JP2022159902A - Mobile body controller, mobile body cooperation device and mobile body cooperation system - Google Patents

Abstract

To provide a mobile body controller, a mobile body cooperation device and a mobile body cooperation system, capable of ensuring the safety of the inside of an elevator car when the car with a mobile body placed thereon makes a nonsteady stop.SOLUTION: A mobile body cooperation system includes a mobile body controller which is installed on a mobile body, controls a vertical acceleration and detects that an elevator car has started a nonsteady stop to stop the mobile body when it is detected that a value of the vertical acceleration is in excess of a value of the nonsteady acceleration with the mobile body placed on the elevator car, and a mobile body cooperation device which creates information on the nonsteady acceleration value corresponding to the elevator car and transmits the nonsteady acceleration information to the mobile body controller.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a mobile control device, a mobile cooperation device, and a mobile cooperation system.

Patent Literature 1 discloses a moving object. When the car of the elevator in which the moving object gets on stops irregularly, the moving object gets off the car after the car stops at the nearest floor. Therefore, it is possible to protect the moving object even in an unsteady situation.

JP 2012-065574 A

However, in the elevator system described in Patent Document 1, if the car stops unsteadily while the moving body is riding with a person, the unsteady stop accompanies the unsteady stop until the car comes to a complete stop. There is a risk that the moving object will move due to the shaking of the car. As a result, the inside of the car becomes unsafe.

The present disclosure has been made to solve the above problems. An object of the present disclosure is to provide a moving body control device, a moving body linking device, and a moving body linking system that can ensure safety inside the car when the car carrying the moving body stops unsteady.

A moving body control device according to the present disclosure includes a drive control unit that is provided in a moving body and controls driving of a device that performs an operation in which the moving body moves; an unsteady control unit that transmits a command to stop the moving body to the drive control unit when it is detected that the car has started an unsteady stop while riding in the .

A mobile body linkage apparatus according to the present disclosure includes an acceleration information creation unit that creates information on a value of unsteady acceleration in a vertical direction corresponding to an elevator car; A moving body control device for the moving body that detects that the car has started an unsteady stop and stops the moving body when an acceleration value exceeding the unsteady acceleration value created by the creation unit is detected. and a transmitting unit configured to transmit the information of the unsteady acceleration generated by the acceleration information generating unit to the.

A mobile body cooperation system according to the present disclosure is provided in a mobile body, controls driving of a device that causes the mobile body to move, detects vertical acceleration, and detects when the mobile body gets into an elevator car. When it is detected that the value of acceleration in the vertical direction exceeds the value of unsteady acceleration when the car is moving, it detects that the car has started unsteady stop and stops the moving body. and a mobile body linkage device that creates information on the value of the unsteady acceleration corresponding to the car and transmits the information on the unsteady acceleration to the mobile body control device.

According to the present disclosure, the mobile body control device stops the mobile body when detecting that the car has started to stop unsteady. Therefore, the safety of the interior of the car can be ensured when the car on which the moving object is placed stops unsteadily.

1 is a diagram showing a main part of an elevator system to which a mobile body cooperation system according to Embodiment 1 is applied; FIG. 1 is a block diagram of a mobile cooperation system according to Embodiment 1; FIG. FIG. 2 is a diagram showing an operation in which the mobile body control device of the mobile body cooperation system according to Embodiment 1 controls drive wheels and drive brakes of the mobile body; 4 is a flowchart for explaining an overview of the operation of the mobile cooperation system according to Embodiment 1; 4 is a flowchart for explaining an overview of the operation of the mobile cooperation system according to Embodiment 1; 2 is a hardware configuration diagram of a mobile body control device of the mobile body cooperation system according to Embodiment 1. FIG. FIG. 10 is a diagram showing a main part of an elevator system to which the mobile body cooperation system according to Embodiment 2 is applied; FIG. 10 is a block diagram of a mobile cooperation system according to Embodiment 2; FIG. 11 is a flow chart for explaining an overview of the operation of the mobile cooperation system according to Embodiment 2; FIG. FIG. 11 is a flow chart for explaining an overview of the operation of the mobile cooperation system according to Embodiment 2; FIG.

Embodiments for carrying out the present disclosure will be described with reference to the accompanying drawings. In addition, the same code|symbol is attached|subjected to the part which is the same or corresponds in each figure. Redundant description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a configuration diagram of a building to which the mobile body cooperation system according to Embodiment 1 is applied.

In the elevator system 1 of FIG. 1, a hoistway 2 runs through each floor of a building (not shown). The machine room 3 is provided directly above the hoistway 2 . Each of the plurality of landings 4 is provided on each floor of the building. Each of the plurality of landings 4 faces the hoistway 2 . One of a plurality of landings 4 is shown in FIG.

The car 5 is provided inside the hoistway 2 . A car 5 is provided so as to be able to move up and down inside the hoistway 2 . The car 5 has an emergency stop device 6 .

An elevator controller 7 is provided in the machine room 3 . A controller 7 is provided to control the elevator system 1 as a whole.

A shake detection device 8 is provided in the machine room 3 . A shake detection device 8 is provided to detect the shake of the building.

The moving body 9 is arranged inside the building. The moving body 9 is provided so as to move autonomously. A moving body 9 is provided so as to be able to ride on the car 5 together with a person. The moving body 9 includes drive wheels 10 , a drive shaft brake 11 and a moving body control device 12 .

The driving wheels 10 are wheels for moving the moving body 9 . The drive shaft brake 11 is a brake for the drive wheels 10 . The moving body control device 12 is provided so as to control the movement of the moving body 9 by controlling the operations of the drive wheels 10 and the drive shaft brakes 11 .

For example, the mobile body linkage device 13 is provided in a building different from the building in which the elevator system 1 is provided. A mobile link device 13 is provided so as to be able to communicate with the control device 7 . A mobile unit linking device 13 is provided so as to be able to communicate with the mobile unit control device 12 . The mobile linkage device 13 constitutes a mobile linkage system 14 together with the control device 7 and the mobile body control device 12 .

