The block diagram which shows schematic structure of the elevator group management control apparatus concerning 4th Embodiment of this invention. The flowchart at the time of the allocation concerning 4th Embodiment of this invention. Explanatory drawing which shows the operation image concerning 4th Embodiment of this invention. The block diagram which shows schematic structure of the elevator group management control apparatus concerning 5th Embodiment of this invention. The flowchart which shows the process procedure at the time of the allocation concerning 5th Embodiment of this invention. Explanatory drawing which shows the operation image concerning 5th Embodiment of this invention. The block diagram which shows schematic structure of the elevator group management control apparatus concerning 6th Embodiment of this invention. The flowchart which shows the process procedure at the time of the allocation concerning 6th Embodiment of this invention.

<Outline of Embodiment>
When the autonomous mobile robot moves, it operates by considering the range and route that it can move. At this time, the autonomous mobile robot observes the surrounding environment with an obstacle sensor or the like, and determines the traveling direction or the like based on the sensor information. Instead of the sensor information, the information on the inside of the car is acquired on the side of the elevator and transmitted on the side of the autonomous mobile robot, whereby it becomes possible for the autonomous mobile robot to calculate the travel route and judge whether or not the passenger can board.

  The information given to the autonomous mobile robot from the elevator side is image information showing an empty space in the car, information such as the number in the car, and the scale of the image. However, it is not necessary to present the information about the scale of the image to the autonomous mobile robot side if it is arranged in advance with the autonomous mobile robot side.

  In the elevator system of the embodiment, an image showing an empty space in the car is output to the autonomous mobile robot. This image data is generated based on an image acquired by a surveillance camera in a car, a door camera for a smart door, a laser sensor, or the like. The camera image is updated at any time when all the doors are closed.

  When the camera image data in the car is acquired, it is compared with an image in which the car is empty. If the change in the image is greater than or equal to the threshold, it is assumed that there is an obstacle at that location. If the change is small, consider it as an empty space. By this operation, an image in which the area with the obstacle is painted black and the area without the obstacle is painted white is generated. In order to perform this operation, the elevator side periodically acquires and holds an image of the inside of the car in a state where the inside of the car is empty.

≪Reason why the autonomous mobile robot decides whether to board the vehicle≫
In the first to fifth embodiments, the autonomous mobile robot side determines whether or not the passenger can board the vehicle. Depending on the type of autonomous mobile robot, there are also autonomous mobile robots that have restrictions when moving. For example, an autonomous mobile robot that moves by turning the steering wheel cannot turn on the spot. In addition, there are various conceivable conditions for ending the operation of getting on the car. The size (size) of the autonomous mobile robot may be different depending on the round trip route. For example, the robot size is different between the outward route where the luggage is loaded and the backward route where the luggage is unloaded. For this reason, the autonomous mobile robot side is more reliable than the elevator side passenger availability calculation and more accurate results can be obtained. Therefore, only the information is presented from the elevator side, and the autonomous mobile robot side determines whether or not to board the vehicle.

≪Judgment operation on the autonomous mobile robot side≫
The autonomous mobile robot that has acquired the in-car information from the elevator side determines whether or not it is possible to board the in-car information of each car, and returns the result to the elevator side.

  When the autonomous mobile robot moves, the autonomous mobile robot acquires external information in two dimensions (2D) and three dimensions (3D) to calculate a travel route. In the case of an autonomous mobile robot that makes a determination in 2D, it is possible to calculate a travel route and determine whether or not it is possible to board by virtually performing travel processing on image information from an elevator. it can. If the autonomous mobile robot makes the determination in 3D, it is possible to calculate the travel route by extending the image information from the elevator in the height direction to make it 3D. The autonomous mobile robot side transmits to the elevator side the number of the car and the availability of boarding as a result of the determination. The elevator side selects the assignable number based on the information obtained from the autonomous mobile robot side.

<First Embodiment>
FIG. 1 is an explanatory diagram showing a configuration of an elevator system common to each embodiment.

  As shown in FIG. 1, the elevator system 1 (1A to 1F) includes an autonomous mobile robot 100 (100A, 100B), an elevator group management control device 200 (200A to 200F), and an elevator control device 300 of each unit. I have it. The elevator system 1 (1A to 1F) considers the efficiency of riding with a user when the autonomous mobile robot 100 (100A, 100B) uses a plurality of cars 10. In each of the following embodiments, a landing call registered by the autonomous mobile robot 100 that is an autonomous moving body is referred to as a robot call.

  The car 10 includes a car door 20, a car call registration device 30, and an in-car observation device 40. The car call registration device 30 inputs a car call or the like set near the car door 20. The in-car observation device 40 is composed of an in-car camera, a door camera installed above the car door, and the like in order to grasp the congestion situation in the car. In addition, a hall call registration device 70 is installed near the hall door 60 in the hall 50 of the elevator to register the hall call.

