JP2005089046A - Elevator control system in autonomous moving vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an elevator control system effectively eliminating a difference in level generated between a landing floor surface and an elevator floor surface when an autonomous moving vehicle gets on/off an elevator and reducing cost required for an elevator control. <P>SOLUTION: This autonomous moving vehicle 1 includes a boundary specifying means 8 for specifying the boundary of the landing floor surface Fs and the elevator floor surface Fe, a boundary difference amount in level detecting means 10 for detecting level difference in of the elevator 2 at the boundary specified by the boundary specifying means 8, and an elevating/lowering instruction means 12 for transmitting an elevating/lowering signal for instructing elevating or lowering of the elevator 2 to an elevator control device 3 based on the difference amount in level detected by the boundary level difference in detecting means 10. The elevator control device 3 performs an elevating/lowering control of the elevator 2 to reduce difference amount in level between both of the floor surfaces Fs and Fe based on the elevating/lowering signal from the elevating/lowering instruction means 12. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a control system for controlling an elevator that raises and lowers an autonomous mobile vehicle.

As a conventional elevator control system of this type, there are provided step detection means for detecting the presence or absence of a step generated between the floor surface of the elevator hall in the building and the floor surface in the elevator cage, and both floor surfaces are respectively provided. A slope plate is arranged, and further, an elevating drive means for lifting the opposite sides of each slope plate is provided, and the step detection means detects that there is a step between the floor of the elevator platform and the floor of the elevator. In response to this, the slope plate located on the floor side with the lower lift drive means is lifted accordingly to eliminate the step between the floor surfaces, and the autonomously moving vehicle moves smoothly between the elevator platform and the elevator A technique that can be used has been proposed (see, for example, Patent Document 1).
JP-A-8-245149

  However, in the case of the above-described conventional elevator control system, in addition to the autonomous mobile vehicle and the elevator, it is necessary to arrange slope plates on both the elevator landing and the floor of the elevator, and the lift drive for driving these slope plates. Since it is necessary to provide a means separately, there is a problem that the mechanism for eliminating the step becomes complicated as a whole and an extra cost is required.

  Further, conventionally, the autonomously moving vehicle is not provided with means for controlling so as to eliminate the level difference, and when the level difference occurs, the lifting / lowering means always acts. For this reason, even when a slight level difference does not become a problem, such as when the wheel diameter is large or when a person uses it, the level difference eliminating means operates and a wasteful waiting time occurs.

  The present invention has been made to solve the above-described problems. When an autonomously moving vehicle gets on and off an elevator, a landing floor surface is provided without providing a special mechanism for eliminating a step as in the prior art. Control in an autonomous mobile vehicle that can effectively eliminate the level difference between the elevator and the floor of the elevator, eliminates unnecessary waiting time, and requires less cost for elevator control The purpose is to provide a system.

  In order to achieve the above object, the following configuration is adopted in the elevator control system for an autonomous mobile vehicle according to the present invention.

  That is, the invention described in claim 1 includes an autonomous mobile vehicle, an elevator that raises and lowers the autonomous mobile vehicle, and an elevator control device that controls the elevator to move up and down, and the autonomous mobile vehicle includes a floor surface of the elevator, A boundary specifying means for specifying a boundary with the floor of the elevator platform, a boundary step amount detecting means for detecting a step amount between both floor surfaces at the boundary specified by the boundary specifying means, and a boundary step amount detecting means; The elevator control device includes an elevator signal that transmits an elevator signal for instructing the elevator to rise or descend based on the detected level difference, and the elevator controller receives the elevator signal from the elevator instruction device. The elevator is lifted and lowered based on the lift signal so that the level difference between the floors is reduced. That.

  According to a second aspect of the present invention, in the configuration of the first aspect of the invention, the autonomous mobile vehicle includes a distance sensor that detects a distance to the floor surface, and the boundary step amount detection means detects the distance sensor. The step amount is detected based on the output.

  According to a third aspect of the invention, in the configuration of the first aspect of the invention, the autonomously moving vehicle includes a vehicle inclination sensor that detects the inclination of the vehicle, and the boundary step amount detection means is the vehicle inclination sensor. The step amount is detected based on the detected inclination of the vehicle.