For example, the mobile body linkage device 13 transmits a command to the mobile body control device 12 of the mobile body 9 to move to another floor of the building. The mobile unit linkage device 13 transmits call registration information including destination floor information to the control device 7 . The control device 7 dispatches the car 5 to the floor where the moving body 9 is present. The moving body 9 moves to another floor by getting on the car 5. - 特許庁

For example, when transmitting call registration information to the control device 7 , the mobile device linkage device 13 transmits to the control device 7 a command to set a riding operation that enables the mobile device 9 to ride with a person. When the control device 7 receives the command, the control device 7 may set the car 5 to be dispatched to riding with a passenger. Further, for example, the control device 7 has a function of determining whether a person is inside the car 5, and when there is a person in the car 5 to be dispatched, the information indicating that the person rides with the mobile object 9 is transmitted to the mobile object. The cooperation device 13 may be notified.

For example, if an earthquake occurs while the mobile object 9 is riding in the car 5 with a human, the shake detection device 8 detects the shake caused by the earthquake. When the sway detector 8 detects a sway that exceeds a prescribed degree, the control device 7 performs a control operation in which the moving car 5 is suddenly braked to stop at the nearest floor. At this time, the moving body linkage device 13 transmits information to the moving body control device 12 of the moving body 9 riding in the car 5 to the effect that the car 5 suddenly brakes to start an unsteady stop. When the mobile body control device 12 receives information indicating that the car 5 will start an unsteady stop, the mobile body control device 12 shifts from the steady operation mode to the unsteady operation mode. In this case, the moving body control device 12 makes the driving wheels 10 and the driving shaft brakes 11 stationary. Specifically, the moving body control device 12 holds the drive wheels 10 and the drive shaft brakes 11 on the stationary side. Therefore, when the car 5 is suddenly braked, the moving body 9 is prevented from moving unstably.

After that, the control device 7 stops the car 5 at the nearest floor. The mobile body linkage device 13 transmits information to the mobile body control device 12 to the effect that the car 5 has completed the unsteady stop. When receiving the information indicating that the car 5 has completed the unsteady stop, the moving body control device 12 changes the braking of the drive wheels 10 and the drive shaft brakes 11 to the released state. For example, a person riding in the car 5 gets off the car 5 after pushing the moving body 9 to move it. Further, when a person pushes the moving body 9 in the lateral direction before receiving information indicating that the car 5 has stopped, the moving body control device 12 detects that the moving body 9 has been pushed. In this case, the moving body control device 12 brings the drive wheels 10 and the drive shaft brakes 11 into a non-still state. Specifically, the mobile body control device 12 sets the drive wheels 10 and the drive shaft brakes 11 to the open side.

For example, when the shaking of the building stops, the control device 7 restarts the operation of the car 5 . The mobile body linkage device 13 transmits to the mobile body control device 12 information indicating that the operation of the car 5 has been resumed. The mobile body control device 12 returns from the unsteady operation mode to the steady operation mode.

Next, the mobile body control device 12 and the mobile body cooperation device 13 will be described with reference to FIG.
FIG. 2 is a block diagram of the mobile cooperation system according to the first embodiment.

As shown in FIG. 2 , the moving body control device 12 includes a drive shaft control section 15 , a drive shaft braking section 16 , a movement control command section 17 , an acceleration detection section 18 and an unsteady control section 19 .

The drive shaft control unit 15 controls rotation of the drive wheels 10 as a drive control unit that controls travel of the mobile body 9 . Specifically, the drive shaft controller 15 generates control information for controlling the rotation of the drive shaft of the drive wheels 10 . The drive shaft controller 15 controls a motor that rotates the drive shaft based on the control information.

The drive shaft brake unit 16 controls the operation of the drive shaft brake 11 braking the drive wheels 10 as a drive control unit that controls the running of the moving body 9 . Specifically, the drive shaft braking unit 16 generates control information for the drive shaft brake 11 to brake the drive shaft of the drive wheel 10 . The drive shaft braking section 16 controls the operation of the drive shaft brake 11 based on the control information.

The movement control command unit 17 controls the movement of the moving body 9 according to the situation of the moving body 9 in the steady operation mode. Specifically, the movement control command unit 17 receives a command to move inside the building including information on the route to move from the mobile unit linkage device 13 . For example, the movement control command unit 17 receives a command to move to another floor including information on the route from the mobile unit linkage device 13 to the hall 4 . The movement control command unit 17 transmits a command to drive the drive wheels 10 to the drive shaft control unit 15 based on the command.

The movement control command unit 17 does not control the moving body 9 in the unsteady operation mode.

The acceleration detection unit 18 detects acceleration occurring in the moving body 9 . Specifically, for example, the acceleration detection unit 18 acquires information on the acceleration generated in the mobile body 9 from an acceleration measuring device (not shown) provided in the mobile body control device 12 .

The unsteady control unit 19 receives information transmitted from the mobile link device 13 .

When information indicating that the car 5 is to be suddenly braked is received from the mobile body linkage device 13 while the mobile body 9 is on the car 5, the unsteady control unit 19 causes the car 5 to start unsteady stopping. detect that In this case, the unsteady control unit 19 shifts from the steady operation mode to the unsteady operation mode. At this time, the unsteady control unit 19 transmits a stationary hold command to the drive shaft control unit 15 to keep the drive wheels 10 stationary. The unsteady control unit 19 also sends a command to the drive shaft brake unit 16 to keep the drive shaft brake 11 in a state where the drive wheels 10 are stationary.

When information indicating that the car 5 has completed the unsteady stop is received from the mobile body linkage device 13 in the state of the unsteady operation mode, the unsteady control unit 19 determines that the car 5 has completed the unsteady stop. detect that In this case, the unsteady control unit 19 transmits a release command to the drive shaft control unit 15 so that the drive wheels 10 are not stopped. In addition, the unsteady control unit 19 transmits to the drive shaft braking unit 16 a release command for causing the drive shaft brake 11 to stop the drive wheels 10 .