  FIG. 2 is a block diagram showing the configuration of the first embodiment.

  As shown in FIG. 2, the autonomous mobile robot 100A includes a robot call transmitting unit 101, an in-cab information receiving unit 102, a robot shape setting unit 103, a robot travel information setting unit 104, a boarding possibility determining unit 105, The boarding permission transmission unit 106 is provided.

  The robot call transmitting unit 101 wirelessly transmits the hall call of the autonomous mobile robot 100A as a robot call to the elevator group management control device 200A. Note that the robot call is not limited to wireless transmission and may be wired transmission. Alternatively, a call operation from a hall call button may be performed.

  The in-car information receiving unit 102 receives the in-car information from the in-car observation device 40 of the car 10 via the elevator group management control device 200A.

  The robot shape setting unit 103 stores information regarding the shape such as the size and size of the autonomous mobile robot 100A as robot shape information.

  The robot traveling information setting unit 104 sets traveling information such as a traveling route of the autonomous mobile robot 100A.

  The boarding possibility determination unit 105 determines the autonomous mobile robot 100A based on the car information received by the car information receiving unit 102, the robot shape information from the robot shape setting unit 103, and the robot traveling information from the robot traveling information setting unit 104. Determines whether the passenger can get into the car 10.

  The boarding availability transmitting unit 106 wirelessly transmits the boarding availability determination result of the boarding availability determination unit 105 to the elevator group management control device 200A.

  The elevator group management control device 200A includes an elevator information management unit 201, an elevator car information setting unit 202, a landing call reception unit 203, an allocation candidate car evaluation unit 204, an allocation car determination unit 205, and an elevator control command output unit. 206, a robot call receiving unit 207, a car information processing unit 208, a car information transmitting unit 209, a boarding availability receiving unit 210, and an allocation change requesting unit 211.

  The elevator information management unit 201 operates information about each car 10 that changes according to the operation of the elevator from each car 10 via each elevator control device 300 that executes control for each elevator, and elevator number information. The unique information for each elevator machine acquired from the setting unit 202 is sequentially updated and managed.

  The elevator machine information setting unit 202 records unique information of the elevator machine related to the specifications of the elevator machine including at least the elevator stop floor and the number of passengers in each car.

  The hall call reception unit 203 acquires the registration state including the floor and the destination direction of the hall call from the hall call registration device 70 installed in the hall on each floor of the building, and after the car responds to the hall call, the hall calls. The landing call registration status is maintained until the call is cleared.

  The allocation candidate machine evaluation unit 204 acquires the hall call registration state from the hall call reception unit 203. Further, the registration state of the robot call is acquired from the robot call receiving unit 207. Furthermore, the boarding availability information of the autonomous mobile robot 100A for each car 10 is acquired from the boarding availability receiving unit 210. The car position, the load inside the car, and the like are acquired from the elevator information management unit 201. Then, based on the acquired information, it is calculated whether or not the car can be allocated, and a candidate car for allocation is obtained. In addition, in the case of a robot call, based on the boarding possibility information of the autonomous mobile robot 100A, the car that has not been boarded is excluded from the candidate cars and it is determined which car should be assigned the hall call. At the time of assignment, the estimated arrival time at the hall call is taken into consideration, and the evaluation value is calculated so that the evaluation of the car with the short estimated arrival time is improved.

  The assigned car number determination unit 205 acquires the evaluation value of each car 10 calculated from the assigned candidate device evaluation unit 204 based on the response time to the hall call and the robot call. Then, the assigned car is determined so that the car 10 having the best evaluation value among the cars 10 is preferentially allocated.

  The elevator control command output unit 206 is the information from the assigned car number determination unit 205, such as information on floors and directions for registration of hall calls and robot calls to be assigned, and the car 10 to which the registered hall calls and robot calls are assigned. To get information. Then, a command is output to the elevator control device 300 of each car 10 to respond to the hall call or robot call assignment.

  The robot call receiving unit 207 acquires a robot call for calling an elevator from the autonomous mobile robot 100A, and holds the robot call registration state until the car 10 responds to the robot call and the robot call is canceled.

  The in-car information processing unit 208 acquires information inside each car 10 from the in-car observation device 40 installed in each car 10, and acquires the door open / closed state of the car 10 from the elevator information management unit 201. Then, after each car 10 responds to the call and opens the door, the information inside each car 10 at the timing when the door is completely closed is acquired and processed into information in a format that can be transmitted to the autonomous mobile robot 100A. To do.

  The in-car information transmitting unit 209 acquires the registration state of the robot call from the robot call receiving unit 207, and also acquires information on the inside of the car 10 after processing from the in-car information processing unit 208. Then, after the robot call is registered, the car information of each car is transmitted to the autonomous mobile robot 100A at the timing when the car information is updated until the robot call is canceled.

