TWI777022B - Cooperative operation system for elevator and self-supporting vehicle - Google Patents

Abstract

Provided is a cooperative operation system (100) for an elevator (10) and a self-supporting vehicle (40), which has a control panel (21) including a movement relay for controlling movement of the elevator (10) and an information output relay for outputting operation information of the elevator (10), a command input relay connected to the movement relay, an information acquisition relay connected to the information output relay, and an interface device (30) connected to the information acquisition relay and the command input relay to extract the operation information from the control panel (21) and inputting movement commands to the control panel (21) to move the elevator (10), wherein the operation information and the movement requests are transmitted and received between the interface device (30) and the self-supporting vehicle (40), and the interface device (30) moves the elevator (10) according to the movement requests received from the self-supporting vehicle (40).

Description

Coordinated operation system of elevator and self-supporting vehicle

The present disclosure relates to a coordinated operation system of an elevator and a self-supporting car, which can use a relay control method to perform floor-to-floor movement of a self-supporting car.

In recent years, there has been proposed a system in which an unmanned guided vehicle or a self-supporting vehicle is moved between floors by means of an elevator.

[Prior Art Literature] [Patent Literature]

For example, in Japanese Patent Application Laid-Open No. 2015-210761, an elevator riding and landing system has been proposed, which connects a PLC to the control device of the elevator to obtain the operation information of the elevator, and transmits the obtained operation information of the elevator to the unmanned guided vehicle, Take the unmanned truck to and from the elevator.

In addition, in Japanese Patent Laid-Open No. 2019-23959, a moving system for a self-supporting vehicle has been proposed, in which a relay device is connected to a control device of an elevator, and the self-supporting vehicle transmits a boarding place call signal to the control device via the relay device Or go to the destination floor designation signal, thereby moving the elevator car to the desired floor.

However, in the conventional technologies described in Patent Documents 1 and 2, a terminal for connecting the control device of the elevator to a PLC or a relay device is provided, and the operation information of the elevator is output through the terminal, or the input to cause the elevator to execute the operation information is input. The action command of the desired action is used to carry out the coordinated operation of the elevator and the self-supporting vehicle. Therefore, in addition to the normal control program for elevator operation, it is necessary to prepare a control program dedicated to the cooperative operation with the self-supporting vehicle.

On the other hand, in addition to a control device using a computer, a control panel of a relay control method in which a control circuit is constituted by a relay, a switch, or the like is also widely used. In the relay control method, since the operation control of the elevator cannot be changed following the change of the control program, it is difficult to move the self-supporting vehicle between floors in the conventional techniques described in Patent Documents 1 and 2.

Therefore, an object of the present disclosure is to realize the floor-to-floor movement of a self-supporting vehicle by a simple method in an elevator of a relay control system.

The cooperative operation system disclosed in the present disclosure is a cooperative operation system of an elevator and a self-supporting vehicle. It includes a control panel, an action relay and an information output relay, and the action relay controls the movement of the elevator by turning on and off. , the information output relay outputs the operation information of the aforementioned elevator through the on-off action; the command input relay is connected to the aforementioned action relay; the information acquisition relay is connected to the aforementioned information output relay; and the interface device is connected to the aforementioned information output relay. The information acquisition relay and the command input relay, and the operation information of the elevator is extracted from the control panel according to the opening and closing of the information acquisition relay, and the operation of the elevator is input to the control panel by opening and closing the command input relay. command and make the elevator move; the interface device transmits the operation information of the elevator to the self-supporting vehicle, and the self-supporting vehicle transmits an operation request to the interface device according to the operation information received from the interface device, and the The interface device causes the elevator to operate in response to the received operation request.

In this way, the interface device extracts the running information of the elevator by obtaining the opening and closing of the relay from the information connected to the information output relay in the control panel, and inputs the elevator's operation information to the control panel through the opening and closing of the command input relay connected to the action relay. The movement command makes the elevator move, so the floor-to-floor movement of the self-supporting vehicle by the elevator can be easily achieved without changing the control logic of the control panel.

