WO2020250409A1 - Elevator link device - Google Patents

Elevator link device Download PDF

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Publication number
WO2020250409A1
WO2020250409A1 PCT/JP2019/023622 JP2019023622W WO2020250409A1 WO 2020250409 A1 WO2020250409 A1 WO 2020250409A1 JP 2019023622 W JP2019023622 W JP 2019023622W WO 2020250409 A1 WO2020250409 A1 WO 2020250409A1
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WO
WIPO (PCT)
Prior art keywords
elevator
interlocking device
car
autonomous
moving body
Prior art date
Application number
PCT/JP2019/023622
Other languages
French (fr)
Japanese (ja)
Inventor
由雅 小場
真吾 小堀
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to CN201980095707.6A priority Critical patent/CN113924262B/en
Priority to PCT/JP2019/023622 priority patent/WO2020250409A1/en
Priority to JP2021505443A priority patent/JP6996659B2/en
Publication of WO2020250409A1 publication Critical patent/WO2020250409A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/14—Applications of loading and unloading equipment
    • B66B17/16—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
    • B66B17/20—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages

Definitions

  • the present invention relates to an elevator interlocking device.
  • Patent Document 1 discloses an elevator system. According to the elevator system, the efficiency of movement of elevator users can be improved.
  • An object of the present invention is to provide an elevator interlocking device capable of efficiently moving an autonomous mobile body by using an elevator.
  • the elevator interlocking device has a position information storage unit that stores the position information of the autonomous moving body and a calling unit that calls the elevator car when the autonomous moving body reaches a preset position. Prepared.
  • the elevator interlocking device calls the elevator car when the autonomous moving body reaches a preset position. Therefore, the autonomous moving body can be efficiently moved by using the elevator.
  • FIG. 5 is a configuration diagram of an elevator system to which the elevator interlocking device according to the first embodiment is applied. It is a block diagram of the elevator interlocking device in Embodiment 1. It is a figure for demonstrating the first example of the calling order by the elevator interlocking device in Embodiment 1. FIG. It is a figure for demonstrating the 2nd example of the calling order of the elevator interlocking device in Embodiment 1. FIG. This is an operation for determining the elevator to be called by the elevator interlocking device according to the first embodiment. It is a flowchart for demonstrating the operation when the elevator interlocking device in Embodiment 1 receives an elevator call request.
  • FIG. 1 It is a flowchart for demonstrating the operation when the elevator interlocking device in Embodiment 1 determines the order of calling an elevator. It is a flowchart for demonstrating the operation when the elevator interlocking device in Embodiment 1 controls the getting on and off of a car by an autonomous moving body. It is a flowchart for demonstrating the operation when the elevator interlocking device in Embodiment 1 controls the getting on and off of a car by an autonomous moving body. It is a hardware block diagram of the elevator interlocking device in Embodiment 1. FIG.
  • FIG. 1 is a configuration diagram of an elevator system to which the elevator interlocking device according to the first embodiment is applied.
  • the hoistway 1 penetrates each floor of a building (not shown).
  • the machine room 2 is provided directly above the hoistway 1.
  • Each of the plurality of landings 3 is provided on each floor of the building. Each of the plurality of landings 3 faces the hoistway 1.
  • the hoisting machine 4 is provided in the machine room 2.
  • the main rope 5 is wound around the hoisting machine 4.
  • the car 6 is provided inside the hoistway 1.
  • the car 6 is hung on one side of the main rope 5.
  • the balance weight 7 is provided inside the hoistway 1.
  • the balance weight 7 is hung on the other side of the main rope 5.
  • Each of the plurality of landing door 8 devices is provided at each entrance / exit of the plurality of landing 3 as an elevator door.
  • the car door 9 device is provided at the entrance / exit of the car 6 as an elevator door.
  • the control device 10 is provided in the machine room 2.
  • the control device 10 is provided so as to be able to control the elevator as a whole.
  • the elevator interlocking device 11 is provided in the management room of the building.
  • the autonomous mobile body 12 is arranged inside the building.
  • the autonomous mobile body 12 is a mechanical device that autonomously moves without being operated by a person.
  • the autonomous mobile body 12 is a robot.
  • the autonomous mobile body 12 is personal mobility.
  • the elevator interlocking device 11 grasps information about the autonomous mobile body 12. For example, the elevator interlocking device 11 grasps information on the destination of the autonomous mobile body 12 and the floor on which the destination exists.
  • the elevator interlocking device 11 receives the position information of the autonomous mobile body 12 from a positioning device or an autonomous mobile body 12 (not shown).
  • the elevator interlocking device 11 determines the date and time when the autonomous mobile body 12 is considered to be at a position corresponding to the position information. For example, the elevator interlocking device 11 determines that the autonomous moving body 12 is at a position corresponding to the position information at the date and time when the position information is sent from the positioning device or the autonomous moving body 12. For example, the elevator interlocking device 11 determines that the autonomous mobile body 12 is at a position corresponding to the position information at the date and time when the position information is received.
  • the "position information" is information including information on the target identifier, information on variables representing the target position, and information on the date and time when the target is said to be at the position. If the target is not specified, the information of the target identifier may not be available.
  • the variables representing the position of the target are three variables of horizontal two axes (x, y) and height (z) in Cartesian coordinates.
  • the variables representing the position of the target are three variables: latitude, longitude, and altitude.
  • the variables representing the position of the target are three variables of the radius r and the two declinations in spherical coordinates.
  • the date and time when the object is said to have been at the position is the year, month, day, hour, minute, and second. A value less than a second may be included in the date and time when the object is said to have been in the position.
  • the elevator interlocking device 11 determines the elevator or elevator group to be called for the autonomous mobile body 12. For example, when elevators or groups of elevators are provided at a plurality of remote locations inside a building, there may be elevators or groups of elevators that have stopped operating depending on the time of day. There may be an elevator or a group of elevators that have stopped driving to the current floor or the destination floor of the autonomous mobile body 12. In order for the autonomous mobile body 12 to reach the target floor, it is necessary to change elevators on the middle floor, and there may be an elevator or a group of elevators that cannot reach the platform 3 of the elevator to which the transfer is made. There may be elevators or elevator groups that have stopped using the elevators by the autonomous mobile body 12.
  • the elevator interlocking device 11 is a candidate for an elevator or an elevator group that calls an elevator or an elevator group that can be included in the movement route established from the current location to the destination of the autonomous moving body 12 at that time.
  • the elevator to be called may be determined based on preset conditions. For example, it may be an elevator or an elevator group that calls the elevator or the elevator group closest to the current position (d). For example, it may be an elevator or an elevator group that calls the elevator or the elevator group having the smallest number of passengers or the number (n) of the autonomous moving bodies 12. For example, it may be an elevator or an elevator group that calls an elevator or an elevator group that moves at an efficient time (t) such as a waiting time of an elevator or a travel time to a destination.
  • t efficient time
  • it may be an elevator or an elevator group that calls an elevator or an elevator group that consumes the least amount of energy (e) until the autonomous mobile body 12 reaches the destination, such as an elevator on a route with many downhill slopes.
  • it may be an elevator or an elevator group that calls an elevator or an elevator group on a route that is less likely to hinder movement (r) such as congestion or obstacles.
  • the elevator or elevator group that calls the elevator or elevator group that minimizes the comprehensive evaluation value Elevator bank shown in the following (1) may be used.
  • Elevator bank ⁇ ⁇ d + ⁇ ⁇ t + ⁇ ⁇ e + ⁇ ⁇ r (1)
  • ⁇ , ⁇ , ⁇ , and ⁇ are weighting coefficients. By increasing the weighting coefficient of the index to be considered, it becomes easier to select the elevator or elevator group that suits the purpose. Note that setting the weight to 0 is equivalent to not considering the index.
  • the elevator interlocking device 11 automatically calls the elevator or the elevator group after deciding the elevator or the elevator group to be called. By calling the elevator in advance, the autonomous mobile body 12 can move more efficiently by the elevator or the elevator group.
  • the elevator or the car 6 of the elevator group arrives and waits for the arrival of the autonomous mobile body 12 before the autonomous mobile body 12 reaches the landing 3, other users will be inconvenienced. Therefore, when the distance between the elevator or the landing 3 of the elevator group and the autonomous moving body 12 is equal to or less than a preset value, the elevator or the elevator group may be automatically called.
  • the time difference between the estimated arrival time at the point where the autonomous moving body 12 starts boarding the elevator or the elevator group and the estimated arrival time of the car 6 to the floor where the autonomous moving body 12 exists is equal to or less than a preset value. If becomes, the elevator or the elevator group may be called automatically.
  • calling the elevator here means that the elevator may actually be called, but in order to determine the calling order, the information of the request to call the elevator is stored.
  • the elevator interlocking device 11 determines the order in which the elevators are called when there is an elevator call request.
  • the first pattern is a pattern in which the autonomous mobile body 12 is transported by an elevator in the same manner as a general person without distinguishing between the autonomous mobile body 12 and a general user.
  • the second pattern is a pattern in which when the autonomous mobile body 12 gets in and out of the car 6, the elevator is operated exclusively, and the general public and the autonomous mobile body 12 are not allowed to ride in the car 6.
  • the elevator interlocking device 11 moves the car 6 to the destination floor of the user on board, and after the user gets out of the car 6, causes the autonomous moving body 12 to start using the elevator. ..
  • FIG. 2 is a block diagram of the elevator interlocking device according to the first embodiment.
  • the elevator interlocking device 11 includes a position information storage unit 11a, a prediction unit 11b, an elevator information calculation unit 11c, a calling unit 11d, a boarding availability determination unit 11e, a safety assistance unit 11f, and a state recovery unit 11g. To be equipped.
  • the position information storage unit 11a stores the position information of the autonomous moving body 12.
  • the prediction unit 11b calculates the estimated arrival time at the point where the autonomous moving body 12 starts the riding behavior in the car 6.
  • the elevator information calculation unit 11c calculates the arrival time of the car 6 on the floor where the autonomous moving body 12 exists.
  • the calling unit 11d determines the elevator calling timing based on the estimated arrival time of the autonomous moving body 12 calculated by the prediction unit 11b and the estimated arrival time of the car 6 calculated by the elevator information calculation unit 11c.
  • the boarding availability determination unit 11e prompts the autonomous moving body 12 to board when the current floor of the car 6 is the calling floor of the autonomous moving body 12 and the traveling direction of the car 6 is not set.
  • the safety assistance unit 11f urges the autonomous mobile body 12 to disembark on a floor other than the target floor of the autonomous mobile body 12, and the floor on which the vehicle disembarks. Information is transmitted to the autonomous mobile body 12.
  • the safety assistance unit 11f requests the autonomous moving body 12 to safely stop inside the elevator car 6 when it becomes impossible to continue the operation of the elevator.
  • the state recovery unit 11g does not receive the information on the completion of boarding from the autonomous mobile body 12 by the preset time after requesting the boarding of the elevator car 6, or after requesting the disembarkation from the car 6.
  • the operation of the elevator is returned to the normal operation.
  • FIG. 3 is a diagram for explaining a first example of the calling order by the elevator interlocking device in the first embodiment.
  • FIG. 4 is a diagram for explaining a second example of the calling order of the elevator interlocking device in the first embodiment.
  • the car 6 is assigned to the elevator call request of D before the elevator call request of A.
