CN111971246B - Cooperative operation system of elevator and autonomous driving vehicle - Google Patents
Cooperative operation system of elevator and autonomous driving vehicle Download PDFInfo
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- CN111971246B CN111971246B CN201880091710.6A CN201880091710A CN111971246B CN 111971246 B CN111971246 B CN 111971246B CN 201880091710 A CN201880091710 A CN 201880091710A CN 111971246 B CN111971246 B CN 111971246B
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- 239000000284 extract Substances 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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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
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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
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- 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
Abstract
A cooperative operation system (100) of an elevator (10) and an autonomous traveling vehicle (40) has: a control panel (21) which comprises an operation relay for controlling the operation of the elevator (10) and an information output relay for outputting the operation information of the elevator (10); a command input relay connected to the action relay; an information acquisition relay connected to the information output relay; and an interface device (30) connected to the information acquisition relay and the command input relay, extracting the operation information from the control panel (21), inputting an operation command to the control panel (21) to operate the elevator (10), transmitting and receiving the operation information and the operation request between the interface device (30) and the autonomous traveling vehicle (40), and operating the elevator (10) by the interface device (30) in accordance with the operation request received from the autonomous traveling vehicle (40).
Description
Technical Field
The present invention relates to a cooperative operation system of an elevator and an autonomous traveling vehicle, which can move the autonomous traveling vehicle between floors by using a relay control method.
Background
In recent years, a system for moving an unmanned transport vehicle or an autonomous traveling vehicle between floors by an elevator has been proposed.
For example, patent document 1 proposes an elevator boarding/alighting system in which a PLC is connected to a control device of an elevator to acquire elevator operation information, and the acquired elevator operation information is transmitted to an automated guided vehicle to cause the automated guided vehicle to board/alight the elevator.
Documents of the prior art
Patent document
Patent document 1: japanese laid-open patent publication No. 2015-210761
Patent document 2: japanese laid-open patent publication No. 2010-23959
Disclosure of Invention
Problems to be solved by the invention
However, in the conventional techniques described in patent documents 1 and 2, terminals for connecting an elevator control device to a PLC or a relay device are provided, and by outputting elevator operation information or inputting an operation command for causing an elevator to perform a desired operation via the terminals, coordinated operation of the elevator and an autonomous traveling vehicle is performed. Therefore, in addition to a normal control program for elevator operation, a control program dedicated to cooperative operation with the autonomous traveling vehicle must be prepared.
On the other hand, in addition to being formed using a computer, many elevator control devices employ a relay control type control panel in which a control circuit is formed by a relay, a switch, or the like. In the relay control system, since the operation control of the elevator cannot be changed by changing the control program, it is difficult to perform inter-floor movement of the autonomous traveling vehicle in the conventional techniques described in patent documents 1 and 2.
Therefore, an object of the present invention is to realize inter-floor movement of an autonomous traveling vehicle in a relay control type elevator by a simple method.
Means for solving the problems
The cooperative operation system of the present invention is a cooperative operation system of an elevator and an autonomous traveling vehicle, and includes: a control panel including an operation relay for controlling the operation of the elevator by an on/off operation and an information output relay for outputting the operation information of the elevator by the on/off operation; a command input relay connected to the operation relay; an information acquisition relay connected to the information output relay; and an interface device connected to the information acquisition relay and the command input relay, the interface device extracting the operation information of the elevator from the control panel based on opening and closing of the information acquisition relay, and operating the elevator by inputting an operation command of the elevator to the control panel by opening and closing the command input relay, wherein the interface device transmits the operation information of the elevator to the autonomous traveling vehicle, the autonomous traveling vehicle transmits an operation request to the interface device based on the operation information received from the interface device, and the interface device operates the elevator in accordance with the received operation request.
In this way, the interface device extracts the elevator operation information from the opening and closing of the information acquisition relay connected to the information output relay in the control panel, and inputs the elevator operation command to the control panel to operate the elevator in accordance with the opening and closing of the command input relay connected to the operation relay.
In the coordinated operation system according to the present invention, the operation information transmitted by the interface device may be service state information, car position information, and door full open information of the elevator, the operation request transmitted by the autonomous traveling vehicle may be a car call request and a door open request, and the interface device may perform an operation of raising and lowering a car and an operation of opening a door in accordance with the operation request. The information output relay disposed on the control panel may include a service enabling relay, a car position relay, and a door opening relay, the operation relay disposed on the control panel may include a car call relay and a door opening relay, and the interface device may extract service state information, car position information, and door opening information of the elevator by opening and closing the information acquisition relay connected to the service enabling relay, the car position relay, and the door opening relay, and cause the elevator to perform a car lifting operation and a door opening operation by opening and closing the command input relay connected to the car call relay and the door opening relay.