  The boarding possibility receiving unit 210 acquires, from the autonomous mobile robot 100 </ b> A, the result of determining whether the boarding is possible or not for the car interior information of each car 10 transmitted from the car interior information transmitting unit 209.

  The allocation change requesting unit 211 acquires the registration state of the robot call from the robot call receiving unit 207, and also acquires the information of the car 10 to which the robot call is allocated from the allocation number determining unit 205. Then, the information on whether or not the autonomous mobile robot 100A can get on each car 10 is acquired from the boarding possibility receiving unit 210, and the autonomous mobile robot 100A cannot enter the car 10 that is scheduled to respond to the robot call. At this time, the allocation candidate machine evaluation unit 204 is requested to allocate again.

  The elevator control device 300 controls traveling of each elevator individually, is connected to the car call registration device 30 of the car 10, the in-car observation device 40, and the hall door 60, and also controls the elevator group management control device 200 ( 200A to 200E).

<< Operation of First Embodiment >>
Next, the operation of the first embodiment will be described with reference to the flowcharts of FIGS. 3 and 4 and the explanatory view of FIG.

  FIG. 3 shows a procedure for assigning machine numbers in the first embodiment.

  When the autonomous mobile robot 100A moves between floors in a building using an elevator, the robot call transmission unit 101 wirelessly transmits a robot call to the elevator group management control device 200A (step S101).

  Upon receiving the robot call from the autonomous mobile robot 100A, the robot call reception unit 207 of the elevator group management control device 200A registers the robot call and outputs the registration state to the allocation candidate unit evaluation unit 204 and the in-car information transmission unit 209. (Step S102).

  On the other hand, the in-car information processing unit 208 of the elevator group management control device 200A acquires information from the in-car observation device 40 of each car 10, records the information in the car after the door is closed, and the autonomous mobile robot 100A. It is processed into a format (information in the car) to be transmitted to (steps S105, S106). Then, when there is a request to output the in-car information from the in-car information transmitting unit 209, the in-car information is output (steps S107 and S108).

  The boarding possibility determining unit 105 of the autonomous mobile robot 100A receives the car interior information from the car interior information receiving unit 102 (step S109), and determines the boarding availability (steps S110 and S111). The determination result is transmitted from the boarding possibility transmitting unit 106 to the boarding possibility receiving unit 210 (step S112).

  The allocation candidate vehicle evaluation unit 204 acquires the car information from the elevator information management unit (step S103) and receives the boarding possibility information via the boarding possibility receiving unit 210 (step S113). Then, the allocation candidate vehicle evaluation unit 204 removes the boarding / non-emission vehicles from the robot call allocation candidates, and then calculates an evaluation value considering the estimated arrival time and the like (steps S114 and S115). The calculated evaluation value is output to the assigned number determination unit 205. The assigned number determination unit 205 determines the assigned number from the evaluation value and outputs it to each elevator control device 300 via the elevator control command output unit 206 (steps S116 to S119).

  FIG. 4 is a flow chart showing a process of reviewing machine number allocation in the first embodiment. In FIG. 4, the same processing steps as those in the flowchart of FIG. 3 are designated by the same step numbers, and the description thereof will be omitted.

  In the processing of steps S110 to S112 from the boarding availability determination unit 105, when the boarding availability determination processing is performed and the result is output, the allocation change requesting unit 211 confirms the boarding availability status of the robot call assigned car ( Step S120). Then, if the autonomous mobile robot 100A refuses to board the assigned car, a reassignment request is output (step S121). Then, the allocation candidate car evaluation unit 204 executes the car information acquisition process of step S103 shown in FIG. 3 and further executes the allocation processes of steps S113 to S116 to output (step S122). The elevator control command output unit 206 acquires the assigned number via the assigned number determination unit 205 and outputs the assigned number to each elevator control device (steps S123 and S119).

  FIG. 5 is an explanatory diagram showing an operation image of the first embodiment.

  In FIG. 5, ▼ indicates a hall call registration, ▽ indicates a hall call assignment, ◯ indicates a car call registration, and ◎ indicates a destination floor of the autonomous mobile robot 100A. As shown in FIG. 5, it is assumed that the third floor has a robot call with the B1 floor as the destination floor, and the second floor has a user call to the lower floor. In addition, a hall call is assigned to the third floor on the third floor, and a car call is registered on the first floor. A hall call is assigned to the second floor of the B car, and a car call is registered to the B1 floor. The car call is registered on the 5th floor of Unit C. Unit A is traveling from the 7th floor to the 6th floor, Unit B is traveling from the 6th floor to the 5th floor, and Unit C is traveling from the 1st floor to the 1st floor. As the state of the inside of the car of each car, the baggage and the baggage carrier are recognized from the camera image such that the car A has one person, the machine B has five people, and the machine C has one person.