When the acceleration detection unit 18 detects horizontal acceleration in the unsteady operation mode, the unsteady control unit 19 detects that the moving body 9 has been laterally pushed. In this case, the unsteady control section 19 transmits a release command to the drive shaft control section 15 . Also, the unsteady control unit 19 transmits a release command to the drive shaft braking unit 16 .

When information indicating that the operation of the car 5 has resumed is received from the mobile body linkage device 13 in a state in which the operation mode is unsteady, the unsteady control unit 19 restores the operation state of the car 5 from the unsteady operation state to the steady operation state. detect that In this case, the unsteady control unit 19 changes the operation mode from the unsteady operation mode to the normal operation mode. At this time, a command to perform normal control is transmitted to the drive shaft control unit 15 . The unsteady control unit 19 also sends a command to the drive shaft braking unit 16 to perform normal control.

The mobile cooperation device 13 includes an information acquisition unit 20 and a transmission unit 21 .

The information acquisition unit 20 acquires control information of the elevator system 1 from the control device 7 .

The transmission unit 21 transmits information based on the control information acquired by the information acquisition unit 20 to the mobile control device 12 .

Next, the drive shaft control section 15 and the drive shaft braking section 16 will be described with reference to FIG.
3A and 3B are diagrams showing the operation of the mobile body control device of the mobile body cooperation system according to Embodiment 1 for controlling the drive wheels and drive brakes of the mobile body.

In Embodiment 1, a hardware brake (HW brake) system is adopted for the drive wheel 10 and the drive shaft brake 11 .

As shown in the upper part of FIG. 3, for example, when the emergency stop device 6 of the car 5 in which the mobile body 9 is on is activated, the acceleration detection unit 18 of the mobile body control device 12 detects the deceleration acceleration. . The drive shaft control unit 15 and the drive shaft braking unit 16 receive the stationary hold command from the unsteady control unit 19 . In this case, in the hardware brake method, the drive shaft control unit 15 generates a control command to turn off the power of the motor that rotates the drive shaft. The drive shaft braking section 16 generates a control command for pressing the shoe of the drive shaft brake 11 against the drive shaft.

After that, when the car 5 stops, the acceleration detector 18 detects that the vertical acceleration value has become zero. The drive shaft control section 15 and the drive shaft braking section 16 receive the release command from the unsteady control section 19 . In this case, the drive shaft control unit 15 generates control information for continuously turning off the power of the motor. The drive shaft braking section 16 generates a control command for releasing the shoe of the drive shaft brake 11 from the drive shaft.

A software brake (SW brake) system may be employed for the drive wheel 10 and the drive shaft brake 11 .

As shown in the lower part of FIG. 3, in the software brake system, when the drive shaft control unit 15 receives a stationary hold command from the unsteady control unit 19, the power of the motor that rotates the drive shaft is continuously turned on. Generate control information to leave The drive shaft braking unit 16 generates control information for setting the value of the speed command to 0 when receiving the stationary hold command from the unsteady control unit 19 .

After that, when the drive shaft control unit 15 receives a release command from the unsteady control unit 19, it generates control information for turning off the power of the motor. The drive shaft braking unit 16 generates a control command to turn off the power of the drive shaft brake 11 when receiving the release command from the unsteady control unit 19 .

Next, the operation of the mobile cooperation system 14 will be described with reference to FIGS. 4 and 5. FIG.
FIG. 4 is a flow chart for explaining the outline of the operation of the mobile cooperation system according to the first embodiment. FIG. 5 is a flow chart for explaining the outline of the operation of the mobile cooperation system according to the first embodiment.

FIGS. 4 and 5 show the operation when the moving body 9 rides on the human and the car 5 together. When the controller 7 in the elevator system 1 performs steady operation (S101), the car 5 is operated in steady operation (S102). In this case, the mobile cooperation apparatus 13 operates in a steady state (S103). Specifically, based on the information on the position of the car 5 , the mobile body linkage device 13 transmits a command to the mobile body control device 12 to get the car 5 on board.

In the moving body control device 12, the movement control commanding unit 17 performs control to wait while riding with a human inside the car 5 based on the command from the moving body linking device 13 (S104). The drive shaft control unit 15 and the drive shaft braking unit 16 perform steady control when boarding the car 5 based on commands from the movement control command unit 17 (S105, S106).

When an earthquake occurs, the shake detector 8 in the elevator system 1 detects that the building has shaken more than a specified degree (S107). In this case, the control device 7 makes a decision to shift to controlled operation (S108). When the control device 7 performs controlled operation, which is an unsteady operation (S109), the car 5 is suddenly braked and then evacuated to the nearest floor (S110).

When the control device 7 detects that the control operation is to be performed, the mobile linkage device 13 shifts to operation in an unsteady state (S111). In this case, the mobile unit linkage device 13 transmits information indicating that the car 5 will suddenly brake to the movement control command unit 17 and the unsteady control unit 19 (S112).

When the mobile body cooperation apparatus 13 performs the operation of S112, the mobile body control device 12 causes the movement control command unit 17 to shift from the steady operation mode to the unsteady operation mode (S113). The unsteady control unit 19 shifts from the steady operation mode to the unsteady operation mode (S114). In this case, the unsteady control unit 19 transmits a stationary hold command to the drive shaft control unit 15 and the drive shaft braking unit 16 (S115).

The drive shaft control unit 15 generates control information for holding the drive wheels 10 of the moving body 9 stationary (S116). The driving wheels 10 are kept stationary (S117). The drive shaft braking unit 16 generates control information for holding the drive shaft brake 11 of the moving body 9 in a state in which the drive shaft of the drive wheel 10 is stopped (S118). The drive shaft brake 11 keeps the drive shaft of the drive wheel 10 stationary (S119).

After that, the car 5 stops at the nearest floor (S120). The mobile unit linkage device 13 transmits information indicating that the car 5 has completed stopping to the mobile unit control device 12 (S121).