  According to a fourth aspect of the present invention, in the configuration according to any one of the first to third aspects, the elevating instruction means is based on the step amount detected by the boundary step amount detecting means. Only a signal for instructing the elevator ascending / descending direction is transmitted to the elevator control device, and when the level difference detected by the boundary level difference detection means becomes a value that falls within a predetermined range set in advance, It is characterized by transmitting an up / down stop signal.

  According to a fifth aspect of the present invention, in the configuration according to any one of the first to third aspects of the present invention, the elevating instruction means is an elevator based on the step amount detected by the boundary step amount detecting means. The raising / lowering direction and the raising / lowering distance are determined, and these pieces of information are transmitted to the elevator control device.

  According to a sixth aspect of the present invention, in the configuration of the first aspect of the present invention, the braking distance measuring means for measuring the braking distance of the elevator and the storage means for storing the braking distance. And the lift instruction means outputs an elevator lift stop signal when the step amount detected by the boundary step amount detection means falls within the previous braking distance stored in the storage means. It transmits to an elevator control apparatus, It is characterized by the above-mentioned.

  The invention according to claim 7 includes an autonomous mobile vehicle, an elevator that raises and lowers the autonomous mobile vehicle, and an elevator control device that controls the elevator to move up and down, and the autonomous mobile vehicle includes a floor surface of the elevator and an elevator landing. Boundary ascending step detecting means for detecting whether or not the moving from one floor surface to the other floor surface to be transferred to the other floor surface is an ascending step when moving between The elevator control includes a lift instruction means for transmitting a lift signal for instructing the elevator to rise or fall in response to the climb difference detected by the climb difference detecting means. The apparatus receives the lift signal from the lift instruction means, and controls the elevator so as to reduce the level difference between the floor surfaces based on the lift signal. It is characterized in that the.

  The invention according to claim 8 is the configuration of the invention according to claim 7, characterized in that the boundary rising step detecting means includes an overload detecting means for detecting the presence or absence of an overload in the drive motor of the autonomous mobile vehicle. Yes.

  According to a ninth aspect of the present invention, in the configuration of the eighth aspect of the invention, the boundary ascending step detecting unit is configured such that the overload state of the drive motor detected by the overload detecting unit is continued for a predetermined time or more. It is characterized in that it detects that there is an up step.

  A tenth aspect of the invention is characterized in that, in the configuration of the seventh aspect of the invention, the boundary rising step detecting means includes an encoder for detecting the rotational speed of the wheel of the autonomous mobile vehicle.

  According to an eleventh aspect of the present invention, in the configuration according to the tenth aspect of the present invention, the boundary ascending step detecting means has a state in which the rotational speed of the drive motor detected by the encoder is not more than a preset reference value for a predetermined time When it continues over the above, it is detected that there is an up step.

  The elevator control system in the autonomous mobile vehicle according to the present invention is configured such that the floor surface of the elevator and the floor of the elevator hall are electrically controlled by the autonomous mobile vehicle and the elevator control device without providing a special mechanism for eliminating the step. Can be effectively eliminated. For this reason, the autonomously moving vehicle can be smoothly moved from the floor surface of the elevator hall to the floor surface of the elevator or from the floor surface of the elevator to the floor surface of the elevator hall. Moreover, since the cost required for elevator control can be reduced, it can be carried out relatively easily. In addition, if the level difference is not a problem, such as when the vehicle is used by a person with a large wheel diameter or when it is used by a person, the level difference is eliminated. Since no control is performed, there is no wasteful waiting time as in the prior art.

(Embodiment 1)
FIG. 1 is a block diagram showing an overall configuration of an elevator control system in an autonomous mobile vehicle according to Embodiment 1 of the present invention.

  The elevator control system according to the first embodiment includes an autonomous mobile vehicle 1, an elevator 2 that raises and lowers the autonomous mobile vehicle 1, and an elevator control device 3 that controls the lifting operation of the elevator.

  The autonomous mobile vehicle 1 is a self-propelled vehicle that travels on its own by driving wheels 6 by a drive motor or the like built in the vehicle body 5, and includes an obstacle detection sensor 7, a boundary specifying means 8, a distance sensor 9, and a boundary step amount. A detection means 10, a vehicle tilt sensor 11, and an elevation instruction means 12 are provided.

  The obstacle detection sensor 7 detects the presence or absence of an obstacle such as a wall around the autonomous mobile vehicle 1, and is configured by arranging a plurality of ultrasonic sensors or the like around the vehicle body 5, for example. ing.

