JP7501721B2 - Autonomous mobile unit management device - Google Patents

Description

This disclosure relates to a management device for an autonomous mobile object.

Patent Document 1 discloses an elevator device. If a serious abnormality occurs in an autonomous moving object while transporting the autonomous moving object, the elevator device stops operation of the car. The elevator device can prevent the elevator device from breaking down due to an abnormality in the autonomous moving object.

JP 2011-042444 A

However, in Patent Document 1, even if an abnormality occurs in the autonomous moving body or the elevator device, if the operation of the car is not affected, the elevator device continues normal operation. This can cause damage to the autonomous moving body.

The present disclosure has been made to solve the above-mentioned problems. The purpose of the present disclosure is to provide a management device for autonomous moving bodies that can prevent damage to the autonomous moving bodies.

The management device for autonomous mobile bodies according to the present disclosure includes a movement command unit that transmits a movement command to an autonomous mobile body that moves autonomously to cause the autonomous mobile body to enter an elevator car or to exit the car, and an operation stop command unit that transmits a command to a control device of the elevator to stop operation of the car when an autonomous mobile body other than the autonomous mobile body to which the movement command was transmitted from the movement command unit performs an operation to enter the car.

According to the present disclosure, when an abnormality occurs, the management device transmits a command corresponding to the abnormality to the autonomous mobile body or a device used by the autonomous mobile body, or sets the autonomous mobile body not to use the device. This makes it possible to prevent damage to the autonomous mobile body.

1 is a diagram showing a building to which a management device for autonomous moving bodies in a first embodiment is applied; 1 is a block diagram of a management device for autonomous moving objects according to a first embodiment. FIG. 10 is a diagram illustrating history information of a movement stop notification stored in the management device of an autonomous moving body in the first embodiment. FIG. 4 is a diagram illustrating usability information stored in a management device for an autonomous moving body according to the first embodiment. FIG. 4 is a flowchart for explaining an operation performed by a management device for an autonomous moving object in the first embodiment. 4 is a flowchart for explaining an operation performed by a management device for an autonomous moving object in the first embodiment. FIG. 2 is a hardware configuration diagram of a control device of the elevator system in the first embodiment. 11 is a diagram showing an overview of a building to which a management device for autonomous moving bodies in a second embodiment is applied. FIG. 13 is a top view of a gate to which a management device for an autonomous moving object in a second embodiment is applied. FIG. 13 is a top view of a main part of a door to which a management device for an autonomous moving object in embodiment 2 is applied. FIG. FIG. 11 is a block diagram of a management device for autonomous moving objects according to a second embodiment. 13 is a diagram illustrating history information of a movement stop notification stored in a management device for an autonomous moving body in the second embodiment. FIG. 13 is a diagram illustrating usability information stored in a management device for an autonomous moving body in embodiment 2. FIG. 13 is a flowchart illustrating an operation performed by a management device for an autonomous moving object in the second embodiment.

The embodiments for implementing the present disclosure will be described with reference to the attached drawings. Note that in each drawing, the same or corresponding parts are given the same reference numerals. Duplicate descriptions of the parts will be appropriately simplified or omitted.

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

As shown in FIG. 1, an elevator system 1 is provided in a building. A hoistway 2 passes through each floor of the building. A 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 landings 4 faces the hoistway 2. A plurality of cars 5 are provided inside the hoistway 2. One of the plurality of cars 5 is shown in FIG. 1. Each of the plurality of cars 5 is provided so as to be able to ascend and descend inside the hoistway 2. A car door 6 is provided for each of the plurality of cars 5. A 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 autonomous mobile bodies 8 are arranged in a building. Each of the autonomous mobile bodies 8 is arranged so that it can move autonomously on the floor surface of each floor of the building.

For example, the management device 9 is provided in a separate building (not shown). The management device 9 is provided so as to be able to communicate with the control device 7 at any time. The management device 9 is provided so as to be able to communicate with each of the multiple autonomous moving bodies 8 at any time. The management device 9 is provided so as to be able to grasp the position of each of the multiple autonomous moving bodies 8.

For example, the management device 9 transmits a command to an autonomous mobile body 8 to move from the current floor to another floor. In this case, the autonomous mobile body 8 that receives the command moves to the hall 4 at the current floor. When the autonomous mobile body 8 arrives at the hall 4, the management device 9 transmits car call registration information for the hall 4, including information on the destination floor, to the control device 7. The control device 7 dispatches a car 5 to the hall 4 where the autonomous mobile body 8 is located, based on the car call registration information 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 open. In this case, the management device 9 determines that the car 5 is ready for boarding. When the management device 9 determines that the car 5 is ready for boarding, it transmits a boarding movement command to the autonomous mobile body 8 to cause the autonomous mobile body 8 to board the car 5. The autonomous mobile body 8 boards the car 5 based on the boarding movement command received from the management device 9. When the autonomous mobile body 8 has completed the operation of boarding the car 5, the management device 9 transmits a command to the control device 7 to start operating the car 5. The control device 7 causes the car 5 to depart for the destination floor of the autonomous mobile body 8.

When the car 5 arrives at the landing 4 of the destination floor of the autonomous mobile body 8, the control device 7 detects that the car door 6 is fully open. The management device 9 determines that the car 5 is in a state where passengers can disembark. In this case, the management device 9 transmits a disembarking movement command to the autonomous mobile body 8, causing the autonomous mobile body 8 to disembark from the car 5. The autonomous mobile body 8 disembarks from the car 5 based on the disembarking movement command received from the management device 9. The autonomous mobile body 8 completes the operation of moving to another floor. When the autonomous mobile body 8 completes the operation of disembarking from the car 5, the management device 9 transmits a command to the control device 7 to start operation of the car 5. The control device 7 starts operation of the car 5.

If an abnormality occurs when an autonomous moving body 8 to which a boarding or disembarking movement command has been sent uses a cage 5, the management device 9 sends a command corresponding to the abnormality to the control device 7 or the autonomous moving body 8.

For example, if an obstacle is present inside the cage 5, the autonomous mobile body 8 cannot complete the action of stopping at a specified position inside the cage 5, that is, the action of boarding the cage 5. When a threshold time set to a time shorter than the upper limit time for the cage door 6 to open has elapsed in this state, the management device 9 transmits a boarding movement abort command to the autonomous mobile body 8 to abort the action of boarding the cage 5. In this case, the autonomous mobile body 8 leaves the cage 5. The autonomous mobile body 8 transmits a boarding movement abort notification to the management device 9 indicating that the action of boarding the cage 5 has been aborted. After that, when the upper limit time for the cage door 6 to open has elapsed, the control device 7 causes the cage 5 to depart.

If the obstacle continues to exist inside the cage 5 after that, the autonomous moving body 8 transmits a boarding movement cancellation notification to the management device 9 each time it performs an action to board that cage 5, notifying the cancellation of the action to board that cage 5. If the number of times that the management device 9 has received a boarding movement cancellation notification notifying the cancellation of the action to board that cage 5 exceeds a prescribed number, the management device 9 sets the autonomous moving body 8 not to use that cage 5. If a cage 5 is set not to be used, the management device 9 does not transmit a boarding movement command to the autonomous moving body 8 for the action to board that cage 5.

For example, if an abnormality occurs in another autonomous moving body 8 other than the autonomous moving body 8 that received the boarding movement command to board a car 5, the other autonomous moving body 8 may attempt to board the car 5. In this case, the management device 9 sends 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 sends a boarding movement stop command to the autonomous moving body 8 that sent the boarding movement command to stop the operation of boarding the car 5. When the autonomous moving body 8 receives the boarding movement stop command, it stops the operation of boarding the car 5.