As shown in FIG. 5, in the moving body control device 12, the non-stationary control unit 19 detects that the car 5 has completed the non-stationary stop. In this case, the unsteady control unit 19 transmits a release command to the drive shaft control unit 15 and the drive shaft braking unit 16 (S122).

The drive shaft control unit 15 generates control information for bringing the drive wheels 10 of the moving body 9 into a non-still state (S123). The drive wheels 10 are released from rest (S124). The drive shaft braking unit 16 generates control information for causing the drive shaft brake 11 of the moving body 9 to keep the drive shaft of the drive wheel 10 in a non-still state (S125). The drive shaft brake 11 is brought to a state in which the drive shaft is released from rest (S126).

Here, when the human moves the moving body 9 in the horizontal direction after the operation of step S115 is performed, the acceleration detection unit 18 of the moving body control device 12 detects the acceleration in the horizontal direction (S127). When the operation of step S127 is performed before the operation of step S121 is performed, the unsteady control unit 19 performs the operations after step S122.

In the elevator system 1, after the building and car 5 are shaken by the earthquake (S128), the building and car 5 stop shaking. The shaking detector 8 detects that the building has stopped shaking (S129). The control device 7 automatically restores the normal operating state (S130) and restarts the operation of the car 5. The control device 7 notifies the mobile body linkage device 13 that the normal operating state has been restored (S131).

The mobile unit linkage device 13 detects that the operation of the car 5 has been restarted and that the normal operating state has been restored (S132). The mobile unit linkage device 13 changes the operation mode from the unsteady operation mode to the steady operation mode (S133). At this time, the mobile unit linkage device 13 transmits information indicating that the operation of the car 5 has been restarted to the movement control command unit 17 and the unsteady control unit 19 of the mobile unit control unit 12 .

In the moving body control device 12, the unsteady control unit 19 shifts from the unsteady operation mode to the steady operation mode (S134). The movement control command unit 17 shifts from the unsteady operation mode to the steady operation mode (S135). The drive shaft control section 15 and the drive shaft braking section 16 perform steady control (S136, S137).

According to the first embodiment described above, the moving body control device 12 stops the moving body 9 when detecting that the car 5 has started an unsteady stop. Therefore, when the car 5 starts to stop unsteadily, it is possible to suppress the movement of the moving body 9 inside the car 5 due to the shaking of the car 5 . As a result, the safety inside the car 5 can be ensured when the car 5 carrying the moving body 9 stops unsteady.

Further, when the mobile body control device 12 detects that the car 5 has completed an unsteady stop, the mobile body control device 12 puts the mobile body 9 in a non-stationary state. Therefore, a person riding in the car 5 can push the moving body 9 to move it. For example, the moving body 9 is moved out of the car 5 . As a result, it is possible to prevent the moving body 9 from interfering with human evacuation.

Note that the moving body control device 12 may cause the moving body 9 to stand still when receiving information indicating that the car 5 is about to start an unsteady stop. For example, when the mobile body control device 12 receives information from the mobile body linkage device 13 that the shaking detection device 8 has detected the shaking of the building, the mobile body control device 12 may cause the mobile body 9 to stand still. Therefore, the moving body 9 can be stopped before the car 5 starts emergency stop.

Further, when the moving body control device 12 detects that the elevator system 1 has recovered to the normal operating state, the moving body control device 12 shifts the moving body 9 to the normal operating mode. Therefore, when the car 5 stops at the nearest floor after the controlled operation, the moving body 9 can move out of the car 5 by itself.

Note that the elevator system 1 may be configured to handle a plurality of cars 5 . In this case, the elevator system 1 comprises multiple hoistways 2 . In the elevator system 1 , one car 5 corresponds to one hoistway 2 . One machine room is provided directly above the plurality of hoistways 2 .

In addition, the elevator system 1 may be configured to handle a plurality of machine rooms 3 . In this case, the elevator system 1 comprises multiple cars 5 and multiple controllers 7 . One control device 7 corresponds to one machine room 3 . For example, if there are landings divided into east and west within one building, the machine room 3-1 and the machine room 3-2 are divided into the east and west. The control device 7-1 and the control device 7-2 are provided in the machine room 3-1 and the machine room 3-2, respectively. A control device 7-3 is provided in either the machine room 3-1 or the machine room 3-2. The control device 7-3 manages the control device 7-1 and the control device 7-2. The control device 7-3 regards a plurality of cars 5 whose vehicle allocation is controlled by the control device 7-1 and the control device 7-2 as a plurality of cars 5 contained in one machine room, and controls vehicle allocation. good too. At this time, the control device 7-3 transmits commands to the control devices 7-1 and 7-2 individually. Each of the control devices 7-1 and 7-2, which has received a command from the control device 7-3, controls the corresponding car 5 individually.

In addition, the mobile body cooperation system 14 may be applied to the elevator system 1 without a machine room. In this case, the control device 7 and the swing detection device 8 are provided inside the hoistway 2 . The shaking detection device 8 may detect shaking at the place where it is installed.

Note that the mobile body linkage device 13 may be provided in the same building as the building in which the elevator system 1 is provided.

Note that the shake detection device 8 may predict that the building will shake more than a prescribed degree by detecting a slight shake of the building.

Note that the acceleration detection unit 18 may acquire information on the acceleration generated in the mobile body 9 from an acceleration detector provided in the mobile body 9 .

Note that when the acceleration detection unit 18 detects oblique acceleration due to being tilted in the unsteady operation mode, the unsteady control unit 19 detects that the moving body 9 has been pushed sideways. may

Note that the control device 7 may set the car 5 to a dedicated operation in which hall call registrations from floors other than the floor where the moving body 9 is present are not accepted. A moving body control device 12 makes the moving body 9 stand still when it detects that the car 5 starts to stop unsteady while the moving body 9 is riding on the car 5 for which exclusive operation is set. Therefore, damage to the interior of the moving body 9 and the car 5 can be suppressed.