In the cooperative operation system of the present disclosure, the operation information transmitted by the interface device can also be: the service status information of the elevator, the elevator car position information, and the door fully open information, and the action request transmitted by the self-supporting vehicle is: : elevator car call request, door opening request, the above-mentioned interface device is used to carry out the elevator car up-down action and the door open action in response to the above-mentioned action request. In addition, in the cooperative operation system of the present disclosure, the information output relays arranged on the control panel may include a service possible relay, a lift car position relay, and a door fully open relay, and the action relays arranged on the control panel are Including: elevator car call relay and door opening relay, and the interface device obtains the opening and closing of the relay according to the information connected to the service possible relay, the elevator car position relay and the door full open relay, and extracts the service status information of the elevator, The car position information and the door fully open information are used to open and close the command input relays connected to the car call relay and the door opening relay, so that the elevator performs the lift action of the car and the opening action of the door.

In this way, by limiting the transmission and reception items between the interface device and the self-supporting vehicle, the system can be simplified.

In the elevator of the relay control system, the present disclosure enables the floor movement of the self-propelled vehicle by a simple method.

10‧‧‧Elevator

11‧‧‧Elevating path

12‧‧‧Ladder

13‧‧‧door

14‧‧‧Input device

15‧‧‧Open button

16‧‧‧Floor buttons

17‧‧‧Service Status Display

18‧‧‧Display device

19‧‧‧Indicator

20‧‧‧Fully open detection switch

21‧‧‧Control Panel

22‧‧‧Drive

23‧‧‧Counterweight

24‧‧‧Wire rope

25‧‧‧Stop Floor

26‧‧‧Boarding Floor

27‧‧‧Destination Floor

30‧‧‧Interface Device

31‧‧‧Information acquisition relay

32‧‧‧Command input relay

40‧‧‧Self-supporting bicycle

50‧‧‧Information output relay

51‧‧‧Service possible relay

52‧‧‧Car Position Relay

52a, 52b, 61a, 61b‧‧‧Power terminal

52c, 52d, 61c, 61d‧‧‧output terminal

52e, 61e‧‧‧chassis

53‧‧‧Door fully open relay

60‧‧‧Operation relay

61‧‧‧Car Call Relay

62‧‧‧Open Door Relay

70‧‧‧Power

100‧‧‧Cooperative operation system

Fig. 1 is a system diagram showing the configuration of the cooperative operation system according to the embodiment.

FIG. 2 is a system diagram showing the configuration of relays and interface devices arranged in the control panel of the cooperative operation system according to the embodiment.

Fig. 3 is a system diagram showing the structure and operation of the car position relay provided on the control panel, the information acquisition relay, and the display device provided in the car, which constitute the cooperative operation system of the embodiment.

Fig. 4 is a system diagram showing the structure and operation of the car position relay provided in the control panel, the information acquisition relay, and the display device provided in the car, which constitute the cooperative operation system of the embodiment.

Fig. 5 is a system diagram showing the structure and operation of the elevator car call relay provided in the control panel, the command input relay and the input device provided in the elevator car which constitute the cooperative operation system of the embodiment.

Fig. 6 is a system diagram showing the structure and operation of the car call relay provided on the control panel, the command input relay, and the input device provided in the car, which constitute the cooperative operation system of the embodiment.

Fig. 7 is an operation sequence diagram showing the operation of the cooperative operation system according to the embodiment.

Fig. 8 is an operation sequence diagram showing the operation of the cooperative operation system of the embodiment.

Fig. 9 is an elevation view showing a state in which the self-supporting vehicle reaches the floor where the boarding area is reached in the cooperative operation system of the embodiment.

Fig. 10 is an elevation view showing a state in which the elevator car reaches the floor where the boarding area is reached in the cooperative operation system of the embodiment.