  • FIG. 4 it is assumed that a plurality of autonomous mobile bodies 12 do not ride in the car 6, but assuming that the autonomous mobile body 12 rides in the car 6, E, A, C, B, and D It will be the turn. That is, the order in which the elevators are called is determined so that as many autonomous moving bodies 12 traveling in the same direction as possible can be placed before the car 6 reverses its direction. Therefore, the time until all the autonomous moving bodies 12 finish using the elevator becomes shorter. As a result, general users will be able to use the elevator at an early stage.
  • the determination unit 11e may determine whether or not the ride can be carried out by the combination of the autonomous moving bodies 12, and determine the order in which the elevators are called.
  • FIG. 5 is an operation when the elevator interlocking device according to the first embodiment determines an elevator to be called.
  • step S1 the elevator interlocking device 11 determines whether or not the position information of the autonomous moving body 12 has been received. When the position information of the autonomous moving body 12 is not received in step S1, the elevator interlocking device 11 performs the operation of step S1. When the position information of the autonomous moving body 12 is received in step S1, the elevator interlocking device 11 performs the operation of step S2.
  • step S2 the elevator interlocking device 11 stores the position information of the autonomous moving body 12. After that, the elevator interlocking device 11 performs the operation of step S3. In step S3, the elevator interlocking device 11 determines the elevator to be called. After that, the elevator interlocking device 11 performs the operation of step S4. In step S4, the elevator interlocking device 11 determines whether or not the reception of the position information of the autonomous moving body 12 is completed.
  • step S4 If the reception of the position information of the autonomous moving body 12 is not completed in step S4, the elevator interlocking device 11 performs the operation of step S1. When the reception of the position information of the autonomous moving body 12 is completed in step S4, the elevator interlocking device 11 ends the operation.
  • FIG. 6 is a flowchart for explaining the operation when the elevator interlocking device according to the first embodiment receives an elevator call request.
  • step S11 the elevator interlocking device 11 determines whether or not it is necessary to call the elevator. When it is not necessary to call the elevator in step S11, the elevator interlocking device 11 performs the operation of step S11. If it is necessary to call the elevator in step S11, the operation of step S12 is performed.
  • step S12 the elevator interlocking device 11 stores the information of the elevator call request. After that, the elevator interlocking device 11 performs the operation of step S13. In step S13, the elevator interlocking device 11 determines whether or not the determination of calling the elevator has been completed.
  • step S13 If the elevator call determination is not completed in step S13, the elevator interlocking device 11 performs the operation of step S11. When the determination of calling the elevator is completed in step S13, the elevator interlocking device 11 ends the operation.
  • FIG. 7 is a flowchart for explaining the operation when the elevator interlocking device according to the first embodiment determines the order in which the elevators are called.
  • step S21 the elevator interlocking device 11 determines whether or not there is an elevator call request. If there is no elevator call request in step S21, the elevator interlocking device 11 performs the operation of step S21. When there is an elevator call request in step S21, the elevator interlocking device 11 performs the operation of step S22.
  • step S22 the elevator interlocking device 11 determines the order in which the elevators are called. After that, the elevator interlocking device 11 performs the operation of step S23. In step S23, the elevator interlocking device 11 calls the elevator.
  • step S24 the elevator interlocking device 11 determines whether or not it is necessary to stop the elevator interlocking.
  • step S24 When it is not necessary to stop the elevator interlocking in step S24, the elevator interlocking device 11 operates in step S21. When it is necessary to stop the elevator interlocking in step S24, the elevator interlocking device 11 ends the operation.
  • FIGS. 8 and 9 are flowcharts for explaining the operation of the elevator interlocking device according to the first embodiment when controlling the getting on and off of the car by the autonomous moving body.
  • step S31 does the elevator interlocking device 11 satisfy the boarding condition that the car 6 stops on the boarding floor of the target autonomous moving body 12, the elevator door opens, and there is no autonomous moving body 12 getting off on the floor? Judge whether or not.
  • step S31 If the boarding condition of step S31 is not satisfied, the elevator interlocking device 11 operates in step S31. When the boarding condition is satisfied in step S31, the elevator interlocking device 11 performs the operation of step S32.
  • step S32 the elevator interlocking device 11 keeps the elevator door open. After that, the elevator interlocking device 11 performs the operation of step S33.
  • step S33 the target autonomous mobile body 12 is requested to board.
  • the elevator interlocking device 11 cannot receive the information indicating that the elevator interlocking device 11 is in dedicated operation from the elevator control device 10 due to various restrictions, the state in which the traveling direction of the car 6 is neither up nor down is due to the autonomous moving body 12. It may be determined that the state of being able to answer the call of the target autonomous vehicle 12 may be requested to board the target autonomous mobile body 12.
  • step S34 the elevator interlocking device 11 determines whether or not the boarding completion information from the target autonomous mobile body 12 has been received.
  • step S34 the elevator interlocking device 11 performs the operation of step S35.
  • step S35 the elevator interlocking device 11 determines whether or not a preset time has elapsed.
  • step S35 the elevator interlocking device 11 determines whether or not the information of abandonment of boarding from the target autonomous mobile body 12 has been received.
  • step S36 When the information of abandonment of boarding from the target autonomous mobile body 12 is not received in step S36, the elevator interlocking device 11 operates in step S34.
  • step S37 the elevator interlocking device 11 ends the continuation of the elevator door opening. After that, the elevator interlocking device 11 performs the operation of step S38.
  • step S38 the elevator interlocking device 11 returns the elevator operation to the normal operation. After that, the elevator interlocking device 11 ends its operation.
  • step S34 When the information on the completion of boarding from the target autonomous mobile body 12 is received in step S34, the elevator interlocking device 11 performs the operation of step S39.
  • step S39 the elevator interlocking device 11 causes the elevator to register the destination floor of the target autonomous mobile body 12.
  • step S40 the elevator interlocking device 11 ends the continuation of the elevator door opening.
  • step S41 the elevator interlocking device 11 determines whether or not it has become difficult to continue the operation of the elevator due to an earthquake or the like.
  • step S41 when it becomes difficult to continue the operation of the elevator, the elevator interlocking device 11 operates in step S42.
  • step S42 the elevator interlocking device 11 determines whether or not the car 6 has stopped.
  • step S42 If the car 6 is not stopped in step S42, the elevator interlocking device 11 operates in step S42.
  • the elevator interlocking device 11 When the car 6 is stopped in step S42, the elevator interlocking device 11 operates in step S43.
  • step S43 after confirming that the elevator is open, the elevator interlocking device 11 requests the target autonomous mobile body 12 to disembark, and transmits information on the floor to be disembarked to the target autonomous mobile body 12.
  • step S41 the elevator interlocking device 11 determines whether or not the car 6 has stopped on the exit floor of the target autonomous mobile body 12.
  • step S44 If the car 6 is not stopped on the getting-off floor in step S44, the elevator interlocking device 11 operates in step S44. When the car 6 stops on the exit floor in step S44, the elevator interlocking device 11 operates in step S45.
  • step S45 the elevator interlocking device 11 keeps the elevator door open. After that, the operation of step S46 is performed. In step S46, the elevator interlocking device 11 requests the autonomous mobile body 12 to get off. After that, the elevator interlocking device 11 performs the operation of step S47. In step S47, the elevator interlocking device 11 determines whether or not the information on the completion of disembarkation from the target autonomous mobile body 12 has been received.
  • step S47 the elevator interlocking device 11 ends the operation.
  • step S47 the elevator interlocking device 11 determines whether or not a preset time has elapsed.
  • step S49 the elevator interlocking device 11 determines whether or not the information of abandonment of disembarkation from the target autonomous mobile body 12 has been received.
  • step S49 If the information of abandonment of disembarkation from the target autonomous mobile body 12 is not received in step S49, the elevator interlocking device 11 performs the operation of step S47.
  • step S50 the elevator interlocking device 11 requests the autonomous moving body 12 to stop. After that, the elevator interlocking device 11 performs the operation of step S51. In step S51, the elevator interlocking device 11 requests the manager of the autonomous mobile body 12 to rescue the autonomous mobile body 12.
  • step S52 the elevator interlocking device 11 ends the continuation of the elevator door opening. After that, the elevator interlocking device 11 performs the operation of step S53. In step S53, the elevator interlocking device 11 returns the elevator operation to the normal operation. After that, the elevator interlocking device 11 ends its operation.
  • the elevator interlocking device 11 calls the elevator car 6 when the autonomous moving body 12 reaches a preset position. Therefore, the autonomous moving body 12 can be efficiently moved by using the elevator.
  • the elevator interlocking device 11 determines the elevator to be called based on the position information of the autonomous moving body 12 and the destination floor information. Therefore, the elevator to be called can be set appropriately.
  • the elevator interlocking device 11 determines the timing to call the elevator based on the estimated arrival time of the autonomous mobile body 12 and the estimated arrival time of the car 6. Therefore, the autonomous mobile body 12 can be moved more efficiently.
  • the elevator interlocking device 11 determines the order of the autonomous moving bodies 12 to be moved by the car 6, and calls the car 6 in order so that the car 6 is used in the order. Therefore, the elevator can be used efficiently and safely by managing the autonomous moving body 12 on which the car 6 is to be boarded at one time and the order in which the elevators are boarded.
  • the elevator interlocking device 11 moves the autonomous moving body 12 that wants to move the car 6 in the traveling direction to the car 6 before the autonomous moving body 12 that wants to move in the opposite direction to the traveling direction of the car 6. Determine the order in which the basket 6 is called so that it can be used. Therefore, the elevator can be used more efficiently.
  • the elevator interlocking device 11 increases the number of autonomous moving bodies 12 that can move until the car 6 reverses its direction. Determine the order in which 6 is called. Therefore, the elevator can be used more efficiently.
  • the elevator interlocking device 11 prompts the autonomous mobile body 12 to disembark on a floor other than the target floor of the autonomous mobile body 12 when it becomes impossible to continue the operation of the elevator, and the elevator interlocking device 11 is on the floor on which the vehicle disembarks. Information is transmitted to the autonomous mobile body 12. Therefore, it is possible to prevent the autonomous moving body 12 from being confined in the car 6.
  • the elevator interlocking device 11 requests the autonomous moving body 12 to safely stop inside the elevator car 6 when it becomes impossible to continue the operation of the elevator. Therefore, it is possible to prevent the autonomous moving body 12 from moving unnecessarily inside the car 6.
  • the elevator interlocking device 11 prompts the autonomous moving body 12 to board when the current floor of the elevator car 6 is the calling floor of the autonomous moving body 12 and the traveling direction of the car 6 is not set. Therefore, it is possible to prevent a general user and the autonomous mobile body 12 from riding together.
  • the elevator interlocking device 11 requests that the elevator interlocking device 11 does not receive the information on the completion of boarding from the autonomous mobile body 12 or disembarks from the car 6 by a preset time after requesting the boarding of the elevator car 6. If the information on the completion of disembarkation from the autonomous moving body 12 is not received within a preset time, the elevator operation is returned to the normal operation. Therefore, it is possible to make the elevator more comfortable for general users.
  • the elevator interlocking device 11 when the elevator interlocking device 11 does not receive the information on the completion of disembarkation from the autonomous mobile body 12 by a preset time after requesting disembarkation from the car 6, the elevator interlocking device 11 causes the elevator to the autonomous mobile body 12. Request to stop inside the car 6. Therefore, it is possible to prevent the autonomous moving body 12 from moving unnecessarily inside the car 6.