In this way, by defining the transmission and reception items between the interface device and the autonomous traveling vehicle, the system can be simplified.
Effects of the invention
The invention can realize the movement between floors of the autonomous driving vehicle in the elevator of a relay control mode by a simple method.
Drawings
Fig. 1 is a system diagram showing the configuration of a cooperative operation system of the embodiment.
Fig. 2 is a system diagram showing the configuration of a relay and an interface device arranged in a control panel of the cooperative operation system according to the embodiment.
Fig. 3 is a system diagram showing the configuration and operation of a car position relay and an information acquisition relay provided in a control panel and a display device provided in a car constituting the cooperative operation system according to the embodiment.
Fig. 4 is a system diagram showing the configuration and operation of a car position relay and an information acquisition relay provided in a control panel, and a display device provided in a car, which constitute the cooperative operation system according to the embodiment.
Fig. 5 is a system diagram showing the configuration and operation of a car call relay and a command input relay provided in a control panel and an input device provided in a car constituting the cooperative operation system according to the embodiment.
Fig. 6 is a system diagram showing the configuration and operation of a car call relay and a command input relay provided in a control panel and an input device provided in a car constituting the cooperative operation system according to the embodiment.
Fig. 7 is an operation sequence diagram showing the operation of the cooperative operation system according to the embodiment.
Fig. 8 is an operation sequence diagram showing the operation of the cooperative operation system according to the embodiment.
Fig. 9 is a vertical view showing a state where an autonomous traveling vehicle arrives at a landing floor in the cooperative operation system according to the embodiment.
Fig. 10 is a vertical view showing a state in which the car reaches a landing floor in the cooperative operation system according to the embodiment.
Fig. 11 is a vertical view showing a state in which an autonomous traveling vehicle rides in a car in the cooperative operation system according to the embodiment.
Fig. 12 is an elevation view showing a state in which the autonomous traveling vehicle closes the car door in the cooperative operation system of the embodiment.
Fig. 13 is a vertical view showing a state in which the car reaches the destination floor in the cooperative operation system according to the embodiment.
Fig. 14 is an elevation view showing a state in which the autonomous traveling vehicle exits from the car in the cooperative operation system of the embodiment.
Detailed Description
Next, the cooperative operation system 100 according to the embodiment will be described with reference to the drawings. As shown in fig. 1, the cooperative operation system 100 is composed of an elevator 10, an autonomous vehicle 40, and an interface device 30.
The elevator 10 includes: a car 12 disposed in the hoistway 11; a drive device 22 for raising and lowering the car 12; a rope 24 wound around the drive device 22 and connecting the counterweight 23 and the car 12; and a control panel 21 for controlling the opening and closing of the drive device 22 and the door 13 of the car 12. The control panel 21 is a relay control type control device configured by combining a relay, a switch, and the like.
The car 12 is provided with: display device 18, input device 14, and full-on detection switch 20. The display device 18 is a device that displays the operating state of the elevator 10. The input device 14 is a device for inputting an operation command to the control panel 21 of the elevator 10. The full-open detection switch 20 is a switch that outputs a full-open signal of the gate 13.
The display device 18 is mounted with: a service status display 17 for displaying service status information of the elevator 10; and a plurality of indicators 19 that indicate the floor at which car 12 is located. The service status display 17 is, for example, a lamp that is turned on during a control operation for partially restricting the operation of the elevator 10 when an earthquake occurs or a fire occurs, and is turned off during a coordinated operation with the autonomous traveling vehicle 40 when the elevator 10 is in a normal operation. The indicator 19 is lit when the car 12 is at the floor, and is turned off when the car 12 is not at the floor.
The input device 14 is provided with: a plurality of floor buttons 16 as buttons with stop floor numbers; and a door opening button 15 as a button having an opening mark. The floor button 16 is connected to the control panel 21, and when the floor button 16 is pressed, the floor is registered in the control panel 21 as a destination floor. The door opening button 15 is also connected to a control panel 21, and when the door opening button 15 is pressed, the control panel 21 operates the opening/closing device of the door 13 to open the door 13.