  In this state, Unit B can respond the earliest, but there is no space for the autonomous mobile robot 100A to board, judging from the state inside the car. Therefore, there is a space for the autonomous mobile robot 100A to enter, and the number A machine is assigned.

  As described above, according to the first embodiment, it is possible to assign the optimum number of machines that the autonomous mobile robot 100A can board. Therefore, it is possible to solve the conventional problem that the operation efficiency becomes poor when the passenger cannot get in and the operation efficiency is deteriorated.

<Second Embodiment>
FIG. 6 is a block diagram showing the configuration of the second embodiment.

  The second embodiment is different from the first embodiment in that it has an allocation candidate machine evaluation unit 221 in place of the allocation candidate machine evaluation unit 204 and an allocation machine determination unit 222 in place of the allocation machine determination unit 205. . Other configurations are similar to those of the first embodiment shown in FIG.

  The allocation candidate number evaluation unit 221 of the elevator group management control device 200B acquires the information on the car to which the robot call is allocated and the floor on which the robot call is registered, and the allocation candidate for the hall call registered by the user. When calculating the evaluation value of Unit No., if the floor to which the hall call to be assigned is located on the floor within the travel section until the robot call is answered, assignment is made to the car to which the robot call is assigned. A process of lowering the evaluation value of the car to which the robot call is assigned is executed so as to make it hard to be stolen.

  If the call to be assigned is a robot call, the assigned car number determination unit 222 of the elevator group management control device 200B outputs the information of the assigned car to the assigned candidate car number evaluation unit 221 and the assigned car number evaluation unit 221 outputs the information. The process of determining the assigned number based on the evaluation value is executed.

  FIG. 7 is a flowchart showing a machine number allocation process in the second embodiment.

  The allocation candidate machine evaluation unit 221 acquires information on the car to which the robot call is allocated and the floor on which the robot call is registered (S103). Then, when calculating the evaluation value of the hall call assignment candidate units registered by the user, if the floor to which the hall call to be assigned is to be registered is a floor within the traveling section until it responds to the robot call, A process of lowering the evaluation value of the car to which the robot call is allocated is executed so that the car to which the call is allocated is less likely to be allocated (steps S115 and S204).

  The assigned number determination unit 222 executes a process of determining the assigned number based on the evaluation value from the assignment candidate number evaluation unit 221 (step S117).

  FIG. 8 is an explanatory diagram showing an operation image of the second embodiment.

  In FIG. 8, a robot call having the B1 floor as the destination floor is registered on the 3rd floor, and a human call is registered on the 4th floor. It is assumed that Unit A runs downward near the 6th floor, Unit B runs upward near the 6th floor, and Unit C stops at the 3rd floor and is operating downward. In this case, the No. A machine can respond to the hall call of a person fastest. However, since Unit A is scheduled to respond to the hall call on the 3rd floor, the Unit B, which will arrive at the 4th floor sooner, is assigned.

As described above, according to the second embodiment, as in the first embodiment, it is possible to assign the optimum number of machines that the autonomous mobile robot 100A can board. Therefore, it is possible to solve the conventional problem that when the autonomous mobile robot 100A cannot be loaded, the response becomes useless and the operation efficiency deteriorates.
Also, when calculating the evaluation value of the hall call assignment candidate units registered by the user, if the floor to which the hall call to be assigned is to be registered is a floor within the traveling section until it responds to the robot call, It is made difficult to assign to the car to which the call is assigned. Therefore, it is possible to deal with the robot call while preventing the service from being degraded to the user.

<Third Embodiment>
FIG. 9 is a block diagram showing the configuration of the third embodiment.

  The third embodiment is different from the first embodiment in that a robot boarding simple determination unit 231 and a robot shape setting unit 232 are newly provided. Other configurations are similar to those of the first embodiment shown in FIG.

  The robot boarding simple determination unit 231 of the elevator group management control device 200C inputs the in-car information and the size information of the autonomous mobile robot 100A, and determines whether or not there is a free area in which the autonomous mobile robot 100A can enter. Have the function to

  The robot shape setting unit 232 of the elevator group management control device 200C registers size information such as the shape and size of the autonomous mobile robot 100A, and outputs this size information to the robot boarding simple determination unit 231.

  FIG. 10 is a flowchart showing a machine number allocation process in the third embodiment.

  In the flowchart of FIG. 10, the robot shape setting unit 232 outputs size information such as the shape and size of the autonomous mobile robot 100A to the robot boarding simple determination unit 231 (step S301). The robot boarding simple determination unit 231 inputs the in-car information and the size information of the autonomous mobile robot 100A, and determines whether or not there is a free area in which the autonomous mobile robot 100A can be placed (step S302). The processing of the following steps S109 to S119 is the same as the flowchart of FIG.