For example, if an autonomous moving body 8 in a car 5 cannot move, the autonomous moving body 8 does not complete the operation of disembarking from the car 5. When a threshold time set to a time shorter than the upper limit time for opening the car door 6 has elapsed in this state, the management device 9 transmits a disembarking movement abort command to the autonomous moving body 8 to abort the operation of disembarking from the car 5. The management device 9 sets the car 5 not to be 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, if an autonomous moving body 8 in a car 5 is unable to move and a movement command to disembark is sent, the autonomous moving body 8 may send a movement cancellation notification to the management device 9 to cancel the operation of disembarking from the car 5. In this case, the management device 9 sets the car 5 not to be 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, if an earthquake occurs while an autonomous moving body 8 is present in car 5, car 5 will stop at the nearest floor and will be able to disembark at the nearest floor. In this case, management device 9 determines that car 5 is no longer able to operate to the destination floor of the autonomous moving body 8. Management device 9 transmits information on the location to which the autonomous moving body 8 should be evacuated on the nearest floor to the autonomous moving body 8. The autonomous moving body 8 moves to the evacuated location.

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

As shown in FIG. 2, the management device 9 includes a first location information acquisition unit 10, a first control information acquisition unit 11, a registration unit 12, a first movement command unit 13, a first movement suspension command unit 14, a first suspension notification storage unit 15, a first suspension notification receiving unit 16, an evacuation 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 suspension command unit 21.

The first position information acquisition unit 10 acquires 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 control information for the elevator system 1 from the control device 7.

The registration unit 12 detects that the autonomous mobile body 8 has arrived at the hall 4 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 mobile body 8 has arrived at the hall 4, it transmits to the control device 7 information on car call registration for the hall 4, including information on the destination floor of the autonomous mobile body 8.

The first movement command unit 13 determines whether the autonomous moving body 8 has arrived at the platform 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 platform 4, it determines whether the car 5 is in a state where it can be boarded using the control information acquired by the first control information acquisition unit 11. When the first movement command unit 13 determines that the car 5 is in a state where it can be boarded, it transmits a boarding movement command to the autonomous moving body 8 to cause the autonomous moving body 8 to board the car 5.

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 the car 5 is in a state where passengers can disembark. If the first movement command unit 13 determines that the car 5 is in a state where passengers can disembark, it transmits a disembarking movement command to the autonomous moving body 8 to cause the autonomous moving body 8 to disembark from the car 5.

When the first movement command unit 13 determines that the car 5 is in a state where it can be boarded, the first movement abort command unit 14 starts measuring time. When the autonomous moving body 8 has completed the operation of boarding the car 5, the first movement abort command unit 14 stops measuring time and resets the measured time. The first movement abort command unit 14 determines whether a specified time has passed since the car 5 became in a state where it can be boarded. If the autonomous moving body 8 to which the boarding movement command was sent has not completed the operation of boarding the car 5 when it is determined that the specified time has passed since the car 5 became in a state where it can be boarded, the first movement abort command unit 14 transmits a boarding movement abort command to the autonomous moving body 8 to abort the operation of boarding the car 5.

When a command to stop the operation of the cage 5 is sent to the control device 7, the first movement stop command unit 14 sends a boarding movement stop command to the autonomous moving body 8 to stop the operation of boarding the cage 5.

When the first movement command unit 13 determines that the car 5 is in a state where passengers can disembark, the first movement abort command unit 14 starts measuring time. When the autonomous moving body 8 has completed the operation of disembarking from the car 5, the first movement abort command unit 14 stops measuring time and resets the measured time. The first movement abort command unit 14 determines whether a specified time has elapsed since the car 5 became in a state where passengers can disembark. If the autonomous moving body 8 to which the disembarking movement command was sent has not completed the operation of disembarking from the car 5 when it is determined that a specified time has elapsed since the car 5 became in a state where passengers can disembark, the first movement abort command unit 14 transmits a disembarking movement abort command to the autonomous moving body 8 to abort the operation of disembarking from the car 5.

The first cancellation notification memory unit 15 stores history information of a movement cancellation notification indicating that the autonomous moving body 8 has cancelled the operation of getting on to the car 5 or disembarking from the car 5.

The first cancel notification receiving unit 16 receives a movement cancel notification transmitted from the autonomous moving body 8. When the first cancel notification receiving unit 16 receives a movement cancel notification, it stores history information of the movement cancel notification that reflects the movement cancel notification in the first cancel notification storage unit 15.

When the autonomous moving body 8 is in the car 5, the evacuation information transmission unit 17 uses the control information acquired by the first control information acquisition unit 11 to determine whether the car 5 can no longer operate to the destination floor of the autonomous moving body 8. When the evacuation information transmission unit 17 determines that the car 5 can no longer operate to the destination floor of the autonomous moving body 8, it uses the control information acquired by the first control information acquisition unit 11 to identify the floor at which the car 5 has stopped. Thereafter, the evacuation information transmission unit 17 creates information on the position at which the autonomous moving body 8 should be evacuated at the floor at which the car 5 has stopped. The evacuation information transmission unit 17 transmits, to the autonomous moving body 8, information on the position at which the autonomous moving body 8 should be evacuated at the stopped floor.

The first usability memory unit 18 stores usability information for each of the multiple cages 5 that indicates whether the autonomous moving body 8 is set to use the cage 5 or not use the cage 5.

The first usability setting unit 19 determines whether the first cancellation notification receiving unit 16 has received a cancellation notification for a certain cage 5 from the autonomous moving body 8 in a state where a cancellation command for a ride has not been transmitted to the autonomous moving body 8. When the first cancellation notification receiving unit 16 has determined that a cancellation notification for a ride for a certain cage 5 has been received from the autonomous moving body 8 in a state where a cancellation command for a ride has not been transmitted to the autonomous moving body 8, the first usability setting unit 19 uses the history information of the cancellation notification stored in the first cancellation notification storage unit 15 to determine whether the number of times that a cancellation notification for a ride for the cage 5 has been received from the set date and time is equal to or greater than a specified number of times. At this time, the first cancellation notification receiving unit 16 refers to the history information of the cancellation notification for a ride transmitted from all the autonomous moving bodies 8. When the first usability setting unit 19 determines that the number of times that a cancellation notification for a ride for the cage 5 has been received is equal to or greater than a specified number of times, it sets the cage 5 not to be used. Specifically, in this case, the first usability setting unit 19 changes the usability information stored in the first usability storage unit 18 to a setting that does not allow the car 5 to be used.

The first usability setting unit 19 determines whether the first cancellation notification receiving unit 16 has received a disembarking movement cancellation notification for a certain car 5 from the autonomous moving body 8 in a state in which a disembarking movement cancellation command has not been transmitted to the autonomous moving body 8. If the first cancellation notification receiving unit 16 has determined that a disembarking movement cancellation notification for a certain car 5 has been received from the autonomous moving body 8 in a state in which a disembarking movement cancellation command has not been transmitted to the autonomous moving body 8, the first usability setting unit 19 sets the car 5 not to be used.

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

The operation start command unit 20 uses the position information of the autonomous moving body 8 acquired by the first position information acquisition unit 10 to determine whether or not the autonomous moving body 8 has completed the operation of boarding the car 5. When the operation start command unit 20 determines that the autonomous moving body 8 has completed the operation of boarding the car 5, it transmits a command to the control device 7 to start the operation of the car 5.

