JP2003095545A - Running robot for elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a running robot for an elevator that can call the elevator for performing maintenance and inspection work or cleaning work, has a simple system constitution, and can be realized at low cost. SOLUTION: The robot device for the elevator is guided by a guiding passage disposed on the floor surface of a landing or a car of the elevator, gets on the car, makes the car lifted up or down, and performs the maintenance and inspection work or the cleaning in a predetermined procedure. By inserting a light shielding plate mounted to the tip of an arm of the robot device for calling the car, a means for detecting existence of light shield mounted to an operating panel installed in the car or the landing detects the light shield, activates a call registration signal, and performs call registration.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling robot that performs maintenance such as maintenance and cleaning of elevators.

[0002]

2. Description of the Related Art In recent years, maintenance and inspection or cleaning have been performed more often by machines or robots instead of manually. For example, in order to provide a control device for an elevator that can move an autonomous traveling work robot between floors using a car without impairing the operation service to users, the robot is provided with the current position information and the next destination floor. A robot information storage unit that stores robot information including information and a robot communication unit that transmits robot information are provided.

Then, the control panel is operated based on an elevator communication section for receiving robot information, current position information of the car, car call registration information and robot information,
There is a technology, etc., which is provided with a calculation unit that creates a traveling command for the car and controls the traveling operation of the car so that the user's use is prioritized according to the traveling command.

However, when the robot apparatus gets on and off the elevator, signals are used for call registration and confirmation of getting on and off,
Since the operation of the car is controlled by using radio or the like, it is necessary to install a signal transmission device on each floor of the building and the elevator car. In addition to the complicated system configuration, there is a problem in that it is costly and expensive.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and an elevator can be called in for maintenance and inspection work and cleaning work, and the system configuration is simple. It is an object of the present invention to provide a traveling robot for an elevator that can be realized at low cost.

[0006]

In order to achieve the above object, according to claim 1 of the present invention, a passenger is guided by a taxiway laid on a landing of an elevator or a floor of a car to get on the car. , An elevator robot apparatus that raises and lowers a car and performs maintenance and inspection work or cleaning in a predetermined procedure, and inserts a shading plate attached to the end of the arm of the robot device in order to call the car. The elevator traveling robot characterized in that the means for detecting the presence or absence of light blocking provided in the operation panel installed in the car or at the landing detects the light blocking and activates the call registration signal to register the call. I will provide a.

According to the second aspect of the present invention, the vehicle is guided by the taxiway laid in the elevator landing or the floor of the car, the car is lifted, and the car is moved up and down.
An elevator robot apparatus for performing maintenance and inspection work or cleaning according to a predetermined procedure.In order to call in the car, a bar code reader is built into the robot device, and a button on an operation panel installed in the car or at the hall is installed. A barcode is formed in the vicinity, and the robot device reads the target floor, the type of lifting and the type of work performed represented by the barcode, and based on the read information, elevator call registration or predetermined maintenance / inspection work or Provided is a traveling robot for an elevator, which is characterized by cleaning.

Further, according to the present invention, the vehicle is guided by a taxiway laid on the floor of the elevator or the floor of the car, and the car is lifted and the car is moved up and down. An elevator robot device for cleaning, for attracting the car,
Provided is a traveling robot for an elevator, comprising a mechanism for extending an arm constituting a robot device in a vertical direction and a horizontal direction and pressing a button of an operation panel installed in a car or a landing.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. <First Embodiment> A first embodiment of the present invention is shown in FIGS. 1, 2, 3 and 4. FIG. 1 shows an appearance around an elevator hall where maintenance and inspection work or cleaning is performed by a robot apparatus according to the present invention, and FIG. 1A is a side view thereof.
(B) is the top view. 2 is a layout view of the elevator landing console 1 according to the present embodiment shown in FIG. 1, and FIG. 3 (a) is a layout view of the elevator in-cab operating panel 2 according to the embodiment of FIG. Yes, FIG. 3 (b) is a perspective view of the call registration button, and FIG. 3 (c) is a configuration diagram of the operation panel in the car. 4A, 4B, and 4C are a top view, a side view, and a front view showing the structure of the robot apparatus according to this embodiment.

