JP7081704B1 - Autonomous mobile body management device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a management device for an autonomous mobile body capable of suppressing damage to the autonomous mobile body. SOLUTION: An autonomous moving body management device has a movement command unit for transmitting a moving command for causing an autonomous moving body to move into an elevator car or get off the car. It is equipped with a movement stop command unit that transmits a command to stop the operation of getting into the car or the operation of getting off the car to the autonomous moving body to which the movement command is transmitted from the command unit. In addition, the management device for the autonomous moving body is a movement command unit that transmits a movement command that causes the autonomous moving body to perform an operation of passing through the entrance / exit device, and a movement command unit that transmits the movement command. It is equipped with a movement stop command unit that sends a command to stop the operation of passing through the entrance / exit device to the autonomous moving body. [Selection diagram] Fig. 2

Description

The present disclosure relates to a management device for an autonomous mobile body.

Patent Document 1 discloses an elevator device. The elevator device stops the operation of the car when a serious abnormality occurs in the autonomous moving body while transporting the autonomous moving body. The elevator device can avoid the failure of the elevator device due to the abnormality of the autonomous moving body.

Japanese Unexamined Patent Publication No. 2011-042444

However, in Patent Document 1, if there is no problem in the operation of the car even if an abnormality occurs in the autonomous moving body or the elevator device, the elevator device continues normal operation. Therefore, the autonomous moving body can be damaged.

The present disclosure has been made to solve the above-mentioned problems. An object of the present disclosure is to provide a management device for an autonomous mobile body capable of suppressing damage to the autonomous mobile body.

The management device for an autonomous moving body according to the present disclosure includes a movement command unit that transmits a movement command for causing an autonomous moving body to move into an elevator car or disembark from the car. A movement stop command unit that transmits a command to stop the operation of getting into the car or the operation of getting off the car to the autonomous moving body to which the movement command is transmitted from the movement command unit, and the movement command unit . When an autonomous moving body other than the autonomous moving body to which the moving command is transmitted performs an operation of getting into the car, a command to stop the operation of the car is transmitted to the control device of the elevator. The operation stop command unit is provided with an operation stop command unit, and the movement stop command unit performs an operation in which an autonomous moving body different from the autonomous moving body to which the movement command is transmitted from the movement command unit rides on the car. In this case, a command for stopping the operation of getting into the car or the operation of getting off the car is transmitted to the autonomous moving body to which the movement command is transmitted from the movement command unit .

The management device for an autonomous moving body according to the present disclosure includes a movement command unit that transmits a movement command that causes an autonomous moving body that moves autonomously to perform an operation of passing through an entrance / exit device, and a movement command unit that causes the movement command unit to perform the movement command. To the autonomous moving body that has been transmitted, a movement stop command unit that transmits a command to stop the operation of passing through the entrance / exit device and a command to make the entrance / exit device in a state where an object can pass are transmitted, and the entrance / exit device is transmitted. When an abnormality occurs before the autonomous moving body to which the movement command is transmitted from the movement command unit completes the operation of passing through the entrance / exit device after transmitting a command to make the device passable by an object. The movement stop command unit is separate from the autonomous moving body to which the movement command is transmitted from the movement command unit . When the autonomous moving body of the above performs an operation of passing through the entrance / exit device, a command for stopping the operation of passing through the entrance / exit device is transmitted to the autonomous moving body to which the movement command is transmitted from the movement command unit. To do .

According to the present disclosure, when an abnormality occurs, the management device transmits a command corresponding to the abnormality to the autonomous moving body or the device used by the autonomous moving body, or the autonomous moving body uses the device. Set not to. Therefore, it is possible to prevent the autonomous moving body from being damaged.

It is a figure which shows the building to which the management device of the autonomous moving body in Embodiment 1 is applied. It is a block diagram of the management apparatus of the autonomous moving body in Embodiment 1. FIG. It is a figure which shows the history information of the movement stop notice stored in the management apparatus of the autonomous moving body in Embodiment 1. FIG. It is a figure which shows the usability information stored in the management apparatus of the autonomous moving body in Embodiment 1. FIG. It is a flowchart explaining the operation performed by the management apparatus of an autonomous moving body in Embodiment 1. FIG. It is a flowchart explaining the operation performed by the management apparatus of an autonomous moving body in Embodiment 1. FIG. It is a hardware block diagram of the control device of the elevator system in Embodiment 1. FIG. It is a figure which shows the outline of the building to which the management device of the autonomous moving body in Embodiment 2 is applied. It is a top view of the gate to which the management device of the autonomous moving body in Embodiment 2 is applied. It is a top view of the main part of the door to which the management device of the autonomous moving body in Embodiment 2 is applied. It is a block diagram of the management apparatus of an autonomous moving body in Embodiment 2. FIG. It is a figure which shows the history information of the movement stop notice stored in the management apparatus of the autonomous moving body in Embodiment 2. FIG. It is a figure which shows the usability information which the management apparatus of the autonomous moving body in Embodiment 2 stores. It is a flowchart explaining the operation performed by the management apparatus of the autonomous moving body in Embodiment 2.

The embodiment for carrying out the present disclosure will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. The duplicate description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a diagram showing a building to which the management device for an autonomous moving body according to the first embodiment is applied.

As shown in FIG. 1, the elevator system 1 is provided in a building. The hoistway 2 runs through each floor of the building. The machine room 3 is provided directly above the hoistway 2. A plurality of landings 4 are provided on each floor of the building. Each of the plurality of landings 4 faces the hoistway 2. The plurality of cars 5 are provided inside the hoistway 2. FIG. 1 shows one of a plurality of baskets 5. Each of the plurality of cars 5 is provided so as to be able to move up and down inside the hoistway 2. The car door 6 is provided in each of the plurality of cars 5. The control device 7 is provided in the machine room 3. The control device 7 is provided so as to be able to control the operation of each of the plurality of cars 5.

The plurality of autonomous moving bodies 8 are arranged in the building. Each of the plurality of autonomous moving bodies 8 is provided so as to be able to move autonomously on the floor surface on each floor of the building.

For example, the management device 9 is provided in another building (not shown). The management device 9 is provided so as to be able to communicate with the control device 7 at an arbitrary timing. The management device 9 is provided so as to be able to communicate with each of the plurality of autonomous mobile bodies 8 at an arbitrary timing. The management device 9 is provided so as to be able to grasp the position of each of the plurality of autonomous moving bodies 8.

For example, the management device 9 transmits a command to move from the current floor to another floor to a certain autonomous moving body 8. In this case, the autonomous moving body 8 that has received the command moves to the landing 4 on the current floor. When the autonomous moving body 8 arrives at the landing 4, the management device 9 transmits the information of the car call registration to the landing 4 including the information of the destination floor to the control device 7. The control device 7 allocates the car 5 to the landing 4 where the autonomous moving body 8 is present, based on the information of the car call registration received from the management device 9.

When the car 5 arrives at the landing 4, the control device 7 detects that the car door 6 is fully opened. In this case, the management device 9 determines that the car 5 is in a state where it can be boarded. When the management device 9 determines that the car 5 is in a state in which the car 5 can be boarded, the management device 9 transmits a movement command for the autonomous moving body 8 to the autonomous moving body 8 to perform an operation of getting into the car 5. The autonomous moving body 8 gets into the car 5 based on the moving command of the boarding received from the management device 9. When the autonomous moving body 8 completes the operation of getting into the car 5, the management device 9 transmits a command to start the operation of the car 5 to the control device 7. The control device 7 departs the car 5 toward the destination floor of the autonomous moving body 8.

When the car 5 arrives at the landing 4 on the destination floor of the autonomous moving body 8, the control device 7 detects that the car door 6 is fully opened. The management device 9 determines that the car 5 is in a state where it can get off. In this case, the management device 9 transmits a disembarkation movement command to the autonomous moving body 8 to cause the autonomous moving body 8 to perform the action of disembarking from the car 5. The autonomous moving body 8 disembarks from the car 5 based on the disembarking movement command received from the management device 9. The autonomous moving body 8 completes the operation of moving to another floor. When the autonomous moving body 8 completes the operation of getting off the car 5, the management device 9 transmits a command to start the operation of the car 5 to the control device 7. The control device 7 starts the operation of the car 5.

When an abnormality occurs when the autonomous moving body 8 to which the moving command for getting on or the moving command for getting off is transmitted uses the car 5, the management device 9 causes the abnormality to the control device 7 or the autonomous moving body 8. Send the corresponding command to.

For example, when an obstacle exists inside the car 5, the autonomous moving body 8 cannot complete the operation of stopping at a predetermined position inside the car 5, that is, the operation of getting on the car 5. In this state, when the threshold time set to be shorter than the upper limit time for the car door 6 to open elapses, the management device 9 causes the autonomous moving body 8 to stop the operation of getting into the car 5. Send a command. In this case, the autonomous moving body 8 moves away from the car 5. The autonomous moving body 8 transmits to the management device 9 a notification of stopping the movement of the vehicle to the effect that the operation of riding in the car 5 has been stopped. After that, when the upper limit time for opening the car door 6 has elapsed, the control device 7 causes the car 5 to depart.