The operation start command unit 20 uses the position information of the autonomous moving body 8 acquired by the first position information acquisition unit 10 to determine whether or not the autonomous moving body 8 has completed the operation of disembarking from the car 5. When the operation start command unit 20 determines that the autonomous moving body 8 has completed the operation of disembarking from the car 5, it transmits a command to the control device 7 to start the operation of the car 5.

The operation stop command unit 21 uses the position information of the multiple autonomous moving bodies 8 to determine whether or not another autonomous moving body 8, other than the autonomous moving body 8 to which the first movement command unit 13 transmitted the boarding movement command, among the multiple autonomous moving bodies 8, has performed an action to board the car 5 before the autonomous moving body 8 to which the first movement command unit 13 transmitted the boarding movement command has completed the action of boarding the car 5. When the operation stop command unit 21 determines that another autonomous moving body 8 has performed an action to board the car 5 before the autonomous moving body 8 to which the first movement command unit 13 transmitted the boarding movement command has completed the action of boarding the car 5, it transmits a command to the control device 7 to stop the operation of the car 5.

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

As shown in FIG. 3, the history information of a trip cancellation notification is information that associates information on the "notification date and time," information on the "notification source," information on the "target device," and information on "boarding cancellation/disembarking cancellation."

The "notification date and time" information is information on the date and time when the movement cancellation notification was received from the autonomous moving body 8. The "notification source" information is information that identifies the autonomous moving body 8 that sent the movement cancellation notification. The "target device" information is information that indicates the target device for which the autonomous moving body 8 has stopped moving. The "boarding cancellation/disembarking cancellation" information is information that indicates whether the movement cancellation notification is a boarding movement cancellation notification or a disembarking movement cancellation notification.

Next, the usability information stored in the first usability storage unit 18 will be described with reference to FIG.
FIG. 4 is a diagram illustrating the availability information stored in the management device for the autonomous moving body according to the first embodiment.

As shown in FIG. 4, the usability information is information that associates information about the "target device" with information about "usability."

The "target device" information is information that identifies the target device. The "usability" information is information that indicates whether the target device uses the setting or not.

The "Available" display in the "Availability" information indicates that the setting is used by the target device. The "Not Available" display in the "Availability" information indicates that the setting is not used by the target device.

Next, the operation performed by the management device 9 will be described with reference to FIG. 5 and FIG.
Fig. 5 is a flowchart for explaining the operation performed by the management device for autonomous mobile bodies in the embodiment 1. Fig. 6 is a flowchart for explaining the operation performed by the management device for autonomous mobile bodies in the embodiment 1.

When an autonomous moving body 8 arrives at a boarding area 4, the management device 9 starts the operation of step S101.

As shown in Figures 5 and 6, in step S101, the management device 9 uses the control information to determine whether the car 5 is ready for boarding.

If it is determined in step S101 that the car 5 is not ready for boarding, the management device 9 repeats the operation of step S101.

If it is determined in step S101 that the car 5 is ready for boarding, the management device 9 performs the operation of step S102. In step S102, the management device 9 transmits a boarding movement command to the autonomous mobile body 8, causing the autonomous mobile body 8 to board the car 5.

Then, the management device 9 performs the operation of step S103. In step S103, the management device 9 determines whether a specified time has elapsed since the car 5 became available for boarding.

If it is determined in step S103 that the specified time has not elapsed since the car 5 became available for boarding, the management device 9 performs the operation of step S104. In step S104, the management device 9 determines whether or not another autonomous mobile body 8 other than the autonomous mobile body 8 that sent the movement command has performed an operation to board the car 5.

If it is determined in step S104 that another autonomous moving body 8 is not performing an operation to board the cage 5, the management device 9 performs the operation of step S105. In step S105, the management device 9 determines whether or not it has received a boarding movement suspension notification for the cage 5 from the autonomous moving body 8 in a state in which it has not transmitted a boarding movement suspension command to the autonomous moving body 8.

If it is determined in step S105 that a ride movement stop notification for the car 5 has not been received from the autonomous moving body 8 in a state in which a ride movement stop command has not been sent to the autonomous moving body 8, the management device 9 performs the operation of step S106. In step S106, the management device 9 determines whether the autonomous moving body 8 has completed the operation of boarding the car 5.

If it is determined in step S106 that the autonomous moving body 8 has not completed the operation of boarding the cage 5, the management device 9 performs the operations from step S103 onwards.

If it is determined in step S106 that the autonomous mobile body 8 has completed the operation of boarding the cage 5, 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 cage 5. In this case, the control device 7 operates the cage 5.

Then, the management device 9 performs the operation of step S108. In step S108, the management device 9 uses the control information of the cage 5 to determine whether the cage 5 can no longer operate to the destination floor of the autonomous mobile unit 8.

If it is determined in step S108 that the car 5 can be driven to the destination floor of the autonomous mobile unit 8, the management device 9 performs the operation of step S109. In step S109, the management device 9 determines whether the car 5 is in a state where passengers can disembark.

If it is determined in step S109 that the car 5 is not in a state where passengers can disembark, the management device 9 performs the operations from step S108 onwards.

If it is determined in step S109 that the car 5 is in a state in which disembarking is possible, the management device 9 performs the operation of step S110. In step S110, the management device 9 transmits a disembarking movement command to the autonomous moving body 8 for disembarking from the car 5.

Then, the management device 9 performs the operation of step S111. In step S111, the management device 9 determines whether a specified time has elapsed since the car 5 became ready for disembarking.

If it is determined in step S111 that the specified time has not elapsed since the car 5 became ready for disembarking, the management device 9 performs the operation of step 112. In step S112, the management device 9 determines whether or not it has received a disembarking movement suspension notification for the car 5 from the autonomous moving body 8 in a state in which it has not transmitted a disembarking movement suspension command to the autonomous moving body 8.

If it is determined in step S112 that a disembarking movement stop command has not been sent to the autonomous moving body 8 and a disembarking movement stop notification for the car 5 has not been received from 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 moving body 8 to determine whether the autonomous moving body 8 has completed the operation of disembarking from the car 5.

If it is determined in step S113 that the autonomous moving body 8 has not completed the operation of disembarking from the cage 5, the management device 9 performs the operations from step S111 onwards.

If it is determined in step S113 that the autonomous mobile body 8 has completed the operation of disembarking from the cage 5, the management device 9 performs the operation of step S114. In step S114, a command is sent to the control device 7 to start the operation of the cage 5. In this case, the control device 7 operates the cage 5.

After that, the management device 9 ends its operation.

If it is determined in step S103 that a specified time has elapsed since the cage 5 became ready for boarding, the management device 9 performs the operation of step S115. In step S115, the management device 9 transmits to the autonomous moving body 8 a boarding movement stop command to stop the operation of boarding the cage 5. Thereafter, the management device 9 ends the operation.

If it is determined in step S104 that another autonomous moving body 8 has boarded 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. Thereafter, the management device 9 performs the operations from step S115 onwards.

If it is determined in step S105 that a ride movement abort notification for the cage 5 has been received from the autonomous moving body 8 without a ride movement abort command being transmitted to the autonomous moving body 8, the management device 9 performs the operation of step S117. In step S117, the management device 9 determines whether the number of times a movement abort notification related to the cage 5 has been received is equal to or greater than a specified threshold, based on the movement abort notification information stored in the first abort notification storage unit 15.

