KR102318839B1 - Elevator interlocking agv filling control apparatus - Google Patents

Abstract

The present invention relates to an elevator-linked AGV charging control device, an AGV request receiving unit for receiving a charging request from an AGV (Automated Guided Vehicle), and determining a charging elevator among a plurality of elevators based on charging information of the AGV to determine the charging elevator an elevator determination unit instructing the movement of the AGV to the boarding floor, an AGV tracking unit controlling the car door opening and closing of the charging elevator by tracking the position of the AGV, and charging the regenerative power when boarding of the AGV is performed and a charging control unit that provides AGV charging power to a charging station in the elevator car and instructs the charging elevator to move to a lower level of the AGV based on the charging completion information of the AGV. Therefore, the present invention can improve the AGV operating efficiency and save energy by charging the AGV using the elevator regenerative power in the elevator car.

Description

Elevator interlocking AGV charging control device {ELEVATOR INTERLOCKING AGV FILLING CONTROL APPARATUS}

The present invention relates to an elevator-linked AGV charging control technology, and more particularly, to an elevator-linked AGV charging control device for controlling an AGV (Automatic Guided Vehicle) existing in a building to be charged with the regenerative power of the elevator.

As the accuracy and price competitiveness of various sensors have improved, research on autonomous operation of currently used Automated Guided Vehicles (AGVs) is being actively conducted. AGV is an autonomous vehicle that can move by recognizing the external environment and judging the situation on its own.

In general, an AGV uses a drive system through an electric system, and it is essential to supply electricity using a battery due to the characteristic of an AGV that can move independently. The battery for AGV is used as driving power and must be periodically charged for normal autonomous operation of the AGV. Accordingly, one of the conditions for selecting the AGV standby position is the distance relation with the charging system capable of charging. That is, the AGV normally stands by in the charging system, and the operating efficiency of the AGV is determined by the location of the charging system.

On the other hand, an elevator is installed and operated in the building, and the remaining power used by the elevator itself is regenerated or lost to the building side. There will be.

Korean Patent No. 10-0218745 (June 11, 1999) relates to an automatic charging method of a battery in an unmanned vehicle, in which an unmanned vehicle used as battery power is moved to a charging station and then the battery is charged by an automatic charging system. Before charging the battery of the unmanned vehicle, the state of the battery is checked to determine whether to charge it, and when it is decided to charge, the connection between the power supply and the battery of the unmanned vehicle control device is cut off before charging. The battery of the driverless vehicle and the driverless vehicle control device can be protected during charging by detecting the state of the battery and the charging current during charging, stopping the charging operation when an abnormality occurs or charging is complete, and then returning to the original state.

Korean Patent No. 10-1284896 (2013.07.04) relates to a regenerative energy storage device for an elevator system, a converter for converting commercial AC power into DC, a DC link for smoothing the DC voltage of the converter, and the DC In an elevator system comprising an inverter for converting a DC voltage smoothed through a link into an AC voltage, a hoisting motor driven by the AC voltage of the inverter, and an inverter control unit for controlling the inverter to drive the hoisting motor, and a regenerative unit that receives and stores regenerative power generated by the motor during regenerative operation through an inverter and outputs the stored regenerative power as driving power of the hoisting motor during retrograde operation, wherein the regenerative unit includes the DC link and A charging/discharging unit electrically connected between the inverters, and an energy storage unit electrically connected to the charging/discharging unit, the regenerative energy generated when the elevator car goes up and down can be quickly stored and used as a high-power driving power source.

Korean Patent Registration No. 10-0218745 (June 11, 1999) Korean Patent Registration No. 10-1284896 (2013.07.04)

An embodiment of the present invention is to provide an elevator-linked AGV charging control device for controlling an Automatic Guided Vehicle (AGV) existing in a building to be charged with the regenerative power of the elevator.

An embodiment of the present invention is to provide an elevator-linked AGV charging control device capable of controlling an elevator call based on the location of the AGV and providing a wireless or wired charging function to an AGV riding in an elevator car.

An embodiment of the present invention is to provide an elevator-linked AGV charging control device capable of providing a standby position of an AGV by providing a charging station in an elevator car and enabling efficient floor movement.