Fig. 11 is an elevation view showing a state in which a self-supporting vehicle has entered the elevator car in the cooperative operation system of the embodiment.

Fig. 12 is an elevation view showing a state in which the self-supporting vehicle closes the elevator car door in the cooperative operation system of the embodiment.

Fig. 13 is an elevation view showing a state in which the elevator car reaches the destination floor in the cooperative operation system of the embodiment.

Fig. 14 is an elevation view showing a state in which the self-supporting vehicle is withdrawn from the elevator car in the cooperative operation system of the embodiment.

Hereinafter, the cooperative operation system 100 of the embodiment will be described with reference to the drawings. As shown in FIG. 1 , the cooperative operation system 100 is constituted by the elevator 10 , the self-supporting vehicle 40 , and the interface device 30 .

The elevator 10 is configured to include: a car 12 disposed in the lift path 11; a driving device 22 for raising and lowering the car 12; The control panel 21 controls the opening and closing of the drive device 22 and the door 13 of the car 12 . The control panel 21 is a control device of a relay control system composed of a combination of a relay and a switch.

The elevator car 12 is provided with a display device 18 , an input device 14 and a fully open detection switch 20 . The display device 18 is a device that displays the operating state of the elevator 10 . The input device 14 is a device for inputting an operation command to the control panel 21 of the elevator 10 . The fully open detection switch 20 is a switch that outputs a fully open signal of the door 13 .

The display device 18 is provided with: a service status display 17 for displaying service status information of the elevator 10; and a plurality of indicators 19 for displaying the floor where the elevator car 12 is located. The service status display 17 is a lighter, and the lighter is lit when a controlled operation that restricts the operation of a part of the elevator 10 is performed, and when the elevator 10 is in a normal operation, and can It is turned off during cooperative operation with the self-supporting vehicle 40 . The indicator 19 is lit when the car 12 is on its floor and is off when the car 12 is not on its floor.

The input device 14 is provided with: a plurality of floor buttons 16 belonging to a button having a stop floor number; and a door opening button 15 belonging to a button having an open mark. The floor button 16 is connected to the control panel 21 , and when the floor button 16 is pressed, the floor is registered to the control panel 21 with this floor as the destination floor. Furthermore, the door opening button 15 is also connected to the control panel 21 , and when the door opening button 15 is pressed, the control panel 21 operates the opening and closing device of the door 13 to open the door 13 .

The self-propelled vehicle 40 is a robot that autonomously travels to a destination by recognizing a travel path according to images or position information obtained by a camera, a sensor, a GPS, or the like. Examples include the following: a transfer robot that transports goods to a predetermined place, a ride-on mobile support robot that moves a disabled person or patient to a predetermined place, a cleaning robot that cleans a predetermined space, a guard robot that patrols a predetermined path, an inspection and diagnosis elevator, an electric Inspection and diagnosis robots for building equipment such as escalators, lighting equipment, and air-conditioning equipment. The self-propelled vehicle 40 is mounted with a communication device that communicates with the interface device 30 to transmit and receive data.

The interface device 30 includes: a computer including a CPU and a memory therein; and a communication unit that communicates between the communication devices mounted on the self-supporting vehicle 40 to transmit and receive data. The interface device 30 is connected to the information acquisition relay 31 and the command input relay 32 provided on the control panel 21, which will be described later.

As shown in FIG. 2, the control panel 21 includes: an operation relay 60 for controlling the operation of the elevator 10 by on-off operation; and an information output relay 50 for outputting the operation information of the elevator 10 by the on-off operation. As shown in Fig. 2, the control panel 21 includes, as the operation relays 60, a car call relay 61 and a door opening relay 62. The elevator car call relay 61 corresponds to a plurality of floor buttons 16 and one is set on each floor. When the floor button 16 of a certain floor is pressed, the corresponding elevator car call relay 61 will be turned on, and the floor will be registered for the purpose ground floor. In addition, the door opening relay 62 is turned on when the door opening button 15 is pressed, and the door 13 is opened. In addition, other operation relays 60 not shown, such as door closing relays, are also mounted on the control panel 21 .