  The boundary specifying means 8 stores in advance a map such as the travel area of the autonomous mobile vehicle 1 and the installation position of the elevator 2 and compares it with a map of the surrounding wall detected by the obstacle detection sensor 7. Thus, the boundary between the floor surface Fs of the elevator hall and the floor surface Fe in the elevator car is specified. In the following description, the floor surface Fs of the elevator hall is referred to as a landing floor surface, and the floor surface Fe in the cage of the elevator 2 is referred to as an elevator floor surface.

  The distance sensor 9 has a laser type three-dimensional distance sensor arranged at the front end of the vehicle body 5 as shown in FIG. 2, for example, so that the situation of each floor surface Fs, Fe in the traveling direction of the autonomous mobile vehicle 1 can be detected. It is configured. Then, the laser beam is scanned over the floor surfaces Fs and Fe to measure the distances L1 and L2 to the floor surfaces Fs and Fe, respectively.

  The vehicle tilt sensor 11 detects the tilt of the vehicle body 5, and for example, a gyro sensor, an acceleration sensor, or the like is applied.

  The boundary step amount detection means 10 detects the step amount Δh between the landing floor surface Fs and the elevator floor surface Fe at the boundary specified by the boundary specification means 8 based on the detection output of the distance sensor 9. . That is, the vertical heights h2 and h1 with respect to the distance sensor 9 are calculated based on the distance L1 to the landing floor surface Fs detected by the distance sensor 9 and the distance L2 to the elevator floor surface L2, and for example, a step according to the following equation: The amount Δh is obtained.

Δh = h2−h1 = L2 · cos θ2−L1 · cos θ1 (1)
If the detection distances L1 and L2 of the distance sensor 9 are set to a sufficient length in advance, both of them are required in advance before the autonomous mobile vehicle 1 passes through the boundary between the landing floor surface Fs and the elevator floor surface Fe. Since the steps of the floor surfaces Fs and Fe can be eliminated, the autonomous mobile vehicle 1 can be smoothly driven between the floor surfaces without stopping.

Further, the boundary step amount detection means 10 calculates a step amount ΔH between the floor surfaces Fs and Fe when passing through the boundary between the landing floor surface Fs and the elevator floor surface Fe based on the detection output of the vehicle tilt sensor 11. I try to detect it. That is, as shown in FIG. 3, since the distance L0 between the front and rear wheels of the autonomous mobile vehicle 1 is constant, if the inclination α of the vehicle body 5 is known by the vehicle inclination sensor 11, the step amount ΔH is expressed by the following equation:
ΔH = L0 · sinα (2)
Calculate from

  Thus, if the inclination α of the autonomously moving vehicle 1 is detected by the vehicle inclination sensor 11, the autonomously moving vehicle 1 that is relatively heavy moves when it moves between the landing floor surface Fs and the elevator floor surface Fe. Even when a step occurs between the floor surfaces Fs and Fe due to the change, the step amount ΔH can be reliably detected by the boundary step amount detecting means 10.

  When the distance sensor 9 detects the presence or absence of a step between both floor surfaces Fs and Fe, the lift instruction means 12 lifts the elevator 2 based on the step amount Δh or ΔH detected by the boundary step amount detection means 10. A direction is determined, and a signal for instructing only the direction of ascending / descending is transmitted as a lifting signal to the elevator control device 3 by radio. Further, when the step height Δh or ΔH detected by the boundary step height detection means 10 becomes a value that falls within a predetermined range, the lift instruction means 12 sends a lift stop signal for the elevator 2 to the elevator control device. 3 is transmitted.

  On the other hand, the elevator control device 3 receives a signal transmitted from the elevation instructing means 12 of the autonomous moving vehicle 1, and the step amount Δh or ΔH between the landing floor surface Fs and the elevator floor surface Fe is small based on the received signal. Thus, the elevator 2 is controlled to move up and down. A communication device 15 and an interface 16 are connected to the elevator control device 3, and a signal transmitted wirelessly from the autonomous mobile vehicle 1 is received by the communication device 15 via the interface 16. It is adapted to be taken into the elevator control device 3.