In embodiments, the elevator-linked AGV charging control device includes an AGV request receiving unit that receives a charging request from an AGV (Automated Guided Vehicle), and determines a charging elevator from among a plurality of elevators based on charging information of the AGV, An elevator determining unit instructing the movement of the AGV to the boarding floor, an AGV tracking unit controlling opening and closing of a car door of the charging elevator by tracking the position of the AGV, and regenerative power when boarding of the AGV is performed is transferred to the charging elevator and a charging control unit that provides AGV charging power to a charging station in the car and instructs the charging elevator to move to a lower level of the AGV based on the charging completion information of the AGV.

The elevator determining unit may determine the charging elevator based on at least one of information about charging of the AGV and a current location floor.

When the AGV specifies and requests the charging elevator, the elevator determining unit may control movement of the specified charging elevator to a currently located floor of the AGV.

The AGV tracking unit may periodically track the location of the AGV from a point in time when the charging request is received to a point in time when the AGV approaches within a specific distance from the charging elevator.

The charging station may be installed in the elevator car to receive regenerative power generated during operation of the elevator, and be electrically connected to the AGV that moves in the elevator car to charge the AGV by wire or wirelessly.

When the charging of the AGV is completed or terminated, the charging control unit instructs the charging elevator to move to the lower level of the AGV, and when the charging elevator arrives at the lower level of the AGV, the car door is opened to control the opening of the AGV. can be done

The disclosed technology may have the following effects. However, this does not mean that a specific embodiment should include all of the following effects or only the following effects, so the scope of the disclosed technology should not be construed as being limited thereby.

The elevator-linked AGV charging control apparatus according to an embodiment of the present invention can save energy by charging an AGV (Automatic Guided Vehicle) existing in a building with the regenerative power of the elevator.

The elevator-linked AGV charging control apparatus according to an embodiment of the present invention may control an elevator call based on the location of the AGV and may provide a wireless or wired charging function to the AGV riding in the elevator car.

The elevator-linked AGV charging control device according to an embodiment of the present invention can provide a standby position of the AGV by providing a charging station in the elevator car, and can efficiently move floors, thereby improving the operating efficiency of the AGV.

1 is a view for explaining an elevator-linked Automatic Guided Vehicle (AGV) charging control system according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating the elevator-linked charging control device of FIG. 1 .
FIG. 3 is a flowchart illustrating an embodiment of an AGV charging control process performed in the elevator-linked charging control device of FIG. 1 .
FIG. 4 is a flowchart for explaining an embodiment of an elevator getting on and off for charging in an elevator car of an AGV performed by the elevator interlocking charging control device of FIG. 1 .

Since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiment described in the text. That is, since the embodiment may have various changes and may have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, it should not be understood that the scope of the present invention is limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as “first” and “second” are for distinguishing one component from another, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

When a component is referred to as being “connected” to another component, it may be directly connected to the other component, but it should be understood that other components may exist in between. On the other hand, when it is mentioned that a certain element is "directly connected" to another element, it should be understood that the other element does not exist in the middle. Meanwhile, other expressions describing the relationship between elements, that is, “between” and “immediately between” or “neighboring to” and “directly adjacent to”, etc., should be interpreted similarly.

The singular expression is to be understood to include the plural expression unless the context clearly dictates otherwise, and terms such as "comprises" or "have" refer to the embodied feature, number, step, action, component, part or these It is intended to indicate that a combination exists, and it should be understood that it does not preclude the possibility of the existence or addition of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

Identifiers (eg, a, b, c, etc.) in each step are used for convenience of description, and the identification code does not describe the order of each step, and each step clearly indicates a specific order in context. Unless otherwise specified, it may occur in a different order from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

The present invention can be embodied as computer-readable codes on a computer-readable recording medium, and the computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. . Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. In addition, the computer-readable recording medium may be distributed in a network-connected computer system, and the computer-readable code may be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Terms defined in general used in the dictionary should be interpreted as being consistent with the meaning in the context of the related art, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present application.

1 is a view for explaining an elevator-linked AGV charging control system according to an embodiment of the present invention.