After that, if the obstacle continues to exist inside the car 5, the autonomous moving body 8 stops the operation of getting into the car 5 every time the operation of getting into the car 5 is performed. The movement cancellation notification is transmitted to the management device 9. When the number of times that the management device 9 receives the notice of stopping the movement of the boarding to the effect that the operation of boarding the car 5 is stopped exceeds the specified number of times, the management device 9 uses the car 5 by the autonomous moving body 8. Set not to. When the management device 9 is set not to be used by the car 5, the management device 9 does not transmit the movement command of the rider who performs the operation of getting into the car 5 to the autonomous moving body 8.

For example, if an abnormality occurs in another autonomous moving body 8 that is not the autonomous moving body 8 to which the movement command of the vehicle for making the car 5 out of the plurality of autonomous moving bodies 8 is transmitted, the other autonomous moving body 8 is concerned. The moving body 8 may try to get into the car 5. In this case, the management device 9 transmits a command to the control device 7 to stop the operation of the car 5. The control device 7 stops the operation of the car 5. The management device 9 transmits a ride stop movement command to stop the operation of getting into the car 5 to the autonomous moving body 8 that has sent the ride move command. When the autonomous moving body 8 receives the movement stop command for boarding, the autonomous moving body 8 stops the operation of boarding the car 5.

For example, if the autonomous moving body 8 existing in the car 5 cannot move, the autonomous moving body 8 does not complete the operation of getting off the car 5. In this state, when the threshold time set to be shorter than the upper limit time for the car door 6 to open elapses, the management device 9 stops the movement of the autonomous moving body 8 to stop the operation of getting off the car 5. Send a command. The management device 9 is set so that the car 5 is not used. After that, when the upper limit time for opening the car door 6 has elapsed, the control device 7 causes the car 5 to depart.

For example, when a move command for disembarking is transmitted in a state where the autonomous moving body 8 existing in the car 5 cannot move, the autonomous moving body 8 stops the operation of disembarking from the car 5 to the management device 9. May send notifications. In this case, the management device 9 is set not to use the car 5. After that, when the upper limit time for opening the car door 6 has elapsed, the control device 7 causes the car 5 to depart.

For example, if an earthquake occurs in a state where the autonomous moving body 8 is present in the car 5, the car 5 is in a state where it can get off at the nearest floor after stopping at the nearest floor. In this case, the management device 9 determines that the car 5 cannot operate up to the destination floor of the autonomous moving body 8. The management device 9 transmits information on the position where the autonomous moving body 8 is evacuated on the nearest floor to the autonomous moving body 8. The autonomous moving body 8 moves to the position to be evacuated.

Next, the management device 9 will be described with reference to FIG.
FIG. 2 is a block diagram of the management device for the autonomous mobile body according to the first embodiment.

As shown in FIG. 2, the management device 9 includes a first position information acquisition unit 10, a first control information acquisition unit 11, a registration unit 12, a first movement command unit 13, a first movement stop command unit 14, and a first unit. It includes a stop notification storage unit 15, a first stop notification reception unit 16, a save information transmission unit 17, a first usability storage unit 18, a first usability setting unit 19, an operation start command unit 20, and an operation stop command unit 21. ..

The first position information acquisition unit 10 acquires the position information representing the position of the autonomous moving body 8 from the autonomous moving body 8.

The first control information acquisition unit 11 acquires the control information of the elevator system 1 from the control device 7.

The registration unit 12 detects that the autonomous mobile body 8 has arrived at the landing 4 by using the position information of the autonomous mobile body 8 acquired by the first position information acquisition unit 10. When the registration unit 12 detects that the autonomous moving body 8 has arrived at the landing 4, the registration unit 12 transmits the information of the car call registration to the landing 4 including the information of the destination floor of the autonomous moving body 8 to the control device 7. ..

The first movement command unit 13 determines whether or not the autonomous moving body 8 has arrived at the landing 4 using the position information acquired by the first position information acquisition unit 10. When the first movement command unit 13 determines that the autonomous moving body 8 has arrived at the landing 4, whether or not the car 5 can be boarded using the control information acquired by the first control information acquisition unit 11. To judge. When the first movement command unit 13 determines that the car 5 is in a rideable state, the first movement command unit 13 transmits a ride command for causing the autonomous moving body 8 to perform an operation of getting into the car 5 to the autonomous moving body 8. ..

When the autonomous moving body 8 is in the car 5, the first movement command unit 13 uses the control information acquired by the first control information acquisition unit 11 to determine whether or not the car 5 can get off. To judge. When the first movement command unit 13 determines that the car 5 is in a state where it can get off, the first movement command unit 13 transmits a disembarkation movement command to the autonomous moving body 8 to cause the autonomous moving body 8 to perform an operation of disembarking from the car 5. ..

When the first movement command unit 13 determines that the car 5 is in a rideable state, the first movement stop command unit 14 starts measuring the time. When the autonomous moving body 8 completes the operation of getting into the car 5, the first movement stop command unit 14 stops the time measurement and resets the measured time. The first movement stop command unit 14 determines whether or not a predetermined time has elapsed since the car 5 is in a state where it can be boarded. The first movement stop command unit 14 performs an operation in which the autonomous moving body 8 to which the movement command for boarding is transmitted gets on the car 5 when it is determined that a predetermined time has elapsed since the car 5 is in a state where the car 5 can be boarded. If it is not completed, a vehicle movement stop command for stopping the operation of boarding the car 5 is transmitted to the autonomous moving body 8.

When a command to stop the operation of the car 5 is transmitted to the control device 7, the first movement stop command unit 14 causes the autonomous moving body 8 to stop the operation of getting into the car 5. To send.

When the first movement command unit 13 determines that the car 5 is in a state where it can get off, the first movement stop command unit 14 starts measuring the time. When the autonomous moving body 8 completes the operation of getting off the car 5, the first movement stop command unit 14 stops the time measurement and resets the measured time. The first movement stop command unit 14 determines whether or not a predetermined time has elapsed since the car 5 was ready to get off. The first movement stop command unit 14 operates the autonomous moving body 8 to which the moving command for disembarking is transmitted when it is determined that a predetermined time has elapsed since the car 5 is ready to disembark. If it is not completed, a disembarkation movement stop command for discontinuing the disembarkation operation from the car 5 is transmitted to the autonomous moving body 8.

The first stop notification storage unit 15 stores the history information of the movement stop notification indicating that the autonomous moving body 8 has stopped the operation of getting into the car 5 or the operation of getting off the car 5.

The first cancellation notification receiving unit 16 receives the movement cancellation notification transmitted from the autonomous moving body 8. When the movement cancellation notification is received, the first cancellation notification reception unit 16 stores the history information of the movement cancellation notification reflecting the movement cancellation notification in the first cancellation notification storage unit 15.

When the autonomous moving body 8 is in the car 5, the evacuation information transmitting unit 17 uses the control information acquired by the first control information acquiring unit 11 to drive the car 5 to the destination floor of the autonomous moving body 8. Determine if it is no longer possible. When the evacuation information transmission unit 17 determines that the car 5 cannot operate up to the destination floor of the autonomous moving body 8, the evacuation information transmission unit 17 uses the control information acquired by the first control information acquisition unit 11 to specify the floor where the car 5 has stopped. do. After that, the evacuation information transmission unit 17 creates information on the position where the autonomous moving body 8 is evacuated on the floor where the car 5 is stopped. The evacuation information transmission unit 17 transmits information on the position where the autonomous moving body 8 is to be evacuated on the stopped floor to the autonomous moving body 8.

The first usability storage unit 18 stores usability information indicating whether the autonomous moving body 8 is set to use the car 5 or not to use the car 5 for each of the plurality of cars 5. ..

The first usability setting unit 19 sends a ride stop notice regarding the car 5 from the autonomous mover 8 by the first stop notification reception unit 16 in a state where the ride stop move command is not transmitted to the autonomous mover 8. Determine if it has been received. The first usability setting unit 19 sends a ride stop notice regarding the car 5 from the autonomous mover 8 by the first stop notification reception unit 16 in a state where the ride stop move command is not transmitted to the autonomous mover 8. When it is determined that the vehicle has been received, the number of times the vehicle movement stop notification regarding the car 5 has been received from the set date and time to the present time using the movement stop notification history information stored in the first stop notification storage unit 15. Judges whether or not is more than the specified number of times. At this time, the first stop notification receiving unit 16 refers to the history information of the movement stop notification of the boarding transmitted from all the autonomous moving bodies 8. When the first usability setting unit 19 determines that the number of times the ride stop notification regarding the car 5 has been received is equal to or more than the specified number of times, the car 5 is set not to be used. Specifically, in this case, the first usability setting unit 19 changes to the setting in which the car 5 is not used in the usability information stored in the first usability storage unit 18.

The first usability setting unit 19 sends a disembarkation movement stop notification regarding the car 5 from the autonomous mobile body 8 by the first discontinuation notification receiving unit 16 in a state where the disembarkation movement stop command is not transmitted to the autonomous moving body 8. Determine if it has been received. The first usability setting unit 19 sends a disembarkation movement stop notification regarding the car 5 from the autonomous mobile body 8 by the first discontinuation notification receiving unit 16 in a state where the disembarkation movement stop command is not transmitted to the autonomous moving body 8. If it is determined that the car has been received, the car 5 is set not to be used.