  FIG. 11 is an explanatory diagram showing an operation image of the third embodiment.

  FIG. 11 shows the information in the car. In (A), there are four passengers in the car, but since the area occupied by the autonomous mobile robot 100A determined from the size information of the autonomous mobile robot 100A can be secured, it is possible to board the autonomous mobile robot 100A. . In (B), although it is the same four passengers, it is judged that the passenger cannot board because the area occupied by the autonomous mobile robot 100A cannot be secured. In (C), one person is on board and the other one is carrying a luggage by a trolley, but since the area occupied by the autonomous mobile robot 100A can be secured, the autonomous mobile robot 100A can be boarded. In (D), the conditions are the same as in (C), but the respective arrangement positions are different from those in (C), and the area occupied by the autonomous mobile robot 100A cannot be secured. Therefore, it is determined that the Robo cannot ride.

  As described above, according to the third embodiment, as in the first embodiment, it is possible to allocate the optimum number of machines that the autonomous mobile robot 100A can board. Therefore, it is possible to solve the conventional problem that when the autonomous mobile robot 100A cannot be loaded, the response becomes useless and the operation efficiency deteriorates. Further, since the area occupied by the autonomous mobile robot 100A can be secured in the car interior based on the robot size, it is possible to reliably get on the vehicle.

<Fourth Embodiment>
FIG. 12 is a block diagram showing the configuration of the fourth embodiment.

  The difference between the fourth embodiment and the third embodiment is that a robot boarding simple judgment unit 241 is provided in place of the robot boarding simple judgment unit 231. Other configurations are similar to those of the third embodiment shown in FIG.

  The robot boarding simple judgment unit 241 of the elevator group management control device 200D has a function of judging whether or not the autonomous mobile robot 100A can board in a range excluding the area in front of the door of the car.

  FIG. 13 is a flowchart showing a machine number allocation process in the fourth embodiment.

  In the flowchart of FIG. 13, the robot boarding simple determination unit 241 determines whether or not there is an empty area into which the autonomous mobile robot 100A can enter within the range excluding the area in front of the door with respect to the input in-car information (step). S401). The in-car information having an empty area into which the autonomous mobile robot 100A is inserted is output to the in-car information transmitting unit 209 (S303). The subsequent processing is the same as that of the first embodiment shown in FIG.

  FIG. 14 is an explanatory diagram showing an operation image of the fourth embodiment.

  In (A) showing the information in the car, there are four passengers in the car, but since the area shown by the autonomous mobile robot 100A judged from the size information of the autonomous mobile robot 100A can be secured, the autonomous mobile robot 100A's It is possible to board. In (B), although it is the same four passengers, the area occupied by the autonomous mobile robot 100A can be secured only in the vicinity of the doorway in front of the door, so it is determined that the passenger cannot board. In (C), one person is on board and the other one is carrying a luggage by a trolley, but since the area occupied by the autonomous mobile robot 100A can be secured, the autonomous mobile robot 100A can be boarded. In (D), the conditions are the same as in (C), but the respective arrangement positions are different from those in (C), and if the area occupied by the autonomous mobile robot 100A is secured, it will straddle the vicinity of the doorway in front of the door. Therefore, it is determined that the Robo cannot ride.

  As described above, according to the fourth embodiment, as in the first embodiment, it is possible to assign the optimum number of machines that the autonomous mobile robot 100A can board. Therefore, it is possible to solve the conventional problem that when the autonomous mobile robot 100A cannot be loaded, the response becomes useless and the operation efficiency deteriorates. Further, by determining whether or not there is a vacant area at the entrance in front of the door of the elevator, it is possible to reliably assign the machine to the autonomous mobile robot 100A.

<Fifth Embodiment>
FIG. 15 is a block diagram showing the configuration of the fifth embodiment.

  The fifth embodiment is different from the first embodiment in that it has an allocation candidate machine evaluation unit 251 instead of the allocation candidate machine evaluation unit 204 and an allocation machine determination unit 252 instead of the allocation machine determination unit 205. Other configurations are similar to those of the first embodiment shown in FIG.

  The allocation candidate car evaluation unit 251 of the elevator group management control device 200E acquires the car call registration status of each car from the elevator information management unit 201 and acquires the car call allocation status of each car from the allocation car determination unit 252. However, when assigning the robot call, the evaluation value is set so that the evaluation of the car with a large number of landing calls and car calls to be responded from the boarding floor to the exiting floor of the autonomous mobile robot 100A becomes low. Set. This makes it possible to reduce the number of times the user gets on and off the car in which the autonomous mobile robot 100A is on.

  The assigned number determination unit 252 of the elevator group management control device 200E has a function of outputting the assigned state of the hall call of each car in addition to the function of the assigned number determination unit 205.