  • the elevator interlocking device 11 transmits information requesting the rescue of the autonomous mobile body 12 to a preset partner. Therefore, the autonomous mobile body 12 can be restored at an early stage. As a result, general users can use the elevator safely and comfortably.
  • the elevator interlocking device 11 may be applied to an elevator system in which the hoisting machine 4 and the control device 10 are provided at the lower or upper part of the hoistway 1 without the machine room 2.
  • the function of the elevator interlocking device 11 may be provided in the control device 11.
  • FIG. 10 is a hardware configuration diagram of the elevator interlocking device according to the first embodiment.
  • Each function of the elevator interlocking device 11 can be realized by a processing circuit.
  • the processing circuit includes at least one processor 100a and at least one memory 100b.
  • the processing circuit comprises at least one dedicated hardware 200.
  • each function of the elevator interlocking device 11 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 elevator interlocking device 11 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.
  • at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD or the like.
  • 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.
  • each function of the elevator interlocking device 11 is realized by a processing circuit.
  • each function of the elevator interlocking device 11 is collectively realized by a processing circuit.
  • a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware.
  • the function of the calling unit 11d is realized by a processing circuit as dedicated hardware 200, and for functions other than the function of the calling unit 11d, at least one processor 100a reads a program stored in at least one memory 100b. It may be realized by executing.
  • the processing circuit realizes each function of the elevator interlocking device 11 by hardware 200, software, firmware, or a combination thereof.
  • each function of the control device 10 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the elevator interlocking device 11.
  • the elevator monitoring device according to the present invention can be used in the system.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)

Abstract

Provided is an elevator link device that makes it possible to efficiently move an autonomous mobile body by using an elevator. The elevator link device comprises a position information storage unit that stores position information for an autonomous mobile body, and a call unit that calls an elevator car when the autonomous mobile body reaches a preset position. With this configuration, the elevator link device calls the elevator car when the autonomous mobile body reaches the preset position. Thus, the autonomous mobile body can be efficiently moved by using the elevator.

Description

エレベーター連動装置Elevator interlocking device
　この発明は、エレベーター連動装置に関する。 The present invention relates to an elevator interlocking device.
　例えば、特許文献１は、エレベーターシステムを開示する。当該エレベーターシステムによれば、エレベーターの利用者の移動の効率を向上し得る。 For example, Patent Document 1 discloses an elevator system. According to the elevator system, the efficiency of movement of elevator users can be improved.
日本特開２０１０－７０３８２号公報Japanese Patent Application Laid-Open No. 2010-70382
　しかしながら、特許文献１に記載のエレベーターシステムにおいては、自律移動体がエレベーターシステム等を利用することを想定していない。このため、エレベーターを利用して自律移動体を効率的に移動させることができない。 However, in the elevator system described in Patent Document 1, it is not assumed that the autonomous mobile body uses the elevator system or the like. Therefore, it is not possible to efficiently move the autonomous moving body by using the elevator.
　この発明は、上述の課題を解決するためになされた。この発明の目的は、エレベーターを利用して自律移動体を効率的に移動させることができるエレベーター連動装置を提供することである。 This invention was made to solve the above-mentioned problems. An object of the present invention is to provide an elevator interlocking device capable of efficiently moving an autonomous mobile body by using an elevator.
　この発明に係るエレベーター連動装置は、自律移動体の位置情報を記憶する位置情報記憶部と、前記自律移動体が予め設定された位置に到達した際に、エレベーターのかごを呼び出す呼び出し部と、を備えた。 The elevator interlocking device according to the present invention has a position information storage unit that stores the position information of the autonomous moving body and a calling unit that calls the elevator car when the autonomous moving body reaches a preset position. Prepared.
　この発明によれば、エレベーター連動装置は、自律移動体が予め設定された位置に到達した際に、エレベーターのかごを呼び出す。このため、エレベーターを利用して自律移動体を効率的に移動させることができる。 According to the present invention, the elevator interlocking device calls the elevator car when the autonomous moving body reaches a preset position. Therefore, the autonomous moving body can be efficiently moved by using the elevator.
実施の形態１におけるエレベーター連動装置が適用されるエレベーターシステムの構成図である。FIG. 5 is a configuration diagram of an elevator system to which the elevator interlocking device according to the first embodiment is applied. 実施の形態１におけるエレベーター連動装置のブロック図である。It is a block diagram of the elevator interlocking device in Embodiment 1. 実施の形態１におけるエレベーター連動装置による呼び出し順の第１例を説明するための図である。It is a figure for demonstrating the first example of the calling order by the elevator interlocking device in Embodiment 1. FIG. 実施の形態１におけるエレベーター連動装置の呼び出し順の第２例を説明するための図である。It is a figure for demonstrating the 2nd example of the calling order of the elevator interlocking device in Embodiment 1. FIG. 実施の形態１におけるエレベーター連動装置が呼び出すエレベーターを決定する際の動作である。This is an operation for determining the elevator to be called by the elevator interlocking device according to the first embodiment. 実施の形態１におけるエレベーター連動装置がエレベーターの呼び出し要求を受け付ける際の動作の説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the elevator interlocking device in Embodiment 1 receives an elevator call request. 実施の形態１におけるエレベーター連動装置がエレベーターを呼び出す順番を決定する際の動作の説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the elevator interlocking device in Embodiment 1 determines the order of calling an elevator. 実施の形態１におけるエレベーター連動装置が自律移動体によるかごの乗降を制御する際の動作の説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the elevator interlocking device in Embodiment 1 controls the getting on and off of a car by an autonomous moving body. 実施の形態１におけるエレベーター連動装置が自律移動体によるかごの乗降を制御する際の動作の説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the elevator interlocking device in Embodiment 1 controls the getting on and off of a car by an autonomous moving body. 実施の形態１におけるエレベーター連動装置のハードウェア構成図である。It is a hardware block diagram of the elevator interlocking device in Embodiment 1. FIG.
　この発明を実施するための形態について添付の図面に従って説明する。なお、各図中、同一または相当する部分には同一の符号が付される。当該部分の重複説明は適宜に簡略化ないし省略する。 The embodiment for carrying out the present invention will be described with reference to the attached 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.
実施の形態１．
　図１は実施の形態１におけるエレベーター連動装置が適用されるエレベーターシステムの構成図である。 Embodiment 1.
FIG. 1 is a configuration diagram of an elevator system to which the elevator interlocking device according to the first embodiment is applied.
　図１のエレベーターシステムにおいて、昇降路１は、図示されない建築物の各階を貫く。機械室２は、昇降路１の直上に設けられる。複数の乗場３の各々は、建築物の各階に設けられる。複数の乗場３の各々は、昇降路１に対向する。 In the elevator system of FIG. 1, the hoistway 1 penetrates each floor of a building (not shown). The machine room 2 is provided directly above the hoistway 1. Each of the plurality of landings 3 is provided on each floor of the building. Each of the plurality of landings 3 faces the hoistway 1.
　巻上機４は、機械室２に設けられる。主ロープ５は、巻上機４に巻き掛けられる。 The hoisting machine 4 is provided in the machine room 2. The main rope 5 is wound around the hoisting machine 4.
　かご６は、昇降路１の内部に設けられる。かご６は、主ロープ５の一側に吊るされる。釣合おもり７は、昇降路１の内部に設けられる。釣合おもり７は、主ロープ５の他側に吊るされる。 The car 6 is provided inside the hoistway 1. The car 6 is hung on one side of the main rope 5. The balance weight 7 is provided inside the hoistway 1. The balance weight 7 is hung on the other side of the main rope 5.
　複数の乗場ドア８装置の各々は、エレベーターのドアとして複数の乗場３の各々の出入口に設けられる。かごドア９装置は、エレベーターのドアとしてかご６の出入口に設けられる。 Each of the plurality of landing door 8 devices is provided at each entrance / exit of the plurality of landing 3 as an elevator door. The car door 9 device is provided at the entrance / exit of the car 6 as an elevator door.
　制御装置１０は、機械室２に設けられる。制御装置１０は、エレベーターを全体的に制御し得るように設けられる。 The control device 10 is provided in the machine room 2. The control device 10 is provided so as to be able to control the elevator as a whole.
　例えば、エレベーター連動装置１１は、建築物の管理室に設けられる。 For example, the elevator interlocking device 11 is provided in the management room of the building.
　自律移動体１２は、建築物の内部に配置される。自律移動体１２は、人が操作せずとも自律移動する機械装置である。例えば、自律移動体１２は、ロボットである。例えば、自律移動体１２は、パーソナルモビリティである。 The autonomous mobile body 12 is arranged inside the building. The autonomous mobile body 12 is a mechanical device that autonomously moves without being operated by a person. For example, the autonomous mobile body 12 is a robot. For example, the autonomous mobile body 12 is personal mobility.
　エレベーター連動装置１１は、自律移動体１２に関する情報を把握する。例えば、エレベーター連動装置１１は、自律移動体１２の目的地と当該目的地が存在する階との情報を把握する。 The elevator interlocking device 11 grasps information about the autonomous mobile body 12. For example, the elevator interlocking device 11 grasps information on the destination of the autonomous mobile body 12 and the floor on which the destination exists.
　エレベーター連動装置１１は、図示されない測位装置または自律移動体１２から自律移動体１２の位置情報を受信する。エレベーター連動装置１１は、当該自律移動体１２が当該位置情報に対応した位置にいるとされる日時を判定する。例えば、エレベーター連動装置１１は、測位装置または自律移動体１２から位置情報が送られてきた日時に当該自律移動体１２が当該位置情報に対応した位置にいると判定する。例えば、エレベーター連動装置１１は、当該位置情報を受信した日時に当該自律移動体１２が当該位置情報に対応した位置にいると判定する。 The elevator interlocking device 11 receives the position information of the autonomous mobile body 12 from a positioning device or an autonomous mobile body 12 (not shown). The elevator interlocking device 11 determines the date and time when the autonomous mobile body 12 is considered to be at a position corresponding to the position information. For example, the elevator interlocking device 11 determines that the autonomous moving body 12 is at a position corresponding to the position information at the date and time when the position information is sent from the positioning device or the autonomous moving body 12. For example, the elevator interlocking device 11 determines that the autonomous mobile body 12 is at a position corresponding to the position information at the date and time when the position information is received.
　なお、“位置情報”とは、対象の識別子の情報と対象の位置を表す変数の情報と対象が当該位置にいたとされる日時の情報とを含む情報である。対象が特定されない場合は、対象の識別子の情報がなくともよい。例えば、対象の位置を表す変数は、直交座標における水平二軸（ｘ、ｙ）と高さ（ｚ）との３つの変数である。例えば、対象の位置を表す変数は、緯度と経度と標高との３つの変数である。例えば、対象の位置を表す変数は、球座標における動径ｒと２つの偏角との３つ変数である。例えば、対象が当該位置にいたとされる日時は、年月日時分秒である。対象が当該位置にいたとされる日時において、秒未満の値が含まれてもよい。 Note that the "position information" is information including information on the target identifier, information on variables representing the target position, and information on the date and time when the target is said to be at the position. If the target is not specified, the information of the target identifier may not be available. For example, the variables representing the position of the target are three variables of horizontal two axes (x, y) and height (z) in Cartesian coordinates. For example, the variables representing the position of the target are three variables: latitude, longitude, and altitude. For example, the variables representing the position of the target are three variables of the radius r and the two declinations in spherical coordinates. For example, the date and time when the object is said to have been at the position is the year, month, day, hour, minute, and second. A value less than a second may be included in the date and time when the object is said to have been in the position.