For example, when the mobile unit linkage device 13 dispatches the car 5 to the floor where the mobile unit 9 is present, it transmits to the control unit 7 a signal for setting the dedicated operation to the control unit 7 . Further, when receiving a signal confirming that the dedicated operation has been set from the control device 7, the mobile body linkage device 13 notifies the mobile body 9 that the car 5 can be boarded.

For example, the control device 7 determines that a car 5 whose destination floor has not been set for a certain period of time is an unmanned car 5 . The control device 7 preferentially sets exclusive operation for the unmanned car 5 .

For example, the control device 7 receives information indicating the weight inside the car 5 from a weight scale for safety confirmation provided in the car 5 . The control device 7 determines that the car 5 is an unmanned car 5 based on the information indicating the weight. The control device 7 preferentially sets exclusive operation for the unmanned car 5 .

For example, the control device 7 determines that the car 5 in which the destination floor has already been set is the car 5 in which the passenger gets on. The control device 7 determines whether the landing floor specified by the call registration from the mobile body linkage device 13 is located between the destination floor already set for the car 5 in which the person rides and the floor where the car 5 currently exists. determine whether or not When the control device 7 determines that the landing floor is located between the two floors, the control device 7 performs the dedicated operation associated with the landing floor and the destination floor included in the call registration from the mobile unit linkage device 13 for the car. Set to 5. At this time, the control device 7 may inform at least one of the inside of the car 5 and the hall 4 of the hall floor that no new call registration will be accepted.

For example, when the car 5 arrives at the destination floor of the moving body 9, the moving body linkage device 13 confirms that the door of the car 5 is closed after the moving body 9 gets off. send a signal to release the

Further, when the control device 7 sets the dedicated operation to the car 5, the mobile unit linkage device 13 causes the control device 7 to A signal for canceling exclusive operation may be transmitted. At this time, the mobile unit linkage device 13 may notify the mobile unit 9 that the dedicated operation has been cancelled. When the moving object 9 receives the notification that the dedicated operation has been canceled while inside the car 5, the moving object 9 may operate normally according to the risk assessment.

After that, when normal operation is resumed, the control device 7 may dispatch the car 5 in response to hall call registration from another floor.

In addition, the mobile linkage device 13 does not have to transmit a signal for canceling the exclusive operation to the control device 7 in the operation (S111) in an unsteady state. In this case, when normal operation is resumed, the control device 7 may move the car 5 to the destination floor of the mobile body 9 according to the call registration information received from the mobile body linkage device 13 .

Next, an example of hardware constituting the mobile body control device 12 will be described with reference to FIG.
FIG. 6 is a hardware configuration diagram of a mobile control device of the mobile cooperation system according to the first embodiment.

Each function of the mobile body control device 12 can be implemented by a processing circuit. For example, the processing circuitry comprises at least one processor 100a and at least one memory 100b. For example, the processing circuitry comprises at least one piece of dedicated hardware 200 .

When the processing circuitry comprises at least one processor 100a and at least one memory 100b, each function of the mobile controller 12 is implemented in software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. At least one of software and firmware is stored in at least one memory 100b. At least one processor 100a implements each function of the mobile body control device 12 by reading and executing a program stored in at least one memory 100b. The at least one processor 100a is also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP. For example, the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.

Where the processing circuitry comprises at least one piece of dedicated hardware 200, the processing circuitry may be implemented, for example, in single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. be. For example, each function of the mobile body control device 12 is implemented by a processing circuit. For example, each function of the mobile body control device 12 is collectively realized by a processing circuit.

A part of each function of the mobile body control device 12 may be realized by dedicated hardware 200 and the other part may be realized by software or firmware. For example, the function of controlling the movement of the moving body 9 is realized by a processing circuit as dedicated hardware 200, and the functions other than the function of controlling the movement of the moving body 9 are implemented by at least one processor 100a and at least one memory. It may be realized by reading and executing a program stored in 100b.

Thus, the processing circuitry implements each function of the mobile controller 12 in hardware 200, software, firmware, or a combination thereof.

Although not shown, each function of the mobile body linking device 13 is also implemented by a processing circuit equivalent to the processing circuit that implements each function of the mobile body control device 12 .

Embodiment 2.
FIG. 7 is a diagram showing a main part of an elevator system to which the mobile body cooperation system according to Embodiment 2 is applied. The same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.

In Embodiment 2, the mobile body control device 12 always detects vertical acceleration that occurs in the mobile body 9 while the mobile body 9 is in the car 5 .

As shown in FIG. 7, for example, when the emergency stop device 6 of the car 5 is activated while the car 5 with the moving body 9 on board is descending, the car 5 is suddenly braked. The mobile body control device 12 detects a large vertical acceleration. In this case, the moving body control device 12 makes the driving wheels 10 and the driving shaft brakes 11 stationary. Specifically, the moving body control device 12 holds the drive wheels 10 and the drive shaft brakes 11 on the stationary side.

Car 5 then stops. The mobile body control device 12 detects that the acceleration in the vertical direction has become equal to or less than a specified value. In this case, the moving body control device 12 brings the drive wheels 10 and the drive shaft brakes 11 into a non-still state. Specifically, the mobile body control device 12 sets the drive wheels 10 and the drive shaft brakes 11 to the open side.

Next, mobile body control device 12 and mobile body cooperation device 13 according to the second embodiment will be described with reference to FIG.
FIG. 8 is a block diagram of the mobile cooperation system according to the second embodiment.

As shown in FIG. 8 , the mobile body control device 12 includes an acceleration storage section 22 .

The acceleration storage unit 22 stores unsteady acceleration information indicating the value of unsteady vertical acceleration that occurs in an object inside the car 5 when the car 5 stops unsteady.

The unsteady control unit 19 receives the unsteady acceleration information transmitted by the mobile linkage device 13 . The unsteady control unit 19 causes the acceleration storage unit 22 to store the unsteady acceleration information.