Referring to FIG. 1 , the elevator-linked AGV charging control system 100 may include an automatic guide moving body 110 , an elevator-linked charging control device 130 , and a database 150 .

The AGV (Automatic Guided Vehicle) 110 is a mobile device capable of autonomously moving within a building without human manipulation, and may correspond to an autonomous mobile body. The AGV 110 may be configured as a single or a plurality in a building, and may charge the battery and provide necessary services to passengers in the building by communicating with the elevator interlocking charging control device 130 sequentially or simultaneously.

The AGV 110 can recognize the space in a building through a self-localization technique (SLAM, Simultaneous Localization And Mapping) based on information collected using a lidar, a short-distance sensor, an ultrasonic sensor, and a camera. can move autonomously. In addition, the AGV 110 may configure a communication method such as Bluetooth, WiFi, and a mobile communication network in order to communicate with the external environment.

The AGV 110 can store information about the internal and external structures of the building and the location of the elevator in the building through its own database, can calculate the current location in real time, and calculate the optimal distance and movement route from the current location to the elevator with an internal algorithm can be calculated using In addition, the AGV 110 may be implemented by including a display device for providing relevant information to passengers, and the building structure, the elevator location, the current location of the AGV 110 and the optimal distance to each elevator through the display device. It can provide information about the movement route.

In an embodiment, the AGV 110 may request charging from the elevator-linked charging control device 130 when the battery needs charging, and from the elevator-linked charging control device 130 provides information about a charging station in the elevator car can receive The AGV 110 may specify and request a charging station from the elevator-linked charging control device 130 , and may be charged by riding in an elevator car constituting the specific charging station. The AGV 110 may request an alighting floor from the elevator-linked charging control device 130 when charging is completed or it is desired to terminate, and when the elevator arrives at the alighting floor and the elevator door is opened, the AGV 110 may get off and end charging.

The elevator-linked charging control device 130 may correspond to a computing device capable of controlling the elevator operation and charging of the AGV 110 through communication with the AGV 110 existing in a building. The elevator-linked charging control device 130 may configure a communication method such as Bluetooth, WiFi, CAN, WAN, and mobile communication network in order to communicate with the external environment. In addition, the elevator-linked charging control device 130 may be connected to the AGV 110 through Bluetooth, WiFi, or the like, and may exchange data with the AGV 110 through a network.

In one embodiment, the elevator interlocking charging control device 130 allocates an optimal elevator among a plurality of elevators according to a call from passengers for efficient operation of a plurality of elevators existing in a building and a system capable of controlling elevator operation It can be implemented including In addition, the elevator-linked charging control device 130 may communicate with the AGV 110 periodically or irregularly, and may communicate with the AGV 110 using a single or a plurality of communication methods.

The elevator interlocking charging control device 130 may be implemented including the database 150 , and may be implemented independently of the database 150 . When implemented independently of the database 150 , the elevator-linked charging control device 130 may be connected to the database 150 by wire or wirelessly to exchange data.

The database 150 is a storage device capable of storing various information necessary for charging control through interworking between the AGV 110 and the elevator. The database 150 may collect and store information about charging stations in the elevator car and the AGV 110 in the building in real time or periodically, and may be optimally available according to the charging request received from the AGV 110 . Information for determining the charging elevator or information on the movement to the charging elevator may be stored, and the present invention is not limited thereto, and may be collected or collected in various forms in the process of charging the battery of the AGV 110 with regenerative power in the elevator car. Processed information can be stored.

The database 150 may be composed of at least one independent sub-database that stores information belonging to a specific range, and may be composed of an integrated database in which at least one independent sub-database is integrated into one. When configured with at least one independent sub-database, each sub-database may be wirelessly connected through Bluetooth, WiFi, or the like, and may exchange data with each other through a network. When the database 150 is configured as an integrated database, it may include a control unit that integrates each sub-database into one and manages mutual data exchange and control flow.

FIG. 2 is a block diagram illustrating the elevator-linked charging control device of FIG. 1 .

Referring to FIG. 2 , the elevator-linked charging control device 130 includes an AGV request receiving unit 210 , an elevator determining unit 220 , an AGV tracking unit 230 , a charging control unit 240 , a charging station 250 and a control unit ( 260) may be included.