　エレベーター連動装置１１は、当該自律移動体１２に対して呼び出すエレベーターまたはエレベーター群を決定する。例えば、建築物の内部において離れた複数の個所にエレベーターまたエレベーター群が設けられている場合、時間帯によっては運転を中止しているエレベーターまたエレベーター群がある場合もある。自律移動体１２の現在階または目的階へ運転を中止しているエレベーターまたエレベーター群がある場合もある。自律移動体１２が目的階へ到達するためには途中の階でエレベーターの乗り換えが必要であり、乗り換え先のエレベーターの乗場３に辿り着けないエレベーターまたはエレベーター群がある場合もある。自律移動体１２によるエレベーターの利用を中止しているエレベーターまたはエレベーター群がある場合もある。 The elevator interlocking device 11 determines the elevator or elevator group to be called for the autonomous mobile body 12. For example, when elevators or groups of elevators are provided at a plurality of remote locations inside a building, there may be elevators or groups of elevators that have stopped operating depending on the time of day. There may be an elevator or a group of elevators that have stopped driving to the current floor or the destination floor of the autonomous mobile body 12. In order for the autonomous mobile body 12 to reach the target floor, it is necessary to change elevators on the middle floor, and there may be an elevator or a group of elevators that cannot reach the platform 3 of the elevator to which the transfer is made. There may be elevators or elevator groups that have stopped using the elevators by the autonomous mobile body 12.
　従って、エレベーター連動装置１１は、その時点において自律移動体１２の現在地から目的地までに成立する移動ルートに含むことができるエレベーターまたはエレベーター群を呼び出すエレベーターまたはエレベーター群の候補とする。 Therefore, the elevator interlocking device 11 is a candidate for an elevator or an elevator group that calls an elevator or an elevator group that can be included in the movement route established from the current location to the destination of the autonomous moving body 12 at that time.
　複数の候補が存在する場合、予め設定された条件に基づいて呼び出すエレベーターを決定すればよい。例えば、現在位置からの距離（ｄ）が最も近いエレベーターまたはエレベーター群を呼び出すエレベーターまたはエレベーター群としてもよい。例えば、乗客数または自律移動体１２の数（ｎ）が最も少ないエレベーターまたはエレベーター群を呼び出すエレベーターまたはエレベーター群としてもよい。例えば、エレベーターの待ち時間、目的地までの移動時間等、効率的な時間（ｔ）で移動するエレベーターまたはエレベーター群を呼び出すエレベーターまたはエレベーター群としてもよい。例えば、下り坂が多いルートにあるエレベーター等、自律移動体１２が目的地に到達するまでのエネルギー消費量（ｅ）が最も少なくなるエレベーターまたはエレベーター群を呼び出すエレベーターまたはエレベーター群としてもよい。例えば、混雑、障害物等、移動に支障を与える恐れ（ｒ）の少ない経路にあるエレベーターまたはエレベーター群を呼び出すエレベーターまたはエレベーター群としてもよい。 If there are multiple candidates, the elevator to be called may be determined based on preset conditions. For example, it may be an elevator or an elevator group that calls the elevator or the elevator group closest to the current position (d). For example, it may be an elevator or an elevator group that calls the elevator or the elevator group having the smallest number of passengers or the number (n) of the autonomous moving bodies 12. For example, it may be an elevator or an elevator group that calls an elevator or an elevator group that moves at an efficient time (t) such as a waiting time of an elevator or a travel time to a destination. For example, it may be an elevator or an elevator group that calls an elevator or an elevator group that consumes the least amount of energy (e) until the autonomous mobile body 12 reaches the destination, such as an elevator on a route with many downhill slopes. For example, it may be an elevator or an elevator group that calls an elevator or an elevator group on a route that is less likely to hinder movement (r) such as congestion or obstacles.
　なお、これらの条件を総合的に考慮し、次の（１）で示される総合評価値Ｅｌｅｖａｔｏｒ　ｂａｎｋが最小となるエレベーターまたはエレベーター群を呼び出すエレベーターまたはエレベーター群としてもよい。 In addition, considering these conditions comprehensively, the elevator or elevator group that calls the elevator or elevator group that minimizes the comprehensive evaluation value Elevator bank shown in the following (1) may be used.
Ｅｌｅｖａｔｏｒ　ｂａｎｋ＝α×ｄ＋β×ｔ＋μ×ｅ＋ω×ｒ　　　（１） Elevator bank = α × d + β × t + μ × e + ω × r (1)
　ここで、α、β、μ、ωは重み係数である。より考慮すべき指標の重み係数を重くすることで、意に沿ったエレベーターまたはエレベーター群が選ばれやすくなる。なお、重みを０にすることは、当該指標を考慮しないことと等価である。 Here, α, β, μ, and ω are weighting coefficients. By increasing the weighting coefficient of the index to be considered, it becomes easier to select the elevator or elevator group that suits the purpose. Note that setting the weight to 0 is equivalent to not considering the index.
　エレベーター連動装置１１は、呼び出すエレベーターまたはエレベーター群を決めた後、当該エレベーターまたは当該エレベーター群を自動的に呼び出す。事前にエレベーターを事前に呼んでおくことで、自律移動体１２は、当該エレベーターまたは当該エレベーター群により効率的に移動し得る。 The elevator interlocking device 11 automatically calls the elevator or the elevator group after deciding the elevator or the elevator group to be called. By calling the elevator in advance, the autonomous mobile body 12 can move more efficiently by the elevator or the elevator group.
　しかしながら、自律移動体１２が乗場３に到達する前に当該エレベーターまたは当該エレベーター群のかご６が到着して自律移動体１２の到着を待つと、他の利用者に迷惑をかける。このため、当該エレベーターまたは当該エレベーター群の乗場３と自律移動体１２との距離が予め設定された値以下となった場合、当該エレベーターまたは当該エレベーター群を自動的に呼び出してもよい。自律移動体１２が当該エレベーターまたは当該エレベーター群への乗車行動を開始する地点への到着予測時刻と自律移動体１２が存在する階へのかご６の到着予測時刻の時間差が予め設定された値以下となった場合、当該エレベーターまたは当該エレベーター群を自動的に呼び出してもよい。 However, if the elevator or the car 6 of the elevator group arrives and waits for the arrival of the autonomous mobile body 12 before the autonomous mobile body 12 reaches the landing 3, other users will be inconvenienced. Therefore, when the distance between the elevator or the landing 3 of the elevator group and the autonomous moving body 12 is equal to or less than a preset value, the elevator or the elevator group may be automatically called. The time difference between the estimated arrival time at the point where the autonomous moving body 12 starts boarding the elevator or the elevator group and the estimated arrival time of the car 6 to the floor where the autonomous moving body 12 exists is equal to or less than a preset value. If becomes, the elevator or the elevator group may be called automatically.
　なお、ここで「エレベーターを呼び出す」とは、実際にエレベーターを呼び出してもよいが、呼び出し順番を決定するために、エレベーターを呼び出す要求の情報を記憶することとする。 Note that "calling the elevator" here means that the elevator may actually be called, but in order to determine the calling order, the information of the request to call the elevator is stored.
　エレベーター連動装置１１は、エレベーターの呼び出し要求が存在した場合にエレベーターを呼び出す順番を決定する。 The elevator interlocking device 11 determines the order in which the elevators are called when there is an elevator call request.
　自律移動体１２がエレベーターを利用する際、第１パターンと第２パターンとが考えられる。第１パターンは、自律移動体１２と一般の利用者とを区別することなく、一般人と同様にエレベーターで自律移動体１２を輸送するパターンである。第２パターンは、自律移動体１２がかご６に乗降する際はエレベーターを専用運転とし、一般人と自律移動体１２とをかご６に同乗させないパターンである。 When the autonomous mobile body 12 uses the elevator, the first pattern and the second pattern can be considered. The first pattern is a pattern in which the autonomous mobile body 12 is transported by an elevator in the same manner as a general person without distinguishing between the autonomous mobile body 12 and a general user. The second pattern is a pattern in which when the autonomous mobile body 12 gets in and out of the car 6, the elevator is operated exclusively, and the general public and the autonomous mobile body 12 are not allowed to ride in the car 6.
　エレベーターの専用運転においては、エレベーター連動装置１１は、乗車中の利用者の目的階までかご６を移動させて利用者がかご６から降りた後に自律移動体１２に対してエレベーターの利用を開始させる。 In the dedicated operation of the elevator, the elevator interlocking device 11 moves the car 6 to the destination floor of the user on board, and after the user gets out of the car 6, causes the autonomous moving body 12 to start using the elevator. ..
　次に、図２を用いて、エレベーター連動装置１１を説明する。
　図２は実施の形態１におけるエレベーター連動装置のブロック図である。 Next, the elevator interlocking device 11 will be described with reference to FIG.
FIG. 2 is a block diagram of the elevator interlocking device according to the first embodiment.
　図２に示されるように、エレベーター連動装置１１は、位置情報記憶部１１ａと予測部１１ｂとエレベーター情報演算部１１ｃと呼び出し部１１ｄと乗車可否判定部１１ｅと安全補助部１１ｆと状態回復部１１ｇとを備える。 As shown in FIG. 2, the elevator interlocking device 11 includes a position information storage unit 11a, a prediction unit 11b, an elevator information calculation unit 11c, a calling unit 11d, a boarding availability determination unit 11e, a safety assistance unit 11f, and a state recovery unit 11g. To be equipped.
　位置情報記憶部１１ａは、自律移動体１２の位置情報を記憶する。予測部１１ｂは、自律移動体１２がかご６への乗車行動を開始する地点への到着予測時刻を演算する。エレベーター情報演算部１１ｃは、自律移動体１２が存在する階へのかご６の到着時刻を演算する。呼び出し部１１ｄは、予測部１１ｂにより演算された自律移動体１２の到着予測時刻とエレベーター情報演算部１１ｃにより演算されたかご６の到着予測時刻とに基づいて、エレベーターの呼び出すタイミングを決定する。 The position information storage unit 11a stores the position information of the autonomous moving body 12. The prediction unit 11b calculates the estimated arrival time at the point where the autonomous moving body 12 starts the riding behavior in the car 6. The elevator information calculation unit 11c calculates the arrival time of the car 6 on the floor where the autonomous moving body 12 exists. The calling unit 11d determines the elevator calling timing based on the estimated arrival time of the autonomous moving body 12 calculated by the prediction unit 11b and the estimated arrival time of the car 6 calculated by the elevator information calculation unit 11c.
　例えば、乗車可否判定部１１ｅは、かご６の現在階が自律移動体１２の呼び出し階であり、かご６の進行方向が設定されていない場合に、自律移動体１２に対して乗車を促す。例えば、安全補助部１１ｆは、エレベーターの運転の継続が不可能になった場合に、自律移動体１２に対して、当該自律移動体１２の目的階ではない階に降車を促し、降車する階の情報を自律移動体１２に送信する。例えば、安全補助部１１ｆは、エレベーターの運転の継続が不可能になった場合に、自律移動体１２に対してエレベーターのかご６の内部で安全に停止するように要求する。 For example, the boarding availability determination unit 11e prompts the autonomous moving body 12 to board when the current floor of the car 6 is the calling floor of the autonomous moving body 12 and the traveling direction of the car 6 is not set. For example, when it becomes impossible to continue the operation of the elevator, the safety assistance unit 11f urges the autonomous mobile body 12 to disembark on a floor other than the target floor of the autonomous mobile body 12, and the floor on which the vehicle disembarks. Information is transmitted to the autonomous mobile body 12. For example, the safety assistance unit 11f requests the autonomous moving body 12 to safely stop inside the elevator car 6 when it becomes impossible to continue the operation of the elevator.