When the first movement stop command unit 14 transmits a disembarkation movement stop command to the autonomous moving body 8, the first usability setting unit 19 sets the car 5 not to be used.

The operation start command unit 20 determines whether or not the operation of the autonomous mobile body 8 getting into the car 5 is completed by using the position information of the autonomous mobile body 8 acquired by the first position information acquisition unit 10. When the operation start command unit 20 determines that the operation of the autonomous moving body 8 to get into the car 5 is completed, the operation start command unit 20 transmits a command to start the operation of the car 5 to the control device 7.

The operation start command unit 20 determines whether or not the operation of the autonomous mobile body 8 getting off the car 5 is completed by using the position information of the autonomous mobile body 8 acquired by the first position information acquisition unit 10. When the operation start command unit 20 determines that the operation of disembarking from the car 5 has been completed, the operation start command unit 20 transmits a command to start the operation of the car 5 to the control device 7.

The operation stop command unit 21 uses the position information of the plurality of autonomous mobile bodies 8 to complete the operation of the autonomous mobile body 8 to which the first movement command unit 13 has transmitted the movement command for boarding into the car 5. , It is determined whether or not another autonomous moving body 8 other than the autonomous moving body 8 to which the first movement command unit 13 of the plurality of autonomous moving bodies 8 has transmitted the moving command of the ride has performed the operation of getting into the car 5. .. In the operation stop command unit 21, another autonomous moving body 8 gets into the car 5 before the autonomous moving body 8 to which the first moving command unit 13 has transmitted the moving command of the ride completes the operation of getting into the car 5. If it is determined that the operation has been performed, a command to stop the operation of the car 5 is transmitted to the control device 7.

Next, the history information of the movement stop notification stored in the first stop notification storage unit 15 will be described with reference to FIG.
FIG. 3 is a diagram showing the history information of the movement stop notification stored in the management device of the autonomous moving body in the first embodiment.

As shown in FIG. 3, the history information of the movement cancellation notification associates the information of the "notification date and time", the information of the "notification source", the information of the "target device", and the information of the "boarding cancellation / disembarkation cancellation". Information.

The information of the "notification date and time" is the information of the date and time when the movement stop notification is received from the autonomous moving body 8. The "notification source" information is information for identifying the autonomous moving body 8 that has sent the movement stop notification. The information of the "target device" is information indicating the target device in which the autonomous moving body 8 has stopped moving. The information of "boarding cancellation / disembarkation cancellation" is information indicating whether the movement cancellation notice is either a boarding movement cancellation notice or a disembarkation movement cancellation notice.

Next, the usability information stored in the first usability storage unit 18 will be described with reference to FIG.
FIG. 4 is a diagram showing usability information stored in the management device of the autonomous mobile body in the first embodiment.

As shown in FIG. 4, the usability information is information in which the information of the “target device” and the information of the “usability” are associated with each other.

The information of the "target device" is information for identifying the target device. The "availability" information is information indicating whether the setting is used or not used by the target device.

The display of "Available" in the "Availability" information indicates that the setting is used by the target device. The display of "unusable" in the "usable / unusable" information indicates that the target device is not used.

Next, the operation performed by the management device 9 will be described with reference to FIGS. 5 and 6.
FIG. 5 is a flowchart illustrating the operation performed by the management device of the autonomous moving body in the first embodiment. FIG. 6 is a flowchart illustrating the operation performed by the management device of the autonomous moving body in the first embodiment.

The management device 9 starts the operation of step S101 when a certain autonomous moving body 8 arrives at the landing 4.

As shown in FIGS. 5 and 6, in step S101, the management device 9 uses the control information to determine whether or not the car 5 is in a rideable state.

If it is determined in step S101 that the car 5 is not in a rideable state, the management device 9 repeats the operation of step S101.

When it is determined in step S101 that the car 5 is in a rideable state, the management device 9 operates in step S102. In step S102, the management device 9 transmits to the autonomous moving body 8 a movement command of the riding which causes the autonomous moving body 8 to perform an operation of getting into the car 5.

After that, the management device 9 performs the operation of step S103. In step S103, the management device 9 determines whether or not a predetermined time has elapsed since the car 5 was ready for riding.

When it is determined in step S103 that the specified time has not elapsed since the car 5 is in a state where the car 5 can be boarded, the management device 9 operates in step S104. In step S104, the management device 9 determines whether or not another autonomous moving body 8 other than the autonomous moving body 8 that has transmitted the movement command has performed an operation of getting into the car 5.

If it is determined in step S104 that another autonomous moving body 8 is not performing the operation of getting into the car 5, the management device 9 performs the operation of step S105. In step S105, the management device 9 determines whether or not the ride stop notice regarding the car 5 has been received from the autonomous move 8 in a state where the ride stop command has not been transmitted to the autonomous move 8. do.

When it is determined in step S105 that the ride stop notice regarding the car 5 has not been received from the autonomous move 8 while the ride stop command has not been transmitted to the autonomous move 8, the management device 9 Performs the operation of step S106. In step S106, the management device 9 determines whether or not the autonomous moving body 8 has completed the operation of getting into the car 5.

If it is determined in step S106 that the operation of the autonomous moving body 8 to get into the car 5 has not been completed, the management device 9 performs the operation after step S103.

When it is determined in step S106 that the operation of the autonomous moving body 8 to get into the car 5 is completed, the management device 9 performs the operation of step S107. In step S107, the management device 9 transmits a command to the control device 7 to start the operation of the car 5. In this case, the control device 7 operates the car 5.

After that, the management device 9 performs the operation of step S108. In step S108, the management device 9 uses the control information of the car 5 to determine whether or not the car 5 can no longer operate up to the destination floor of the autonomous moving body 8.

If it is determined in step S108 that the car 5 can be operated up to the destination floor of the autonomous moving body 8, the management device 9 performs the operation of step S109. In step S109, the management device 9 determines whether or not the car 5 is in a state where it can get off.

If it is determined in step S109 that the car 5 is not in a state where it can get off, the management device 9 performs the operations after step S108.

When it is determined in step S109 that the car 5 is in a state where it can get off, the management device 9 operates in step S110. In step S110, the management device 9 transmits a movement command for disembarking from the car 5 to the autonomous moving body 8.

After that, the management device 9 performs the operation of step S111. In step S111, the management device 9 determines whether or not a predetermined time has elapsed since the car 5 was ready to get off.

If it is determined in step S111 that the specified time has not elapsed since the car 5 was ready to get off, the management device 9 operates in step 112. In step S112, the management device 9 determines whether or not the autonomous moving body 8 has received the disembarkation movement stop notification regarding the car 5 in a state where the disembarkation movement stop command has not been transmitted to the autonomous moving body 8. do.

In step S112, when it is determined that the autonomous moving body 8 has not received the disembarkation movement stop notification regarding the car 5 in a state where the disembarkation movement stop command has not been transmitted to the autonomous moving body 8, the management device 9 Performs the operation of step S113. In step S113, the management device 9 uses the position information of the autonomous mobile body 8 to determine whether or not the autonomous mobile body 8 has completed the operation of getting off the car 5.

If it is determined in step S113 that the autonomous moving body 8 has not completed the operation of getting off the car 5, the management device 9 performs the operation after step S111.

When it is determined in step S113 that the autonomous moving body 8 has completed the operation of getting off the car 5, the management device 9 performs the operation of step S114. In step S114, a command for starting the operation of the car 5 is transmitted to the control device 7. In this case, the control device 7 operates the car 5.

After that, the management device 9 ends the operation.

When it is determined in step S103 that a predetermined time has elapsed since the car 5 is in a state where the car 5 can be boarded, the management device 9 operates in step S115. In step S115, the management device 9 transmits a ride stop command for stopping the operation of getting into the car 5 to the autonomous moving body 8. After that, the management device 9 ends the operation.

If it is determined in step S104 that another autonomous moving body 8 has performed the operation of getting into the car 5, the management device 9 performs the operation of step S116. In step S116, the management device 9 transmits a command to the control device 7 to stop the operation of the car 5. After that, the management device 9 performs the operations after step S115.

When it is determined in step S105 that the ride stop notice regarding the car 5 has been received from the autonomous move 8 while the ride stop command has not been transmitted to the autonomous move 8, the management device 9 determines. The operation of step S117 is performed. In step S117, whether or not the number of times the management device 9 has received the movement stop notification related to the car 5 is equal to or greater than the predetermined threshold value based on the movement stop notification information stored in the first stop notification storage unit 15. Is determined.

When it is determined in step S117 that the number of times the movement stop notification related to the car 5 is received is not equal to or more than the specified threshold value, the management device 9 ends the operation.

When it is determined in step S117 that the number of times the movement stop notification related to the car 5 is received is equal to or greater than the specified threshold value, the management device 9 operates in step S118. In step S118, the management device 9 is set not to use the car 5. After that, the management device 9 ends the operation.

If it is determined in step S108 that the car 5 cannot operate up to the destination floor of the autonomous moving body 8, the management device 9 performs the operation of step S119. In step S119, the management device 9 transmits information on the position to evacuate on the stopped floor to the autonomous moving body 8. After that, the management device 9 ends the operation.