The AGV request receiving unit 210 may receive a charging request from the AGV (Automatic Guided Vehicle) 110 . Here, the charging request may include 'elevator call' and 'elevator boarding' in which the AGV 110 calls the elevator to the current floor of the AGV 110 to charge at the charging station 250 in the elevator car. The AGV request receiving unit 210 may receive a charging request by specifying a charging elevator from a plurality of AGVs 110 existing in a building.

In an embodiment, the AGV request receiving unit 210 may receive charging information from the charging request AGV 110 among the plurality of AGVs 110 . The AGV 110 may provide charging information including at least one of a charging voltage, a wired or wireless charging method, and a charging amount together with a charging request. The AGV 110 may provide information about a current location and a boarding floor in charging information.

When the charging request is received by the AGV request receiving unit 210 , the elevator determining unit 220 may determine a charging elevator among a plurality of elevators based on charging information of the AGV 110 , and the AGV 110 in the charging elevator may instruct movement to the boarding floor of

In an embodiment, the elevator determiner 220 may determine the charging elevator based on at least one of the current position of the AGV 110 received from the AGV 110 , the current position of the elevator, and the boarding situation. More specifically, the elevator determining unit 220 may sort the elevators in the nearest order based on the current position of the AGV 110 , and within the moving time to each elevator, the AGV 110 is located on the floor where the elevator is located. An elevator capable of moving to a floor may be determined as a charging elevator.

The elevator determiner 220 may calculate the time required for the elevator to move from the floor currently located on to the floor where the AGV 110 is located in consideration of the congestion situation of the elevator. The congestion situation of the elevator may be calculated based on the number of passengers currently in the elevator and information on the floor to which each passenger intends to move. The congestion situation of the elevator may increase as the number of passengers currently in the elevator increases, and may increase as the number of floors each passenger intends to move and the moving distance between floors according to the movement sequence is long.

In addition, the elevator determining unit 220 may determine the charging elevator in consideration of whether or not the charging station 250 in the elevator car is used, the charging speed, and the charging method. For example, when the charging station 250 in the elevator car is in use, the elevator in the next order may be determined as the charging elevator. .

In an embodiment, when a situation change of the charging elevator occurs, the elevator determining unit 220 may re-determine the charging elevator based on the time point of the situation change. Here, the situation change of the charging elevator may correspond to a situation in which it is difficult for the charging elevator to arrive at the floor where the AGV 110 is located within a timely manner. For example, the situation change in the charging elevator may occur when another passenger boards the charging elevator first and enters a specific floor through a call button, so that the AGV 110 cannot move to the corresponding floor within the time it arrives, or a sudden breakdown of the charging elevator It may correspond to a case where movement is impossible due to this.

The elevator determining unit 220 may determine a new charging elevator from among the remaining elevators except for the elevator in which the situation change occurs, based on the time when the situation change occurs. When a new charging elevator is recrystallized by the elevator determining unit 220 , elevator recrystallization information may be provided to the AGV 110 .

In one embodiment, when the elevator is specified from the AGV 110 and charging is requested, the elevator determining unit 220 determines the elevator as a charging elevator in consideration of at least one of availability, use or absence of the specified elevator, charging speed, and charging method. can When the specified elevator cannot be used as the charging elevator, the elevator determining unit 220 may determine an available charging elevator and recommend the charging elevator to the AGV 110 .

When the optimal available charging elevator is determined, the elevator determining unit 220 may call the charging elevator based on the location of the AGV 110 and instruct the AGV 110 to move to the boarding floor. The elevator determination unit 220 may call a charging elevator or instruct a movement to a specific floor through a separate control panel that controls the operation of the elevator, and the elevator determination unit 220 itself may control the elevator operation.

The AGV tracking unit 230 may control the opening and closing of the car door of the charging elevator by tracking the position of the AGV 110 . The AGV tracking unit 230 may collect corresponding location information from the AGV 110 in real time or periodically. The AGV tracking unit 230 may track the location of the AGV 110 to generate information about the current movement situation.