The autonomous traveling vehicle 40 is a robot that recognizes a traveling path based on an image or position information obtained by an imaging device, a sensor, a GPS, or the like, and autonomously travels to a destination. Examples of the robot include a transfer robot for transferring goods to a predetermined place, a boarding-type mobile assist robot for moving a disabled person or a patient to a predetermined place, a cleaning robot for cleaning a predetermined space, a guard robot for patrolling a predetermined route, and a point inspection diagnosis robot for performing point inspection diagnosis on building equipment such as an elevator, an escalator, a lighting equipment, and an air conditioning equipment. The autonomous traveling vehicle 40 is mounted with a communication device that communicates with the interface device 30 to transmit and receive data.
The interface device 30 includes: a computer with an internal CPU and an internal memory; and a communication unit that communicates with a communication device mounted on the autonomous vehicle 40 to transmit and receive data. The interface device 30 is connected to an information acquisition relay 31 and a command input relay 32 mounted on the control panel 21, which will be described later.
As shown in fig. 2, the control panel 21 includes: an operation relay 60 for controlling the operation of the elevator 10 by an ON/OFF (ON/OFF) operation; and an information output relay 50 for outputting the operation information of the elevator 10 by the on/off operation. As shown in fig. 2, the control panel 21 includes a car call relay 61 and a door opening relay 62 as the operation relay 60. The car call relay 61 corresponds to a plurality of floor buttons 16, and is provided one for each floor, and when a floor button 16 of a certain floor is pressed, the corresponding car call relay 61 is turned on, and the floor is registered as a destination floor. When the door opening button 15 is pressed, the door opening relay 62 is turned on, and the door 13 is opened. In addition, the control panel 21 is also mounted with another operation relay 60, not shown, such as a door closing relay.
The control panel 21 includes a service enable relay 51, a car position relay 52, and a door open relay 53 as the information output relay 50. The service possible relay 51 is a relay as follows: the operation of the elevator 10 can be controlled by the autonomous traveling vehicle 40, and the operation of the elevator can be controlled by the control device, for example, when an earthquake occurs or a fire occurs. The car position relay 52 is composed of a plurality of relays, and turns on a floor relay indicating the position of the car 12 to turn on the indicator 19 of the floor where the car 12 is located. The door full open relay 53 is a relay that is turned on when the full open detection switch 20 attached to the car 12 is turned on. The control panel 21 is also mounted with another information output relay 50, not shown, such as a door full open relay.
As shown in fig. 2, a car call relay 61 and a door opening relay 62 included in the control panel 21 are connected to the command input relay 32, respectively. The information acquisition relay 31 is connected to each of the service relay 51, the car position relay 52, and the door full open relay 53. The information acquisition relays 31 and the command input relays 32 are connected to the interface device 30.
Next, the details and operation of the structure of the car position relay 52 of the control panel 21, the information acquisition relay 31 connected to the car position relay 52, and the indicator 19 of the display device 18 mounted on the car 12 will be described with reference to fig. 3 and 4.
As shown in fig. 3, the car position relay 52 is housed in a case 52 e. The housing 52e is mounted with: two power supply terminals 52a, 52b connected to the power supply 70; and output terminals 52c, 52d connected to the indicator 19. As shown in fig. 3, the car position relay 52, the power source 70, and the indicator 19 are connected in series, and the information acquisition relay 31 and the indicator 19 are connected in parallel.
As shown in fig. 3, when the car position relay 52 is turned off, the indicator 19 is turned off, and no current flows through the information acquisition relay 31.
When the car 12 moves up and down and arrives at a floor corresponding to the car position relay 52, as shown in fig. 4, the car position relay 52 is turned on, and a current flows through the indicator 19 to turn on the indicator 19. At this time, since the information acquisition relay 31 also flows a current, the information acquisition relay 31 is turned on. Then, the information acquisition relay 31 outputs an on signal to the interface device 30.
Since the car position relay 52 of the floor where the car 12 is located is turned on to turn on the indicator 19 of the floor, and the car position relays 52 of the other floors are turned off to turn off the indicator 19, the interface device 30 can extract the position information of the car 12 by the on signal from the information acquisition relay 31 connected to the car position relay 52.