In FIG. 1, a control panel 11 that is normally used
Considering the height of a person, in the case of a normal elevator, it is located about 1400mm from the floor, and in the case of an elevator for wheelchairs, it is installed about 900mm from the floor. The operation panel 1 for the robot device 6 according to the present invention is installed about 200 mm from the floor.

In this way, the operation panel 1 for the robot device 6
Is installed at a position lower than the position of the operation panel normally used, separately from the operation panel normally used by humans, so that the push button operation can be performed by the arm 5 of the robot device 6.

Details of this embodiment will be described with reference to FIGS. In FIG. 2, as in the case of FIG. 1, the platform operating panel 11 is at least 900 m from the floor considering the height of the person
It will be installed at a place of about m. On the other hand, the operation panel for the robot device 6 according to the present invention is installed about 200 mm from the floor.
In this way, a push button operation is performed by the arm 5 of the robot device 6, and the elevator hall call registration is performed in advance at the landing 3 so that the elevator control device (not shown) can operate in response to the push button detection signal transmitted when the push button is pressed. The hall control panel 1 having a function is separately installed at a position lower than the position of the hall control panel 11 which is normally used.

In FIG. 3A, the operation panel 12 in the car is set at a position at least 900 mm from the floor for the same reason as that of the operation panel 11 in consideration of the height of a person's height. Further, the operation panel 2 for the robot device 6 according to the present invention is 2 from the floor.
It will be installed in the place of about 00mm.

In this way, the arm 5 of the robot device 6 is provided.
In order to operate the push button by operating the elevator control device (not shown) in response to the push button detection signal transmitted at the time of push button operation, the in-car operation panel 2 that normally realizes the call registration function in the car 4 is normally used. It is separately installed at a position lower than the position of the operation panel 12 in the car. Also, on the floor,
A guideway 7 for the robot device 6 to move by itself is embedded.

FIG. 4 (a) is a top view of the robot of this embodiment of the present invention, FIG. 4 (b) is a side view of the robot of this embodiment, and FIG. 4 (c) is a front view of the robot of this embodiment. Is. As shown in FIG. 4 (b), a robot controller 6 a having a built-in program of a work procedure incorporated therein is provided in the robot device 6. In addition, the robot apparatus 6 has an arm 5 and includes a mechanism that extends in the height direction or the horizontal direction.

The operation of this embodiment of the invention will now be described. 1 to 4, the robot apparatus 6 is guided by a taxiway 7 laid on the floor of the landing 3 or the car 4 according to a program of the robot controller 6a incorporated in the robot apparatus 6 in advance. Robot device 6
When approaching the position of the platform control panel 1 of the platform 3 or the in-car control panel 2 of the cage 4, at the predetermined position, the arm 5 of the robot device 6 is extended to the height of the control panel for the robot device 6, and the desired position is reached. When the landing call registration button 1a or the in-car call registration button 2a is reached, the horizontally extending arm 5 of the robot device 6 is extended. Robot device that performs maintenance and inspection work or cleaning according to prescribed procedures
The arm 5 of 6 performs call registration in the hall 3 or the car 4 according to a command from a control device (not shown).

When the call registration is performed, the elevator car 4 starts moving toward the destination floor in the hoistway. When reaching the landmark, the robot device 6 performs maintenance and inspection work or cleaning according to a predetermined procedure.