In one embodiment, the AGV tracking unit 230 periodically tracks the location of the AGV 110 from the time it receives a charging request from the AGV 110 to the time when the AGV 110 approaches within a specific distance from the charging elevator. can The AGV tracking unit 230 may periodically collect location information through communication with the AGV 110 , and may determine whether the AGV 110 approaches within a specific distance from a specific elevator based on the location information. A specific distance for determining whether to approach the elevator may be preset or automatically set through the elevator-linked charging control device 130 .

In an embodiment, when the AGV 110 approaches within a specific distance from the charging elevator, the AGV tracking unit 230 may control the opening of the car door of the charging elevator to guide the boarding of the AGV 110 . The AGV 110 may enter the car when the car door of the charging elevator is opened.

When the boarding of the AGV 110 is performed, the charging control unit 240 provides regenerative power to the charging station 250 in the charging elevator car as charging power of the AGV 110, and based on the charging completion information of the AGV 110, the charging elevator AGV 110 may instruct movement to the lower floor. In an embodiment, the charging control unit 240 may provide regenerative power or building power to the charging station 250 installed in the car of the charging elevator when charging start is notified from the AGV 110 boarded in the charging elevator car. In the elevator car, a charging station 250 that can be electrically connected to the AGV 110 and can receive regenerative power generated from the elevator or power within a building in which the elevator is installed as charging power may be installed. The charging station 250 in the elevator car may charge the battery of the AGV 110 by electrically connecting to the AGV 110 riding in the elevator in a wired or wireless manner.

In one embodiment, when charging of the AGV 110 is completed or is to be terminated, the charging control unit 240 may move the elevator to a floor so that the AGV 110 can get off the floor to get off. The charging control unit 240 controls the opening of the car door when the elevator arrives at the alighting floor so that the AGV 110 can get off. The charging control unit 240 may check the final disembarkation state of the AGV 110 and terminate the charging function of the AGV 110 .

The charging station 250 is installed in an elevator car in a building, and is configured to use regenerative power or building power of the elevator as charging power. In one embodiment, the charging station 250 may include a configuration for wired or wireless charging of the AGV 110 in response to a charging request of the AGV 110 that moves in the elevator car. Here, the charging station 250 may provide a standby position of the AGV 110 .

The control unit 260 controls the overall operation of the elevator-linked charging control device 130, and the AGV request receiving unit 210, the elevator determining unit 220, the AGV tracking unit 230, the charging control unit 240 and the charging station ( 250) can manage the control flow or data flow between them.

FIG. 3 is a flowchart for explaining an embodiment of an elevator interlocking charging control process performed in the elevator interlocking charging control apparatus shown in FIG. 1 .

Referring to FIG. 3 , the elevator-linked charging control device 130 may receive a charging request from an Automatic Guided Vehicle (AGV) 110 through the AGV request receiving unit 210 (step S310).

The elevator-linked charging control device 130 determines a charging elevator among a plurality of elevators based on the charging information of the AGV 110 through the elevator determining unit 220 and moves the AGV 110 to the boarding floor in the charging elevator. may be indicated (step S330).

The elevator-linked charging control device 130 may control the opening and closing of the car door of the charging elevator by tracking the position of the AGV 110 through the AGV tracking unit 230 (step S350).

The elevator-linked charging control device 130 provides regenerative power as charging power of the AGV 110 to the charging station 250 in the charging elevator car when the boarding of the AGV 110 is performed through the charging control unit 240 and provides the AGV ( 110), it is possible to instruct the charging elevator to move to the lower level of the AGV 110 based on the charging completion information (step S370).

FIG. 4 is a flowchart illustrating an embodiment of an elevator getting on and off for charging in an elevator of an Automatic Guided Vehicle (AGV) performed by the elevator interlocking charging control device of FIG. 1 .

Referring to FIG. 4 , the elevator system 420 may be implemented by being included in the elevator interlocking charging control device 130 , and the AGV 410 may correspond to an embodiment of the automatic guide moving body 110 .

The AGV 410 may request charging of the AGV from the elevator system 420 when the battery needs to be charged. The elevator system 420 may request charging information from the AGV 410 when the AGV 410 requests charging.