When the moving object 9 is in the car 5 , the unsteady control unit 19 monitors the value of acceleration occurring in the moving object 9 via the acceleration detection unit 18 . Specifically, the unsteady control unit 19 determines whether or not the value of the acceleration generated in the moving body 9 has exceeded the value of the unsteady acceleration stored in the acceleration storage unit 22 . When the moving object 9 gets on the car 5 , the unsteady control unit 19 starts monitoring the value of acceleration generated in the moving object 9 via the acceleration detection unit 18 . When the moving body 9 gets off the car 5, the unsteady control unit 19 ends monitoring the acceleration value.

When the unsteady control unit 19 determines that the value of the acceleration generated in the moving body 9 exceeds the unsteady acceleration value while the moving body 9 is on the car 5, the car 5 starts unsteady stopping. detect that In this case, the unsteady control unit 19 shifts to the unsteady operation mode. The unsteady control unit 19 shifts the movement control command unit 17 from the steady operation mode to the unsteady operation mode. After that, the unsteady control unit 19 operates in the unsteady operation mode as in the first embodiment.

The unsteady control unit 19 monitors the acceleration value generated in the moving body 9 via the acceleration detection unit 18 after shifting to the unsteady operation mode. Specifically, the unsteady control unit 19 determines whether or not the value of the acceleration generated in the moving body 9 has fallen below the prescribed stopping acceleration value indicating that the car 5 has stopped. The unsteady control unit 19 detects that the car 5 has stopped unsteadyly when it determines that the value of the acceleration generated in the moving body 9 has fallen below the value of the stopping acceleration. In this case, unsteady control unit 19 transmits a release command to drive shaft control unit 15 and drive shaft braking unit 16, as in the first embodiment.

The mobile body cooperation device 13 includes an acceleration information creation unit 23 .

The acceleration information generating unit 23 acquires information on unsteady stops corresponding to the car 5 , information on devices of the elevator system 1 , etc. from the control device 7 of the elevator system 1 . The acceleration information creation unit 23 creates unsteady acceleration information corresponding to the type of unsteady stop of the car 5 of the elevator system 1 based on the information acquired from the control device 7 . Specifically, the acceleration information creation unit 23 creates unsteady acceleration information of unsteady acceleration corresponding to relatively gradual deceleration in rope braking performed during controlled operation. The acceleration information creation unit 23 creates unsteady acceleration information of unsteady acceleration corresponding to large deceleration during emergency braking performed by the emergency stop device. The acceleration information creation unit 23 creates unsteady acceleration information of unsteady acceleration corresponding to large deceleration in hoist braking performed by the hoist during a power failure.

The transmission unit 21 transmits the unsteady acceleration information created by the acceleration information creation unit 23 to the mobile body control device 12 . For example, the acceleration information creation unit 23 transmits unsteady acceleration information to the mobile body control device 12 when the mobile body 9 uses the elevator system 1 for the first time.

Next, the operation of the mobile cooperation system 14 will be described with reference to FIGS. 9 and 10. FIG.
FIG. 9 is a flow chart for explaining the outline of the operation of the mobile cooperation system according to the second embodiment. FIG. 10 is a flow chart for explaining the outline of the operation of the mobile cooperation system according to the second embodiment.

FIGS. 9 and 10 show the operation when the moving body 9 rides on the human and the car 5 together. When the control device 7 performs steady operation in the elevator system 1 (S201), the car 5 is operated in steady operation (S202). In this case, the mobile cooperation apparatus 13 is operated in a steady state (S203). Specifically, based on the information on the position of the car 5 , the mobile body linkage device 13 transmits to the mobile body control device 12 a command to get the mobile body 9 into the car 5 .

In the moving body control device 12, the movement control commanding unit 17 performs control to wait while riding with a human inside the car 5 based on the command from the moving body linking device 13 (S204). The drive shaft control unit 15 and the drive shaft braking unit 16 perform steady control when boarding the car 5 based on commands from the movement control command unit 17 (S205, S206).

In the elevator system 1, when the car 5 descends at an abnormal speed, the emergency stop device 6 operates (S207). In this case, the car 5 greatly decelerates for an emergency stop (S208). The control device 7 detects that the emergency stop device 6 has been activated (S209). When the control device 7 detects the operation of the emergency stop device 6, the mobile body linkage device 13 shifts to operation in an unsteady state (S210).

When the car 5 decelerates significantly in step S208, the acceleration detector 18 in the mobile body control device 12 detects vertical acceleration occurring in the mobile body 9 (S211). The acceleration storage unit 22 refers to the unsteady acceleration information from the unsteady control unit 19 (S212). When the unsteady control unit 19 determines that the vertical acceleration value generated in the moving body 9 exceeds the unsteady acceleration value stored in the acceleration storage unit 22, the unsteady control unit 19 indicates that the car 5 has started unsteady stop. Detect (S213). When the unsteady control unit 19 detects that the car 5 has started to unsteady stop, the movement control command unit 17 shifts from the steady operation mode to the unsteady operation mode (S214). The non-stationary control unit 19 shifts to the non-stationary operation mode, and transmits a stationary hold command to the drive shaft control unit 15 and the drive shaft braking unit 16 (S215).

The drive shaft control unit 15 generates control information for holding the drive wheels 10 of the moving body 9 stationary (S216). The drive wheels 10 are brought to a stationary state (S217). The drive shaft braking unit 16 generates control information for causing the drive shaft brake 11 of the moving body 9 to stop the drive shaft of the drive wheel 10 (S218). The drive shaft brake 11 stops the drive shaft of the drive wheel 10 (S219).

After that, the car 5 stops (S220). In the moving body control device 12, when the unsteady control unit 19 determines through the acceleration detecting unit 18 that the value of the acceleration generated in the moving body 9 is less than the stopping acceleration value, the car 5 completes the unsteady stop. It detects that it did (S221). In this case, as shown in FIG. 10, the unsteady control unit 19 transmits a release command to the drive shaft control unit 15 and the drive shaft braking unit 16 (S222).