In addition, the information output relay 50 in the control panel 21 includes a service possible relay 51 , a car position relay 52 , and a door fully open relay 53 . The service possible relay 51 is a kind of relay, which is turned on when the elevator 10 can operate normally, when the cooperative operation with the self-supporting vehicle 40 can be performed, for example, when an earthquake occurs or a fire occurs, the elevator 10 is limited in the operation. Runtime policing is disconnected. In addition, the car position relay 52 is composed of a plurality of relays, and the indicator 19 of the floor where the car 12 is located is turned on by turning on the relay indicating the floor where the car 12 is located. In addition, the door full-open relay 53 is a relay, and is set to be turned on when the full-open detection switch 20 attached to the elevator car 12 is turned on. In addition, other information output relays 50 not shown, such as door full open relays, are also mounted on the control panel 21 .

As shown in FIG. 2, the command input relay 32 is connected to the car call relay 61 and the door opening relay 62 included in the control panel 21, respectively. In addition, the information acquisition relay 31 is connected to the service possible relay 51 , the elevator car position relay 52 , and the door fully open relay 53 , respectively. Each information acquisition relay 31 and each command input relay 32 are connected to the interface device 30 .

Next, referring to FIGS. 3 and 4 , the control panel 21 is directed to the car position relay 52 , the information acquisition relay 31 connected to the car position relay 52 , and the indicator 19 of the display device 18 installed in the car 12 . The details and operation of the configuration will be explained.

As shown in FIG. 3, the car position relay 52 is accommodated in the casing 52e. The casing 52e is mounted with two power supply terminals 52a and 52b connected to the power supply 70 and output terminals 52c and 52d connected to the indicator 19 . As shown in FIG. 3 , the elevator car position relay 52 , the power supply 70 , and the indicator 19 are connected in series, and the information acquisition relay 31 is connected in parallel with the indicator 19 .

As shown in FIG. 3 , when the elevator car position relay 52 is turned off, the indicator 19 is turned off, and the current does not flow to the information acquisition relay 31 .

When the car 12 ascends and descends and reaches the floor corresponding to the car position relay 52, as shown in FIG. At this time, since current also flows through the information acquisition relay 31, the information acquisition relay 31 is turned on. In addition, the information acquisition relay 31 outputs a conduction signal to the interface device 30 .

The elevator car position relay 52 of the floor where the elevator car 12 is located will be turned on and the indicator 19 of this floor will be turned on, while the elevator car position relay 52 of other floors will be turned off and the indicator 19 will be turned off, so the interface device 30 can The on-signal of the relay 31 is obtained from the information connected to the car position relay 52, and the position information of the car 12 is extracted.

Furthermore, the interface device 30 can obtain the on-off state of the relay 31 from the information connected to the service-possible relay 51 and extract the motor state information whether the elevator 10 is in the normal running state or the controlled running state. Similarly, the door fully open information of whether the door 13 is in the fully open state can be extracted from the ON/OFF state of the door fully open relay 53 . In this way, the interface device 30 can obtain the opening and closing of the relay 31 through the information respectively installed in the service possible relay 51 , the car position relay 52 and the door fully open relay 53 , so as to extract the service status information, the car position information and the fully open door of the elevator 10 . News.

Next, referring to FIGS. 5 and 6 , the control panel 21 corresponds to the car call relay 61 , the command input relay 32 connected to the car call relay 61 , and the floor buttons of the input device 14 installed in the car 12 . The details and operation of the configuration of 16 will be described.