　状態回復部１１ｇは、エレベーターのかご６への乗車を要求してから予め設定された時間までに自律移動体１２からの乗車完了の情報が受信されない場合またはかご６からの降車を要求してから予め設定された時間までに自律移動体１２からの降車完了の情報が受信されない場合に、エレベーターの運転を通常運転に復帰させる。 When the state recovery unit 11g does not receive the information on the completion of boarding from the autonomous mobile body 12 by the preset time after requesting the boarding of the elevator car 6, or after requesting the disembarkation from the car 6. When the information on the completion of disembarkation from the autonomous moving body 12 is not received by the preset time, the operation of the elevator is returned to the normal operation.
　次に、図３を用いて、各階にいる複数の自律移動体１２のエレベーター呼び出し要求が発生した際の呼び出し順の第１例を説明する。
　図３は実施の形態１におけるエレベーター連動装置による呼び出し順の第１例を説明するための図である。 Next, with reference to FIG. 3, a first example of the calling order when an elevator call request for a plurality of autonomous mobile bodies 12 on each floor is generated will be described.
FIG. 3 is a diagram for explaining a first example of the calling order by the elevator interlocking device in the first embodiment.
　図３に示されるように、Ａ、Ｂ、Ｃ、Ｄ、Ｅの順番でエレベーターの呼び出し要求が発生している際、発生した順番の通りにかご６を割り当てると、全ての自律移動体１２がエレベーターの利用を終了するまでに比較的長い時間がかかる。この間、一般の利用者は、当該エレベーターを利用できない。このため、一般の利用者の快適性が損なわれる。 As shown in FIG. 3, when elevator call requests are generated in the order of A, B, C, D, E, if the car 6 is assigned in the order of occurrence, all the autonomous mobile bodies 12 are assigned. It takes a relatively long time to finish using the elevator. During this time, general users cannot use the elevator. Therefore, the comfort of general users is impaired.
　次に、図４を用いて、各階にいる複数の自律移動体１２のエレベーター呼び出し要求が発生した際の呼び出し順の第２例を説明する。
　図４は実施の形態１におけるエレベーター連動装置の呼び出し順の第２例を説明するための図である。 Next, with reference to FIG. 4, a second example of the calling order when an elevator call request for a plurality of autonomous mobile bodies 12 on each floor is generated will be described.
FIG. 4 is a diagram for explaining a second example of the calling order of the elevator interlocking device in the first embodiment.
　図４に示されるように、かご６を割り当てる自律移動体１２の順番を変更し、順次、エレベーターを呼び出すと、全ての自律移動体１２がエレベーターの利用を終了するまでに、比較的短い時間しかかからない。 As shown in FIG. 4, when the order of the autonomous moving bodies 12 to which the car 6 is assigned is changed and the elevators are called in sequence, it takes only a relatively short time for all the autonomous moving bodies 12 to finish using the elevator. It doesn't cost.
　図４においては、Ａのエレベーターの呼び出し要求よりも先にＤのエレベーター呼び出し要求に対してかご６が割り当てられる。 In FIG. 4, the car 6 is assigned to the elevator call request of D before the elevator call request of A.
　一般の利用者がエレベーターを呼び出した際、かご６が下から上昇してきて専用運転の開始階にいる場合、Ａのエレベーターの呼び出し要求よりも先にＤのエレベーター呼び出し要求に対してかご６を割り当てると、Ａのエレベーター呼び出し要求を出した利用者は、自分に向かってくると思われたかご６が反転することになる。この際、当該利用者は、かご６の挙動に不快感、違和感等を覚える。この場合、当該利用者、故障を疑い、クレームが生じかねない。そのため、一般の利用者に対しては、図４の呼び出し順に変更することは難しい。 When a general user calls an elevator, if the car 6 rises from the bottom and is on the start floor of the dedicated operation, the car 6 is assigned to the elevator call request of D before the call request of the elevator of A. Then, the user who issued the elevator call request of A will flip the car 6 that was supposed to come toward him. At this time, the user feels uncomfortable, uncomfortable, etc. in the behavior of the car 6. In this case, the user may suspect a failure and a complaint may occur. Therefore, it is difficult for general users to change the calling order in FIG.
　なお、図４においては、複数の自律移動体１２がかご６に同乗しないことを想定したが、自律移動体１２がかご６に同乗することを想定すると、Ｅ、Ａ、Ｃ、Ｂ、Ｄの順番となる。すなわち、かご６が方向反転するまでの間に同一方向に進む自律移動体１２をできるだけ多く乗せられるように、エレベーターを呼び出す順番が決定される。このため、全ての自律移動体１２がエレベーターの利用を終了するまでの時間がより短くなる。その結果、一般の利用者は、エレベーターを早期に利用できるようになる。 In FIG. 4, it is assumed that a plurality of autonomous mobile bodies 12 do not ride in the car 6, but assuming that the autonomous mobile body 12 rides in the car 6, E, A, C, B, and D It will be the turn. That is, the order in which the elevators are called is determined so that as many autonomous moving bodies 12 traveling in the same direction as possible can be placed before the car 6 reverses its direction. Therefore, the time until all the autonomous moving bodies 12 finish using the elevator becomes shorter. As a result, general users will be able to use the elevator at an early stage.
　ただし、Ｅのエレベーター呼び出し要求を出した自律移動体１２とＡのエレベーター呼び出し要求を出した自律移動体１２とがサイズ、重量等の都合で同乗できないことが予め判定されている場合等、乗車可否判定部１１ｅにおいて自律移動体１２の組み合わせによる同乗の可否を判定し、エレベーターを呼び出す順番を決定してもよい。 However, if it is determined in advance that the autonomous mobile body 12 that issued the elevator call request of E and the autonomous mobile body 12 that issued the elevator call request of A cannot ride together due to size, weight, etc. The determination unit 11e may determine whether or not the ride can be carried out by the combination of the autonomous moving bodies 12, and determine the order in which the elevators are called.
　次に、図５を用いて、エレベーター連動装置１１が呼び出すエレベーターを決定する際の動作を説明する。
　図５は実施の形態１におけるエレベーター連動装置が呼び出すエレベーターを決定する際の動作である。 Next, the operation when the elevator interlocking device 11 determines the elevator to be called will be described with reference to FIG.
FIG. 5 is an operation when the elevator interlocking device according to the first embodiment determines an elevator to be called.
　ステップＳ１では、エレベーター連動装置１１は、自律移動体１２の位置情報が受信されたか否かを判定する。ステップＳ１で自律移動体１２の位置情報が受信されていない場合、エレベーター連動装置１１は、ステップＳ１の動作を行う。ステップＳ１で自律移動体１２の位置情報が受信された場合、エレベーター連動装置１１は、ステップＳ２の動作を行う。 In step S1, the elevator interlocking device 11 determines whether or not the position information of the autonomous moving body 12 has been received. When the position information of the autonomous moving body 12 is not received in step S1, the elevator interlocking device 11 performs the operation of step S1. When the position information of the autonomous moving body 12 is received in step S1, the elevator interlocking device 11 performs the operation of step S2.
　ステップＳ２では、エレベーター連動装置１１は、自律移動体１２の位置情報を記憶する。その後、エレベーター連動装置１１は、ステップＳ３の動作を行う。ステップＳ３では、エレベーター連動装置１１は、呼び出すエレベーターを決定する。その後、エレベーター連動装置１１は、ステップＳ４の動作を行う。ステップＳ４では、エレベーター連動装置１１は、自律移動体１２の位置情報の受信が終了したか否かを判定する。 In step S2, the elevator interlocking device 11 stores the position information of the autonomous moving body 12. After that, the elevator interlocking device 11 performs the operation of step S3. In step S3, the elevator interlocking device 11 determines the elevator to be called. After that, the elevator interlocking device 11 performs the operation of step S4. In step S4, the elevator interlocking device 11 determines whether or not the reception of the position information of the autonomous moving body 12 is completed.
　ステップＳ４で自律移動体１２の位置情報の受信が終了していない場合、エレベーター連動装置１１は、ステップＳ１の動作を行う。ステップＳ４で自律移動体１２の位置情報の受信が終了した場合、エレベーター連動装置１１は、動作を終了する。 If the reception of the position information of the autonomous moving body 12 is not completed in step S4, the elevator interlocking device 11 performs the operation of step S1. When the reception of the position information of the autonomous moving body 12 is completed in step S4, the elevator interlocking device 11 ends the operation.
　次に、図６を用いて、エレベーター連動装置１１がエレベーターの呼び出し要求を受け付ける際の動作を説明する。
　図６は実施の形態１におけるエレベーター連動装置がエレベーターの呼び出し要求を受け付ける際の動作の説明するためのフローチャートである。 Next, the operation when the elevator interlocking device 11 receives the elevator call request will be described with reference to FIG.
FIG. 6 is a flowchart for explaining the operation when the elevator interlocking device according to the first embodiment receives an elevator call request.
　ステップＳ１１では、エレベーター連動装置１１は、エレベーターの呼び出しが必要であるか否かを判定する。ステップＳ１１でエレベーターの呼び出しが必要でない場合、エレベーター連動装置１１は、ステップＳ１１の動作を行う。ステップＳ１１でエレベーターの呼び出しが必要である場合、ステップＳ１２の動作を行う。 In step S11, the elevator interlocking device 11 determines whether or not it is necessary to call the elevator. When it is not necessary to call the elevator in step S11, the elevator interlocking device 11 performs the operation of step S11. If it is necessary to call the elevator in step S11, the operation of step S12 is performed.
　ステップＳ１２では、エレベーター連動装置１１は、エレベーターの呼び出し要求の情報を記憶する。その後、エレベーター連動装置１１は、ステップＳ１３の動作を行う。ステップＳ１３では、エレベーター連動装置１１は、エレベーターの呼び出しの判定が終了したか否かを判定する。 In step S12, the elevator interlocking device 11 stores the information of the elevator call request. After that, the elevator interlocking device 11 performs the operation of step S13. In step S13, the elevator interlocking device 11 determines whether or not the determination of calling the elevator has been completed.
　ステップＳ１３でエレベーターの呼び出しの判定が終了していない場合、エレベーター連動装置１１は、ステップＳ１１の動作を行う。ステップＳ１３でエレベーターの呼び出しの判定が終了した場合、エレベーター連動装置１１は、動作を終了する。 If the elevator call determination is not completed in step S13, the elevator interlocking device 11 performs the operation of step S11. When the determination of calling the elevator is completed in step S13, the elevator interlocking device 11 ends the operation.
　次に、図７を用いて、エレベーター連動装置１１がエレベーターの呼び出す順番を決定する際の動作を説明する。
　図７は実施の形態１におけるエレベーター連動装置がエレベーターを呼び出す順番を決定する際の動作の説明するためのフローチャートである。 Next, the operation when the elevator interlocking device 11 determines the order in which the elevators are called will be described with reference to FIG. 7.