The AGV 410 may collect charging information according to a request for charging information from the elevator system 420 and transmit the collected charging information to the elevator system 420 . Here, the charging information may include a voltage, a wired/wireless charging method, a charging amount, and the like, and in addition to this, may include information about a current location, a boarding floor, and the like. The elevator system 420 may determine an optimal charging elevator based on the charging information received from the AGV 410 , and may provide the AGV 410 with information on the charging elevator. The elevator system 420 may control the operation of the charging elevator to move it to the boarding floor of the AGV 410 .

The AGV 410 may move to the boarding floor, and may periodically report the movement status to the elevator system 420 during the movement. The elevator system 420 may detect the AGV 410 approaching within a specific distance from the corresponding elevator. When the approach of the AGV 410 is detected, the elevator system 420 controls opening and closing of the corresponding elevator car door so that the AGV 410 can board the elevator car.

When it is possible to board the AGV 410 in the elevator car, the elevator system 420 may guide the boarding of the AGV 410 , and the AGV 410 may board the elevator car. The AGV 410 may check information on the elevator to be boarded before boarding the elevator, and report the start of charging to the elevator system 420 after entering the elevator car. After confirming the start of charging of the AGV 410 , the elevator system 420 may perform charging of the AGV 410 by providing regenerative power or building power to a charging station in the corresponding boarding elevator car. The charging station configured in the elevator car may charge the battery of the AGV 410 wired or wirelessly according to the wired/wireless charging method of the AGV 410 .

The AGV 410 can check the charging function and can be charged through a charging station in the elevator car, and when charging is complete or if it is to be terminated in the middle, charging completion information can be transmitted to the elevator system 420 . Here, the charging completion information may include lower layer information. The elevator system 420 may terminate the 'AGV charging' function when the charging of the AGV 410 is completed or terminated, and moves the elevator to the lower level of the AGV 410 and the car door when the elevator arrives at the lower level. to open control and notify the AGV 410 of the arrival of the lower floor. The AGV 410 may get off the elevator according to the arrival notification of the lowering floor.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that it can be done.

100: elevator interlocking charging control system
110: automatic guide moving body (AGV) 130: elevator interlocking charging control device
150: database
210: AGV request receiving unit 220: elevator determining unit
230: AGV tracking unit 240: charging control unit
250: charging station 260: control unit
410: AGV 420: elevator system

Claims (6)

AGV request receiving unit for receiving a charging request from an AGV (Automated Guided Vehicle);
an elevator determining unit determining a charging elevator among a plurality of elevators based on the charging information of the AGV and instructing the charging elevator to move to the boarding floor of the AGV;
an AGV tracking unit for controlling opening and closing of a car door of the charging elevator by tracking the position of the AGV; and
When boarding of the AGV is performed, regenerative power is provided as AGV charging power to a charging station in the charging elevator car, and a charging control unit instructs the charging elevator to move to a lower level of the AGV based on the charging completion information of the AGV. including,
The elevator determining unit
determining the charging elevator based on at least one of the charging information of the AGV and the current location layer, taking into account whether the charging station is being used, a charging speed, and a charging method;
the charging station
Elevator-linked AGV charging control device, characterized in that it is installed in the elevator car, receives regenerative power generated during operation of the elevator, is electrically connected to the AGV that moves in the elevator car, and charges the AGV by wire or wirelessly.
delete According to claim 1, wherein the elevator determining unit
When the AGV specifies and requests the charging elevator, the elevator-linked AGV charging control apparatus according to claim 1, wherein the specified charging elevator is moved to the currently located floor of the AGV.
According to claim 1, wherein the AGV tracking unit
The elevator-linked AGV charging control apparatus according to claim 1, wherein the position of the AGV is periodically tracked from the time the charging request is received until the AGV approaches within a specific distance from the charging elevator.
delete According to claim 1, wherein the charging control unit
When the charging of the AGV is completed or terminated, instructing the charging elevator to move to the lower level of the AGV, and controlling the opening of the car door when the charging elevator arrives at the lower level of the AGV so that the AGV is unloaded. Elevator-linked AGV control device characterized by.

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