If it is determined in step S117 that the number of times that a movement suspension notification related to the cage 5 has been received is not equal to or greater than the specified threshold, the management device 9 terminates operation.

If it is determined in step S117 that the number of times that a movement suspension notification related to the cage 5 has been received is equal to or greater than a specified threshold, the management device 9 performs the operation of step S118. In step S118, the management device 9 sets the cage 5 not to be used. Thereafter, the management device 9 ends the operation.

If it is determined in step S108 that the car 5 cannot be driven to the destination floor of the autonomous mobile unit 8, the management device 9 performs the operation of step S119. In step S119, the management device 9 transmits information about the evacuation position at the stopped floor to the autonomous mobile unit 8. Thereafter, the management device 9 ends the operation.

If it is determined in step S111 that a specified time has elapsed since the car 5 became ready for disembarking, the management device 9 performs the operation of step 120. In step S120, the management device 9 transmits a disembarking movement abort command to the autonomous moving body 8 to abort the disembarking operation from the car 5.

When the operation of step S120 has been performed, or when it is determined in step S112 that a disembarking movement stop notification for the cage 5 has been received from the autonomous moving body 8 without a disembarking movement stop command being transmitted to the autonomous moving body 8, the management device 9 performs the operation of step S121. In step S121, the management device 9 sets the cage 5 not to be used. Thereafter, the management device 9 ends the operation.

According to the embodiment 1 described above, the management device 9 transmits a movement stop command to the autonomous moving body 8 to stop the operation of getting on to the car 5 or the operation of getting off from the car 5. The autonomous moving body 8 that receives the movement stop command performs an operation to move away from the car door 6 of the car 5. This makes it possible to prevent the autonomous moving body 8 from being caught in the car door 6. As a result, it is possible to prevent damage to the autonomous moving body 8. It is also possible to prevent damage to the car door 6.

In addition, when a specified time has elapsed since the car 5 becomes ready for boarding or disembarking, if the autonomous moving body 8 that sent the movement command has not completed the operation of boarding or disembarking from the car 5, the management device 9 sends a movement stop command to the autonomous moving body 8. Therefore, if the autonomous moving body 8 is slow to board or disembark from the car 5, the management device 9 can prevent the autonomous moving body 8 from colliding with the car door 6.

In addition, when another autonomous moving body 8 other than the autonomous moving body 8 to which the movement command to board the car 5 is transmitted performs an action to board the car 5, the management device 9 transmits a movement stop command to the autonomous moving body 8 to which the movement command was transmitted. Therefore, the management device 9 can suppress a collision between the autonomous moving body 8 to which the movement command was transmitted and the other autonomous moving body 8. Note that, when another autonomous moving body 8 other than the autonomous moving body 8 to which the movement command to disembark from the car 5 performs an action to board the car 5, the management device 9 may transmit a movement stop command to the autonomous moving body 8 to which the movement command was transmitted. In this case, even if the two autonomous moving bodies 8 collide, the impact of the collision can be suppressed. As a result, damage to the autonomous moving body 8 can be suppressed.

In addition, for example, in a conventional elevator system 1, even if an abnormality occurs inside a cage 5 that determines that a certain autonomous moving body 8 cannot board the cage, if the abnormality does not interfere with the operation of the cage 5, another autonomous moving body 8 may board the cage 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 a notification that an autonomous moving body 8 has stopped boarding the cage 5 or disembarking from the cage 5, it sets the cage 5 not to be used. Therefore, when an abnormality occurs that determines that a certain autonomous moving body 8 cannot board the cage, it is possible to suppress another autonomous moving body 8 from boarding the cage 5.

Furthermore, if the number of times that the management device 9 has received the movement suspension notification is less than a specified number of times, the management device 9 does not set the car 5 not to be used. For example, if the autonomous moving body 8 transmits a boarding movement suspension notification to the management device 9 due to a malfunction occurring in the autonomous moving body 8, the management device 9 receives the boarding movement suspension notification to the car 5 only once. In this case, the management device 9 does not set the car 5 not to be used. Therefore, it is possible to prevent a decrease in the operating efficiency of the car 5 by setting the car 5 not to be used even when no abnormality has occurred in the car 5.

In addition, for example, if the shape of an autonomous moving body 8 other than the autonomous moving body 8 that received the movement stop notification is not suitable for moving to the destination floor, the other autonomous moving body 8 may be damaged by colliding with equipment at the destination floor. When an autonomous moving body 8 other than the autonomous moving body 8 that received the movement command takes action to board the car 5, the management device 9 transmits a command to the control device 7 to stop the operation of the car 5. This makes it possible to prevent the other autonomous moving body 8 from moving to the destination floor of the autonomous moving body 8 that received the movement command. As a result, it is possible to prevent damage to the other autonomous moving body 8.

For example, in a conventional elevator system 1, when an autonomous moving body 8 other than the autonomous moving body 8 to which the movement command was sent gets on the car 5, the other autonomous moving body 8 may move to the destination floor of the autonomous moving body 8 to which the movement command was sent. The other autonomous moving body 8 may not be permitted to move to the destination floor from a security standpoint. In the first embodiment, when an autonomous moving body 8 other than the autonomous moving body 8 to which the movement command was sent takes the action of getting on the car 5, the management device 9 sends a command to the control device 7 to stop the operation of the car 5. This makes it 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 was sent. As a result, the security of the elevator system 1 can be improved.

The operation stop command unit 21 of the management device 9 may send a command to the control device 7 to stop the operation of the car 5 when an autonomous moving body 8 other than the autonomous moving body 8 to which a movement command for disembarking has been sent to disembark from the car 5 performs an action to board the car 5. This makes it possible to prevent the other autonomous moving body 8 from moving to a floor to which movement is not permitted.

For example, in a conventional elevator system 1, if the car 5 arrives at a floor where the autonomous moving body 8 is not set to move when an earthquake occurs, the autonomous moving body 8 may not move from the car 5. In this case, the autonomous moving body 8 may be damaged together with the car 5 by the earthquake. In the first embodiment, if the car 5 cannot operate to the destination floor of the autonomous moving body 8 and stops at a floor different from the destination floor, the management device 9 transmits information on the position where the autonomous moving body 8 will retreat to the autonomous moving body 8 on the different floor. In this case, the autonomous moving body 8 disembarks from the car 5 based on the information on the retreat position. As a result, the management device 9 can suppress damage to the autonomous moving body 8.

When determining whether the car 5 is in a state where passengers can board, the first movement command unit 13 may use information such as the position of the car 5 and the state of the car door 6, which are included in the control information acquired by the first control information acquisition unit 11.When determining whether the car 5 is in a state where passengers can disembark, the first movement command unit 13 may use information such as the position of the car 5 and the state of the car door 6, which are included in the control information acquired by the first control information acquisition unit 11.

When determining whether or not the car 5 is in a state where passengers can board, the first movement command unit 13 may refer to the usability information stored in the first usability memory unit 18. Specifically, if the usability information stored in the first usability memory unit 18 indicates that the car 5 is not in use, the first movement command unit 13 may determine that the car 5 is in a state where passengers cannot board, regardless of the content of the control information acquired by the first control information acquisition unit 11.

The first movement abort command unit 14 may determine that the autonomous moving body 8 has completed the operation of boarding the car 5 when the autonomous moving body 8 performs an operation of attempting to board the car 5. Specifically, for example, the first movement abort command unit 14 may determine that the autonomous moving body 8 has completed the operation of boarding the car 5 when it detects that the autonomous moving body 8 has passed between the car doors 6. For example, the first movement abort command unit 14 may determine that the autonomous moving body 8 has completed the operation of boarding the car 5 when it detects that the autonomous moving body 8 is present near a position inside the car 5 where it should stop.