FIG. 7 is a flowchart for explaining the operation when the elevator interlocking device according to the first embodiment determines the order in which the elevators are called.
　ステップＳ２１では、エレベーター連動装置１１は、エレベーターの呼び出し要求があるか否かを判定する。ステップＳ２１でエレベーターの呼び出し要求がない場合、エレベーター連動装置１１は、ステップＳ２１の動作を行う。ステップＳ２１でエレベーターの呼び出し要求がある場合、エレベーター連動装置１１は、ステップＳ２２の動作を行う。 In step S21, the elevator interlocking device 11 determines whether or not there is an elevator call request. If there is no elevator call request in step S21, the elevator interlocking device 11 performs the operation of step S21. When there is an elevator call request in step S21, the elevator interlocking device 11 performs the operation of step S22.
　ステップＳ２２では、エレベーター連動装置１１は、エレベーターを呼び出す順番を決定する。その後、エレベーター連動装置１１は、ステップＳ２３の動作を行う。ステップＳ２３では、エレベーター連動装置１１は、エレベーターを呼び出す。 In step S22, the elevator interlocking device 11 determines the order in which the elevators are called. After that, the elevator interlocking device 11 performs the operation of step S23. In step S23, the elevator interlocking device 11 calls the elevator.
　その後、エレベーター連動装置１１は、ステップＳ２４の動作を行う。ステップＳ２４では、エレベーター連動装置１１は、エレベーターの連動を停止する必要があるか否かを判定する。 After that, the elevator interlocking device 11 performs the operation of step S24. In step S24, the elevator interlocking device 11 determines whether or not it is necessary to stop the elevator interlocking.
　ステップＳ２４でエレベーターの連動を停止する必要がない場合、エレベーター連動装置１１は、ステップＳ２１の動作を行う。ステップＳ２４でエレベーターの連動を停止する必要がある場合、エレベーター連動装置１１は、動作を終了する。 When it is not necessary to stop the elevator interlocking in step S24, the elevator interlocking device 11 operates in step S21. When it is necessary to stop the elevator interlocking in step S24, the elevator interlocking device 11 ends the operation.
　次に、図８と図９とを用いて、エレベーター連動装置１１が自律移動体１２によるかごの乗降を制御する際の動作を説明する。
　図８と図９とは実施の形態１におけるエレベーター連動装置が自律移動体によるかごの乗降を制御する際の動作の説明するためのフローチャートである。 Next, the operation when the elevator interlocking device 11 controls the getting on and off of the car by the autonomous moving body 12 will be described with reference to FIGS. 8 and 9.
8 and 9 are flowcharts for explaining the operation of the elevator interlocking device according to the first embodiment when controlling the getting on and off of the car by the autonomous moving body.
　ステップＳ３１では、エレベーター連動装置１１は、かご６が対象の自律移動体１２の乗車階に停止してエレベーターのドアが開いて当該階で降車する自律移動体１２がいない乗車条件が成立しているか否かを判定する。 In step S31, does the elevator interlocking device 11 satisfy the boarding condition that the car 6 stops on the boarding floor of the target autonomous moving body 12, the elevator door opens, and there is no autonomous moving body 12 getting off on the floor? Judge whether or not.
　ステップＳ３１の乗車条件が成立しない場合、エレベーター連動装置１１は、ステップＳ３１の動作を行う。ステップＳ３１で乗車条件が成立している場合、エレベーター連動装置１１は、ステップＳ３２の動作を行う。 If the boarding condition of step S31 is not satisfied, the elevator interlocking device 11 operates in step S31. When the boarding condition is satisfied in step S31, the elevator interlocking device 11 performs the operation of step S32.
　ステップＳ３２では、エレベーター連動装置１１は、エレベーターの戸開を継続させる。その後、エレベーター連動装置１１は、ステップＳ３３の動作を行う。ステップＳ３３では、対象の自律移動体１２に対して乗車を要求する。 In step S32, the elevator interlocking device 11 keeps the elevator door open. After that, the elevator interlocking device 11 performs the operation of step S33. In step S33, the target autonomous mobile body 12 is requested to board.
　この際、自律移動体１２のためにかご６が当該階に停車したか否かを判定するためには、エレベーター連動装置１１がエレベーターの制御装置１０から専用運転中であることを示す情報を受信することが望ましい。 At this time, in order to determine whether or not the car 6 has stopped on the floor due to the autonomous moving body 12, information indicating that the elevator interlocking device 11 is in dedicated operation is received from the elevator control device 10. It is desirable to do.
　しかしながら、様々な制約によってエレベーター連動装置１１がエレベーターの制御装置１０から専用運転中であることを示す情報を受信できない場合、かご６の進行方向が上でも下でもない状態を自律移動体１２のための呼び出しに応じることができる状態と判定し、対象の自律移動体１２に対して乗車を要求してもよい。 However, when the elevator interlocking device 11 cannot receive the information indicating that the elevator interlocking device 11 is in dedicated operation from the elevator control device 10 due to various restrictions, the state in which the traveling direction of the car 6 is neither up nor down is due to the autonomous moving body 12. It may be determined that the state of being able to answer the call of the target autonomous vehicle 12 may be requested to board the target autonomous mobile body 12.
　その後、エレベーター連動装置１１は、ステップＳ３４の動作を行う。ステップＳ３４では、エレベーター連動装置１１は、対象の自律移動体１２からの乗車完了の情報が受信されたか否かを判定する。 After that, the elevator interlocking device 11 performs the operation of step S34. In step S34, the elevator interlocking device 11 determines whether or not the boarding completion information from the target autonomous mobile body 12 has been received.
　ステップＳ３４で対象の自律移動体１２からの乗車完了の情報が受信されていない場合、エレベーター連動装置１１は、ステップＳ３５の動作を行う。ステップＳ３５では、エレベーター連動装置１１は、予め設定された時間が経過したか否かを判定する。 If the boarding completion information from the target autonomous mobile body 12 is not received in step S34, the elevator interlocking device 11 performs the operation of step S35. In step S35, the elevator interlocking device 11 determines whether or not a preset time has elapsed.
　ステップＳ３５で予め設定された時間が経過していない場合、エレベーター連動装置１１は、ステップＳ３６の動作を行う。ステップＳ３６では、エレベーター連動装置１１は、対象の自律移動体１２からの乗車断念の情報が受信されたか否かを判定する。 If the time preset in step S35 has not elapsed, the elevator interlocking device 11 operates in step S36. In step S36, the elevator interlocking device 11 determines whether or not the information of abandonment of boarding from the target autonomous mobile body 12 has been received.
　ステップＳ３６で対象の自律移動体１２からの乗車断念の情報が受信されていない場合、エレベーター連動装置１１は、ステップＳ３４の動作を行う。 When the information of abandonment of boarding from the target autonomous mobile body 12 is not received in step S36, the elevator interlocking device 11 operates in step S34.
　ステップＳ３５で予め設定された時間が経過した場合またはステップＳ３６で対象の自律移動体１２からの乗車断念の情報が受信された場合、エレベーター連動装置１１は、ステップＳ３７の動作を行う。ステップＳ３７では、エレベーター連動装置１１は、エレベーターの戸開の継続を終了させる。その後、エレベーター連動装置１１は、ステップＳ３８の動作を行う。ステップＳ３８では、エレベーター連動装置１１は、エレベーターの運転を通常運転に復帰させる。その後、エレベーター連動装置１１は、動作を終了する。 When the preset time has elapsed in step S35 or when the information of abandonment of boarding from the target autonomous mobile body 12 is received in step S36, the elevator interlocking device 11 performs the operation of step S37. In step S37, the elevator interlocking device 11 ends the continuation of the elevator door opening. After that, the elevator interlocking device 11 performs the operation of step S38. In step S38, the elevator interlocking device 11 returns the elevator operation to the normal operation. After that, the elevator interlocking device 11 ends its operation.
　ステップＳ３４で対象の自律移動体１２からの乗車完了の情報が受信された場合、エレベーター連動装置１１は、ステップＳ３９の動作を行う。ステップＳ３９では、エレベーター連動装置１１は、エレベーターに対象の自律移動体１２の目的階を登録させる。その後、エレベーター連動装置１１は、ステップＳ４０の動作を行う。ステップＳ４０では、エレベーター連動装置１１は、エレベーターの戸開の継続を終了させる。 When the information on the completion of boarding from the target autonomous mobile body 12 is received in step S34, the elevator interlocking device 11 performs the operation of step S39. In step S39, the elevator interlocking device 11 causes the elevator to register the destination floor of the target autonomous mobile body 12. After that, the elevator interlocking device 11 performs the operation of step S40. In step S40, the elevator interlocking device 11 ends the continuation of the elevator door opening.
　その後、エレベーター連動装置１１は、ステップＳ４１の動作を行う。ステップＳ４１では、エレベーター連動装置１１は、地震等によりエレベーターの運転の継続が困難になったか否かを判定する。 After that, the elevator interlocking device 11 performs the operation of step S41. In step S41, the elevator interlocking device 11 determines whether or not it has become difficult to continue the operation of the elevator due to an earthquake or the like.
　ステップＳ４１では、エレベーターの運転の継続が困難になった場合、エレベーター連動装置１１は、ステップＳ４２の動作を行う。ステップＳ４２では、エレベーター連動装置１１は、かご６が停止したか否かを判定する。 In step S41, when it becomes difficult to continue the operation of the elevator, the elevator interlocking device 11 operates in step S42. In step S42, the elevator interlocking device 11 determines whether or not the car 6 has stopped.
　ステップＳ４２でかご６が停止していない場合、エレベーター連動装置１１は、ステップＳ４２の動作を行う。ステップＳ４２でかご６が停止した場合、エレベーター連動装置１１は、ステップＳ４３の動作を行う。ステップＳ４３では、エレベーター連動装置１１は、エレベーターの戸開を確認した後、対象の自律移動体１２に対して降車を要求し、降車する階の情報を対象の自律移動体１２に送信する。 If the car 6 is not stopped in step S42, the elevator interlocking device 11 operates in step S42. When the car 6 is stopped in step S42, the elevator interlocking device 11 operates in step S43. In step S43, after confirming that the elevator is open, the elevator interlocking device 11 requests the target autonomous mobile body 12 to disembark, and transmits information on the floor to be disembarked to the target autonomous mobile body 12.
　ステップＳ４１でエレベーターの運転の継続が困難になっていない場合、エレベーター連動装置１１は、ステップＳ４４の動作を行う。ステップＳ４４では、エレベーター連動装置１１は、かご６が対象の自律移動体１２の降車階に停止したか否かを判定する。 If it is not difficult to continue the elevator operation in step S41, the elevator interlocking device 11 operates in step S44. In step S44, the elevator interlocking device 11 determines whether or not the car 6 has stopped on the exit floor of the target autonomous mobile body 12.
　ステップＳ４４でかご６が降車階に停止していない場合、エレベーター連動装置１１は、ステップＳ４４の動作を行う。ステップＳ４４でかご６が降車階に停止した場合、エレベーター連動装置１１は、ステップＳ４５の動作を行う。 If the car 6 is not stopped on the getting-off floor in step S44, the elevator interlocking device 11 operates in step S44. When the car 6 stops on the exit floor in step S44, the elevator interlocking device 11 operates in step S45.