If it is determined in step S111 that a predetermined time has elapsed since the car 5 was ready to get off, the management device 9 performs the operation of step 120. In step S120, the management device 9 transmits a disembarkation movement stop command for discontinuing the disembarkation operation from the car 5 to the autonomous moving body 8.

When the operation of step S120 is performed, or when the autonomous moving body 8 has received the disembarkation movement stop notification regarding the car 5 in the state where the disembarkation movement stop command has not been transmitted to the autonomous moving body 8 in step S112. If determined, the management device 9 performs the operation of step S121. In step S121, the management device 9 is set not to use the car 5. After that, the management device 9 ends the operation.

According to the first embodiment described above, the management device 9 transmits a movement stop command for stopping the operation of getting into the car 5 or the operation of getting off the car 5 to the autonomous moving body 8. The autonomous moving body 8 that has received the movement stop command operates to move away from the car door 6 of the car 5. Therefore, it is possible to prevent the autonomous moving body 8 from being pinched by the car door 6. As a result, it is possible to prevent the autonomous moving body 8 from being damaged. Further, it is possible to prevent the car door 6 from being damaged.

Further, the management device 9 is an operation in which the autonomous moving body 8 that has transmitted the movement command gets on the car 5 when a predetermined time has elapsed since the car 5 can get on or the car 5 can get off. When the operation of getting off from the car 5 is not completed, a movement stop command is transmitted to the autonomous moving body 8. Therefore, the management device 9 can prevent the autonomous moving body 8 from colliding with the car door 6 when the autonomous moving body 8 takes time to get on the car 5 or get off the car 5. ..

Further, when the management device 9 performs an operation of getting on the car 5 by another autonomous moving body 8 other than the autonomous moving body 8 to which the moving command of the boarding the car 5 is transmitted, the management device 9 is transmitted the moving command. A movement stop command is transmitted to the autonomous moving body 8. Therefore, the management device 9 can prevent the autonomous moving body 8 to which the movement command is transmitted from colliding with another autonomous moving body 8. It should be noted that the management device 9 is autonomous in which the movement command is transmitted when another autonomous moving body 8 other than the autonomous moving body 8 to which the moving command to get off from the car 5 is transmitted performs an operation of getting into the car 5. A movement stop command may be transmitted to the moving body 8. In this case, even if the two autonomous moving bodies 8 collide with each other, the impact of the collision can be suppressed. As a result, it is possible to prevent the autonomous moving body 8 from being damaged.

Further, for example, in the conventional elevator system 1, even if an abnormality that is determined that the autonomous moving body 8 cannot be boarded occurs inside the car 5, if the abnormality does not interfere with the operation of the car 5, the autonomous body 8 is said to be autonomous. An autonomous moving body 8 different from the moving body 8 may get in the car 5. In this case, the other autonomous moving body 8 may be damaged by the abnormality. According to the first embodiment, when the management device 9 receives the notification that the operation of getting into the car 5 or the operation of getting off from the car 5 is stopped, the management device 9 does not use the car 5. Set. Therefore, when an abnormality occurs in which it is determined that one autonomous moving body 8 cannot get on the car, it is possible to prevent another autonomous moving body 8 from getting on the car 5.

Further, the management device 9 is not set not to use the car 5 when the number of times the movement stop notification is received is less than the specified number of times. For example, when the autonomous moving body 8 transmits a notice of stopping the movement of the vehicle to the management device 9 due to a failure occurring in the autonomous moving body 8, the management device 9 notifies the management device 9 of the stop of the movement of the vehicle to the car 5 only once. Receive. In this case, the management device 9 is not set not to use the car 5. Therefore, it is possible to suppress a decrease in the operating efficiency of the car 5 by setting the car 5 not to be used even though no abnormality has occurred in the car 5.

Further, for example, when the shape of the autonomous moving body 8 different from the autonomous moving body 8 to which the movement stop notification is transmitted is not suitable for moving on the destination floor, the other autonomous moving body 8 may be used. , There is a risk of damage due to collision with equipment on the destination floor. The management device 9 commands the control device 7 to stop the operation of the car 5 when the autonomous moving body 8 other than the autonomous moving body 8 to which the movement command is transmitted takes an action of getting into the car 5. To send. Therefore, it is possible to prevent the other autonomous moving body 8 from moving to the destination floor of the autonomous moving body 8 to which the movement command is transmitted. As a result, it is possible to prevent the other autonomous moving body 8 from being damaged.

Further, for example, in the conventional elevator system 1, when an autonomous moving body 8 different from the autonomous moving body 8 to which the movement command is transmitted gets into the car 5, the other autonomous moving body 8 transmits the movement command. It is possible to move to the destination floor of the autonomous moving body 8. The other autonomous mobile body 8 may not be permitted to move to the destination floor from the viewpoint of security. In the first embodiment, the management device 9 refers to the car 5 with respect to the control device 7 when the autonomous moving body 8 different from the autonomous moving body 8 to which the movement command is transmitted takes an action of getting into the car 5. Send a command to stop the operation of. Therefore, it is possible to prevent the other autonomous moving body 8 from moving to the destination floor of the autonomous moving body 8 to which the movement command is transmitted. As a result, the security of the elevator system 1 can be improved.

The operation stop command unit 21 of the management device 9 performs an operation of getting on the car 5 by an autonomous moving body 8 different from the autonomous moving body 8 to which the moving command of getting off is transmitted from the car 5. If so, a command to stop the operation of the car 5 may be transmitted to the control device 7. Therefore, it is possible to prevent the other autonomous moving body 8 from moving to a floor where movement is not permitted.

Further, for example, in the conventional elevator system 1, when the car 5 arrives at the floor where the movement action is not set for the autonomous moving body 8 at the time of an earthquake, the autonomous moving body 8 may not move from the car 5. be. In this case, the autonomous moving body 8 may be damaged together with the car 5 by the earthquake. In the first embodiment, when the car 5 cannot be operated on the destination floor of the autonomous moving body 8 and stops on a floor different from the destination floor, the management device 9 sets the position where the autonomous moving body 8 evacuates on the different floor. Information is transmitted to the autonomous moving body 8. In this case, the autonomous moving body 8 gets off the car 5 based on the information of the evacuation position. Therefore, the management device 9 can prevent the autonomous moving body 8 from being damaged.

When the first movement command unit 13 determines whether or not the car 5 is in a rideable state, the position of the car 5 included in the control information acquired by the first control information acquisition unit 11, the car door 6 Information such as the state of the door may be used. When the first movement command unit 13 determines whether or not the car 5 is in a state where it can get off, the position of the car 5 included in the control information acquired by the first control information acquisition unit 11 and the state of the car door 6. , Etc. may be used.

The first movement command unit 13 may refer to the usability information stored in the first usability storage unit 18 when determining whether or not the car 5 is in a rideable state. Specifically, when the car 5 is not used in the usability information stored in the first usability storage unit 18, the first movement command unit 13 is the control information acquired by the first control information acquisition unit 11. Regardless of the content, it may be determined that the car 5 cannot be boarded.

When the autonomous moving body 8 tries to get into the car 5, the first movement stop command unit 14 may determine that the operation of the autonomous moving body 8 to get into the car 5 is completed. Specifically, for example, when the first movement stop command unit 14 detects that the autonomous moving body 8 has passed between the car doors 6, it is said that the autonomous moving body 8 has completed the operation of getting into the car 5. You may judge. For example, when the first movement stop command unit 14 detects that the autonomous moving body 8 exists in the vicinity of the position to be stopped inside the car 5, the autonomous moving body 8 has completed the operation of getting into the car 5. May be determined.

In addition, the first movement stop command unit 14 uses the position information of a plurality of autonomous mobile bodies 8 instead of the operation stop command unit 21, and the first movement command unit 13 transmits a movement command for boarding. Before the operation of the 8 getting into the car 5 is completed, another autonomous moving body 8 other than the autonomous moving body 8 to which the first movement command unit 13 has transmitted the moving command of the boarding among the plurality of autonomous moving bodies 8 is the car. It may be determined whether or not the operation of getting on the 5 is performed. When the first movement stop command unit 14 determines that another autonomous moving body 8 has performed an operation of getting into the car 5, the first moving command unit 13 sends a moving command for riding to the autonomous moving body 8. A disembarkation movement stop command may be transmitted to stop the disembarkation operation from the car 5. In this case, the operation stop command unit 21 may send a command to the control device 7 to stop the operation of the car 5.

When determining whether or not the number of times the ride stop notification regarding the car 5 has been received is equal to or greater than the specified number of times, the first usability setting unit 19 has received the notification within the specified period from the time of the determination. You may use the history information of the notice of stopping the movement of the boarding.

The evacuation information transmission unit 17 is included in the control information acquired by the first control information acquisition unit 11 when determining whether or not the car 5 can no longer operate up to the destination floor of the autonomous moving body 8. Information on the position, information on the open / closed state of the car door 6, and the like may be used. In this case, for example, the evacuation information transmission unit 17 detects that the position of the car 5 does not change for a longer time than a predetermined time, and determines that the car 5 cannot operate up to the destination floor of the autonomous moving body 8. You may.