The interface device 30 can acquire the on/off state of the relay 31 based on the information connected to the service enabling relay 51, and can extract motor state information indicating whether the elevator 10 is in the normal operation state or the controlled operation state. Similarly, door full-open information indicating whether or not the door 13 is in the fully open state can be extracted from the on/off state of the door full-open relay 53. In this way, the interface device 30 can extract the service state information, the car position information, and the door full open information of the elevator 10 by opening and closing the information acquisition relay 31 attached to the service enabling relay 51, the car position relay 52, and the door full open relay 53, respectively.
Next, the details and operations of the structures of the car call relay 61 of the control panel 21, the command input relay 32 connected to the car call relay 61, and the floor button 16 of the input device 14 attached to the car 12 will be described with reference to fig. 5 and 6.
As shown in fig. 5, the car call relay 61 is housed in a case 61 e. The housing 6e is mounted with: two power supply terminals 61a, 61b connected to the power supply 70; and output terminals 61c, 61d connected to the floor button 16. As shown in fig. 5, the car call relay 61, the power source 70, and the floor button 16 are connected in series, and the command input relay 32 is connected in parallel to the floor button 16.
As shown in fig. 5, when command input relay 32 is off, car call relay 61 becomes off.
As shown in fig. 6, when an on signal is input from the interface device 30, the command input relay 32 is turned on. Then, the same state as when the floor button 16 is pressed is established, the car call relay 61 is turned on, and the floor corresponding to the car call relay 61 is registered in the control panel 21. The control panel 21 moves the car 12 up and down toward the registered floor.
Similarly, when an on signal from the interface device 30 is input to the command input relay 32 connected to the door opening relay 62, the door opening relay 62 is turned on, and the control panel 21 operates the opening/closing device of the door 13 to open the door 13.
In this way, the interface device 30 can register the floor as the destination floor in the control panel 21 by turning on the command input relay 32 connected to the car call relay 61, and can input an operation command for opening the door 13 to the control panel 21 by turning on the command input relay 32 connected to the door opening relay 62. In this manner, the interface device 30 can input an operation command to the control panel 21 by opening and closing the command input relay 32 connected to the car call relay 61 and the door opening relay 62.
The operation of the cooperative operation system 100 configured as described above will be described with reference to fig. 7 to 14.
As shown in fig. 7, the interface device 30 extracts service state information of the elevator 10 based on the opening/closing of the information acquisition relay 31 connected to the service enable relay 51 in the control panel 21, and extracts car position information based on the opening/closing state of the information acquisition relay 31 connected to the plurality of car position relays 52 and transmits the car position information to the autonomous traveling vehicle 40. As shown in fig. 9, when the elevator 10 is in the normal operation state, the autonomous traveling vehicle 40 arrives at the landing floor 26 and transmits a car call request of the landing floor 26 as an operation request to the interface device 30. Upon receiving a car call request from the autonomous traveling vehicle 40, the interface device 30 turns on the command input relay 32 connected to the car call relay 61 corresponding to the landing floor 26 in the control panel 21. Thereby, the car call relay 61 corresponding to the landing floor 26 in the control panel 21 is turned on, and the landing floor 26 is registered in the control panel 21. The control panel 21 moves the car 12 from the stop floor 25 toward the landing floor 26.
As shown in fig. 10, when the car 12 arrives at the landing floor 26, the car position relay 52 corresponding to the landing floor 26 in the control panel 21 is turned on, and the indicator lamp 19 corresponding to the landing floor 26 of the display device 18 of the car 12 is turned on. Then, the information acquisition relay 31 connected to the car position relay 52 is turned on. In this way, the interface device 30 extracts the car position information and transmits the car position information to the autonomous traveling vehicle 40. When receiving the car position information corresponding to the landing floor 26, the autonomous traveling vehicle 40 transmits a door opening request as an operation request to the interface device 30. Upon receiving the door open request, the interface device 30 outputs a signal for turning on the command input relay 32 connected to the door open relay 62. Thereby, the door opening relay 62 of the control panel 21 is turned on, and the control panel 21 operates the door opening/closing device to open the door 13.
As shown in fig. 11, when the door 13 is fully opened, the fully-opened detection switch 20 attached to the car 12 operates to turn on the door fully-opened relay 53 in the control panel 21. Then, the information acquisition relay 31 connected to the door full open relay 53 is turned on, and the door full open signal is input to the interface device 30. When the door full open signal is input, the interface device 30 transmits the door full open information to the autonomous traveling vehicle 40. The autonomous traveling vehicle 40 gets into the car 12 when receiving the door full open information.