As shown in FIG. 5, the car call relay 61 is accommodated in the casing 61e. The casing 6e is mounted with two power supply terminals 61a and 61b connected to the power supply 70 and output terminals 61c and 61d connected to the floor button 16 . As shown in FIG. 5 , the car call relay 61 , the power supply 70 and the floor button 16 are connected in series, and the command input relay 32 is connected in parallel with the floor button 16 .

As shown in FIG. 5 , when the command input relay 32 is turned off, the car call relay 61 is turned off.

As shown in FIG. 6 , when a conduction signal from the interface device 30 is input, the command input relay 32 is turned on. In this way, the same state as the floor button 16 is pressed, the car call relay 61 is turned on, and the floor corresponding to the car call relay 61 is registered in the control panel 21 . Then, the control panel 21 moves the elevator car 12 up and down toward the registered floor.

Similarly, when a conduction signal from the interface device 30 is input to the command input relay 32 connected to the door opening relay 62, the door opening relay 62 will be turned on, and the control panel 21 will actuate the opening and closing device of the door 13 and execute the opening and closing of the door 13. action.

In this way, the interface device 30 can turn on the command input relay 32 connected to the elevator car call relay 61 , thereby taking the floor as the destination floor and registering the control panel 21 , and inputting the command connected to the door opening relay 62 The relay 32 is turned on, whereby an operation command to open the door 13 is input to the control panel 21 . In this way, the interface device 30 can open and close the command input relay 32 connected to the elevator car call relay 61 and the door opening relay 62 , thereby inputting an operation command to the control panel 21 .

The operation of the cooperative operation system 100 configured as above will be described with reference to FIGS. 7 to 14 .

As shown in FIG. 7 , the interface device 30 obtains the opening and closing of the relay 31 from the information connected to the service possible relay 51 in the control panel 21 and extracts the service status information of the elevator 10, and obtains the service status information of the elevator 10 from the information connected to the plurality of car position relays 52. The open and closed state of the information acquisition relay 31 extracts the car position information and transmits it to the self-supporting vehicle 40 . As shown in FIG. 9 , when the elevator 10 is in a normal operation state, the self-supporting vehicle 40 arrives at the boarding floor 26 and transmits a car call request for the boarding floor 26 belonging to the operation request to the interface device 30 . When the interface device 30 receives the car call request from the self-supporting vehicle 40, it turns on the command input relay 32 of the control panel 21 connected to the car call relay 61 corresponding to the boarding floor 26. As a result, the elevator car call relay 61 corresponding to the boarding floor 26 in the control panel 21 is turned on, and the boarding floor 26 is registered in the control panel 21 . The control panel 21 moves the car 12 from the stop floor 25 to the boarding floor 26 .

As shown in FIG. 10, when the elevator car 12 reaches the boarding floor 26, the elevator car position relay 52 in the control panel 21 corresponding to the boarding floor 26 will be turned on, and the display device 18 in the elevator car 12 will be turned on. The indicator light 19 on the floor 26 of the boarding area will light up. Then, the information acquisition relay 31 connected to the car position relay 52 is turned on. Thereby, the interface device 30 extracts the elevator car position information and transmits it to the self-supporting vehicle 40 . The self-supporting vehicle 40 receives the elevator car position information corresponding to the boarding floor 26 , and transmits the door opening request belonging to the action request to the interface device 30 . When the interface device 30 receives the door opening request, it outputs a signal for turning on the command input relay 32 connected to the door opening relay 62 . Thereby, the door opening relay 62 of the control panel 21 is brought into an ON state, and the control panel 21 operates the door opening and closing device to operate the door 13 to open.

As shown in FIG. 11 , when the door 13 is fully opened, the fully open detection switch 20 mounted on the elevator car 12 operates to turn on the fully open door relay 53 in the control panel 21 . In this way, the information acquisition relay 31 connected to the door fully open relay 53 is turned on, and the door fully open signal is input to the interface device 30 . When the interface device 30 inputs the door full-open signal, it transmits the door full-open information to the self-supporting vehicle 40 . When the self-supporting vehicle 40 receives the door fully open information, it will log into the elevator car 12 .