When the evacuation information transmission unit 17 identifies the floor on which the car 5 has stopped, the car 5 uses the control information acquired by the first control information acquisition unit 11 to determine the floor on which the car 5 is about to stop. It may be regarded as a stopped floor.

The evacuation information transmission unit 17 may create information indicating a range in which the autonomous moving body 8 is evacuated on the floor where the car 5 is stopped, as information on the position where the autonomous moving body 8 is evacuated. When the evacuation information transmission unit 17 creates information on a plurality of evacuation positions for a plurality of autonomous moving bodies 8, it creates information on a plurality of evacuation positions corresponding to each of the plurality of autonomous moving bodies 8. May be good. The evacuation information transmission unit 17 creates information on a plurality of evacuation positions corresponding to each of the plurality of autonomous moving bodies 8 to prevent the plurality of autonomous moving bodies 8 from being evacuated to one place and being congested. do.

The operation start command unit 20 directly indicates that the autonomous moving body 8 has boarded the car 5 when determining whether or not the operation of the autonomous moving body 8 getting into the car 5 has been completed. May be obtained from the autonomous moving body 8. The operation start command unit 20 may determine that the operation of the autonomous mobile body 8 getting into the car 5 has been completed by using the state information instead of the position information of the autonomous mobile body 8. The operation start command unit 20 directly indicates that the autonomous moving body 8 has disembarked from the car 5 when determining whether or not the operation of the autonomous moving body 8 getting off the car 5 has been completed. It may be acquired from the autonomous moving body 8. The operation start command unit 20 may determine that the operation of disembarking from the car 5 has been completed by using the state information instead of the position information of the autonomous mobile body 8.

The operation stop command unit 21 determines whether or not the first movement command unit 13 has performed an operation of getting into the car 5 by another autonomous moving body 8 other than the autonomous moving body 8 to which the moving command of the vehicle is transmitted. At that time, state information that directly indicates that another autonomous moving body 8 has performed an operation of getting into the car 5 may be acquired from the other autonomous moving body. The operation stop command unit 21 may determine that the other autonomous moving body has performed an operation of getting into the car 5 by using the state information instead of the position information of the other autonomous moving body 8.

In addition, when another autonomous moving body 8 tries to get in the car 5, the operation stop command unit 21 may determine that another autonomous moving body 8 has made an operation to get in the car 5. .. Specifically, for example, when the operation stop command unit 21 detects the behavior of another autonomous moving body 8 passing through the car door 6 by using the position information of the plurality of autonomous moving bodies 8, another autonomous moving body 8 is used. It may be determined that the 8 has performed the operation of getting into the car 5. For example, when the operation stop command unit 21 detects that another autonomous moving body 8 has moved to the vicinity of the car door 6 by using the position information of the plurality of autonomous moving bodies 8, the other autonomous moving body 8 moves to the vicinity of the car door 6. It may be determined that the operation of getting on the vehicle 5 has been performed.

Next, an example of the hardware constituting the management device 9 will be described with reference to FIG. 7.
FIG. 7 is a hardware configuration diagram of the control device of the elevator system according to the first embodiment.

Each function of the management device 9 can be realized by a processing circuit. For example, the processing circuit comprises at least one processor 100a and at least one memory 100b. For example, the processing circuit comprises at least one dedicated hardware 200.

When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the management device 9 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the management device 9 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

If the processing circuit comprises at least one dedicated hardware 200, the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. To. For example, each function of the management device 9 is realized by a processing circuit. For example, each function of the management device 9 is collectively realized by a processing circuit.

For each function of the management device 9, a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware. For example, the function of transmitting a command to start operation to the car 5 is realized by a processing circuit as dedicated hardware 200, and at least one processor 100a has at least one function other than the function of starting operation to the car 5. It may be realized by reading and executing a program stored in one memory 100b.

As described above, the processing circuit realizes each function of the management device 9 by the hardware 200, the software, the firmware, or a combination thereof.

Embodiment 2.
FIG. 8 is a diagram showing an outline of a building to which the management device for an autonomous moving body according to the second embodiment is applied. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.

As shown in FIG. 8, for example, the inside of a building is divided into an external area, a common area, and an individual area according to the level of security.

The gate 22 is provided on the entrance floor of the building as an entrance / exit device. The gate 22 is provided at a position on the entrance floor of the building that separates the external area and the common area. The gate 22 is provided so as to allow the user, the autonomous moving body 8, and the like to pass through.

The plurality of doors 23 are provided on each floor of the building as an entrance / exit device. The plurality of doors 23 are provided at positions that separate the common area and the individual area on each floor of the building. Each of the plurality of doors 23 is provided so as to allow the user, the autonomous moving body 8, and the like to pass through.

The entry / exit control device 24 is provided in the machine room 3. The entry / exit control device 24 is provided so as to be able to communicate with the gate 22. The entrance / exit control device 24 is provided so as to be able to communicate with each of the plurality of doors 23. The entry / exit management device 24 is provided so as to be able to communicate with the management device 9.

The management device 9 transmits a command to the autonomous moving body 8 and the entrance / exit management device 24 to allow the autonomous moving body 8 to pass through the target entrance / exit device.

For example, the management device 9 transmits a command to move from the external area to the common area to the autonomous moving body 8 existing in the external area. In this case, the management device 9 transmits a command to the entrance / exit management device 24 to allow the gate 22 which is the target entrance / exit device to pass the object. The autonomous moving body 8 moves to a standby area existing in the vicinity of the gate 22. When the entrance / exit management device 24 receives a command to make the gate 22 passable by an object, the entrance / exit management device 24 changes the gate 22 from the closed state to the open state. After that, the entry / exit management device 24 transmits information to the effect that the gate 22 is in a passable state to the management device 9.

When the management device 9 receives the information that the gate 22 is in a passable state and the autonomous moving body 8 is present in the standby area of the gate 22, the management device 9 causes the autonomous moving body 8 to pass through the gate 22. A traffic movement command is transmitted to the autonomous moving body 8. The autonomous moving body 8 passes through the gate 22 based on the moving movement command of the passage received from the management device 9. When the autonomous moving body 8 completes the operation of passing through the gate 22, the management device 9 sends a command to the entry / exit management device 24 to make the gate 22 impassable for the object to pass through. When the entrance / exit control device 24 receives a command to make the gate 22 impassable for an object, the entrance / exit management device 24 changes the gate 22 from the open state to the closed state.

When an abnormality occurs when the autonomous moving body 8 to which the moving movement command of passage is transmitted passes through the target entrance / exit device, the management device 9 causes the autonomous moving body 8 and the entry / exit management device 24 to at least one of the same. A command corresponding to the anomaly is transmitted.

For example, if an obstacle exists in the path of the autonomous moving body 8 at a certain door 23, the autonomous moving body 8 cannot pass through the door 23. In this state, when the specified time set to be shorter than the upper limit time for the door 23 to open elapses, the management device 9 sends the door 23 to the autonomous moving body 8 to which the movement command for passage is transmitted. Sends a traffic stop command to stop the traffic operation. In this case, the autonomous moving body 8 moves to a position away from the door 23. The autonomous moving body 8 transmits to the management device 9 a notification of stopping the movement of the passage to the effect that the operation of passing through the door 23 has been stopped. The management device 9 sends a command to the entry / exit management device 24 to make the door 23 impassable for objects. The entrance / exit management device 24 keeps the door 23 closed.

Further, when an obstacle exists in the path of the autonomous moving body 8 at a certain door 23, the autonomous moving body 8 may autonomously determine that the door 23 cannot pass through. In this case, the autonomous moving body 8 stops the operation of passing through the door 23 and moves to a position away from the door 23. The autonomous moving body 8 transmits to the management device 9 a notification of stopping the movement of the passage to the effect that the operation of passing through the door 23 has been stopped. The management device 9 sends a command to the entry / exit management device 24 to make the door 23 impassable for objects. The entrance / exit management device 24 keeps the door 23 closed.

After that, if the obstacle continues to exist in the path of the autonomous moving body 8 at the door 23, the autonomous moving body 8 performs an operation of passing through the door 23 each time the operation of passing through the door 23 is performed. A notification of the suspension of movement of the traffic to the effect that the traffic has been canceled is transmitted to the management device 9. When the number of times the traffic stop notice regarding the door 23 is received exceeds the specified number of times, the management device 9 sets the door 23 not to be used. When the door 23 is not used, the management device 9 does not transmit a movement command for passing through the door 23 to the autonomous moving body 8.

Next, the gate 22 and the standby area of the gate 22 will be described with reference to FIG.
FIG. 9 is a top view of the gate to which the management device for the autonomous moving body according to the second embodiment is applied.

As shown in FIG. 9, for example, the gate 22 includes lanes 22a, 22b, and 22c. The lane 22a, the lane 22b, and the lane 22c are provided so that an autonomous moving body 8 (not shown in FIG. 9) can pass through.

The standby area 25 of the gate 22 is set in an external area and a common area, respectively. The standby area 25 is set at a position close to the gate 22 so that the autonomous moving body 8 existing in the standby area 25 can quickly complete the operation of passing through the gate 22. The standby area 25 includes a pair of standby areas 25a, a pair of standby areas 25b, and a pair of standby areas 25c.