  Although not shown, the elevator 2 includes a cage on which the autonomous mobile vehicle 1 is placed, a lifting cable, a lifting motor, and the like. Further, communication means such as a wireless LAN, a wireless modem, or an infrared communication device is applied to the above-described raising / lowering instruction means 12 of the autonomous mobile vehicle 1 and the communication device 15 on the elevator side.

  Next, an elevator control operation in the elevator control system having the above-described configuration will be described with reference to a flowchart shown in FIG. In the following description of the flowcharts, the symbol S means each step.

  In the autonomous mobile vehicle 1, the boundary specifying unit 8 specifies the boundary between the landing floor surface Fs and the elevator floor surface Fe by collating with a map such as a surrounding wall detected by the obstacle detection sensor 7. The distance sensor measures the distances L1 and L2 to the floor surfaces Fs and Fe, respectively.

  The boundary step amount detection means 10 determines whether or not the elevator floor surface Fe is lower than the landing floor surface Fs based on the detection output of the distance sensor 9 at the boundary specified by the boundary specification means 8 (S1). .

  Here, for example, when the autonomous mobile vehicle 1 gets into the elevator 2 from the landing in the building, it is detected by the boundary step amount detection means 8 that the elevator floor surface Fe is lower than the landing floor surface Fs. Sometimes, the lift instruction means 12 wirelessly transmits a lift signal that instructs the elevator control device 3 to lift the elevator 2 (S2). When this lift signal is received by the communication device and taken into the elevator control device 3 via the interface 16, the elevator control device 3 raises the elevator 2 in accordance with the lift signal.

  Further, when the boundary step amount detection means 8 detects that the elevator floor surface Fe is higher than the landing floor surface Fs, the lift instruction means 12 lowers the elevator 2 relative to the elevator control device 3. Is transmitted wirelessly (S3). When the lift signal is received by the communication device 15 and taken into the elevator control device 3 via the interface 16, the elevator control device 3 lowers the elevator 2 according to the lift signal.

  Subsequently, the boundary level difference detecting means 10 of the autonomous mobile vehicle 1 detects the level difference Δh between both floor surfaces based on the above-described equation (1) (S4). Then, it is determined whether or not the step amount Δh detected by the boundary step amount detecting means 10 falls within a predetermined range (S5), and the step amount Δh is within the predetermined range. If it is settled, the raising / lowering instruction | indication means 12 will transmit the raising / lowering stop signal which instruct | indicates the stop of the elevator 2 with respect to the elevator control apparatus 3 by radio | wireless (S6). In response to this, the elevator control device 3 stops the elevator 2.

  In this way, if the elevator 2 is stopped when the step amount Δh detected by the boundary step amount detecting means 10 falls within a predetermined range, a stop instruction is issued to the elevator 2. Even when the response at the time of braking is insufficient, such as a time lag from when the elevator 2 actually stops until the elevator 2 stops, the level difference between the landing floor surface Fs and the elevator floor surface Fe is minimized. can do.

  The above example is a case where the autonomous mobile vehicle 1 gets into the elevator 2 from the platform in the building, but the same basically applies when the autonomous mobile vehicle 1 riding in the elevator 2 moves to the platform in the building.

  Further, in the first embodiment, when the relatively heavy autonomous mobile vehicle 1 gets on and off between the landing floor surface Fs and the elevator floor surface Fe, the load applied to the floor surfaces Fs and Fe is changed between the two. When the step ΔH occurs, the vehicle tilt sensor 11 detects the tilt of the autonomously moving vehicle 2, and accordingly, the boundary step amount detection means 10 calculates the step amount ΔH based on the above equation (2). To detect.

  Therefore, in this case as well, as a result of the elevator 2 being controlled to move up and down according to the flowchart shown in FIG. 4, for example, as shown in FIG. 5A, when the autonomous mobile vehicle 1 gets into the elevator 2 from the landing in the building, the elevator 2 When a load is applied to the elevator floor 2 and the elevator floor surface Fe becomes lower than the landing floor surface Fs, the elevator 2 is lifted as shown in FIG. 5B, and the steps between the floor surfaces Fs and Fe are eliminated. The Also, for example, as shown in FIG. 6A, when the autonomous mobile vehicle 1 riding on the elevator 2 moves to the landing in the building, the load applied to the elevator 2 becomes lighter and the elevator floor surface Fe becomes the landing floor. When it becomes higher than the surface Fs, the elevator 2 is lowered as shown in FIG. 6B, and the steps between the floor surfaces Fs and Fe are eliminated.