As shown in FIG. 12 , when the self-supporting vehicle 40 logs into the car 12 , a car call request belonging to the destination floor 27 of the action request is transmitted to the interface device 30 . When the interface device 30 receives the car call request, it turns on the command input relay 32 of the control panel 21 connected to the car call relay 61 corresponding to the destination floor 27 . Thereby, the elevator car call relay 61 corresponding to the destination floor 27 is turned on, and the destination floor 27 is registered in the control panel 21 . The control panel 21 moves the elevator car 12 from the boarding floor 26 to the destination floor 27 after the door 13 is closed.

As shown in FIG. 13, when the elevator car 12 reaches the destination floor 27, the elevator car position relay 52 in the control panel 27 corresponding to the destination floor 27 will be turned on, and the elevator car 12 will be connected to the display device 18. The indicator 19 corresponding to the destination floor 27 lights up. In addition, the information acquisition relay 31 connected to the car position relay 52 is turned on. In this way, the interface device 30 extracts the elevator car position information and transmits it to the self-supporting vehicle 40 . The self-supporting vehicle 40 receives the elevator car position information corresponding to the destination floor 27 , and transmits the door opening request belonging to the action request to the interface device 30 . When the interface device 30 receives the door opening request, it outputs a signal for turning on the command input relay 32 connected to the door opening relay 62 . As a result, the door opening relay 62 in the control panel 21 is brought into an ON state, and the control panel 21 operates the door opening and closing device to operate the door 13 to open.

As shown in FIG. 14, when the door 13 is fully opened, the fully open detection switch 20 installed in the elevator car 12 is activated, so that the fully open door relay 53 in the control panel 21 and the information acquisition relay 31 connected to the fully open door relay 53 are turned on, and the A door full-open signal is input to the interface device 30 . The interface device 30 transmits the door fully open information to the self-supporting vehicle 40 when the door fully open signal is input. When the self-supporting vehicle 40 receives the door fully open information, it exits from the elevator car 12 and proceeds to the destination floor 27 .

As described above, in the cooperative operation system 100 of the present embodiment, the interface device 30 is extracted by opening and closing the information acquisition relay 31 connected to the service possible relay 51 , the elevator car position relay 52 , and the door fully open relay 53 in the control panel 21 . The operation information of the elevator 10, and through the opening and closing of the command input relay 32 connected to the car call relay 61 and the door opening relay 62 in the control panel 21, the operation command of the elevator 10 is input to the control panel 21 and the elevator 10 is moved, Therefore, the floor-to-floor movement of the self-supporting vehicle 40 by the elevator 10 can be easily achieved without changing the control logic of the control panel 21 .

Furthermore, in the cooperative operation system 100, since the items transmitted from the interface device 30 to the self-supporting vehicle 40 are the service status information, car position information, and fully open door information of the elevator 10, the self-supporting vehicle 40 is transmitted to the interface device. The operation request of 30 is limited to the elevator car call request and the door opening request, so the system can be simplified.

In the above description, the operation information of the elevator 10 is extracted by the interface device 30 obtaining the opening and closing of the relay 31 from the information connected to the service possible relay 51 , the elevator car position relay 52 , and the door fully open relay 53 in the control panel 21 . To illustrate, but not limited to this, the operation information of the elevator 10 can also be extracted from the following other relays or signals.

For example, the service possible relay 51 is replaced by a fully automatic relay or a safety switch action relay, and the information acquisition relay 31 is connected to the fully automatic relay to extract the information of whether the elevator 10 is in a normal operation state or not, or the information acquisition relay 31 is connected to a safety The switch action relay is used to extract the information of whether the elevator 10 is in a normal running state or not, wherein the fully automatic relay is turned on when the fully automatic operation is performed, not disconnected during the fully automatic operation.