The pair of standby areas 25a correspond to the lanes 22a. The pair of standby areas 25a are set at positions adjacent to the lanes 22a in each of the external area and the common area. The standby area 25b corresponds to the lane 22b. The standby area 25b is set at a position adjacent to the lane 22b in each of the external area and the common area. The standby area 25c corresponds to the lane 22c. The standby area 25c is set at a position adjacent to the lane 22c in each of the external area and the common area.

Next, the door 23 and the waiting area of the door 23 will be described with reference to FIG.
FIG. 10 is a top view of a main part of the door to which the management device for the autonomous moving body according to the second embodiment is applied.

As shown in FIG. 10, for example, the door 23 includes a door lane 23a and a door lane 23b. The door lane 23a is provided so that an autonomous moving body 8 (not shown in FIG. 10) can pass through. The door lane 23b is provided so that the autonomous moving body 8 can pass through.

The waiting area 26 of the door 23 is set in a common area and an individual area, respectively. The standby area 26 is set at a position close to the door 23 so that the autonomous moving body 8 existing in the standby area 26 can quickly complete the operation of passing through the door 23. The standby area 26 includes a pair of standby areas 26a and a pair of standby areas 26b.

The pair of standby areas 26a correspond to the door lane 23a. The pair of standby areas 26a are set at positions adjacent to the door lanes 23a in each of the common area and the individual area. The pair of standby areas 26b corresponds to the door lane 23b. The pair of standby areas 26b are set at positions adjacent to the door lanes 23b in each of the common area and the individual area.

Next, the management device 9 will be described with reference to FIG.
FIG. 11 is a block diagram of the management device for the autonomous mobile body according to the second embodiment.

As shown in FIG. 11, the management device 9 includes a second position information acquisition unit 27, a second control information acquisition unit 28, a second movement command unit 29, a second movement stop command unit 30, and a second stop notification storage unit. It includes a 31 and a second cancellation notification receiving unit 32, a second usability storage unit 33, a second usability setting unit 34, and a state changing unit 35.

The second position information acquisition unit 27 acquires the position information representing the position of the autonomous moving body 8 from the autonomous moving body 8.

The second control information acquisition unit 28 acquires control information between the gate 22 and the plurality of doors 23 from the entrance / exit management device 24 as control information of the entrance / exit device.

The second movement command unit 29 determines whether or not the entrance / exit device is in a passable state by using the control information of the entrance / exit device acquired by the second control information acquisition unit 28. When the second movement command unit 29 determines that the entrance / exit device is in a passable state, the autonomous moving body 8 exists in the standby area of the entrance / exit device using the position information acquired by the second position information acquisition unit 27. Judge whether or not. When the second movement command unit 29 determines that the autonomous moving body 8 exists in the standby area of the entrance / exit device, the second movement command unit 29 issues a traffic movement command for causing the autonomous moving body 8 to perform an operation of passing through the entrance / exit device. Send to 8.

When the second movement command unit 29 determines that the doorway device is in a passable state, the second movement stop command unit 30 starts measuring the time. When the autonomous moving body 8 completes the operation of passing through the entrance / exit device, the second movement stop command unit 30 stops the time measurement and resets the measured time.

The second movement stop command unit 30 determines whether or not a predetermined time has elapsed since the doorway device was in a passable state. The second movement stop command unit 30 performs an operation in which the autonomous moving body 8 to which the movement command of passage is transmitted when it is determined that a predetermined time has elapsed since the entrance / exit device is in a passable state, passes through the entrance / exit. If it is not completed, the second movement command unit 29 transmits a passage movement stop command for stopping the operation of passing through the entrance / exit device to the autonomous moving body 8 that has transmitted the passage movement command.

The second movement stop command unit 30 uses the position information of the plurality of autonomous mobile bodies 8 acquired by the second position information acquisition unit 27, and the second movement command unit 29 of the plurality of autonomous mobile bodies 8 moves through. It is determined whether or not another autonomous moving body 8 other than the autonomous moving body 8 that has transmitted the command has performed an operation of passing through the entrance / exit device. When the second movement stop command unit 30 determines that another autonomous moving body 8 has performed an operation of passing through the entrance / exit device, the second moving command unit 29 has transmitted the moving movement command to the autonomous moving body 8. Then, a command to stop the movement of the passage is transmitted to stop the operation of passing the entrance / exit device.

The second stop notification storage unit 31 stores the history information of the movement stop notification indicating that the autonomous moving body 8 has stopped the operation of passing through the entrance / exit device.

The second cancellation notification receiving unit 32 receives the movement cancellation notification transmitted from the autonomous moving body 8. When the second cancellation notification receiving unit 32 receives the movement cancellation notification, the second cancellation notification storage unit 31 stores the history information of the movement cancellation notification reflecting the movement cancellation notification.

The second usability storage unit 33 stores usability information indicating whether the autonomous moving body 8 is set to use or not to use the doorway device for a certain doorway device.

The second usability setting unit 34 sends a notice of stop of movement of the passage related to the entrance / exit device from the autonomous mover 8 by the second stop notification reception unit 32 in a state where the command of stop of the movement of the passage is not transmitted to the autonomous mover 8. Determine if it has been received. The second usability setting unit 34 sends a notice of stop of movement of the passage related to the entrance / exit device from the autonomous mover 8 by the second stop notification reception unit 32 in a state where the command of stop of the movement of the passage is not transmitted to the autonomous mover 8. When it is determined that the information has been received, the number of times that the movement stop notification of the passage related to the entrance / exit device has been received from the set date and time to the present time using the history information of the movement stop notification stored in the second stop notification storage unit 31. Judges whether or not is more than the specified number of times. At this time, the second stop notification receiving unit 32 refers to the history information of the movement stop notification of the passage transmitted from all the autonomous moving bodies 8. When the second usability setting unit 34 determines that the number of times the traffic stop notice regarding the doorway device has been received is equal to or more than the specified number of times, the doorway device is set not to be used. Specifically, in this case, the second usability setting unit 34 is set so that the entrance / exit device is not used in the usability information stored in the second usability storage unit 33.

The state changing unit 35 transmits a command to the entrance / exit management device 24 to make the entrance / exit device in a state where an object can pass. The state changing unit 35 uses the position information of the autonomous moving body 8 acquired by the second position information acquiring unit 27 to determine whether or not the autonomous moving body 8 has completed the operation of passing through the entrance / exit device. When it is determined that the autonomous moving body 8 has completed the operation of passing through the doorway device, the state changing unit 35 sends a command to the entrance / exit management device 24 to change the doorway to a state in which an object cannot pass.

Next, the history information of the movement stop notification stored in the second stop notification storage unit 31 will be described with reference to FIG. 12.
FIG. 12 is a diagram showing the history information of the movement stop notification stored in the management device of the autonomous moving body in the second embodiment.

As shown in FIG. 12, the history information of the movement cancellation notification is information in which the information of the "notification date and time", the information of the "notification source", and the information of the "target entrance / exit device" are associated with each other.

The information of the "notification date and time" is the information of the date and time when the movement stop notification is received from the autonomous moving body 8. The "notification source" information is information for identifying the autonomous moving body 8 that has sent the movement stop notification. The information of the "target device" is information indicating the entrance / exit device of the target whose operation of the autonomous moving body 8 has stopped passing.

Next, the usability information stored in the second usability storage unit 33 will be described with reference to FIG. 13.
FIG. 13 is a diagram showing usability information stored in the management device of the autonomous mobile body in the second embodiment.

As shown in FIG. 13, the usability information is information in which the information of the “target entrance / exit device” and the information of the “usability” are associated with each other.

The information of the "target entrance / exit device" is information indicating the target entrance / exit device. The "availability" information is information indicating whether the state of the target entrance / exit device is the state of the setting to be used or the state of the setting not to be used.

"Available" in the "Availability" information indicates that the setting is used by the target entrance / exit device. "Unavailable" in the "Availability" information indicates that the target entrance / exit device is not used.

Next, the operation performed by the management device 9 will be described with reference to FIG.
FIG. 14 is a flowchart illustrating the operation performed by the management device of the autonomous moving body in the second embodiment.

For example, the management device 9 starts the operation after step S201 when the autonomous moving body 8 starts moving to the standby area of the entrance / exit device.

As shown in FIG. 14, in step S201, the management device 9 determines whether or not the entrance / exit device is in a passable state.

If it is determined in step S201 that the entrance / exit device is not in a passable state, the management device 9 repeats the operation of step S201.

If it is determined in step S201 that the entrance / exit device is in a passable state, the management device 9 operates in step S202. In step S202, the management device 9 determines whether or not the autonomous moving body 8 exists in the standby area of the entrance / exit device.

If it is determined in step S202 that the autonomous moving body 8 does not exist in the standby area of the entrance / exit device, the management device 9 performs the operations after step S201.

When it is determined in step S202 that the autonomous moving body 8 exists in the standby area of the entrance / exit device, the management device 9 performs the operation of step S203. In step S203, the management device 9 transmits a passage movement command to the autonomous moving body 8 to cause the autonomous moving body 8 to perform an operation of passing through the entrance / exit device.