In addition, the first movement cancellation command unit 14 may use the position information of the plurality of autonomous moving bodies 8 instead of the operation cancellation command unit 21 to determine whether or not another autonomous moving body 8, other than the autonomous moving body 8 to which the first movement command unit 13 transmitted the boarding movement command, among the plurality of autonomous moving bodies 8, has performed an operation of boarding the car 5 before the autonomous moving body 8 to which the first movement command unit 13 transmitted the boarding movement command completes the operation of boarding the car 5. When the first movement cancellation command unit 14 determines that another autonomous moving body 8 has performed the operation of boarding the car 5, it may transmit a dismounting movement cancellation command to the autonomous moving body 8 to which the first movement command unit 13 transmitted the boarding movement command to cancel the operation of dismounting from the car 5. In this case, the operation cancellation command unit 21 may transmit a command to the control device 7 to cancel the operation of the car 5.

When determining whether the number of times that a passenger movement cancellation notification for car 5 has been received is equal to or greater than a specified number, the first usability setting unit 19 may use history information of passenger movement cancellation notifications received within a specified period from the time of the determination.

When determining whether the car 5 can no longer be driven to the destination floor of the autonomous moving body 8, the evacuation information transmission unit 17 may use information on the position of the car 5, information on the open/closed state of the car door 6, etc., contained in the control information acquired by the first control information acquisition unit 11. In this case, for example, the evacuation information transmission unit 17 may determine that the car 5 can no longer be driven to the destination floor of the autonomous moving body 8 by detecting that the position of the car 5 has not changed for a period longer than a specified time.

When identifying the floor at which car 5 has stopped, the evacuation information transmission unit 17 may use the control information acquired by the first control information acquisition unit 11 to consider the floor at which car 5 is about to stop as the floor at which car 5 has stopped.

The evacuation information transmission unit 17 may create information indicating the range to which the autonomous moving body 8 is to be evacuated at the floor where the car 5 has stopped, as information on the position to which the autonomous moving body 8 is to be evacuated. When creating information on multiple evacuation positions for multiple autonomous moving bodies 8, the evacuation information transmission unit 17 may create information on multiple evacuation positions corresponding to each of the multiple autonomous moving bodies 8. By creating information on multiple evacuation positions corresponding to each of the multiple autonomous moving bodies 8, the evacuation information transmission unit 17 prevents multiple autonomous moving bodies 8 from evacuating to one location and becoming crowded.

When judging whether or not the autonomous moving body 8 has completed the operation of boarding the car 5, the operation start command unit 20 may acquire from the autonomous moving body 8 state information directly indicating that the autonomous moving body 8 has boarded the car 5. The operation start command unit 20 may use the state information instead of the position information of the autonomous moving body 8 to judge that the autonomous moving body 8 has completed the operation of boarding the car 5. When judging whether or not the autonomous moving body 8 has completed the operation of disembarking from the car 5, the operation start command unit 20 may acquire from the autonomous moving body 8 state information directly indicating that the autonomous moving body 8 has disembarked from the car 5. The operation start command unit 20 may use the state information instead of the position information of the autonomous moving body 8 to judge that the autonomous moving body 8 has completed the operation of disembarking from the car 5.

When determining whether another autonomous moving body 8 other than the autonomous moving body 8 to which the first movement command unit 13 has sent a movement command to board has performed an action to board the car 5, the operation cancellation command unit 21 may obtain, from the other autonomous moving body, status information that directly indicates that the other autonomous moving body 8 has performed an action to board the car 5. The operation cancellation command unit 21 may use the status information instead of the position information of the other autonomous moving body 8 to determine that the other autonomous moving body has performed an action to board the car 5.

In addition, when another autonomous moving body 8 performs an action of attempting to board the car 5, the operation cancellation command unit 21 may determine that the other autonomous moving body 8 has performed an action of boarding the car 5. Specifically, for example, when the operation cancellation command unit 21 detects the behavior of another autonomous moving body 8 passing through the car door 6 using the position information of multiple autonomous moving bodies 8, it may determine that the other autonomous moving body 8 has performed an action of boarding the car 5. For example, when the operation cancellation command unit 21 detects that another autonomous moving body 8 has moved near the car door 6 using the position information of multiple autonomous moving bodies 8, it may determine that the other autonomous moving body 8 has performed an action of boarding the car 5.

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

Each function of the management device 9 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 includes 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 the program stored in at least one memory 100b. At least one processor 100a is also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, etc., a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, etc.

When the processing circuit includes at least one dedicated hardware 200, the processing circuit is realized, for example, by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these. 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 realized collectively by a processing circuit.

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

In this way, the processing circuitry realizes each function of the management device 9 using hardware 200, software, firmware, or a combination of these.

Embodiment 2.
8 is a diagram showing an outline of a building to which a management device for autonomous moving bodies in embodiment 2 is applied. Note that parts that are the same as or equivalent to parts in embodiment 1 are given the same reference numerals. Explanation of these parts is omitted.

As shown in Figure 8, for example, the interior of a building is divided into an exterior area, a common area, and an individual area depending on the level of security.

The gate 22 is provided as an entrance/exit device on the entrance floor of the building. The gate 22 is provided at a position on the entrance floor of the building that separates the external area from the common area. The gate 22 is provided to allow users, the autonomous mobile body 8, etc. to pass through.

The multiple doors 23 are provided on each floor of the building as entrance/exit devices. The multiple doors 23 are provided at positions that separate common areas from individual areas on each floor of the building. Each of the multiple doors 23 is provided to allow users, autonomous moving bodies 8, etc. to pass through.

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

The management device 9 transmits commands to the autonomous mobile body 8 and the entrance/exit management device 24 to cause the autonomous mobile body 8 to pass through the target entrance/exit device.

For example, the management device 9 transmits a command to the autonomous mobile body 8 present in the external area to move from the external area to the shared area. In this case, the management device 9 transmits a command to the entrance/exit management device 24 to make the gate 22, which is the target entrance/exit device, available for objects to pass through. The autonomous mobile body 8 moves to a waiting area present near the gate 22. When the entrance/exit management device 24 receives a command to make the gate 22 available for objects to pass through, it changes the gate 22 from a closed state to an open state. The entrance/exit management device 24 then transmits information to the management device 9 that the gate 22 is available for passage.

When the management device 9 receives information that the gate 22 is in a state where it can be passed through and the autonomous mobile body 8 is in the waiting area of the gate 22, the management device 9 transmits a movement command to the autonomous mobile body 8 to cause the autonomous mobile body 8 to pass through the gate 22. The autonomous mobile body 8 passes through the gate 22 based on the movement command to pass received from the management device 9. When the autonomous mobile body 8 completes the operation of passing through the gate 22, the management device 9 transmits a command to the entrance/exit management device 24 to put the gate 22 in a state where objects cannot pass through. When the entrance/exit management device 24 receives a command to put the gate 22 in a state where objects cannot pass through, it changes the gate 22 from an open state to a closed state.

If an abnormality occurs when an autonomous mobile body 8 to which a movement command for passage has been sent passes through a target entrance/exit device, the management device 9 sends a command corresponding to the abnormality to at least one of the autonomous mobile body 8 and the entrance/exit management device 24.