  FIG. 16 is a flowchart showing a machine number allocation process in the fifth embodiment.

  In the flowchart of FIG. 16, the assigned vehicle number determination unit 252 outputs the hall call assigned vehicle number information indicating the hall call assignment state of each car to the assigned candidate vehicle number evaluation unit 251 (step S501). The allocation candidate machine evaluation unit 251 acquires the car information from the elevator information management unit and also acquires the car call information of the car (S103, S502). Then, the evaluation value of the car with a large number of landing call and car call responses is set to be bad on the floor between the boarding floor and the exiting floor of the autonomous mobile robot 100A (S503). The subsequent processing is the same as in the first embodiment.

  FIG. 17 is an explanatory diagram showing an operation image of the fifth embodiment.

  In FIG. 17, a robot call having the B1 floor as the destination floor is registered on the 4th floor, and a downward human call is registered on the 2nd floor. Unit A travels downward after stopping on the 6th floor, Unit B travels downward between the 6th and 5th floors, and Unit C is on the 7th floor and is operating downwards. The car calls of the third floor and the first floor are registered in the car A, and the hall calls are assigned to the second floor. The car call on the 3rd floor is registered in Unit B. The car call on the first floor is registered in Unit C, and the hall call on the fourth floor is assigned. Looking at the inside of the car, there is one passenger in Unit A, and there is an empty area inside the car. Unit B has five passengers and no free space. Unit C has one passenger with a dolly.

  In this case, since the autonomous mobile robot 100A has no area in which the autonomous mobile robot 100A can board, it is excluded from the evaluation. The autonomous mobile robot 100A can be boarded in the A- and C-units. Comparing Unit A and Unit C, Unit A arrives at the 4th floor earlier, but the number of calls that the autonomous mobile robot 100A responds from getting on the 4th floor to heading to the B1 floor is greater than that of Unit C. Many. Therefore, the evaluation value of the car No. A is deteriorated, and the robot call is assigned to the car No. C.

  As described above, according to the fifth embodiment, as in the first embodiment, it is possible to assign the optimum number of machines that the autonomous mobile robot 100A can board. Therefore, it is possible to solve the conventional problem that when the autonomous mobile robot 100A cannot be loaded, the response becomes useless and the operation efficiency deteriorates. Further, when there is an empty area in the car where the autonomous mobile robot 100A can be boarded, a robot call can be assigned, and reliable machine assignment can be performed.

<Sixth Embodiment>
FIG. 18 is a block diagram showing the configuration of the sixth embodiment.

  In the sixth embodiment, a part of the functions that the autonomous mobile robot 100A side in the first to fifth embodiments has is provided in the group management control device side.

  That is, the elevator group management control device 200F includes a robot shape setting unit 261, a robot traveling information setting unit 262, and a boarding possibility determining unit 263. Further, the autonomous mobile robot 100B is configured to include only the robot call transmission unit 101. Other configurations are similar to those of the first embodiment shown in FIG.

  The robot shape setting unit 261 of the elevator group management control device 200F stores information regarding the shape of the autonomous mobile robot 100B, such as dimensions and size, as robot shape information.

  The robot traveling information setting unit 262 of the elevator group management control device 200F sets traveling information such as the traveling route of the autonomous mobile robot 100B.

  The boarding possibility determination unit 263 determines that the autonomous mobile robot 100B is based on the in-car information from the in-car information processing unit 208, the robot shape information from the robot shape setting unit 261, and the robot traveling information from the robot traveling information setting unit 262. It is determined whether or not the passenger can get in the car 10.

  FIG. 19 is a flowchart showing a machine number allocation process in the sixth embodiment.

  In the flowchart of FIG. 19, the robot shape setting unit 261 outputs information regarding the shape such as the size and size of the autonomous mobile robot 100B to the boarding possibility determination unit 263 as robot shape information (S601). Further, the robot traveling information setting unit 262 outputs traveling information such as the traveling route of the autonomous mobile robot 100B and the boarding completion condition to the boarding possibility determining unit 263 (S602).

  The boarding availability determination unit 263 receives the in-car information, determines the boarding availability, and outputs the boarding availability information to the allocation candidate vehicle evaluation unit (steps S603, S604, S605, and S606). The subsequent processing is the same as in the first embodiment.

  As described above, according to the sixth embodiment, as in the first embodiment, it is possible to assign the optimum number of machines that the autonomous mobile robot 100B can board. Therefore, it is possible to solve the conventional problem that when the autonomous mobile robot 100B cannot be loaded, the response becomes useless and the operation efficiency deteriorates. Further, the same process as in the first embodiment can be executed with a simple configuration in which the autonomous mobile robot 100B includes only the robot call transmitting unit 101 that transmits a robot call.