  In the first embodiment, it is assumed that the responsiveness until the elevator 2 actually stops after the elevator instruction means 12 instructs the elevator 2 to stop raising or lowering is high. In the case of 2, the flowchart shown in FIG.

  In other words, in FIG. 7, the elevation instructing means 12 does not instruct the elevator control device 3 to the elevation distance, but only in the elevation direction while the level difference detection means 10 detects a step greater than a certain level. Then, when the step amount detected by the distance step amount detecting means 10 falls within a certain value, a signal for stopping the lifting operation is immediately output. Here, the constant value is set to a range in which the step is eliminated when the elevation instruction is stopped at the stage where the level difference is slightly generated and the level is slightly increased or decreased by the inertial force.

  Moreover, in said Embodiment 1, although the raising / lowering instruction | indication means 12 is made to instruct | indicate only the raising / lowering direction, without instruct | indicating the raising / lowering distance with respect to the elevator control apparatus 3, the direction which should be raised / lowered, and raising / lowering distance It is also possible to transmit both information to the elevator control device 3 together.

  Further, an embodiment modified as follows with respect to the above-described Embodiment 1 can be considered.

  That is, the autonomously moving vehicle 1 has a level difference A between the floor surfaces Fs and Fe at the time when the elevator controller 3 is instructed to stop raising and lowering, and both floor surfaces Fs when the elevator 2 actually stops. , Fe, the braking distance measuring means for measuring the difference Δ (= A−B) with the step amount B generated between Fe as the braking distance Δ necessary for stopping the elevator 2, and the braking measured by the braking distance measuring means Storage means for storing the distance Δ, and the elevation instructing means 12 is configured such that the step amount Δh detected by the boundary step amount detection means 10 falls within the range of the previous braking distance Δ stored in the storage means. Alternatively, the elevator 2 may be configured to transmit an elevator stop signal to the elevator control device 3.

  Specifically, the elevator control operation when each of the above means is provided is as shown in the flowchart of FIG.

  That is, the boundary step amount detection means 10 of the autonomous mobile vehicle 1 detects the step amount Δh between the floor surfaces Fs and Fe, and the step amount Δh is set in a predetermined range (this is the previous braking distance Δup, When the value falls within the range (corresponding to the value of Δdown), the lift instruction means 12 transmits a lift stop signal for instructing the elevator control device 3 to stop the elevator 2. In response to the lift stop signal, the elevator control device 3 stops the lift operation of the elevator 2 (S11 to S20).

  Then, the braking distance measuring means, based on the detection output of the boundary step amount detecting means 10, when the step amount A between the floor surfaces Fs and Fe at the time when the elevator stop is instructed and when the elevator 2 is actually stopped. The difference Δ (= A−B) between the two floor surfaces Fs and Fe and the step amount B is measured as the braking distance Δ necessary for stopping the elevator 2. At that time, the braking distance of the elevator 2 may be different between when the elevator 2 is raised and when it is lowered. Therefore, the braking distances Δup and Δdown in each case are individually measured, and these values are stored in the storage means. Store and update the contents (S21 to S24).

  In this way, it is possible to perform control with high accuracy so that the level difference between the landing floor surface Fs and the elevator floor surface Fe is further reduced when the elevator 2 is stopped. Moreover, it is possible to cope with a change in the braking distance due to the deterioration of the braking performance of the elevator 2.

(Embodiment 2)
FIG. 9 is a block diagram showing the overall configuration of the elevator control system in the autonomous mobile vehicle according to the second embodiment of the present invention, and the same reference numerals are given to the components corresponding to those in the first embodiment shown in FIG.

  The elevator control system according to the second embodiment includes an autonomous mobile vehicle 1, an elevator 2 that raises and lowers the autonomous mobile vehicle 1, and an elevator control device 3 that controls the elevator 2 to move up and down.

  The autonomous mobile vehicle 1 includes an obstacle detection sensor 7, a boundary specifying unit 8, a boundary rising step detection unit 13, and a lift instruction unit 12. The configurations of the obstacle detection sensor 7 and the boundary specifying means 8 here are the same as in the case of the first embodiment, and a detailed description thereof will be omitted.