The drive shaft control unit 15 generates control information for keeping the drive wheels 10 of the moving body 9 not stationary (S223). The driving wheels 10 are kept in a non-still state (S224). The drive shaft braking unit 16 generates control information for maintaining a state in which the drive shaft brake 11 of the moving body 9 does not stop the drive shaft of the drive wheel 10 (S225). The drive shaft brake 11 keeps the drive shaft in a non-stop state (S226).

After that, in the elevator system 1, when the control device 7 automatically recovers from the unsteady operating state to the steady operating state (S227), the control device 7 notifies that the steady operating state has been restored. (S228).

The mobile unit linkage device 13 detects that the car 5 has been restored to the normal operating state (S229). The mobile unit linkage device 13 shifts from operation in the non-stationary state to operation in the steady state (S230). At this time, the mobile unit linkage device 13 transmits information to the movement control command unit 17 of the mobile unit control device 12 to the effect that the car 5 has been restored to the normal operating state.

The movement control command unit 17 shifts from the unsteady operation mode to the steady operation mode (S231). The drive shaft control section 15 and the drive shaft braking section 16 perform steady control (S232, S233).

According to the second embodiment described above, the moving body control device 12 causes the car 5 to Detects the start of an unsteady stop. Therefore, even if the communication between the mobile body control device 12 and the mobile body link device 13 becomes unstable, the mobile body control device 12 can detect that the car 5 has started to stop unsteady.

Further, the mobile body control device 12 detects that the car 5 has completed an unsteady stop based on the value of the acceleration in the vertical direction. Therefore, even if the communication between the mobile body control device 12 and the mobile body link device 13 becomes unstable, the mobile body control device 12 can detect that the car 5 has stopped unsteady.

Further, the moving body control device 12 starts monitoring acceleration in the vertical direction when the moving body 9 gets on the car 5 . The moving body control device 12 finishes monitoring the acceleration in the vertical direction when the moving body 9 gets off the car 5 . Therefore, when the mobile body 9 is not in the car 5, the mobile body control device 12 does not monitor the vertical acceleration. As a result, the mobile body control device 12 can prevent the mobile body 9 from standing still due to a normal movement operation such as when the mobile body 9 descends a step.

In addition, the mobile body linkage device 13 transmits unsteady acceleration information to the mobile body control device 12 . The mobile body control device 12 makes the mobile body 9 stationary based on the unsteady acceleration information. Therefore, it is possible to suppress the movement of the moving body 9 inside the car 5 due to the shaking of the car 5 when the car 5 is stopped in an emergency. As a result, the safety inside the car 5 can be ensured when the car 5 carrying the moving body 9 is brought to an emergency stop.

In addition, the mobile body linkage device 13 transmits to the mobile body control device 12 information indicating that the car 5 has recovered from the unsteady operating state to the steady operating state. Therefore, the mobile body control device 12 can return to normal control. As a result, the moving body 9 can be put to practical use after an unsteady stop occurs.

Note that the mobile body control device 12 may transmit information indicating that the mobile body 9 has been stopped to the mobile body linkage device 13 based on the information on the acceleration in the vertical direction. When the mobile body control device 12 receives information indicating that the mobile body 9 has stopped, the mobile body linkage device 13 unsteadily stops the car 5 based on the control information of the elevator system 1 acquired from the control device 7. It may be determined whether When determining that the car 5 will not make an unsteady stop, the mobile body linkage device 13 may transmit a command to shift to the normal operation mode to the mobile body control device 12 . The moving body control device 12 may cancel the state in which the moving body 9 is stationary when receiving the command. Therefore, when the mobile body control device 12 erroneously detects vertical acceleration, the stationary state of the mobile body 9 can be released.

In addition, the mobile cooperation system 14 includes a mobile control device 12 and a mobile cooperation device 13 . In the mobile body linkage system 14 , the mobile body linkage device 13 transmits unsteady acceleration information to the mobile body control device 12 . The mobile body control device 12 makes the mobile body 9 stationary based on the unsteady acceleration information. As a result, the safety inside the car 5 can be ensured when the car 5 carrying the moving body 9 is brought to an emergency stop.

Note that the mobile body control device 12 may detect that the car 5 has started an unsteady stop by receiving information from the mobile body link device 13, as in the first embodiment.

Note that the acceleration information creation unit 23 may create unsteady acceleration information based on the information of the elevator system 1 input by the operator.

1 Elevator System 2 Hoistway 3 Machine Room 4 Hall 5 Car 6 Emergency Stop Device 7 Control Device 8 Shaking Detector 9 Mobile Body 10 Drive Wheel 11 Drive Axis Brake 12 Mobile Body Control Device 13 mobile unit linkage device 14 mobile unit linkage system 15 drive axis control unit 16 drive axis braking unit 17 movement control command unit 18 acceleration detection unit 19 unsteady control unit 20 information acquisition unit 21 transmission unit , 22 acceleration storage unit, 23 acceleration information creation unit, 100a processor, 100b memory, 200 hardware