As shown in fig. 12, when the autonomous traveling vehicle 40 gets into the car 12, it transmits a car call request of the destination floor 27 as an operation request to the interface device 30. Upon receiving the car call request, the interface device 30 turns on the command input relay 32 connected to the car call relay 61 corresponding to the destination floor 27 in the control panel 21. Thereby, the car call relay 61 corresponding to the destination floor 27 is turned on, and the destination floor 27 is registered in the control panel 21. The control panel 21 moves the car 12 from the landing floor 26 to the destination floor 27 after the doors 13 are closed.
As shown in fig. 13, when the car 12 arrives at the destination floor 27, the car position relay 52 corresponding to the destination floor 27 in the control panel 21 is turned on, and the indicator 19 corresponding to the destination floor 27 of the display device 18 in the car 12 is turned on. Then, the information acquisition relay 31 connected to the car position relay 52 is turned on. Thereby, the interface device 30 extracts the car position information and transmits the car position information to the autonomous traveling vehicle 40. Upon receiving the car position information corresponding to the destination floor 27, the autonomous traveling vehicle 40 transmits a door opening request as an operation request to the interface device 30. Upon receiving the door open request, the interface device 30 outputs a signal for turning on the command input relay 32 connected to the door open relay 62. Thereby, the door opening relay 62 in the control panel 21 is turned on, and the control panel 21 operates the door opening/closing device to open the door 13.
As shown in fig. 14, when the door 13 is fully opened, the fully-opened detection switch 20 attached to the car 12 operates to turn on the door fully-open relay 53 in the control panel 21 and the information acquisition relay 31 connected to the door fully-open relay 53, and a door fully-opened signal is input to the interface device 30. When the door full open signal is input, the interface device 30 transmits the door full open information to the autonomous traveling vehicle 40. Upon receiving the door full open information, the autonomous traveling vehicle 40 exits from the car 12 and travels to the destination floor 27.
As described above, in the cooperative operation system 100 of the present embodiment, the interface device 30 extracts the operation information of the elevator 10 by opening and closing the information acquisition relay 31 connected to the serviceability relay 51, the car position relay 52, and the door full-open relay 53 in the control panel 21, and inputs the operation command of the elevator 10 to the control panel 21 and operates the elevator 10 by opening and closing the command input relay 32 connected to the car call relay 61 and the door open relay 62 in the control panel 21, so that the inter-floor movement of the autonomous traveling vehicle 40 by the elevator 10 can be easily made possible without changing the control logic of the control panel 21.
In the cooperative operation system 100, the items transmitted from the interface device 30 to the autonomous traveling vehicle 40 are the service state information, the car position information, and the door full open information of the elevator 10, and the operation requests transmitted from the autonomous traveling vehicle 40 to the interface device 30 are limited to the car call request and the door open request, so that the system can be simplified.
In the above description, the interface device 30 has been described as extracting the operation information of the elevator 10 by opening and closing the information acquisition relay 31 connected to the serviceability relay 51, the car position relay 52, and the door full-open relay 53 in the control panel 21, but the present invention is not limited thereto, and the operation information of the elevator 10 may be extracted by another relay or signal described below.
For example, instead of the service relay 51, the information acquisition relay 31 may be connected to a fully automatic relay that is turned on during the fully automatic operation and turned off when not, to extract whether or not the elevator 10 is in the normal operation state, or the information acquisition relay 31 may be connected to a safety switch operation relay to extract whether or not the elevator 10 is in the normal operation state.
Instead of the car position relay 52, the information acquisition relay 31 may be connected to a floor selector (selector) disposed inside the control panel 21 to acquire car position information. In the case where a display for digitally displaying the car position information or for displaying the car position information by an LED is disposed in the control panel 21 instead of the car position relay 52, the car position information may be acquired by reading the display content of the display by an optical sensor, an imaging device, or the like.
In the above description, the case where the operation command of the elevator 10 is input to the control panel 21 to operate the elevator 10 by opening and closing the command input relay 32 connected to the car call relay 61 and the door opening relay 62 in the control panel 21 has been described, but the present invention is not limited thereto, and the operation command signal may be input to another relay described below to operate the elevator 10.
For example, instead of the door opening relay 62, the command input relay 32 may be connected to a relay connected to a door safety touch switch (safety touch switch) attached to the door 13 of the car 12 and turned on when the door 13 is pinched, so that the door 13 is opened in the same state as the door safety touch switch. Further, instead of the door opening relay 62, a command input device for mechanically turning on/off a door switch disposed inside the control panel 21 may be disposed to open/close the door 13.