  When the autonomous mobile vehicle 1 gets on and off between the landing floor surface Fs and the elevator floor surface Fe, the boundary rising step detection means 13 moves from one floor surface to the other floor surface to be transferred next. Is a step that is in an up state (hereinafter simply referred to as an up step).

  In particular, the boundary ascending step detection means 13 in the second embodiment is composed of overload detection means for detecting the presence or absence of an overload in the drive motor of the autonomous mobile vehicle 1. When the overload state of the drive motor detected by the overload detection means 13 is continued for a predetermined time or more, it is detected that there is an upward step.

  Further, when it is detected by the boundary ascending step detecting means 13 that the ascending / descending step detecting means 13 has an ascending step, the ascending / descending instruction unit 12 sends an ascending / descending signal for instructing the elevator 2 to rise or fall accordingly to the elevator control device 3. To send to.

  On the other hand, although the communication apparatus 15 and the interface 16 are connected with respect to the elevator control apparatus 3, since the structure of these each part is the same as that of the case of Embodiment 1, detailed description is abbreviate | omitted here.

  Next, an elevator control operation in the elevator control system having the above configuration will be described with reference to a flowchart shown in FIG.

  When the autonomous mobile vehicle 1 gets into the elevator 2 from the platform in the building or when the autonomous mobile vehicle 1 moves from the elevator 2 to the platform in the building, the boundary specifying means 8 is detected by the obstacle detection sensor 7. The boundary between the landing floor surface Fs and the elevator floor surface Fe is specified by collating with a map of surrounding walls and the like.

  The boundary rising step detection means 13 is such that the wheel 6 in front of the vehicle body 5 does not pass through the boundary between both floor surfaces Fs and Fe specified by the boundary specifying means 8 (S31), and the front wheel 6 is in both floors. If it is found that the position is at the boundary between the surfaces Fs and Fe (S32), the presence or absence of an overload in the drive motor of the autonomous mobile vehicle 1 is detected. When the overload state of the drive motor is continued for a predetermined time or more, it is determined that there is an upward step (S33 to S37).

  As described above, the boundary ascending step detection means 13 determines that there is an ascending step only when the overload state of the drive motor is continued for a predetermined time or more, so when the wheel gets over a small fallen object on the floor surface. Therefore, it is possible to increase the reliability of detection of the upstep difference.

  When the uphill step is detected by the boundary upstep detection means 1 when the autonomous mobile vehicle 1 gets into the elevator from the landing in the building, the up / down instruction means 12 causes the elevator control device 3 to lower the elevator 2. The instructing lift signal is transmitted wirelessly (S38). On the other hand, when the ascending step is detected by the boundary ascending step detecting means 13 when the autonomous mobile vehicle 1 moves from the elevator 2 to the landing in the building, the elevator controller 3 is instructed to ascend the elevator 2. The lift signal is transmitted wirelessly (S38).

  When the overload state of the drive motor is no longer detected by the boundary ascending step detecting means 13, the ascending / descending instruction means 12 determines that the ascending step has been eliminated and instructs the elevator controller 3 to stop the elevator 2. Since the stop signal is transmitted wirelessly (S40, S41), the elevator 2 is stopped.

  According to the second embodiment, when the autonomous mobile vehicle 1 moves between the landing floor surface Fs and the elevator floor surface Fe, it is only detected whether or not there is an upward step by the boundary upward step detection means 13. Since it is not necessary to detect the level difference between the floor surfaces Fs and Fe, the cost required for the elevator control can be reduced and it can be carried out relatively easily.

  Further, since the boundary rising step detecting means 13 only needs to detect the presence or absence of an overload of the drive motor of the autonomous mobile vehicle 1, the distance sensor 9 or the like for detecting the step amount is not necessary, and that point is also inexpensively implemented. can do.

  In the second embodiment, the boundary ascending step detection means 13 detects that there is an ascending step when the overload state of the drive motor of the autonomous mobile vehicle 1 is continued for a predetermined time or more. For example, an encoder that detects the rotational speed of the wheel 6 of the autonomous mobile vehicle 1 is provided, and a state where the rotational speed of the drive motor detected by the encoder is equal to or lower than a preset reference value is continued for a predetermined time or more. May be detected as having an up step.

  The elevator control operation in the case where an encoder is provided as the boundary rising step detection means 13 is as shown in the flowchart of FIG.