According to this embodiment of the present invention, maintenance / inspection work or cleaning can be performed by the robot apparatus 6 having a simple mechanical structure. In addition, the mounting position of the operation panel where the operation is specified by the robot device 6 is
Since it is placed at a lower position than the operation panel that is normally operated,
A small short robot device 6 can be used without complicating the mechanism. <Second Embodiment> A second embodiment of the present invention is shown in FIGS. FIG. 5 is a layout view of an elevator hall operation panel 1 operated by the robot apparatus according to this embodiment of the present invention, and FIG. 6A is an operation inside the elevator car operated by the robot apparatus according to this embodiment. 6 is a layout diagram of the board 2, and FIG. 6B is a configuration diagram of a call registration button.
(c) is a block diagram of an operation panel in a car. FIG. 7 is a structural diagram of the robot apparatus according to the present embodiment.

In FIGS. 5 and 6, as in the case of the first embodiment, the hall control panel 1 or the in-car control panel 2 is separately installed at a position lower than the position of the control panel normally used. To be done. The hall control panel 1 has a hall call registration photoelectric device 1b at the position of the button arrangement shown in the first embodiment, and the in-car control panel 2 has a car call registration photoelectric device 2b. Is provided.

Further, as shown in FIGS. 7B and 7C, the robot device 6 is provided with a light shielding plate 5b for blocking the optical path of the hall call registration photoelectric device 1b or the in-car call registration photoelectric device 2b. It is installed.

The operation of this embodiment of the invention will now be described. 5 and 6, the robot device 6 is guided by a taxiway 7 laid on the floor of the landing 3 or the car 4 according to a program of the robot controller 6a incorporated in the robot device 6 in advance.

The robot device 6 controls the landing board of the landing 3
1 or when approaching the position of the operation panel 2 in the car of the car 4, the robot device 6 guides the robot device 6 to a position required for operation according to a program installed in the robot device 6 in advance, and a branch is made. Along the floor surface of the provided hall 3, guidance is provided so as to further approach the position of the hall operation panel 1 of the hall 3 or the in-car operation panel 2 of the car 4.
At the predetermined position, the light shielding plate 5b arranged on the robot device 6 blocks the optical path of the hall call registration photoelectric device 1b or the in-car call registration photoelectric device 2b. The photoelectric device and the button on the operation panel form a switching circuit arranged in parallel, and have the same effect as pressing the button.
That is, call registration is performed in the hall 3 or the car 4 according to a command from a control device (not shown).

When the call registration is performed, the elevator car 4 starts moving in the hoistway toward the destination floor. When the robot reaches the destination floor, the robot device 6 performs maintenance and inspection work or cleaning of the floor according to a predetermined procedure.

According to this embodiment of the present invention, since the call registration is performed by the light-shielding plate 5b provided in the robot device 6, the robot device 6 for maintenance and inspection work or cleaning can be performed with a simple mechanical structure. There are advantages to be obtained. <Third Embodiment> FIG. 8 shows a third embodiment of the present invention.
This is shown in FIGS. 9 and 10. FIG. 8 is a layout view of an elevator hall operation panel 1 operated by the robot apparatus according to the present embodiment, and FIG. 9A is an elevator car inside operation panel 2 operated by the robot apparatus according to the present embodiment. 9 (b) is a configuration diagram of the call registration button, and FIG. 9 (c) is a configuration diagram of the operation panel in the car. FIG. 10 is a structural diagram of the robot apparatus according to the present embodiment.

In FIGS. 8 and 9, as in the case of the above-described first embodiment, the hall control panel 1 or the in-car control panel 2 is separately provided at a position lower than the position of the control panel normally used. Is installed. The hall control panel 1 has a hall call bar code 9 attached at the position of the button arrangement shown in the first embodiment, and the in-car control panel 2 has a car call barcode 10 attached. . Further, as shown in FIG. 10, a barcode reader 8 is attached to the robot device 6.

The operation of this embodiment of the invention will now be described. In FIGS. 8 and 9, the robot device 6 is guided by a taxiway 7 laid on the floor of the landing 3 or the car 4 according to the program of the robot controller 6a incorporated in the robot device 6 in advance.