A moving body control device according to the present disclosure includes a drive control unit that is provided in a moving body and controls driving of a device that performs an operation in which the moving body moves; An unsteady control unit that transmits a command to stop the moving body to the drive control unit when it is detected that the car has started to stop unsteady while riding in the car , The drive control unit includes a drive shaft control unit that controls rotation of a drive shaft of a drive wheel that moves the moving body, and a drive shaft braking unit that controls an operation of a drive shaft brake braking the drive shaft. , the unsteady control unit transmits to the drive shaft control unit a command to keep the drive wheels stationary as a command to stop the moving body, and to the drive shaft braking unit A command is sent to cause the drive shaft brake to hold the drive shaft stationary .
A moving body control device according to the present disclosure includes a drive control unit that is provided in a moving body and controls driving of a device that performs an operation in which the moving body moves; an unsteady control unit that transmits a command to stop the moving body to the drive control unit when it is detected that the car has started to stop unsteadyly while getting on the car; and an acceleration detection unit that detects lateral acceleration, wherein the unsteady control unit detects lateral acceleration after the unsteady control unit transmits a command to stop the moving body , a command is sent to the drive control unit to bring the moving body into a non-stationary state.
Further, a mobile body control device according to the present disclosure includes a drive control unit that is provided in a mobile body and that controls driving of a device that performs an operation in which the mobile body moves; an unsteady control unit that transmits a command to stop the moving body to the drive control unit when it is detected that the car has started an unsteady stop while riding in the car; An acceleration detection unit provided in a moving body for detecting acceleration in a vertical direction, and an acceleration storage unit provided in the moving body for storing information indicating a value of unsteady acceleration in the vertical direction, wherein the acceleration storage The unit is information created based on information corresponding to the car obtained from a control device that controls the car as information indicating the value of the unsteady acceleration, and Information on the value of the unsteady acceleration in the longitudinal direction corresponding to the type is stored, and the unsteady control unit detects the longitudinal acceleration detected by the acceleration detection unit when the moving object is in the car. exceeds the unsteady acceleration value stored in the acceleration storage unit, it is detected that the car has started to unsteady stop.

The mobile body linkage device according to the present disclosure , based on the information corresponding to the car acquired from the control device that controls the car of the elevator, the unsteady vertical acceleration corresponding to the type of unsteady stop of the car. an acceleration information creation unit that creates value information; a transmission unit for transmitting the information of the unsteady acceleration created by the acceleration information creation unit to a moving body control device for the moving body that detects that the has started an unsteady stop and stops the moving body; , with

A mobile body linkage system according to the present disclosure is provided in a mobile body, controls driving of a device that causes the mobile body to move, detects vertical acceleration and horizontal acceleration , and detects vertical acceleration and horizontal acceleration. When it is detected that the value of acceleration in the longitudinal direction exceeds the value of unsteady acceleration while riding in the car, it is detected that the car has started to stop unsteady and the moving body stops. and information on the value of the unsteady acceleration corresponding to the car, and a moving body control device that puts the moving body into a non-stationary state when lateral acceleration is detected after the moving body is made stationary; and transmitting the information of the unsteady acceleration to the mobile body control device.
Further, the mobile cooperation system according to the present disclosure is provided in a mobile body, controls the driving of a device that performs an operation in which the mobile body moves, detects vertical acceleration, A moving body that stops the moving body by detecting that the car has started to stop unsteady when it is detected that the value of acceleration in the vertical direction exceeds the value of unsteady acceleration while riding. Based on information corresponding to the car acquired from a control device and a control device that controls the car, information on the value of the unsteady acceleration corresponding to the type of unsteady stop of the car is created, and the movement of the car is performed. and a mobile body cooperation device that transmits information on the unsteady acceleration to a body control device.

Claims (11)

a drive control unit that is provided in a moving body and controls driving of a device that moves the moving body;
provided in the moving body to cause the moving body to stop with respect to the drive control unit when detecting that the car has started to stop unsteadily while the moving body is riding in the car an unsteady control unit that transmits a command to cause
A mobile body control device with When the unsteady control unit detects that the car has completed the unsteady stop after detecting that the car has started the unsteady stop, the unsteady control unit instructs the drive control unit to 2. The mobile body control device according to claim 1, which transmits a command to bring the mobile body to a non-stationary state. 2. The unsteady control unit, when receiving information indicating that the car is about to make an unsteady stop, transmits a command to the drive control unit to stop the moving body. 3. The moving body control device according to 2. 3. The unsteady control unit switches from the unsteady operation mode to the steady operation mode when detecting that the elevator has recovered from the unsteady operation state to the normal operation state. The moving body control device according to any one of 1. an acceleration detection unit provided in the moving body for detecting acceleration in a vertical direction;
an acceleration storage unit provided in the moving object and storing information indicating a value of unsteady vertical acceleration;
with
The unsteady control unit detects that the vertical acceleration value detected by the acceleration detection unit exceeds the unsteady acceleration value stored in the acceleration storage unit when the mobile body is in the car. 5. The moving body control device according to claim 1, wherein when it detects that the car has started to stop unsteadily. The unsteady control unit determines that the car has completed the unsteady stop based on the vertical acceleration value detected by the acceleration detection unit after detecting that the car has started the unsteady stop. 6. The moving body control device according to claim 5, which detects. The unsteady control unit monitors whether the vertical acceleration value detected by the acceleration detection unit exceeds the unsteady acceleration value stored in the acceleration storage unit. 7. The moving body control device according to claim 5, wherein said monitoring is started when said moving body gets out of said car. an acceleration information creation unit that creates information on the value of the unsteady longitudinal acceleration corresponding to the car of the elevator;
When an acceleration value exceeding the unsteady acceleration value created by the acceleration information creation unit is detected while the moving object is riding in the car, it is detected that the car has started to stop unsteady. a transmission unit configured to transmit the information of the unsteady acceleration created by the acceleration information creation unit to a mobile body control device of the mobile body that causes the mobile body to stand still;
A mobile cooperation device. 9. The mobile unit linkage according to claim 8, wherein the transmission unit transmits information indicating that the car has recovered from an unsteady operating state to a normal operating state based on the elevator control information to the mobile unit control device. Device. The transmitting unit determines whether or not the car performs an unsteady stop based on the control information of the elevator when information indicating that the unsteady stop has been detected is received from the moving body control device. and transmitting a command to cancel the stationary state of the moving body to the moving body control device when it is determined that the car does not make an unsteady stop. mobile communication device. Controlling the driving of a device provided in a moving body for moving the moving body, detecting vertical acceleration, and detecting the value of the vertical acceleration when the moving body is in the car of an elevator. a moving body control device for stopping the moving body by detecting that the car has started to stop unsteady when detecting that the has exceeded a value of unsteady acceleration;
a mobile linkage device that creates information on the value of the unsteady acceleration corresponding to the car and transmits the information on the unsteady acceleration to the mobile body control device;
mobile cooperation system.

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