After that, the management device 9 performs the operation of step S204. In step S204, the management device 9 determines whether or not a predetermined time has elapsed since the doorway device was in a passable state.

If it is determined in step S204 that the specified time has not elapsed since the entrance / exit device became passable, the management device 9 performs the operation of step S205. In step S205, the management device 9 determines whether or not another autonomous moving body 8 other than the autonomous moving body 8 to which the moving movement command of passage has been transmitted has performed an operation of passing through the entrance / exit device.

If it is determined in step S205 that another autonomous moving body 8 is not performing the operation of passing through the entrance / exit device, the management device 9 performs the operation of step S206. In step S206, the management device 9 determines whether or not the autonomous mobile body 8 has received the traffic stop movement notification regarding the entrance / exit device in a state where the traffic movement stop command has not been transmitted to the autonomous mobile body 8. ..

If it is determined in step S206 that the autonomous moving body 8 has not received the traffic movement stop notification regarding the entrance / exit device while the traffic movement stop command has not been transmitted to the autonomous moving body 8, the management device 9 determines. , Step S207 is performed. In step S207, the management device 9 determines whether or not the autonomous moving body 8 has completed the operation of passing through the entrance / exit device.

If it is determined in step S207 that the autonomous moving body 8 has not completed the operation of passing through the entrance / exit device, the management device 9 performs the operation after step S204.

When it is determined in step S207 that the autonomous moving body 8 has completed the operation of passing through the entrance / exit device, the management device 9 performs the operation of step S208. In step S208, the management device 9 transmits a command to the entry / exit management device 24 to make the entrance / exit device impassable for an object.

After that, the management device 9 ends the operation.

When it is determined in step S204 that a specified time has elapsed since the doorway device became passable, or when it is determined in step S205 that another autonomous moving body 8 has performed an operation of passing through the doorway device. The management device 9 performs the operation of step S209. In step S209, the management device 9 transmits a traffic movement stop command for stopping the operation of passing through the entrance / exit device to the autonomous moving body 8 that has transmitted the traffic movement command. After that, the management device 9 performs the operations after step S208.

If it is determined in step S206 that the traffic movement stop notification regarding the entrance / exit device has been received from the autonomous mobile body 8 in a state where the traffic movement stop command has not been transmitted to the autonomous mobile body 8, the management device 9 determines that the traffic movement stop notification has been received, and the management device 9 has step S210. To perform the operation of. In step S210, the management device 9 determines whether or not the number of times the traffic stop notice regarding the doorway device has been received from the set date and time to the present is equal to or greater than the specified number of times.

If it is determined in step S210 that the number of times the entrance / exit device has received the movement stop notification is less than the specified number of times, the management device 9 performs the operation after step S208.

When it is determined in step S210 that the number of times the movement stop notification related to the entrance / exit device has been received is equal to or greater than the specified number of times, the management device 9 performs the operation of step S211. In step S211 the management device 9 is set not to use the doorway device. After that, the management device 9 performs the operations after step S208.

According to the second embodiment described above, the management device 9 causes the autonomous moving body 8 to which the movement command to perform the operation of passing through the doorway device is transmitted to stop the operation of passing through the doorway device. Send a move stop command. Therefore, the management device 9 can prevent the autonomous moving body 8 from passing through the entrance / exit device in which the abnormality has occurred. The management device 9 can suppress the collision between the entrance / exit device and the autonomous moving body 8. As a result, it is possible to prevent the autonomous moving body 8 from being damaged. In addition, it is possible to prevent the entrance / exit device from being damaged.

Further, the management device 9 transmits a notice of suspension of passage to the autonomous moving body 8 when a predetermined time has elapsed after the entrance / exit device is in a passable state. Therefore, when the autonomous moving body 8 takes time to pass through the doorway device, the autonomous moving body 8 can leave the doorway device before the doorway device changes from the open state to the closed state due to the time limit. .. As a result, the management device 9 can suppress the collision between the autonomous moving body 8 and the entrance / exit device.

Further, the management device 9 transmits the movement command of the passage when the autonomous movement 8 different from the autonomous movement 8 that has transmitted the movement command of the passage performs an operation of passing through the entrance / exit device. Sends a traffic stop command to. Therefore, it is possible to prevent the autonomous moving body 8 that has transmitted the moving movement command of passage from colliding with another autonomous moving body 8.

Further, for example, in the conventional entrance / exit management system, even if an abnormality that is determined that a certain autonomous moving body 8 cannot pass occurs in the entrance / exit device, the autonomous moving body 8 different from the autonomous moving body 8 is said to be the same. It may pass through the doorway device. In this case, the other autonomous moving body 8 may be damaged by the abnormality. According to the second embodiment, the management device 9 is set not to use the doorway device when the autonomous moving body 8 receives the movement stop notification of the passage where the operation of the autonomous moving body 8 has stopped passing through the doorway device. Therefore, when an abnormality occurs in the entrance / exit device that is determined that a certain autonomous moving body 8 cannot pass through, it is possible to prevent another autonomous moving body 8 from passing through the entrance / exit device. As a result, it is possible to prevent the autonomous moving body 8 from being damaged.

Further, the management device 9 is not set not to use the entrance / exit device when the number of times the movement stop notification is received is less than the specified number of times. Therefore, it is possible to prevent the efficiency of movement of the autonomous moving body 8 from being lowered by setting the doorway device not to be used even though no abnormality has occurred in the doorway device.

Further, the management device 9 manages entry / exit to change the entrance / exit device from a state in which an object can pass to a state in which an object cannot pass when an abnormality occurs after transmitting a movement command for passage to the autonomous moving body 8. It transmits to the device 24. Therefore, the management device 9 can prevent the autonomous moving body 8 from passing through the entrance / exit device. As a result, it is possible to prevent the autonomous moving body 8 from being damaged by the abnormality.

Further, in the conventional entrance / exit management system, even if an abnormality occurs after transmitting a passage movement command to the autonomous moving body 8, the entrance / exit is completed until the autonomous moving body 8 completes the operation of passing through the entrance / exit device. The device may remain accessible to objects. In this case, a person who is not permitted to pass may pass through the doorway device. In the second embodiment, the management device 9 changes from a state in which the entrance / exit device allows the passage of an object to a state in which the passage of the object is not permitted when an abnormality occurs after transmitting a movement command for passage to the autonomous moving body 8. A command to change is transmitted to the entry / exit management device 24. Therefore, it is possible to prevent a person who is not permitted to pass through the doorway. As a result, the security of entry / exit management can be improved.

Further, if the autonomous moving body 8 to which the movement command is transmitted has not completed the operation of passing through the doorway device when a predetermined time has elapsed since the doorway device was in a passable state, the management device 9 has not completed the operation of passing through the doorway device. A command for changing the entrance / exit device from a state in which the passage of an object is permitted to a state in which the passage of an object is not permitted is transmitted to the entrance / exit management device 24. Therefore, when the autonomous moving body 8 takes time to pass through the doorway device, it is possible to prevent a person who is not permitted to pass through the doorway.

Further, when the management device 9 performs an operation in which an autonomous moving body 8 different from the autonomous moving body 8 to which the movement command is transmitted passes through the doorway device, the management device 9 allows the doorway device to pass through the object. A command for changing the state of not allowing the passage of an object is transmitted to the entry / exit control device 24. Therefore, the management device 9 can prevent the other autonomous moving body 8 that is not permitted to pass through the entrance / exit. As a result, the security of entry / exit management can be improved.

Further, the management device 9 transmits a movement command for passage to the autonomous moving body 8 when the autonomous moving body 8 is present in the standby area of the entrance / exit device. Therefore, the autonomous moving body 8 can quickly pass through the entrance / exit device after the movement command for passage is transmitted. As a result, it is possible to prevent a person who is not permitted to pass through the doorway before the autonomous moving body 8 passes through the doorway.

In addition, instead of transmitting the command to make the entrance / exit device impassable to the object to the entrance / exit management device 24, the management device 9 changes the state of the entrance / exit device to the state before transmitting the command to make the object passable. The return command may be transmitted to the entry / exit management device 24. Upon receiving the command to return the state of the doorway device to the previous state, the entrance / exit management device 24 may return the state of the doorway device to the state before transmitting the command to make the object passable.

Each of the plurality of doors 23, which is an entrance / exit device, may be in a state in which the passage of an object is not permitted or a state in which the passage of an object is permitted by locking or unlocking the panel of the door 23.

The standby area 25 of the gate 22 is within the range shown in FIG. 9 as long as the position is close to the gate 22 so that the autonomous moving body 8 existing in the standby area 25 can quickly complete the operation of passing through the gate 22. It does not have to be. The standby area 26 of the door 23 is not within the range shown in FIG. 10 as long as the position is close to the door 23 so that the autonomous moving body 8 existing in the standby area 26 can quickly complete the operation of passing through the door 23. May be good.

When the second movement command unit 29 determines whether or not the doorway device is in a passable state, the information on the open / closed state of the gate 22 included in the control information acquired by the second control information acquisition unit 28, Alternatively, information on the open / closed state of the door 23 may be used.

