JP2001171918A - Elevator control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an elevator control device offering good operation service to users and capable of moving an autonomous running working robot in an inter-floor area through utilization of an elevator car. SOLUTION: A robot 6 is equipped with a robot information memory part 7 to store robot information including the present position information of the robot 6 and the next destination floor information and a robot communication part 8 to transmit the robot information, while a control board 5 is furnished with an elevator communication part 10 to receive the robot information and a computation part 11 to prepare the running command for the elevator car 1 upon performing computation on the basis of the current position information of the car 1, car call registration information and the robot information, and the running operation of the car 1 is controlled so that the service to the users is taken as priority in conformity to the running command.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an elevator installed in a building, a factory, and the like, and more particularly, to an autonomous mobile robot that moves between general users and a plurality of floors to perform various operations. The present invention relates to a control device for an elevator used for transporting vehicles.

[0002]

2. Description of the Related Art Generally, in buildings such as buildings and factories,
An elevator is installed, and a service is provided for ordinary users to move between floors by operating a car. In such an elevator, for example, when the user moves from the first floor to the second floor, the car is called up by pressing the landing button on the first floor, and when the car arrives at the first floor, the user gets on the car. After that, the car is directed to the second floor of the destination floor by pressing the destination floor registration button in the car.

[0003] In a building, various tasks such as floor cleaning, carrying and unloading of cargo are sometimes performed by a work robot capable of autonomous traveling (that is, an autonomous traveling work robot). For example, in the case of floor cleaning of a floor, the autonomous traveling work robot performs a floor cleaning operation while autonomously traveling in accordance with work contents programmed in advance.

In the elevator control device described above, since the user must manually operate the car to operate the car, the autonomous traveling work robot is moved between floors using such a car. You have to rely on humans to make it work. For example, when moving the autonomous traveling work robot from the first floor to the second floor, the car is called by the manual operation of the landing button, and when the car arrives at the first floor, the autonomous traveling work robot is put in the car, The destination floor is moved to the destination floor by manually operating the destination floor registration button in the car. And when the car arrives on the second floor of the destination floor,
Lower the autonomous mobile robot from the car to the floor,
The floor is to be cleaned.

Conventionally, in order to mount an autonomous traveling work robot on a car, a method of automatically calling a car has been proposed, for example, as described in Japanese Patent Application Laid-Open No. 52-105447. There has been proposed a method for controlling an elevator so that a timing at which a car opens a door and waits beforehand when a robot arrives at an elevator hall. Also,
For example, as described in Japanese Patent Application Laid-Open No. 4-32471, a car call for an autonomous traveling work robot is given priority over a general user's call, and a user gets on from a plurality of elevators. It has also been proposed to select an empty car and assign it to the movement of the robot.

[0006]

However, in the above-mentioned prior art, the car is called in advance and the door is opened in order to put the autonomous traveling work robot on the car. For example, the priority is given to bringing the car to the car, and the autonomous mobile robot is put on the car with priority.Therefore, the problem of poor serviceability of the car operation for ordinary elevator users is a problem. is there.

[0007] The present invention has been made in view of the above-mentioned conventional circumstances, and an object of the present invention is to provide a service that can provide good service to ordinary users and to provide a car with a good service. An object of the present invention is to provide an elevator control device which can move an autonomous traveling work robot between floors by utilizing the elevator.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a vehicle for climbing up and down between floors of a hoistway,
A control panel for controlling the operation of the car, a general user, and an elevator control device used to transport an autonomous traveling work robot that automatically travels between a plurality of places, wherein the current position of the robot A robot information storage unit for storing robot information including information and next destination floor information, a robot communication unit for transmitting the robot information, and transmitting elevator information including current position information of the car and car call registration information. An elevator communication unit, a calculation unit that receives the robot information and the elevator information and creates a traveling command for the car, and a command unit that outputs a traveling command for the car, and traveling that is output from the command unit. In accordance with a command, the driving operation of the car is controlled so as to give priority to the use of the user.