For example, if an obstacle is present in the path of the autonomous mobile body 8 at a certain door 23, the autonomous mobile body 8 cannot pass through the door 23. In this state, when a specified time set to a time shorter than the upper limit time for the door 23 to open has elapsed, the management device 9 transmits a movement stop command to the autonomous mobile body 8 to which the movement command to pass has been transmitted, causing the autonomous mobile body 8 to stop passing through the door 23. In this case, the autonomous mobile body 8 moves to a position away from the door 23. The autonomous mobile body 8 transmits a movement stop notification to the management device 9 indicating that the movement to pass through the door 23 has been stopped. The management device 9 transmits a command to the entrance/exit management device 24 to put the door 23 in a state where objects cannot pass through. The entrance/exit management device 24 closes the door 23.

Furthermore, if an obstacle is present in the path of the autonomous mobile body 8 at a certain door 23, the autonomous mobile body 8 may autonomously determine that it cannot pass through that door 23. In this case, the autonomous mobile body 8 stops passing through that door 23, and moves to a position away from that door 23. The autonomous mobile body 8 transmits a movement suspension notice to the management device 9 to the effect that it has stopped passing through that door 23. The management device 9 transmits a command to the entrance/exit management device 24 to put that door 23 in a state where objects cannot pass through. The entrance/exit management device 24 puts that door 23 in a closed state.

If the obstacle continues to be present in the path of the autonomous mobile body 8 at the door 23, the autonomous mobile body 8 transmits a movement stop notification to the management device 9 to the effect that the movement of passing through the door 23 has been stopped each time the autonomous mobile body 8 performs an action of passing through the door 23. If the number of times that the movement stop notification for passing through the door 23 has been received reaches or exceeds a prescribed number, the management device 9 sets the door 23 not to be used. If the door 23 is set to not be used, the management device 9 does not transmit a movement command for passing through the door 23 to the autonomous mobile body 8.

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

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

The waiting areas 25 of the gate 22 are set in the external area and the shared area. The waiting areas 25 are set in positions close enough to the gate 22 that the autonomous mobile body 8 present in the waiting area 25 can quickly complete the operation of passing through the gate 22. The waiting areas 25 are made up of a pair of waiting areas 25a, a pair of waiting areas 25b, and a pair of waiting areas 25c.

The pair of waiting areas 25a corresponds to lane 22a. The pair of waiting areas 25a is set in a position adjacent to lane 22a in each of the external area and the shared area. The waiting area 25b corresponds to lane 22b. The waiting area 25b is set in a position adjacent to lane 22b in each of the external area and the shared area. The waiting area 25c corresponds to lane 22c. The waiting area 25c is set in a position adjacent to lane 22c in each of the external area and the shared area.

Next, the door 23 and the waiting area for the door 23 will be described with reference to FIG.
FIG. 10 is a top view of a main part of a door to which a management device for an autonomous moving object in accordance with 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 an autonomous moving body 8 can pass through.

The waiting area 26 for the door 23 is set up as a shared area and an individual area. The waiting area 26 is set up in a position close enough to the door 23 that an autonomous mobile body 8 present in the waiting area 26 can quickly complete the operation of passing through the door 23. The waiting area 26 is made up of a pair of waiting areas 26a and a pair of waiting areas 26b.

The pair of waiting areas 26a corresponds to the door lane 23a. The pair of waiting areas 26a is set in a position adjacent to the door lane 23a in each of the common area and the individual area. The pair of waiting areas 26b corresponds to the door lane 23b. The pair of waiting areas 26b is set in a position adjacent to the door lane 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 a management device for autonomous moving objects according to the second embodiment.

As shown in FIG. 11, the management device 9 includes a second location information acquisition unit 27, a second control information acquisition unit 28, a second movement command unit 29, a second movement suspension command unit 30, a second suspension notification storage unit 31, a second suspension notification acceptance unit 32, a second usability storage unit 33, a second usability setting unit 34, and a state change unit 35.

The second position information acquisition unit 27 acquires 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 for the gate 22 and the multiple doors 23 from the entrance/exit management device 24 as control information for the entrance/exit device.

The second movement command unit 29 determines whether the entrance/exit device is in a state where it can pass through using the control information of the entrance/exit device acquired by the second control information acquisition unit 28. If the second movement command unit 29 determines that the entrance/exit device is in a state where it can pass through, it determines whether the autonomous mobile body 8 is present in the waiting area of the entrance/exit device using the position information acquired by the second position information acquisition unit 27. If the second movement command unit 29 determines that the autonomous mobile body 8 is present in the waiting area of the entrance/exit device, it transmits a movement command to the autonomous mobile body 8 to cause the autonomous mobile body 8 to pass through the entrance/exit device.

When the second movement command unit 29 determines that the entrance/exit device is in a state where it can be passed through, the second movement stop command unit 30 starts measuring time. When the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device, the second movement stop command unit 30 stops measuring time and resets the measured time.

The second movement stop command unit 30 determines whether a specified time has passed since the entrance/exit device became passable. If the autonomous mobile body 8 to which the movement command to pass has been transmitted has not completed the action of passing through the entrance/exit device when the second movement stop command unit 30 determines that a specified time has passed since the entrance/exit device became passable, the second movement command unit 29 transmits a movement stop command to the autonomous mobile body 8 to which the movement command to pass has been transmitted, causing the autonomous mobile body 8 to stop the action of passing through the entrance/exit device.

The second movement halt command unit 30 uses the position information of the multiple autonomous moving bodies 8 acquired by the second position information acquisition unit 27 to determine whether or not another autonomous moving body 8, other than the autonomous moving body 8 to which the second movement command unit 29 sent the movement command to pass, among the multiple autonomous moving bodies 8, has performed an action of passing through the entrance/exit device. When the second movement halt command unit 30 determines that another autonomous moving body 8 has performed an action of passing through the entrance/exit device, it transmits a movement halt command to the autonomous moving body 8 to which the second movement command unit 29 sent the movement command to pass, to cause the autonomous moving body 8 to stop the action of passing through the entrance/exit device.

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

The second cancel notification receiving unit 32 receives a movement cancel notification transmitted from the autonomous moving body 8. When the second cancel notification receiving unit 32 receives a movement cancel notification, it stores history information of the movement cancel notification that reflects the movement cancel notification in the second cancel notification storage unit 31.

The second usability memory unit 33 stores usability information indicating whether the autonomous mobile body 8 is set to use or not use a certain entrance/exit device.

The second usability setting unit 34 determines whether the second stop notification receiving unit 32 has received a stop notification of passage for a certain entrance/exit device from the autonomous moving body 8 in a state where a stop command of passage movement has not been transmitted to the autonomous moving body 8. When the second stop notification receiving unit 32 determines that a stop notification of passage for a certain entrance/exit device has been received from the autonomous moving body 8 in a state where a stop command of passage movement has not been transmitted to the autonomous moving body 8, the second usability setting unit 34 uses the history information of the stop notification of movement stored in the second stop notification storage unit 31 to determine whether the number of times that the stop notification of passage for the entrance/exit device has been received from the set date and time is equal to or greater than a specified number of times. At this time, the second stop notification receiving unit 32 refers to the history information of the stop notification of passage movement transmitted from all the autonomous moving bodies 8. When the second usability setting unit 34 determines that the number of times that the stop notification of passage for the entrance/exit device has been received is equal to or greater than a specified number of times, the setting is set to not use the entrance/exit device. Specifically, in this case, the second usability setting unit 34 sets the usability information stored in the second usability storage unit 33 to not use the entrance/exit device.