  Although some embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are also included in the invention described in the claims and the scope equivalent thereto.

1, 1A, 1B, 1C, 1D, 1E, 1F ... Elevator system, 10 ... Car, 20 ... Car door, 30 ... Car call registration device, 40 ... In-car observation device, 50 ... Elevator hall, 60 ... Hall Door, 70 ... Hall call registration device, 100, 100A, 100B ... Autonomous mobile robot, 101 ... Robot call transmission unit, 102 ... In-car information receiving unit, 103 ... Robot shape setting unit, 104 ... Robot running information setting unit, 105 ... Boarding availability determination unit, 106 ... Boarding availability transmitting unit, 200, 200A, 200B, 200C, 200D, 200E, 200F ... Elevator group management control device, 201 ... Elevator information management unit, 202 ... Elevator machine information setting unit, 203 ... Hall call acceptance unit, 204 ... Allocation candidate unit evaluation unit, 205 ... Allocation unit determination unit, 206 ... Elevator Command output unit, 207 ... Robot call receiving unit, 208 ... In-car information processing unit, 209 ... In-car information transmitting unit, 210 ... Boarding availability receiving unit, 211 ... Allocation change request unit, 221 ... Allocation candidate machine evaluation unit, 222 ... Allocation machine determination unit, 231 ... Robot riding simple determination unit, 232 ... Robot shape setting unit, 241 ... Robot riding simple determination unit, 251 ... Allocation candidate vehicle evaluation unit, 252 ... Allocation vehicle determination unit, 261 ... Robot shape setting Part, 262 ... Robot traveling information setting part, 263 ... Boarding availability determination part.

Claims (11)