According to the present invention having the above-described structure, the elevator information including the current position information of the car and the car call registration information, and the robot information including the current position information of the autonomous traveling work robot and the next destination floor information are used. Then, the driving section of the car is created by the calculation section and output from the command section,
In accordance with the traveling command, the traveling operation of the car is controlled so that the use of the user is prioritized. As a result, it is possible to maintain good service for general users, and to move the autonomous traveling work robot between floors using a car.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an elevator control device according to the present invention will be described below with reference to the drawings. 1 is an explanatory diagram showing an elevator control device according to an embodiment of the present invention, FIG. 2 is a flowchart showing a procedure for controlling an elevator operation by the control device in FIG. 1, and FIG. It is a figure explaining an example which gets into a car and moves.

The elevator shown in FIGS. 1 and 3 comprises a car 1 for elevating between floors F1 to F5 of a hoistway, a counterweight 3 connected to the car 1 via a hoisting rope 2, and a hoist. Hoisting machine 4 around which rope 2 is wound
And a control panel 5 for controlling the hoisting machine 4 and the like. In the figure, reference numeral 6 denotes an autonomous traveling work robot that automatically travels between a plurality of locations.

In the elevator control apparatus according to the present embodiment, the autonomous traveling work robot 6 has a robot information storage unit 7 for storing current position information of the robot 6 and robot information including the next destination floor information; A robot communication section 8 for communicating with the board 5; an elevator information storage section 9 for storing current position information of the car 1 and elevator information including car call registration information in the control board 5; An elevator communication unit 10 that communicates with the elevator car 6; an arithmetic unit 11 that calculates based on the elevator information and the robot information to generate a traveling command for the car 1 and a door opening / closing command (not shown); And a command unit 12 for outputting the traveling command of the vehicle 1 to the hoisting machine 4 and outputting the door opening / closing command to the car 1.

For example, when the robot 6 has completed the work on the second floor F2 and is going to the fifth floor F5, the robot information storage unit 7 stores the current position of the robot 6 in the second floor F2.
And that the destination floor is the fifth floor F5. Further, for example, when the car 1 is currently located on the first floor F1 and the general user 13 operates a landing button (not shown) on the third floor F3, the elevator information storage unit 9 stores the current position of the car 1 The first floor is F1, and the call registration floor of car 1 is 3
The fact that the floor is F3 is stored.

In the elevator control apparatus according to this embodiment, the arithmetic unit 11 performs an arithmetic process according to the procedure shown in FIG. 2 to perform elevator control. For example, as described above, the car 1 is currently located on the first floor F1, the user 13 tries to go from the third floor F3 to the fourth floor F4, and the robot 6 completes the work on the second floor F2 and
When going to the floor F5, first, as a step S1, it is detected that the current position of the car 1 is the first floor F1, and the current position information of the car 1 is stored in the elevator information storage unit 9 and It is input to the arithmetic unit 11 and it is determined whether or not there is a car call registration of the user 13 as a step S2.

At this time, since the information that the call registration floor of the user 13 is the third floor F3 is stored in the elevator information storage unit 9, the above-mentioned call registration information of the user 13 is calculated in step S3. Enter in the section 11 and these car 1
Based on the current position information of the user 13 and the call registration information of the user 13, the calculation unit 11 creates a traveling command for moving the car 1 from the first floor F1 to the third floor F3. In step S4, the traveling command is output from the command unit 12 to the hoisting machine 4, and accordingly, the car 1 is driven by driving the hoisting machine 4.
Rises from the first floor F1 and arrives at the third floor F3, information that the current position of the car 1 is on the third floor F3 is input to the elevator information storage unit 9. Next, when the user 13 enters the car 1 and registers the fourth floor F4 as the car destination floor, the call registration information of the car 1 is input to the elevator information storage unit 9. Therefore, based on the input elevator information, the arithmetic unit 11 creates a traveling command for the car 1 and outputs the traveling command from the command unit 12, and accordingly, the hoisting machine 4 drives the car 1 to move the third car to the third floor. After ascending from F3 and arriving at F4 on the fourth floor, user 13 takes car 1
Get off from.