　ステップＳ４５では、エレベーター連動装置１１は、エレベーターの戸開を継続させる。その後、ステップＳ４６の動作を行う。ステップＳ４６では、エレベーター連動装置１１は、自律移動体１２に対して降車を要求する。その後、エレベーター連動装置１１は、ステップＳ４７の動作を行う。ステップＳ４７では、エレベーター連動装置１１は、対象の自律移動体１２からの降車完了の情報が受信されたか否かを判定する。 In step S45, the elevator interlocking device 11 keeps the elevator door open. After that, the operation of step S46 is performed. In step S46, the elevator interlocking device 11 requests the autonomous mobile body 12 to get off. After that, the elevator interlocking device 11 performs the operation of step S47. In step S47, the elevator interlocking device 11 determines whether or not the information on the completion of disembarkation from the target autonomous mobile body 12 has been received.
　ステップＳ４７で自律移動体１２からの降車完了の情報が受信された場合、エレベーター連動装置１１は、動作を終了する。 When the information on the completion of disembarkation from the autonomous mobile body 12 is received in step S47, the elevator interlocking device 11 ends the operation.
　ステップＳ４７で自律移動体１２からの降車完了の情報が受信されていない場合、エレベーター連動装置１１は、ステップＳ４８の動作を行う。ステップＳ４８では、エレベーター連動装置１１は、予め設定された時間が経過したか否かを判定する。 If the information on the completion of disembarkation from the autonomous mobile body 12 is not received in step S47, the elevator interlocking device 11 operates in step S48. In step S48, the elevator interlocking device 11 determines whether or not a preset time has elapsed.
　ステップＳ４８で予め設定された時間が経過していない場合、エレベーター連動装置１１は、ステップＳ４９の動作を行う。ステップＳ４９では、エレベーター連動装置１１は、対象の自律移動体１２からの降車断念の情報が受信されたか否かを判定する。 If the time preset in step S48 has not elapsed, the elevator interlocking device 11 operates in step S49. In step S49, the elevator interlocking device 11 determines whether or not the information of abandonment of disembarkation from the target autonomous mobile body 12 has been received.
　ステップＳ４９で対象の自律移動体１２からの降車断念の情報が受信されていない場合、エレベーター連動装置１１は、ステップＳ４７の動作を行う。 If the information of abandonment of disembarkation from the target autonomous mobile body 12 is not received in step S49, the elevator interlocking device 11 performs the operation of step S47.
　ステップＳ４８で予め設定された時間が経過した場合またはステップＳ４９で対象の自律移動体１２からの降車断念の情報が受信された場合、エレベーター連動装置１１は、ステップＳ５０の動作を行う。ステップＳ５０では、エレベーター連動装置１１は、自律移動体１２に対して停止を要求する。その後、エレベーター連動装置１１は、ステップＳ５１の動作を行う。ステップＳ５１では、エレベーター連動装置１１は、自律移動体１２の管理者に対して自律移動体１２の救出を要請する。 When the preset time has elapsed in step S48 or when the information of abandonment of disembarkation from the target autonomous mobile body 12 is received in step S49, the elevator interlocking device 11 performs the operation of step S50. In step S50, the elevator interlocking device 11 requests the autonomous moving body 12 to stop. After that, the elevator interlocking device 11 performs the operation of step S51. In step S51, the elevator interlocking device 11 requests the manager of the autonomous mobile body 12 to rescue the autonomous mobile body 12.
　その後、エレベーター連動装置１１は、ステップＳ５２の動作を行う。ステップＳ５２では、エレベーター連動装置１１は、エレベーターの戸開の継続を終了させる。その後、エレベーター連動装置１１は、ステップＳ５３の動作を行う。ステップＳ５３では、エレベーター連動装置１１は、エレベーターの運転を通常運転に復帰させる。その後、エレベーター連動装置１１は、動作を終了する。 After that, the elevator interlocking device 11 performs the operation of step S52. In step S52, the elevator interlocking device 11 ends the continuation of the elevator door opening. After that, the elevator interlocking device 11 performs the operation of step S53. In step S53, the elevator interlocking device 11 returns the elevator operation to the normal operation. After that, the elevator interlocking device 11 ends its operation.
　以上で説明した実施の形態１によれば、エレベーター連動装置１１は、自律移動体１２が予め設定された位置に到達した際に、エレベーターのかご６を呼び出す。このため、エレベーターを利用して自律移動体１２を効率的に移動させることができる。 According to the first embodiment described above, the elevator interlocking device 11 calls the elevator car 6 when the autonomous moving body 12 reaches a preset position. Therefore, the autonomous moving body 12 can be efficiently moved by using the elevator.
　また、エレベーター連動装置１１は、自律移動体１２の位置情報と目的階情報と基づいて、呼び出すエレベーターを決定する。このため、呼び出すエレベーターを適切に設定することができる。 Further, the elevator interlocking device 11 determines the elevator to be called based on the position information of the autonomous moving body 12 and the destination floor information. Therefore, the elevator to be called can be set appropriately.
　また、エレベーター連動装置１１は、自律移動体１２の到着予測時刻とかご６の到着予測時刻とに基づいて、エレベーターを呼び出すタイミングを決定する。このため、自律移動体１２をより効率的に移動させることができる。 Further, the elevator interlocking device 11 determines the timing to call the elevator based on the estimated arrival time of the autonomous mobile body 12 and the estimated arrival time of the car 6. Therefore, the autonomous mobile body 12 can be moved more efficiently.
　また、エレベーター連動装置１１は、かご６で移動させる自律移動体１２の順番を決定し、順番通りにかご６が利用されるようにかご６を順次呼び出す。このため、一度にかご６の乗車させる自律移動体１２とその乗車の順番を管理することで、エレベーターの効率的に安全に利用することができる。 Further, the elevator interlocking device 11 determines the order of the autonomous moving bodies 12 to be moved by the car 6, and calls the car 6 in order so that the car 6 is used in the order. Therefore, the elevator can be used efficiently and safely by managing the autonomous moving body 12 on which the car 6 is to be boarded at one time and the order in which the elevators are boarded.
　また、エレベーター連動装置１１は、かご６の進行方向への移動を希望する自律移動体１２を、かご６の進行方向の逆方向への移動を希望する自律移動体１２よりも先にかご６を利用させるようにかご６を呼び出す順番を決定する。このため、エレベーターをより効率的に利用することができる。 Further, the elevator interlocking device 11 moves the autonomous moving body 12 that wants to move the car 6 in the traveling direction to the car 6 before the autonomous moving body 12 that wants to move in the opposite direction to the traveling direction of the car 6. Determine the order in which the basket 6 is called so that it can be used. Therefore, the elevator can be used more efficiently.
　また、エレベーター連動装置１１は、複数の自律移動体１２が同一方向に移動を希望する場合、かご６が方向反転するまでの間に移動可能な自律移動体１２の数がより多くなるようにかご６を呼び出す順番を決定する。このため、エレベーターをより効率的に利用することができる。 Further, when the plurality of autonomous moving bodies 12 desire to move in the same direction, the elevator interlocking device 11 increases the number of autonomous moving bodies 12 that can move until the car 6 reverses its direction. Determine the order in which 6 is called. Therefore, the elevator can be used more efficiently.
　また、エレベーター連動装置１１は、エレベーターの運転の継続が不可能になった場合に、自律移動体１２に対して、当該自律移動体１２の目的階ではない階に降車を促し、降車する階の情報を自律移動体１２に送信する。このため、自律移動体１２がかご６に閉じ込められることを抑制できる。 Further, the elevator interlocking device 11 prompts the autonomous mobile body 12 to disembark on a floor other than the target floor of the autonomous mobile body 12 when it becomes impossible to continue the operation of the elevator, and the elevator interlocking device 11 is on the floor on which the vehicle disembarks. Information is transmitted to the autonomous mobile body 12. Therefore, it is possible to prevent the autonomous moving body 12 from being confined in the car 6.
　また、エレベーター連動装置１１は、エレベーターの運転の継続が不可能になった場合に、自律移動体１２に対してエレベーターのかご６の内部で安全に停止するように要求する。このため、自律移動体１２が無用にかご６の内部で移動することを抑制できる。 Further, the elevator interlocking device 11 requests the autonomous moving body 12 to safely stop inside the elevator car 6 when it becomes impossible to continue the operation of the elevator. Therefore, it is possible to prevent the autonomous moving body 12 from moving unnecessarily inside the car 6.
　また、エレベーター連動装置１１は、エレベーターのかご６の現在階が自律移動体１２の呼び出し階であり、かご６の進行方向が設定されていない場合に、自律移動体１２に対して乗車を促す。このため、一般の利用者と自律移動体１２とが同乗することを抑制できる。 Further, the elevator interlocking device 11 prompts the autonomous moving body 12 to board when the current floor of the elevator car 6 is the calling floor of the autonomous moving body 12 and the traveling direction of the car 6 is not set. Therefore, it is possible to prevent a general user and the autonomous mobile body 12 from riding together.
　また、エレベーター連動装置１１は、エレベーターのかご６への乗車を要求してから予め設定された時間までに自律移動体１２からの乗車完了の情報が受信されない場合またはかご６からの降車を要求してから予め設定された時間までに自律移動体１２からの降車完了の情報が受信されない場合に、エレベーターの運転を通常運転に復帰させる。このため、一般の利用者に対してエレベーターをより快適に利用させることができる。 Further, the elevator interlocking device 11 requests that the elevator interlocking device 11 does not receive the information on the completion of boarding from the autonomous mobile body 12 or disembarks from the car 6 by a preset time after requesting the boarding of the elevator car 6. If the information on the completion of disembarkation from the autonomous moving body 12 is not received within a preset time, the elevator operation is returned to the normal operation. Therefore, it is possible to make the elevator more comfortable for general users.
　また、エレベーター連動装置１１は、かご６からの降車を要求してから予め設定された時間までに自律移動体１２からの降車完了の情報が受信されない場合に、自律移動体１２に対してエレベーターのかご６の内部で停止するように要求する。このため、自律移動体１２が無用にかご６の内部で移動することを抑制できる。 Further, when the elevator interlocking device 11 does not receive the information on the completion of disembarkation from the autonomous mobile body 12 by a preset time after requesting disembarkation from the car 6, the elevator interlocking device 11 causes the elevator to the autonomous mobile body 12. Request to stop inside the car 6. Therefore, it is possible to prevent the autonomous moving body 12 from moving unnecessarily inside the car 6.
　また、エレベーター連動装置１１は、予め設定された相手先に対して自律移動体１２の救出を要請する情報を送信する。このため、自律移動体１２を早期に復旧させることができる。その結果、一般の利用者に対してエレベーターを安全かつ快適に利用させることができる。 Further, the elevator interlocking device 11 transmits information requesting the rescue of the autonomous mobile body 12 to a preset partner. Therefore, the autonomous mobile body 12 can be restored at an early stage. As a result, general users can use the elevator safely and comfortably.
　なお、機械室２がなくて昇降路１の下部または上部に巻上機４と制御装置１０とが設けられるエレベーターシステムに対し、エレベーター連動装置１１を適用してもよい。 The elevator interlocking device 11 may be applied to an elevator system in which the hoisting machine 4 and the control device 10 are provided at the lower or upper part of the hoistway 1 without the machine room 2.
　また、エレベーター連動装置１１の機能を制御装置１１に設けてもよい。 Further, the function of the elevator interlocking device 11 may be provided in the control device 11.