  If the level difference between the elevator floor and the elevator floor is an ascending level, the rotational speed of the wheel of the autonomous mobile vehicle detected by the encoder will be approximately zero, so that the presence or absence of an ascending level can be detected reliably. can do. The other control operations are basically the same as those in the flowchart shown in FIG. 9, and a detailed description thereof will be omitted here.

  Thus, when judging the presence or absence of an ascent step based on the rotation speed of the wheel 6 of the autonomous mobile vehicle 1 based on the detection output of the encoder, when the wheel 6 contacts the ascending step and the rotation speed is excessively reduced In addition, since the ascending step can be detected even when the wheel 6 rides on the ascending step and the rotational speed increases excessively, the reliability of the ascending step detection can be improved.

  Further, in the second embodiment described above, the boundary rising step detecting means 13 detects whether the driving motor is overloaded or detects the rising step by detecting the rotational speed of the driving motor with an encoder. As shown in FIG. 12, a contact sensor 19 that detects an obstacle of a predetermined height or more from the floor surface is provided at the front end portion of the autonomous mobile vehicle 1, and the presence or absence of an ascending step can be detected by the contact sensor 19. .

  The elevator control operation when such a contact sensor 19 is provided is as shown in the flowchart of FIG.

  That is, when the autonomously moving vehicle 1 gets into the elevator 2 from the landing in the building or when the autonomous moving vehicle 1 moves from the elevator 2 to the landing in the building, the boundary between the landing floor surface Fs and the elevator floor surface Fe When an ascending step is generated, the contact sensor 19 detects the ascending step as an obstacle (S71, S72).

  And the raising / lowering instruction | indication means 12 instruct | indicates the raising / lowering of the elevator 2 with respect to the elevator control apparatus 3, when the climbing step is detected when the autonomous mobile vehicle 1 gets in into the elevator 2 from the elevator landing of a building, Further, when an upward step is detected when moving from the elevator 2 to the landing in the building, the elevator control device 3 is instructed to ascend the elevator 2 (S74).

  As the elevator 2 moves up and down, the ascending step gradually becomes smaller and the contact sensor 19 cannot detect the ascending step due to an obstacle, and if the elevator 2 is in the ascending / descending operation, the ascending / descending instruction means 12 is an elevator control device. 3, an elevator stop signal for the elevator 2 is output (S75, S76).

  In this way, if the presence or absence of an ascending step is detected by the contact sensor 19, the wheels 6 of the autonomous mobile vehicle 1 do not directly collide with the ascending step, so that a failure such as the wheels 6 being unexpectedly damaged occurs. Can be prevented in advance.

1 is a block diagram showing an overall configuration of an elevator control system according to Embodiment 1 of the present invention. It is a side view of the autonomous mobile vehicle when detecting the presence or absence of a level | step difference with a distance sensor. It is explanatory drawing in case a boundary level difference detection means detects the level difference of a landing floor surface and an elevator floor surface based on the detection output of a vehicle inclination sensor. It is a flowchart with which it uses for description of the elevator control operation | movement in the elevator control system shown in FIG. Explanation when elevator control is performed based on the detection output of the vehicle tilt sensor when a step occurs between both floors due to a change in the load applied to each floor when the autonomously moving vehicle enters the elevator from the elevator landing FIG. Explanation of the case where elevator control is performed based on the detection output of the vehicle tilt sensor when a step occurs between both floors due to a change in the load applied to each floor when the autonomous mobile vehicle transitions from the elevator to the elevator landing FIG. 3 is a flowchart illustrating an elevator control operation in an embodiment in which a part of the first embodiment is modified. 4 is a flowchart illustrating an elevator control operation when a braking distance measuring unit is provided for the first embodiment. It is a block diagram which shows the whole structure of the elevator control system which concerns on Embodiment 2 of this invention. FIG. 9 is a flowchart for explaining an elevator control operation in a case where an upstep is detected based on the presence or absence of an overload of a drive motor in the elevator control system shown in FIG. 8. FIG. 9 is a flowchart for explaining an elevator control operation when an ascending step is detected based on the number of rotations of a wheel obtained by an encoder in the elevator control system shown in FIG. 8. It is a side view of the autonomous mobile vehicle when the presence or absence of an ascending step is detected by a contact sensor. It is a flowchart with which it uses for description of the elevator control operation | movement in the case of detecting an uphill level | step difference with a contact sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Autonomous mobile vehicle 2 Elevator 3 Elevator control apparatus 7 Obstacle detection sensor 8 Boundary specification means 9 Distance sensor 10 Boundary step amount detection means 11 Vehicle tilt sensor 12 Elevation instruction means 13 Boundary upstep detection means 19 Contact sensor Fs Landing floor surface Fe Elevator floor