An elevator system comprising an autonomous mobile body having a function of autonomously moving, and an elevator group management control device for group management control of a plurality of elevators allowed to ride together with the autonomous mobile body,
Mobile body call acquisition means for acquiring a landing call registered by the autonomous mobile body as a mobile body call,
A car state predicting means for predicting the state inside the car when each car responds to the acquired mobile body call,
Based on the predicted in-car state, the shape information of the autonomous moving body, and the traveling information of the autonomous moving body, it is determined whether or not the autonomous moving body can get on each car, and the boarding possibility information is generated. Boarding propriety information generating means,
Allocation number determining means for narrowing down the allocation candidate number based on the boarding availability information and assigning the number to the autonomous mobile body,
An elevator system comprising: The boarding possibility information generating means is provided in the autonomous mobile body, the mobile body call acquisition means, the in-car state prediction means, and the assigned number determination means is provided in the elevator group management control device,
The elevator system according to claim 1, wherein whether or not each of the cars can be boarded by the autonomous mobile body is determined on the autonomous mobile body side. The moving body call acquisition means, the in-car state prediction means, the boarding availability information generation means, and the assigned car number determination means are provided in the elevator group management control device,
The elevator system according to claim 1, wherein the elevator group management control device determines whether or not each of the cars can be boarded by the autonomous moving body. An elevator group management control device for group management control of a plurality of elevators allowed to ride together with an autonomous mobile body having a function of autonomously moving,
Stop floor of the elevator, an elevator number information setting unit that records the specific information of the elevator regarding the specifications of the elevator including at least the number of passengers in each car,
Elevator information management unit that manages while sequentially updating the operation information of each car through the elevator control device of each unit, and the unique information acquired from the elevator unit information setting unit,
From the hall call registration device installed at the hall on each floor of the building, the registration status including the floor and direction of the hall call is acquired, and the hall call is canceled until the car responds to the hall call until the hall call is canceled. A hall call reception unit that holds the registration state of
A mobile body call receiving unit that acquires a mobile body call for calling an elevator from the autonomous mobile body, and holds a registration state of the mobile body call until the mobile body call is canceled after the car responds to the mobile body call. When,
An in-car information processing unit that acquires information inside each car from an in-car observation device installed in each car and processes it into a format that can be transmitted to the autonomous mobile body,
Obtaining the registration status of the mobile body call from the mobile body call receiving unit, acquiring the information inside the car from the in-car information processing unit, and from the registration of the mobile body call to the cancellation of the mobile body call At the timing when the in-car information is updated, an in-car information transmitting unit that transmits the in-car information of each car to the autonomous mobile body,
A boarding availability receiving section for acquiring from the autonomous moving body a result of boarding availability for the in-car information of each car transmitted from the in-car information transmitting section;
A hall call registration state from the hall call reception unit, a mobile body call registration state from the mobile body call reception unit, boarding availability information of an autonomous mobile body for each car from the boarding availability reception unit, and the elevator information. Based on the elevator information from the management unit, while determining the allocation candidate number, allocation candidate number evaluation unit that calculates the evaluation value,
Based on the evaluation value of each car from the allocation candidate unit evaluation unit, an allocation unit determination unit that determines an allocation unit,
An elevator control command output unit that outputs a command to the elevator control device of each car to respond to the assignment of hall calls and mobile calls,
An elevator group management control device comprising: The allocation candidate number evaluation unit,
Acquiring the hall call registration status from the hall call reception section, acquiring the registration status of the mobile body call from the mobile body call reception section, and acquiring the boarding availability information of the mobile body for each car from the boarding availability reception section. , Has a function of obtaining candidate elevator cars for allocation by obtaining elevator information from the elevator information management unit and calculating whether or not the car can be allocated,
The allocation candidate number evaluation unit ,
In the case of the mobile body call, from the boarding possibility information of the autonomous mobile body, to remove the car that is not boarded from the candidate cars, to determine which car to allocate the hall call, to the hall call In consideration of the estimated arrival time, etc., calculate the evaluation value so that the evaluation of the car with a short estimated arrival time will be better,
The assigned machine determination unit,
Acquire the evaluation value of each car calculated from the response time to the hall call and the mobile call from the allocation candidate unit evaluation unit, and allocate the car with the highest evaluation value among the cars with priority. The assigned number is decided so that
The elevator control command output unit is a hall call that performs allocation from the assigned machine determination unit, information about a floor or running direction of registration of a mobile body call, and a car to which the registered hall call or mobile body call is assigned. , And outputs a command to the elevator control device of each car to respond to the allocation of hall calls and mobile calls,
The elevator group management control device according to claim 4, wherein.
The registration status of the mobile call is acquired from the mobile call reception unit, the information of the car to which the mobile call is allocated is acquired from the allocation machine determination unit, and each of the autonomous mobile units is acquired from the boarding availability reception unit. When the autonomous mobile body becomes unable to board the car that is going to respond to the mobile call, the allocation candidate vehicle evaluation unit is again requested to obtain the car availability information for the car. Further comprising an allocation change requesting unit for requesting allocation,
The elevator group management control device according to claim 4 or 5, characterized in that. The allocation candidate number evaluation unit,
When acquiring the information of the car to which the mobile call is allocated and the floor to which the mobile call is registered, and calculating the evaluation value of the allocation candidate unit of the hall call registered by the user, the hall to be allocated If the floor for which the call is registered is a floor that is within the travel section until the call responds to the mobile call, the mobile call will be assigned so that it will be difficult to assign it to the car to which the mobile call is assigned. Decrease the evaluation value of the assigned car,
The car that is responding to the mobile call responds to the landing call before the mobile call is responded, thereby suppressing a change in the state of the car.
The elevator group management control device according to claim 4, wherein. A mobile body shape setting unit that records information on the shape and dimensions of the autonomous mobile body,
The car interior information of each car is acquired from the car information processing unit, the shape and size information of the moving body is acquired from the moving body shape setting unit, and the autonomous operation is performed on the car inside information of each car. A vehicle embarkation simple judgment unit that judges whether or not there is a space in which the mobile body can board, and outputs only the car inside information of the car that has been judged to have a boardable space to the car information transmission unit When,
Have
8. The in-car information is presented to the autonomous mobile body, excluding a car that does not have enough free space for the autonomous mobile body to board, in advance. Elevator group management control device. The mobile vehicle simple judgment unit has a function of judging an empty space in a state where the area near the door of the car is excluded from the judgment of the empty space when checking the empty space with respect to the in-car information. In order to prevent the user from getting in and out of the car, the allocation is performed only when there is a space in which the moving body can be boarded outside the area near the door of the car.
The elevator group management control device according to claim 8, wherein The assigned number determination unit has a function of outputting the assigned state of the hall call,
The allocation candidate car evaluation unit acquires the car call registration status of each car from the elevator information management unit, acquires the hall call allocation status of each car from the allocation car determination unit, and allocates the mobile call. When carrying out, there is a function of performing an evaluation value so that the evaluation of a landing call scheduled to respond between the boarding floor and the exiting floor of the autonomous mobile body, or a car with a large number of car calls becomes low.
The elevator group management control device according to claim 4, wherein the autonomous mobile unit reduces the number of times the user gets on and off the car that is being boarded. A method of allocating a plurality of elevator machines that allow a passenger with the elevator when an autonomous mobile body having the function of moving autonomously uses the elevator,
Obtaining a landing call registered by the autonomous mobile body as a mobile body call,
Predict the state of the car when each car responds to the acquired mobile call,
Based on the predicted in-car state, the shape information of the autonomous moving body, and the traveling information of the autonomous moving body, it is determined whether or not the autonomous moving body can get on each car, and the boarding possibility information is generated. Then
Based on the boarding availability information, narrow down the allocation candidate cars and allocate the cars to the autonomous mobile body.
An elevator car number allocation method characterized by the above.

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