　次に、図１０を用いて、エレベーター連動装置１１の例を説明する。
　図１０は実施の形態１におけるエレベーター連動装置のハードウェア構成図である。 Next, an example of the elevator interlocking device 11 will be described with reference to FIG.
FIG. 10 is a hardware configuration diagram of the elevator interlocking device according to the first embodiment.
　エレベーター連動装置１１の各機能は、処理回路により実現し得る。例えば、処理回路は、少なくとも１つのプロセッサ１００ａと少なくとも１つのメモリ１００ｂとを備える。例えば、処理回路は、少なくとも１つの専用のハードウェア２００を備える。 Each function of the elevator interlocking device 11 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 100a and at least one memory 100b. For example, the processing circuit comprises at least one dedicated hardware 200.
　処理回路が少なくとも１つのプロセッサ１００ａと少なくとも１つのメモリ１００ｂとを備える場合、エレベーター連動装置１１の各機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせで実現される。ソフトウェアおよびファームウェアの少なくとも一方は、プログラムとして記述される。ソフトウェアおよびファームウェアの少なくとも一方は、少なくとも１つのメモリ１００ｂに格納される。少なくとも１つのプロセッサ１００ａは、少なくとも１つのメモリ１００ｂに記憶されたプログラムを読み出して実行することにより、エレベーター連動装置１１の各機能を実現する。少なくとも１つのプロセッサ１００ａは、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰともいう。例えば、少なくとも１つのメモリ１００ｂは、ＲＡＭ、ＲＯＭ、フラッシュメモリ、ＥＰＲＯＭ、ＥＥＰＲＯＭ等の、不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ等である。 When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the elevator interlocking device 11 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 elevator interlocking device 11 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, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD or the like.
　処理回路が少なくとも１つの専用のハードウェア２００を備える場合、処理回路は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ、ＦＰＧＡ、またはこれらの組み合わせで実現される。例えば、エレベーター連動装置１１の各機能は、それぞれ処理回路で実現される。例えば、エレベーター連動装置１１の各機能は、まとめて処理回路で実現される。 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 elevator interlocking device 11 is realized by a processing circuit. For example, each function of the elevator interlocking device 11 is collectively realized by a processing circuit.
　エレベーター連動装置１１の各機能について、一部を専用のハードウェア２００で実現し、他部をソフトウェアまたはファームウェアで実現してもよい。例えば、呼び出し部１１ｄの機能については専用のハードウェア２００としての処理回路で実現し、呼び出し部１１ｄの機能以外の機能については少なくとも１つのプロセッサ１００ａが少なくとも１つのメモリ１００ｂに格納されたプログラムを読み出して実行することにより実現してもよい。 For each function of the elevator interlocking device 11, 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 the calling unit 11d is realized by a processing circuit as dedicated hardware 200, and for functions other than the function of the calling unit 11d, at least one processor 100a reads a program stored in at least one memory 100b. It may be realized by executing.
　このように、処理回路は、ハードウェア２００、ソフトウェア、ファームウェア、またはこれらの組み合わせでエレベーター連動装置１１の各機能を実現する。 In this way, the processing circuit realizes each function of the elevator interlocking device 11 by hardware 200, software, firmware, or a combination thereof.
　図示されないが、制御装置１０の各機能も、エレベーター連動装置１１の各機能を実現する処理回路と同等の処理回路で実現される。 Although not shown, each function of the control device 10 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the elevator interlocking device 11.
　以上のように、この発明に係るエレベーターの監視装置は、システムに利用できる。 As described above, the elevator monitoring device according to the present invention can be used in the system.
　１　昇降路、　２　機械室、　３　乗場、　４　巻上機、　５　主ロープ、　６　かご、　７　釣合おもり、　８　乗場ドア、　９　かごドア、　１０　制御装置、　１１　エレベーター連動装置、　１１ａ　位置情報記憶部、　１１ｂ　予測部、　１１ｃ　エレベーター情報演算部、　１１ｄ　呼び出し部、　１１ｅ　乗車可否判定部、　１１ｆ　安全補助部、　１１ｇ　状態回復部、　１２　自律移動体、　１００ａ　プロセッサ、　１００ｂ　メモリ、　２００　ハードウェア 1 hoistway, 2 machine room, 3 landing, 4 hoisting machine, 5 main rope, 6 basket, 7 balanced weight, 8 landing door, 9 car door, 10 control device, 11 elevator interlocking device, 11a position information storage unit , 11b prediction unit, 11c elevator information calculation unit, 11d calling unit, 11e boarding availability determination unit, 11f safety assistance unit, 11g state recovery unit, 12 autonomous mobile body, 100a processor, 100b memory, 200 hardware

Claims (13)

  1. 　自律移動体の位置情報を記憶する位置情報記憶部と、
    　前記自律移動体が予め設定された位置に到達した際に、エレベーターのかごを呼び出す呼び出し部と、
    を備えたエレベーター連動装置。     A position information storage unit that stores the position information of the autonomous mobile body,
    A calling unit that calls the elevator car when the autonomous moving body reaches a preset position.
    Elevator interlocking device equipped with.
  2. 　前記呼び出し部は、前記自律移動体の位置情報と目的階情報と基づいて、呼び出すエレベーターを決定する請求項１に記載のエレベーター連動装置。 The elevator interlocking device according to claim 1, wherein the calling unit determines an elevator to be called based on the position information of the autonomous moving body and the destination floor information.
  3. 　自律移動体がエレベーターのかごへの乗車行動を開始する地点への到着予測時刻を演算する予測部と、
    　前記自律移動体の存在する階へのエレベーターのかごの到着予測時刻を演算するエレベーター情報演算部と、
    を備え、
    　前記呼び出し部は、前記予測部により予測された自律移動体の到着時刻と前記エレベーター情報演算部により演算されたかごの到着時刻とに基づいて、エレベーターの呼び出すタイミングを決定する請求項１または請求項２に記載のエレベーター連動装置。     A prediction unit that calculates the estimated arrival time at the point where the autonomous vehicle starts to ride in the elevator car,
    An elevator information calculation unit that calculates the estimated arrival time of the elevator car to the floor where the autonomous moving body exists, and
    With
    Claim 1 or claim that the calling unit determines the calling timing of the elevator based on the arrival time of the autonomous moving body predicted by the prediction unit and the arrival time of the car calculated by the elevator information calculation unit. The elevator interlocking device according to 2.
  4. 　前記呼び出し部は、エレベーターのかごで移動させる自律移動体の順番を決定し、順番通りに前記かごが利用されるように前記かごを順次呼び出す請求項１から請求項３のいずれか一項に記載のエレベーター連動装置。 The calling unit determines the order of autonomous moving bodies to be moved by an elevator car, and sequentially calls the cars so that the cars are used in the order according to any one of claims 1 to 3. Elevator interlocking device.
  5. 　前記呼び出し部は、自律移動体に対するエレベーターの運転が短時間となるように、前記かごを呼び出す順番を決定する請求項４に記載のエレベーター連動装置。 The elevator interlocking device according to claim 4, wherein the calling unit determines the order of calling the car so that the elevator can be operated for a short time with respect to the autonomous moving body.
  6. 　前記呼び出し部は、前記かごの進行方向への移動を希望する自律移動体を、前記かごの進行方向の逆方向への移動を希望する自律移動体よりも先に前記かごを利用させるように前記かごを呼び出す順番を決定する請求項４に記載のエレベーター連動装置。 The calling unit uses the car so that the autonomous moving body that wants to move in the traveling direction of the car uses the car before the autonomous moving body that wants to move in the direction opposite to the traveling direction of the car. The elevator interlocking device according to claim 4, wherein the order of calling the cars is determined.
  7. 　前記呼び出し部は、複数の自律移動体が同一方向に移動を希望する場合、前記かごが方向反転するまでの間に移動可能な自律移動体の数がより多くなるように前記かごを呼び出す順番を決定する請求項６に記載のエレベーター連動装置。 When a plurality of autonomous moving bodies wish to move in the same direction, the calling unit sets the order of calling the car so that the number of autonomous moving bodies that can be moved increases until the car reverses its direction. The elevator interlocking device according to claim 6 to be determined.
  8. 　前記エレベーターの運転の継続が不可能になった場合に、自律移動体に対して、当該自律移動体の目的階ではない階に降車を促し、降車する階の情報を自律移動体に送信する安全補助部、
    を備えた請求項１から請求項７のいずれか一項に記載のエレベーター連動装置。     When it becomes impossible to continue the operation of the elevator, the safety of prompting the autonomous mobile body to get off the floor other than the target floor of the autonomous mobile body and transmitting the information of the floor to be disembarked to the autonomous mobile body. Auxiliary part,
    The elevator interlocking device according to any one of claims 1 to 7, wherein the elevator interlocking device is provided.
  9. 　前記エレベーターの運転の継続が不可能になった場合に、自律移動体に対してエレベーターのかごの内部で停止するように要求する安全補助部、
    を備えた請求項１から請求項７のいずれか一項に記載のエレベーター連動装置。     A safety aid that requires autonomous vehicles to stop inside the elevator car when it becomes impossible to continue operating the elevator.
    The elevator interlocking device according to any one of claims 1 to 7, wherein the elevator interlocking device is provided.
  10. 　エレベーターのかごの現在階が自律移動体の呼び出し階であり、前記かごの進行方向が設定されていない場合に、前記自律移動体に対して乗車を促す乗車可否判定部、
    を備えた請求項１から請求項９のいずれか一項にエレベーター連動装置。     When the current floor of the elevator car is the calling floor of the autonomous moving body and the traveling direction of the car is not set, the boarding permission determination unit that prompts the autonomous moving body to board.
    The elevator interlocking device according to any one of claims 1 to 9.
  11. 　エレベーターのかごへの乗車を要求してから予め設定された時間までに自律移動体からの乗車完了の情報が受信されない場合または前記かごからの降車を要求してから予め設定された時間までに自律移動体からの降車完了の情報が受信されない場合に、エレベーターの運転を通常運転に復帰させる状態回復部、
    を備えた請求項１から請求項１０のいずれか一項にエレベーター連動装置。     If the information on the completion of boarding from the autonomous vehicle is not received by the preset time after requesting the elevator car, or by the preset time after requesting the disembarkation from the car A state recovery unit that restores elevator operation to normal operation when disembarkation completion information is not received from the moving object.
    The elevator interlocking device according to any one of claims 1 to 10.
  12. 　前記状態回復部は、前記かごからの降車を要求してから予め設定された時間までに自律移動体からの降車完了の情報が受信されない場合に、自律移動体に対してエレベーターのかごの内部で停止するように要求する請求項１１に記載のエレベーター連動装置。 The state recovery unit is inside the elevator car with respect to the autonomous moving body when the information on the completion of getting off from the autonomous moving body is not received within a preset time after requesting the getting off from the car. The elevator interlocking device according to claim 11, which requires the vehicle to stop.
  13. 　前記状態回復部は、予め設定された相手先に対して自律移動体の救出を要請する情報を送信する請求項１１または請求項１２に記載のエレベーター連動装置。 The elevator interlocking device according to claim 11 or 12, wherein the state recovery unit transmits information requesting rescue of an autonomous mobile body to a preset partner.
PCT/JP2019/023622 2019-06-14 2019-06-14 Elevator link device WO2020250409A1 (en)

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