Furthermore, the elevator car position relay 52 may be replaced by a floor selector, and the information acquisition relay 31 may be connected to a floor selector (selector) disposed inside the control panel 21 to acquire elevator car position information. Moreover, when the control panel 21 is provided with a display that displays the information of the elevator car position by digital or LED instead of the elevator car position relay 52, the display can also be captured by a light sensor or a camera, etc. to obtain the elevator car position information.

In addition, in the previous description, the operation command of the elevator 10 is input to the control panel 21 by opening and closing the command input relay 32 connected to the car call relay 61 and the door opening relay 62 in the control panel 21 to operate the elevator 10 The case is described, but it is not limited to this, and the elevator 10 can also be operated by inputting the operation command signal to the other relays described below.

For example, the door opening relay 62 can also be replaced by a door safety shoe switch, and a relay connected to the door safety shoe switch can be connected to the command input relay 32. The door safety shoe switch is installed on the door 13 of the elevator car 12. When 13 is misfolded, it becomes conductive, and the door 13 is opened by setting it to the same state as the opening and closing of the door safety edge. In addition, a command input device for mechanically opening (ON)/closing (OFF) a door switch disposed inside the control panel 21 may be arranged to open and close the door 13 instead of the door opening relay 62 .

In addition, instead of the elevator car call relay 61, the command input relay 32 may be connected to the elevator car call switch used during maintenance and inspection, or a command input device that performs call registration by mechanically operating the switch may be provided. Thereby, the elevator car 12 is moved up and down.

10‧‧‧Elevator

11‧‧‧Elevating path

12‧‧‧Ladder

13‧‧‧door

14‧‧‧Input device

15‧‧‧Open button

16‧‧‧Floor buttons

17‧‧‧Service Status Display

18‧‧‧Display device

19‧‧‧Indicator

20‧‧‧Fully open detection switch

21‧‧‧Control Panel

22‧‧‧Drive

23‧‧‧Counterweight

24‧‧‧Wire rope

25‧‧‧Stop Floor

30‧‧‧Interface Device

40‧‧‧Self-supporting bicycle

100‧‧‧Cooperative operation system

Claims (3)

A cooperative operation system of an elevator and a self-supporting vehicle is provided with: a control panel, which contains an action relay and an information output relay, the action relay controls the movement of the aforementioned elevator by on-off action, and the information output relay is obtained by The operation information of the elevator is output by the on-off action; the command input relay is connected with the action relay; the information acquisition relay is connected with the information output relay; and the interface device is connected with the information acquisition relay and the command input. The relay is connected, and the operation information of the elevator is extracted from the control panel according to the opening and closing of the relay, and the operation command of the elevator is input to the control panel by opening and closing the command input relay to make the elevator operate; the interface The device transmits the operation information of the elevator to the self-supporting vehicle, the self-supporting vehicle transmits an operation request to the interface device according to the operation information received from the interface device, and the interface device responds to the received operation request. , make the aforementioned elevator move. The cooperative operation system according to claim 1, wherein the operation information transmitted by the interface device is: the service status information of the elevator, the elevator car position information, and the door fully opened information, and the information transmitted by the self-supporting vehicle. The above-mentioned action requests are: a car call request and a door-opening request, and the above-mentioned interface device performs a lift-up action of the car and a door-open action in response to the above-mentioned action requests. The cooperative operation system according to claim 2, wherein the information output relays arranged on the control panel include: a service possible relay, a lift car position relay, and a door full-opening relay; the actions arranged on the control panel The relay system includes: a car call relay and a door opening relay; the above-mentioned interface device is composed of: according to the above-mentioned information connected to the above-mentioned service possible relay, the above-mentioned elevator car position relay, and the above-mentioned door fully open relay. Service status information, car position information and door fully open information; open and close the command input relay connected to the car call relay and the door opening relay, so that the elevator can perform the lift action of the car and the opening action of the door.

Images