Claims (11)

An autonomous mobile vehicle, an elevator that raises and lowers the autonomous mobile vehicle, and an elevator control device that controls the elevator to move up and down,
The autonomous mobile vehicle has a boundary identifying unit that identifies a boundary between the floor surface of the elevator and a floor surface of the elevator landing, and a boundary step that detects a step amount between both floor surfaces at the boundary identified by the boundary identifying unit. While including an amount detection means and a lift instruction means for transmitting a lift signal for instructing the elevator to rise or fall based on the step amount detected by the boundary step amount detection means to the elevator control device,
The elevator control device receives an elevation signal from the elevation instruction means, and controls the elevation of the elevator based on the elevation signal so that the level difference between the floor surfaces is reduced. Elevator control system for autonomous mobile vehicles.   The autonomously moving vehicle includes a distance sensor that detects a distance to a floor surface, and the boundary step amount detecting means detects the step amount based on a detection output of the distance sensor. The elevator control system in the autonomous mobile vehicle according to claim 1.   The autonomously moving vehicle includes a vehicle inclination sensor that detects the inclination of the vehicle, and the boundary step amount detection means detects the step amount based on the vehicle inclination detected by the vehicle inclination sensor. The elevator control system for an autonomous mobile vehicle according to claim 1.   The lift instruction means transmits only a signal for instructing the lift direction of the elevator to the elevator control device based on the step amount detected by the boundary step amount detection means, and is detected by the boundary step amount detection means. 4. The elevator lifting / lowering stop signal is transmitted when the stepped amount becomes a value that falls within a predetermined range set in advance. Control system for autonomous mobile vehicles.   The lift instruction means determines an elevator lift direction and lift distance based on the step amount detected by the boundary step amount detection means, and transmits the information to the elevator control device. The elevator control system in the autonomous mobile vehicle according to any one of claims 1 to 3.   The elevator includes a braking distance measuring unit that measures the braking distance of the elevator and a storage unit that stores the braking distance, and the elevation instruction unit stores the step amount detected by the boundary step amount detecting unit in the storage unit. 5. The elevator lifting / lowering stop signal is transmitted to the elevator control device when it falls within the range of the previous braking distance. 5. The elevator control system in the autonomous mobile vehicle described in 1. An autonomous mobile vehicle, an elevator that raises and lowers the autonomous mobile vehicle, and an elevator control device that controls the elevator to move up and down,
Whether the autonomously moving vehicle is a step where the movement from one floor surface currently located to the other floor surface to be transferred to the other floor surface when moving between the floor surface of the elevator and the floor surface of the elevator platform Boundary ascending step detection means for detecting whether or not, and when the ascending step is detected by the boundary ascending step detection means, a lift signal for instructing the elevator to rise or fall is directed to the elevator control device accordingly. And a lift instruction means for transmitting
The elevator control device receives a lift signal from the lift instruction means, and controls the lift to move up and down based on the lift signal so that the level difference between both floor surfaces is reduced. Elevator control system for autonomous mobile vehicles.   The elevator control system for an autonomous mobile vehicle according to claim 7, wherein the boundary rising step detection means includes an overload detection means for detecting presence or absence of an overload in a drive motor of the autonomous mobile vehicle.   9. The boundary ascending step detecting means detects that there is an ascending step when the overload state of the drive motor detected by the overload detecting means is continued for a predetermined time or more. The elevator control system in the described autonomous mobile vehicle.   The elevator control system for an autonomous mobile vehicle according to claim 7, wherein the boundary rising step detection means includes an encoder that detects a rotation speed of a wheel of the autonomous mobile vehicle. The boundary ascending step detecting means is to detect that there is an ascending step when the state where the rotational speed of the drive motor detected by the encoder is not more than a preset reference value is continued for a predetermined time or more. The elevator control system for an autonomous mobile vehicle according to claim 10.

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