Next, in step S5, it is determined whether there is a car call registration of another user. If there is a car call registration of another user, the procedure returns to step S3 to repeat steps S3 and S4. On the other hand, if there is no car call registration in the above step S5, the process proceeds to the following step S6. If there is no car call registration of the user 13 in the above step S2, the procedure skips steps 3 to S5 and proceeds to step S6.

Next, in step S6, it is determined whether there is a car call registration of the robot. In step S7, the call of the robot 6 closest to the car 1 is detected. At this time, the robot information stored in the robot information storage unit 7, that is, the robot information indicating that the current position of the robot 6 is the second floor F2 and the destination floor is the fifth floor F5 is sent from the robot communication unit 8 to the control panel 5. The control panel 5 receives the robot information from the robot communication unit 8 by the elevator communication unit 10 and inputs the information to the arithmetic unit 11. Therefore, based on the input robot information, the arithmetic unit 11 creates a traveling command for the car 1 and outputs the traveling command from the command unit 12. Accordingly, as step S8, the car 6 descends from the third floor F3 by the drive of the hoisting machine 4 and arrives at the second floor F2, and then the robot 6 gets into the car 1. Next, the calculation unit 11 creates a traveling command for the car 1 based on the current position information of the car 1 and the next destination floor information of the robot 6, and outputs the traveling command from the command unit 12. Along with this, the car 1 rises from the second floor F2 by the drive of the hoisting machine 4 and arrives at the fifth floor F5, and then the robot 6 descends from the car 1, thereby ending the elevator service.

In the elevator control apparatus of the embodiment configured as described above, the elevator information including the current position information of the car 1 and the car call registration information, and the robot including the current position information of the robot 6 and the next destination floor information. Based on the information, the operation unit 11 creates a traveling command for the car 1 and outputs the traveling command from the command unit.
Since the traveling operation of the car 1 is controlled so that the use of the car 3 is prioritized, the service for the general user 13 can be kept good, and the robot 6 can be used to store the robot 6 on the floor. Can move between.

[0019]

As described above, according to the elevator control apparatus of the present invention, it is possible to maintain a good operation service for general users, and to use a car to lift the robot. It can be moved between floors. Therefore, we prioritize serviceability for general users,
In addition, the effect of being able to provide an elevator control device in consideration of serviceability for the autonomous mobile robot is obtained.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an elevator control device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a procedure for controlling an elevator operation by the control device of FIG. 1;

FIG. 3 is a diagram illustrating an example in which a user and an autonomous traveling work robot get into a car and move.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Riding car 5 Control panel 6 Autonomous traveling work robot 7 Robot information storage part 8 Robot communication part 9 Elevator information storage part 10 Elevator communication part 11 Operation part 12 Command part

Continued on the front page (72) Inventor Kazuhiko Ito 1-6-6 Kandanishikicho, Chiyoda-ku, Tokyo, Japan Inside the Hitachi Building System Co., Ltd. (72) Inventor Noriko Yamazaki 1-6-6 Kandanishikicho, Chiyoda-ku, Tokyo Hitachi, Ltd. F-term in the system (reference) 3F002 AA08 AA10 GA04

Claims (2)

[Claims] Claims: 1. A riding car for climbing between floors of a hoistway,
A control panel for controlling the operation of the car, a general user, and an elevator control device used for transporting an autonomous traveling work robot that automatically travels between a plurality of locations, wherein the current position of the robot A robot information storage unit for storing robot information including information and next destination floor information, a robot communication unit for transmitting the robot information, and transmitting elevator information including current position information of the car and car call registration information. An elevator communication unit, a calculation unit that receives the robot information and the elevator information and creates a traveling command for the car, and a command unit that outputs a traveling command for the car, and traveling that is output from the command unit. The elevator according to claim 1, wherein a driving operation of the car is controlled so that use of the user is prioritized according to a command. Control device. 2. The robot according to claim 1, wherein the robot includes the robot information storage unit and the robot communication unit, and the control panel includes the elevator communication unit, a calculation unit, and a command unit. Elevator control device.