Instead of the car call relay 61, the car 12 may be moved up and down by connecting the command input relay 32 to a car call switch used at the time of maintenance point inspection, or by providing a command input device for performing call registration by mechanically operating the switch.
Description of the reference symbols
10: an elevator; 11: a hoistway; 12: a car; 13: a door; 14: an input device; 15: a door opening button; 16: a floor button; 17: a service status display; 18: a display device; 19: an indicator; 20: a fully open detection switch; 21: a control panel; 22: a drive device; 23: a counterweight; 24: a rope; 25: a stopping floor; 26: landing floors; 27: a destination floor; 30: an interface device; 31: an information acquisition relay; 32: a command input relay; 40: an autonomous vehicle; 50: an information output relay; 51: a service possible relay; 52: a car position relay; 52a, 52b, 61a, 61 b: a power supply terminal; 52c, 52d, 61c, 61 d: an output terminal; 52e, 61 e: a housing; 53: a door full open relay; 60: an action relay; 61: a car call relay; 62: a door opening relay; 70: a power source; 100: and (4) cooperatively operating the system.
Claims (3)
1. A cooperative operation system of an elevator and an autonomous traveling vehicle, comprising:
a control panel including an operation relay for controlling the operation of the elevator by an on/off operation and an information output relay for outputting the operation information of the elevator by the on/off operation;
a command input relay connected to the operation relay;
an information acquisition relay connected to the information output relay; and
an interface device connected to the information acquisition relay and the command input relay, extracting the operation information of the elevator from the control panel according to the opening and closing of the information acquisition relay, and inputting an operation command of the elevator to the control panel by opening and closing the command input relay to operate the elevator,
the interface device transmits the operation information of the elevator to the autonomous traveling vehicle,
the autonomous traveling vehicle transmits an operation request to the interface device according to the operation information received from the interface device,
the interface device operates the elevator in accordance with the received operation request.
2. The co-operating system of claim 1,
the operation information transmitted by the interface device is service state information, car position information, door full open information of the elevator,
the action request sent by the autonomous driving vehicle is a car call request and a door opening request,
the interface device performs a lifting operation of the car and an opening operation of the door in accordance with the operation request.
3. The co-operating system of claim 2,
the information output relay configured on the control panel comprises a service possible relay, a car position relay and a door full-open relay,
the operation relay disposed on the control panel includes a car call relay and a door opening relay,
the interface device extracts service state information, car position information, and door full-open information of the elevator based on the opening/closing of the information acquisition relay connected to the service possible relay, the car position relay, and the door full-open relay,
the interface device opens and closes the command input relay connected to the car call relay and the door opening relay, thereby causing the elevator to perform a car lifting operation and a door opening operation.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2018/014617 WO2019193719A1 (en) | 2018-04-05 | 2018-04-05 | Coordinated operation system for elevator and autonomous travel vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN111971246A CN111971246A (en) | 2020-11-20 |
| CN111971246B true CN111971246B (en) | 2022-08-09 |
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| CN201880091710.6A Active CN111971246B (en) | 2018-04-05 | 2018-04-05 | Cooperative operation system of elevator and autonomous driving vehicle |
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| JP (1) | JP6567196B1 (en) |
| KR (1) | KR102435543B1 (en) |
| CN (1) | CN111971246B (en) |
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| WO (1) | WO2019193719A1 (en) |
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| WO2018066056A1 (en) * | 2016-10-04 | 2018-04-12 | 三菱電機株式会社 | Elevator system |
| CN112623905B (en) * | 2020-12-18 | 2023-05-05 | 上海机器人产业技术研究院有限公司 | Simulation test system for robot riding elevator |
| CN114180428A (en) * | 2021-11-29 | 2022-03-15 | 北京云迹科技有限公司 | Method and device for robot to recover task |
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- 2018-04-05 WO PCT/JP2018/014617 patent/WO2019193719A1/en active Application Filing
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| WO2019193719A1 (en) | 2019-10-10 |
| JPWO2019193719A1 (en) | 2020-04-30 |
| KR20200112979A (en) | 2020-10-05 |
| KR102435543B1 (en) | 2022-08-22 |
| TW201943634A (en) | 2019-11-16 |
| TWI777022B (en) | 2022-09-11 |
| CN111971246A (en) | 2020-11-20 |
| JP6567196B1 (en) | 2019-08-28 |
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