The state change unit 35 transmits a command to the entrance/exit management device 24 to change the entrance/exit device to a state in which objects can pass through. The state change unit 35 uses the position information of the autonomous mobile body 8 acquired by the second position information acquisition unit 27 to determine whether or not the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device. When the state change unit 35 determines that the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device, it transmits a command to the entrance/exit management device 24 to change the entrance to a state in which objects cannot pass through.

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

As shown in FIG. 12, the history information of the movement suspension notification is information that associates information on the "notification date and time," information on the "notification source," and information on the "target entrance/exit device."

The "notification date and time" information is information about the date and time when the movement stop notification was received from the autonomous moving body 8. The "notification source" information is information that identifies the autonomous moving body 8 that sent the movement stop notification. The "target device" information is information that indicates the entrance/exit device through which 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.
FIG. 13 is a diagram illustrating the availability information stored in the management device for the autonomous moving body according to the second embodiment.

As shown in FIG. 13, the usability information is information that associates information on the "target entrance/exit device" with information on "usability."

The "target entrance/exit device" information indicates the target entrance/exit device. The "usability" information indicates whether the target entrance/exit device is set to be used or not.

"Available" in the "Availability" information indicates that the setting is available for use by the target entrance/exit device. "Not available" in the "Availability" information indicates that the setting is not available for use by the target entrance/exit device.

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

For example, when the autonomous mobile body 8 starts moving to the waiting area of the entrance/exit device, the management device 9 starts the operations from step S201 onwards.

As shown in FIG. 14, in step S201, the management device 9 determines whether the entrance/exit device is in a state where it can be passed through.

If it is determined in step S201 that the entrance/exit device is not in a state where passage is permitted, 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 state where passage is permitted, the management device 9 performs the operation of step S202. In step S202, the management device 9 determines whether the autonomous mobile body 8 is present in the waiting area of the entrance/exit device.

If it is determined in step S202 that the autonomous mobile unit 8 is not present in the waiting area of the entrance/exit device, the management device 9 performs the operations from step S201 onwards.

If it is determined in step S202 that the autonomous mobile body 8 is in the waiting 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 movement command to the autonomous mobile body 8 to cause the autonomous mobile body 8 to pass through the entrance/exit device.

Then, the management device 9 performs the operation of step S204. In step S204, the management device 9 determines whether a specified time has elapsed since the entrance/exit device became passable.

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 an autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement command for passage was transmitted has performed an operation to pass through the entrance/exit device.

If it is determined in step S205 that another autonomous mobile body 8 is not 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 it has received a notice of cessation of passage through the entrance/exit device from the autonomous mobile body 8 without transmitting a command to cessation of passage to the autonomous mobile body 8.

If it is determined in step S206 that a movement stop notification for passage through the entrance/exit device has not been received from the autonomous mobile unit 8 in a state in which a movement stop command for passage has not been transmitted to the autonomous mobile unit 8, the management device 9 performs the operation of step S207. In step S207, the management device 9 determines whether or not the autonomous mobile unit 8 has completed the operation of passing through the entrance/exit device.

If it is determined in step S207 that the autonomous mobile body 8 has not completed passing through the entrance/exit device, the management device 9 performs the operations from step S204 onwards.

If it is determined in step S207 that the autonomous mobile 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 entrance/exit management device 24 to put the entrance/exit device into a state in which no objects can pass through.

After that, the management device 9 ends its operation.

If it is determined in step S204 that a specified time has elapsed since the entrance/exit device became passable, or if it is determined in step S205 that another autonomous mobile body 8 has performed an action to pass through the entrance/exit device, the management device 9 performs the action of step S209. In step S209, the management device 9 transmits a movement stop command to the autonomous mobile body 8 that transmitted the movement command to pass, causing the autonomous mobile body 8 to stop the action of passing through the entrance/exit device. Thereafter, the management device 9 performs the action from step S208 onwards.

If it is determined in step S206 that a notice of halting passage regarding the entrance/exit device has been received from the autonomous mobile unit 8 without a command to halt passage movement being transmitted to the autonomous mobile unit 8, the management device 9 performs the operation of step S210. In step S210, the management device 9 determines whether the number of times that a notice of halting passage regarding the entrance/exit device has been received from the set date and time is equal to or greater than a specified number of times.

If it is determined in step S210 that the number of times that the entrance/exit device has received a movement suspension notification related to the entrance/exit device is less than the specified number of times, the management device 9 performs the operations from step S208 onwards.

If it is determined in step S210 that the number of times that the entrance/exit device has received a movement suspension notification related to the entrance/exit device is equal to or greater than a specified number, the management device 9 performs the operation of step S211. In step S211, the management device 9 sets the entrance/exit device not to be used. Thereafter, the management device 9 performs the operation from step S208 onwards.

According to the second embodiment described above, the management device 9 transmits a movement stop command to the autonomous mobile body 8 that has received a movement command to pass through the entrance/exit device, causing the autonomous mobile body 8 to stop passing through the entrance/exit device. As a result, the management device 9 can prevent the autonomous mobile body 8 from passing through the entrance/exit device where an abnormality has occurred. The management device 9 can prevent a collision between the entrance/exit device and the autonomous mobile body 8. As a result, damage to the autonomous mobile body 8 can be prevented. Also, damage to the entrance/exit device can be prevented.

In addition, the management device 9 transmits a movement suspension notification to the autonomous mobile body 8 when a specified time has elapsed since the entrance/exit device becomes passable. Therefore, if the autonomous mobile body 8 has difficulty passing through the entrance/exit device, the autonomous mobile body 8 can leave the entrance/exit device before the entrance/exit device changes from an open state to a closed state due to the time limit. As a result, the management device 9 can prevent the autonomous mobile body 8 from colliding with the entrance/exit device.

In addition, when an autonomous mobile body 8 other than the autonomous mobile body 8 that sent the movement command to pass through the entrance/exit device performs an operation of passing through the entrance/exit device, the management device 9 sends a command to stop passing through to the autonomous mobile body 8 that sent the movement command to pass through. This makes it possible to prevent a collision between the autonomous mobile body 8 that sent the movement command to pass through and the other autonomous mobile body 8.

For example, in a conventional entrance/exit management system, even if an abnormality occurs in an entrance/exit device that determines that a certain autonomous mobile body 8 cannot pass through, another autonomous mobile body 8 may pass through the entrance/exit device. In this case, the other autonomous mobile body 8 may be damaged by the abnormality. According to the second embodiment, when the management device 9 receives a movement stop notification that the autonomous mobile body 8 has stopped passing through the entrance/exit device, the management device 9 sets the entrance/exit device not to be used. Therefore, when an abnormality occurs in an entrance/exit device that is determined to be unable to pass through by a certain autonomous mobile body 8, it is possible to prevent another autonomous mobile body 8 from passing through the entrance/exit device. As a result, it is possible to prevent the autonomous mobile body 8 from being damaged.

In addition, if the number of times that the management device 9 has received a movement suspension notification is less than a specified number of times, the management device 9 does not set the entrance/exit device not to be used. Therefore, it is possible to prevent a decrease in the efficiency of the movement of the autonomous moving body 8 caused by setting the entrance/exit device not to be used even when no abnormality has occurred in the entrance/exit device.