The second movement command unit 29 may refer to the usability information stored in the second usability storage unit 33 when determining whether or not the entrance / exit device is in a passable state. When the accessability information stored in the second usability storage unit 33 is set not to use the entrance / exit device, the second movement command unit 29 is concerned with the content of the control information acquired by the second control information acquisition unit 28. It may be determined that the entrance / exit device cannot pass through.

When the second movement command unit 29 determines whether or not the autonomous moving body 8 exists in the standby area of the doorway device, the second movement command unit 29 directly indicates that the autonomous moving body 8 exists in the standby area of the doorway device. The indicated state information may be acquired from the autonomous moving body 8. Specifically, the autonomous moving body 8 may create the state information by detecting that it is in the standby area of the entrance / exit device. The second movement command unit 29 may determine that the autonomous moving body 8 exists in the standby area of the entrance / exit device by using the state information instead of the position information of the autonomous moving body 8.

The second movement stop command unit 30 performs an operation of the other autonomous moving body 8 passing through the doorway device when determining whether or not another autonomous moving body 8 has performed an operation of passing through the doorway device. State information that directly indicates what has been done may be acquired from the other autonomous moving body 8. The second movement stop command unit 30 may determine that the other autonomous moving body 8 has performed an operation of passing through the entrance / exit device by using the state information instead of the position information of the other autonomous moving body 8. ..

The second movement stop command unit 30 determines that when another autonomous moving body 8 tries to pass through the doorway device, the second moving stop commanding unit 8 determines that another autonomous moving body 8 has performed an operation to pass through the doorway device. May be good. Specifically, when the second movement stop command unit 30 detects that another autonomous moving body 8 has moved to the standby area 25 of the gate 22 by using the position information of the plurality of autonomous moving bodies 8, another It may be determined that the autonomous mobile body 8 has performed an operation of passing through the gate 22.

In addition, when determining whether or not the number of times the traffic stop notice regarding the entrance / exit device has been received is equal to or more than the specified number of times, the second usability setting unit 34 has received the notification within the specified period from the time of the determination. You may use the history information of the traffic stop notice.

When determining whether or not the autonomous moving body 8 has completed the operation of passing through the doorway device, the state changing unit 35 directly indicates that the autonomous moving body 8 has completed the operation of passing through the doorway device. The indicated state information may be acquired from the autonomous moving body 8. The state changing unit 35 may determine that the autonomous moving body 8 has completed the operation of passing through the entrance / exit device by using the state information instead of the position information of the autonomous moving body 8.

In the first and second embodiments, the management device 9 may be applied to a control system for an autonomous moving body including a device for collectively controlling the movement of the plurality of autonomous moving bodies 8. In this case, the management device 9 may transmit various commands to the device that collectively controls the movement of the plurality of autonomous moving bodies 8 instead of transmitting the various commands to the autonomous moving body 8.

1 elevator system, 2 hoistway, 3 machine room, 4 landing, 5 car, 6 car door, 7 control device, 8 autonomous moving body, 9 management device, 10 1st position information acquisition unit, 11 1st control information acquisition unit , 12 Registration unit, 13 1st movement command unit, 14 1st movement stop command unit, 15 1st stop notification storage unit, 16 1st stop notification reception unit, 17 save information transmission unit, 18 1st usability storage unit, 19 1st availability setting unit, 20 operation start command unit, 21 operation stop command unit, 22 gate, 22a, 22b, 22c lane, 23 door, 23a, 23b door lane, 24 entry / exit control device, 25, 25a, 25b, 25c standby area, 26, 26a, 26b standby area, 27 second position information acquisition unit, 28 second control information acquisition unit, 29 second movement command unit, 30 second movement stop command unit, 31 second stop notification storage unit. , 32 2nd cancel notification reception unit, 33 2nd usability storage unit, 34 2nd usability setting unit, 35 status change unit, 100a processor, 100b memory, 200 hardware

Claims (13)

A movement command unit that sends a movement command to an autonomous moving body that moves autonomously to get in or out of the elevator car.
A movement stop command unit that transmits a command to stop the operation of getting into the car or the operation of getting off the car to the autonomous moving body to which the movement command is transmitted from the movement command unit.
When an autonomous moving body other than the autonomous moving body to which the moving command is transmitted from the movement command unit performs an operation of getting into the car, the operation of the car is stopped with respect to the control device of the elevator. The operation stop command unit that sends the command to send
Equipped with
The movement stop command unit moves from the movement command unit when an autonomous moving body other than the autonomous moving body to which the movement command is transmitted from the movement command unit performs an operation of getting into the car. A management device for an autonomous moving body that transmits a command to the autonomous moving body to which a command is transmitted to stop the operation of getting into the car or the operation of getting off the car . The movement stop command unit is such that the autonomous moving body to which the movement command is transmitted from the movement command unit when a predetermined time has elapsed from the state in which the car can get on or the car can get off. When the operation of getting into the car or the operation of getting off from the car is not completed, the action of getting into the car or getting off from the car with respect to the autonomous moving body to which the movement command is transmitted from the movement command unit. The management device for an autonomous mobile body according to claim 1, wherein a command for stopping the operation is transmitted. When the autonomous moving body to which the movement command is transmitted from the movement command unit receives a stop notification to the effect that the operation of getting into the car or the operation of getting off the car is stopped, the autonomous moving body moves the car. Usability setting unit, which is set not to be used,
The management device for an autonomous mobile body according to claim 1 or 2 . When the number of times the stop notification is received from the autonomous moving body is less than the specified number of times, the usability setting unit does not set the autonomous moving body not to use the car, and the stop notification is sent to the autonomous body. The management device for an autonomous moving body according to claim 3 , wherein the autonomous moving body is set not to use the car when the number of times received from the moving body is equal to or more than a specified number of times. While the autonomous moving body to which the movement command was transmitted from the movement command unit was in the car, the car could not drive to the destination floor of the autonomous moving body and stopped on a floor different from the destination floor. In this case, the evacuation information transmission unit that transmits information on the position where the autonomous moving object is to be evacuated to the autonomous moving body on a floor different from the destination floor.
The management device for an autonomous mobile body according to any one of claims 1 to 4, wherein the autonomous moving body is managed. A movement command unit that sends a movement command that causes an autonomous moving body that moves autonomously to perform an operation of passing through an entrance / exit device, and a movement command unit.
A movement stop command unit that transmits a command to stop the operation of passing through the entrance / exit device to the autonomous moving body to which the movement command is transmitted from the movement command unit.
After transmitting a command to make the doorway device in a state where an object can pass, and transmitting a command to make the doorway device into a state in which an object can pass, the autonomous moving body to which the movement command is transmitted from the movement command unit A state change unit that transmits a command to make the doorway device impassable to an object when an abnormality occurs before the operation of passing through the doorway device is completed.
Equipped with
The movement stop command unit is described by the movement command unit when an autonomous mobile body other than the autonomous mobile unit to which the movement command is transmitted from the movement command unit performs an operation of passing through the entrance / exit device. A management device for an autonomous mobile body that transmits a command to stop the operation of passing through the entrance / exit device to the autonomous mobile body to which a movement command is transmitted. The movement stop command unit is an operation in which the autonomous moving body to which the movement command is transmitted from the movement command unit passes through the entrance / exit device when a predetermined time has elapsed after the entrance / exit device is in a passable state. The autonomous moving body according to claim 6 , wherein when the movement command unit has not completed the above, the autonomous moving body to which the movement command is transmitted is transmitted a command to stop the operation of passing through the entrance / exit device. Management device. When the autonomous moving body to which the movement command is transmitted receives a stop notification to the effect that the operation of passing through the doorway device is stopped, the autonomous moving body is prevented from using the doorway device. Usability setting part to set and
The management device for an autonomous mobile body according to claim 6 or 7 . When the number of times the stop notice is received from the autonomous moving body is less than the specified number of times, the usability setting unit does not set the entrance / exit device not to be used, and receives the stop notice from the autonomous moving body. The management device for an autonomous moving body according to claim 8 , wherein the autonomous moving body is set not to use the entrance / exit device when the number of times of the movement is equal to or more than a specified number of times. The state changing unit is an operation in which the autonomous moving body to which the movement command is transmitted from the movement command unit passes through the entrance / exit device when a predetermined time has elapsed after the entrance / exit device is in a passable state. The autonomous moving body management device according to any one of claims 6 to 9 , wherein a command for making the entrance / exit device impassable for an object is transmitted when the above-mentioned is not completed. In the state changing unit, when an autonomous moving body other than the autonomous moving body to which the moving command is transmitted from the moving command unit performs an operation of passing through the entrance / exit device, an object passes through the entrance / exit device. The management device for an autonomous mobile body according to any one of claims 6 to 10, wherein a command for disabling the state is transmitted. When the state changing unit receives a notification from the movement command unit that the autonomous moving body to which the movement command has been transmitted has stopped the operation of passing through the doorway device, the object cannot pass through the doorway device. The management device for an autonomous mobile body according to any one of claims 6 to 11 , wherein a command to bring the state is transmitted. When the autonomous moving body does not exist in the standby area of the entrance / exit device, the movement command unit does not transmit the movement command to the autonomous moving body, and the autonomous moving body moves to the standby area of the entrance / exit device. The management device for an autonomous mobile body according to any one of claims 6 to 12 , which transmits the movement command to the autonomous mobile body when present.

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