The robot device 6 is a landing board for the landing 3
1 or when approaching the position of the in-car operation panel 2 of the car 4, the bar code reader 8 arranged in the robot device 6 at the predetermined position causes the landing bar code 9 on the landing operation panel 1, or Read and analyze the contents of the car call bar code 10 on the operation panel 2 in the car. as a result,
Compared with the pattern in the robot device 6, a desired work, for example, a call registration work on the fifth floor is started.

When the call registration is performed, the elevator car 4 starts moving in the hoistway toward the destination floor. When the robot reaches the destination floor, the robot device 6 performs maintenance and inspection work or cleaning according to a predetermined procedure. Here, as information represented by a bar code, in general,
The UP / DOWN type and the information of the target floor are specified for the car, but it is also possible to include the type of work performed by the robot in addition to the information of the target floor.

According to this embodiment of the present invention, since the call registration is performed by the bar code reader 8 provided in the robot device 6, the robot device 6 for performing maintenance and inspection work or cleaning with a simple mechanical structure. Can be realized.

[0030]

As described in detail above, according to the present invention,
It is possible to obtain a traveling robot for an elevator that can call the elevator to perform maintenance work and cleaning work, has a simple system configuration, and can be realized at low cost.

[Brief description of drawings]

FIG. 1 is an external view of an elevator landing area according to a first embodiment of the present invention.

FIG. 2 is a layout view of the elevator hall operation panel of FIG. 1.

FIG. 3 is a layout view of an operation panel in a car of the elevator shown in FIG.

FIG. 4 is a diagram showing the structure of the robot apparatus according to the first embodiment of the present invention.

FIG. 5 is a layout view of an elevator hall control panel 1 according to a second embodiment of the present invention.

FIG. 6 is a layout view of an elevator car inside operation panel 2 according to a second embodiment of the present invention.

FIG. 7 is a diagram showing a structure of a robot device according to a second embodiment of the present invention.

FIG. 8 is a layout view of an elevator hall control panel 1 according to a third embodiment of the present invention.

[Fig. 9] Fig. 9 is a layout view of a control panel 2 in a car of an elevator according to a third embodiment of the present invention.

FIG. 10 is a structural diagram of a robot apparatus according to a third embodiment of the present invention.

[Explanation of symbols]

1 ... Hall control panel, 1a ... Hall call registration button, 1b ... Hall call registration photoelectric device, 2 ... In-car operation panel, 2a ... In-car call registration button, 2b ... In-car call registration photoelectric device, 3 ... Hall , 4 ... Car, 5 ... Arm, 5b ... Shade plate, 6 ... Robot device, 6a ... Robot controller, 7 ... Taxiway, 8 ... Bar code reader, 9 ... Landing bar code, 10 ... Car call bar code , 11 ... Generally used landing board operation panel, 12 ... Normally used car operation board

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Kiyoshi Kobayashi             6-5-27 Kitashinagawa, Shinagawa-ku, Tokyo Toshiba             Elevator Co., Ltd. F-term (reference) 3F002 AA06 FA01 FA08 GB02                 3F304 BA07 BA24 EB01

Claims (2)

[Claims] 1. A robot for an elevator, which is guided by a taxiway laid on an elevator landing or a floor of a car, rides on a car, raises and lowers the car, and performs maintenance and inspection work or cleaning in a predetermined procedure. The device detects the presence or absence of light shielding provided in the car or on the operation panel installed at the landing by inserting a light shielding plate attached to the end of the arm of the robot device in order to attract the car. An elevator traveling robot characterized in that the means performs a call registration by activating a call registration signal by detecting light shielding. 2. A robot for an elevator, which is guided by a taxiway laid on an elevator landing or a floor of a car, rides on a car, lifts and lowers the car, and performs maintenance and inspection work or cleaning in a predetermined procedure. In order to attract the car, the robot device has a built-in bar code reader, and a bar code is formed near the button on the operation panel installed in the car or at the landing. The destination floor, represented by a code,
An elevator traveling robot characterized by reading the type of lifting and lowering and the type of work performed, and performing elevator call registration or predetermined maintenance and inspection work or cleaning based on the read information.