In addition, if an abnormality occurs after transmitting a movement command to the autonomous mobile body 8 to pass through, the management device 9 transmits a command to the entrance/exit management device 24 to change the entrance/exit device from a state in which objects can pass through to a state in which objects cannot pass through. Therefore, the management device 9 can prevent the autonomous mobile body 8 from passing through the entrance/exit device. As a result, it is possible to prevent the autonomous mobile body 8 from being damaged by the abnormality.

In addition, in conventional entrance/exit management systems, even if an abnormality occurs after a movement command to pass through is sent to the autonomous mobile unit 8, the entrance/exit device may remain in a state where objects can pass through until the autonomous mobile unit 8 completes the operation of passing through the entrance/exit device. In this case, there is a risk that a person who is not permitted to pass through the entrance/exit device may pass through the entrance/exit device. In the second embodiment, when an abnormality occurs after a movement command to pass through is sent to the autonomous mobile unit 8, the management device 9 sends a command to the entrance/exit management device 24 to change the entrance/exit device from a state where objects are permitted to pass through to a state where objects are not permitted to pass through. This makes it possible to prevent people who are not permitted to pass through the entrance/exit device. As a result, it is possible to improve the security of entrance/exit management.

In addition, if the autonomous mobile body 8 to which the movement command was sent has not completed passing through the entrance/exit device when a specified time has elapsed since the entrance/exit device became passable, the management device 9 transmits a command to the entrance/exit management device 24 to change the entrance/exit device from a state that allows the passage of objects to a state that does not allow the passage of objects. Therefore, if the autonomous mobile body 8 has difficulty passing through the entrance/exit device, it is possible to prevent people who are not permitted to pass through the entrance/exit device.

In addition, when an autonomous mobile body 8 other than the autonomous mobile body 8 to which the movement command was sent performs an operation of passing through an entrance/exit device, the management device 9 transmits a command to the entrance/exit management device 24 to change the entrance/exit device from a state that allows the passage of objects to a state that does not allow the passage of objects. Therefore, the management device 9 can prevent the other autonomous mobile body 8 that is not permitted to pass from passing through the entrance/exit. As a result, the security of entrance/exit management can be improved.

In addition, when the autonomous mobile body 8 is present in the waiting area of the entrance/exit device, the management device 9 transmits a movement command to the autonomous mobile body 8 to pass through the entrance/exit device. Therefore, the autonomous mobile body 8 can pass through the entrance/exit device promptly after the movement command to pass is transmitted. As a result, it is possible to prevent people who are not permitted to pass through from passing through the entrance/exit device before the autonomous mobile body 8 passes through the entrance/exit device.

In addition, instead of sending a command to the entrance/exit management device 24 to make the entrance/exit device in a state where objects cannot pass through, the management device 9 may send a command to the entrance/exit management device 24 to return the state of the entrance/exit device to the state before the command to make the entrance/exit device in a state where objects can pass through was sent. When a command to return the state of the entrance/exit device to its previous state is received, the entrance/exit management device 24 may return the state of the entrance/exit device to the state before the command to make the entrance/exit device in a state where objects can pass through was sent.

In addition, each of the multiple doors 23 that are entrance/exit devices may be set to a state that does not allow objects to pass through or a state that allows objects to pass through by locking or unlocking the panel of the door 23.

The waiting area 25 of the gate 22 does not have to be in the range shown in FIG. 9 as long as it is close enough to the gate 22 that the autonomous mobile body 8 present in the waiting area 25 can quickly complete the operation of passing through the gate 22. The waiting area 26 of the door 23 does not have to be in the range shown in FIG. 10 as long as it is close enough to the door 23 that the autonomous mobile body 8 present in the waiting area 26 can quickly complete the operation of passing through the door 23.

When determining whether the entrance/exit device is in a state where passage is permitted, the second movement command unit 29 may use information on the open/closed state of the gate 22 or information on the open/closed state of the door 23 contained in the control information acquired by the second control information acquisition unit 28.

The second movement command unit 29 may refer to the usability information stored in the second usability memory unit 33 when determining whether the entrance/exit device is in a state where it can be passed through. If the usability information stored in the second usability memory unit 33 indicates that the entrance/exit device is not to be used, the second movement command unit 29 may determine that the entrance/exit device is in a state where it cannot be passed through, regardless of the content of the control information acquired by the second control information acquisition unit 28.

When determining whether the autonomous mobile body 8 is in the waiting area of the entrance/exit device, the second movement command unit 29 may obtain, from the autonomous mobile body 8, state information that directly indicates that the autonomous mobile body 8 is in the waiting area of the entrance/exit device. Specifically, the autonomous mobile body 8 may create the state information by detecting that it is in the waiting area of the entrance/exit device. The second movement command unit 29 may determine that the autonomous mobile body 8 is in the waiting area of the entrance/exit device using the state information instead of the position information of the autonomous mobile body 8.

When determining whether another autonomous mobile body 8 has performed an action of passing through an entrance/exit device, the second movement suspension command unit 30 may obtain, from the other autonomous mobile body 8, status information that directly indicates that the other autonomous mobile body 8 has performed an action of passing through an entrance/exit device. The second movement suspension command unit 30 may use the status information instead of the position information of the other autonomous mobile body 8 to determine that the other autonomous mobile body 8 has performed an action of passing through an entrance/exit device.

In addition, when another autonomous mobile body 8 performs an action of attempting to pass through the entrance/exit device, the second movement suspension command unit 30 may determine that the other autonomous mobile body 8 has performed an action of passing through the entrance/exit device. Specifically, when the second movement suspension command unit 30 detects that another autonomous mobile body 8 has moved to the waiting area 25 of the gate 22 using the position information of multiple autonomous mobile bodies 8, it may determine that the other autonomous mobile body 8 has performed an action of passing through the gate 22.

In addition, when determining whether the number of times that a passage movement stop notification related to the entrance/exit device has been received is equal to or greater than a specified number, the second usability setting unit 34 may use history information of passage movement stop notifications received within a specified period from the time of determination.

When determining whether the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device, the state change unit 35 may obtain state information from the autonomous mobile body 8 that directly indicates that the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device. The state change unit 35 may determine that the autonomous mobile body 8 has completed the operation of passing through the entrance/exit device using the state information instead of the position information of the autonomous mobile body 8.

In the first and second embodiments, the management device 9 may be applied to an autonomous mobile body control system that includes a device that collectively controls the movement of multiple autonomous mobile bodies 8. In this case, the management device 9 may transmit various commands to the device that collectively controls the movement of multiple autonomous mobile bodies 8 instead of transmitting the various commands to the autonomous mobile bodies 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 first position information acquisition unit, 11 first control information acquisition unit, 12 registration unit, 13 first movement command unit, 14 first movement suspension command unit, 15 first suspension notification storage unit, 16 first suspension notification reception unit, 17 evacuation information transmission unit, 18 first usability storage unit, 19 first usability setting unit, 20 operation start command unit, 21 operation suspension command unit, 22 gate, 22a, 22b, 22c lane, 23 door, 23a, 23b door lane, 24 entry/exit management device, 25, 25a, 25b, 25c waiting 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 second stop notification reception unit, 33 second usability storage unit, 34 second usability setting unit, 35 state change unit, 100a processor, 100b memory, 200 hardware

Claims (1)

a movement command unit that transmits a movement command to the autonomous moving body that moves autonomously to cause the autonomous moving body to enter an elevator car or to exit the elevator car;
an operation stop command unit that transmits a command to a control device of the elevator to stop operation of the car 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 action of getting on the car;
An autonomous mobile object management device comprising:

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