WO2019193718A1 - Coordinated operation system for elevator and autonomous travel vehicle - Google Patents

Coordinated operation system for elevator and autonomous travel vehicle Download PDF

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Publication number
WO2019193718A1
WO2019193718A1 PCT/JP2018/014615 JP2018014615W WO2019193718A1 WO 2019193718 A1 WO2019193718 A1 WO 2019193718A1 JP 2018014615 W JP2018014615 W JP 2018014615W WO 2019193718 A1 WO2019193718 A1 WO 2019193718A1
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WO
WIPO (PCT)
Prior art keywords
elevator
car
interface device
door
information
Prior art date
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PCT/JP2018/014615
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French (fr)
Japanese (ja)
Inventor
彰吾 田口
田村　秀行
Original Assignee
三菱電機ビルテクノサービス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機ビルテクノサービス株式会社 filed Critical 三菱電機ビルテクノサービス株式会社
Priority to CN201880091675.8A priority Critical patent/CN111902357B/en
Priority to KR1020207025291A priority patent/KR102363428B1/en
Priority to JP2018538244A priority patent/JP6567195B1/en
Priority to PCT/JP2018/014615 priority patent/WO2019193718A1/en
Priority to TW108101501A priority patent/TWI785186B/en
Publication of WO2019193718A1 publication Critical patent/WO2019193718A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3415—Control system configuration and the data transmission or communication within the control system
    • B66B1/3423—Control system configuration, i.e. lay-out
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/14—Applications of loading and unloading equipment
    • B66B17/16—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
    • B66B17/20—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages

Definitions

  • the present invention relates to a cooperative operation system between an elevator capable of moving between independent floor vehicles by an elevator and an independent vehicle.
  • Patent Document 1 an elevator boarding / exiting system for connecting a PLC to an elevator control device to acquire elevator operation information, transmitting the acquired elevator operation information to an automatic guided vehicle, and getting on and off the automated guided vehicle. has been proposed.
  • Patent Document 2 a relay device is connected to an elevator control device, and a self-supporting vehicle transmits a landing call signal or a destination floor designation signal to the control device via the relay device.
  • a moving system for a self-supporting vehicle that is moved to the floor has been proposed.
  • a PLC or a relay device is connected to an elevator control device to acquire elevator operation information and cause the elevator to perform a desired operation. It is necessary to provide a terminal for inputting / outputting a predetermined signal between them and to change an operation program of the control device in order to execute a desired operation.
  • an object of the present invention is to enable a self-supporting vehicle to move between floors by an elevator in a simple manner without changing the elevator control device.
  • the cooperative operation system of the present invention is a cooperative operation system between an elevator and a self-supporting vehicle, and is connected to a plurality of devices provided in the elevator car, and is connected via the one device provided in the car.
  • An interface device that extracts the operation information of the elevator and operates the elevator via another device provided in the car is provided, and the interface device transmits the operation information of the elevator to the autonomous vehicle.
  • the autonomous vehicle transmits an operation request to the interface device based on the operation information received from the interface device, and the interface device operates the elevator according to the received operation request. It is characterized by.
  • the operation information transmitted by the interface device is service status information of the elevator, car position information, and door full open information
  • the operation request transmitted by the autonomous vehicle is a car call.
  • the interface device may perform a raising / lowering operation of the car and an opening operation of the door in response to the operation request.
  • the system can be simplified by limiting the items transmitted and received between the interface device and the autonomous vehicle.
  • the one device includes a display device provided in the car of the elevator to indicate the operation state of the elevator, and a fully open detection that is provided in the car and detects the fully open state of the door.
  • the other device is an input device that is provided in the car and inputs an operation command to the elevator control device, and the interface device receives the service status information from the display device, and The car position information is extracted, the door full open information is extracted from the full open detection device, the elevator operation command is input to the elevator control device via the input device, and the elevator lifting operation and the It is good also as performing door opening operation
  • the interface device extracts the operation information of the elevator based on opening and closing of a signal acquisition relay connected to the display device, and opens and closes a command input relay connected to the input device, thereby It is good also as inputting the said operation command into the said control apparatus of an elevator.
  • the cooperative operation system 100 includes an elevator 10, a self-supporting traveling vehicle 40, and an interface device 30.
  • the elevator 10 includes a car 12 disposed in the hoistway 11, a drive device 22 that raises and lowers the car 12, a wire 24 that is wound around the drive device 22 and connects the counterweight 23 and the car 12, and a drive
  • car 12 are comprised.
  • the control device 21 may be configured by a computer including a CPU and a memory inside, or may be configured by combining a relay and a switch.
  • the car 12 is provided with a display device 18, an input device 14, and a fully open detection device 20 that are a plurality of devices.
  • the display device 18 is a device that displays the operation state of the elevator 10.
  • the input device 14 is a device that inputs an operation command to the control device 21 of the elevator 10.
  • the full open detection device 20 is an optical sensor, a magnet sensor, a switch, or the like that outputs a full open signal of the door 13.
  • the display device 18 is provided with a service status indicator 17 for displaying service status information of the elevator 10 and a plurality of indicators 19 for displaying the floor on which the car 12 is located.
  • the service status indicator 17 is lit when, for example, in the event of an earthquake, a fire, etc., when a control operation that restricts a part of the elevator 10 operation is performed, the elevator 10 is operating normally, When the cooperative operation with the self-supporting vehicle 40 is possible, the lighting device is turned off.
  • the indicator 19 is turned on when the car 12 is located on the floor, and is turned off when the car 12 is not on the floor.
  • the service status indicator 17 and the indicator 19 of the display device 18 are connected to the control device 21.
  • a signal acquisition relay 31 is connected in parallel to the service status indicator 17 and the indicator 19.
  • the signal acquisition relay 31 is connected to the interface device 30 and outputs an on signal when turned on, and does not output a signal when turned off.
  • FIG. 2A when the service status indicator 17 and the indicator 19 are turned off, there is no energization from the control device 21 to the service status indicator 17 and the indicator 19, and the signal acquisition relay 31 is turned off. Thus, no signal is output from the signal acquisition relay 31 to the interface device 30.
  • FIG. 2B when the service status indicator 17 and the indicator 19 are lit, current flows from the control device 21 to the service status indicator 17 and the indicator 19. The signal acquisition relay 31 is turned on by this current, and an ON signal is output from the signal acquisition relay 31 to the interface device 30.
  • the interface device 30 is in the normal operation state if the ON signal is not input from the signal acquisition relay 31 connected to the service status indicator 17, and is in the control operation state if the ON signal is input. I can judge.
  • the interface device 30 since the indicator 19 of the floor where the car 12 is located is lit and the indicators 19 of other floors are turned off, the interface device 30 receives the ON signal from the signal acquisition relay 31 connected to the indicator 19, The position of the car 12 can be detected.
  • the interface device 30 can extract the service status information of the elevator 10 and the car position information by opening and closing the signal acquisition relay 31 connected to the service status indicator 17 and the indicator 19.
  • the input device 14 is provided with a plurality of floor buttons 16 that are push buttons containing stop floor numbers and a door open button 15 that is a push button containing an open mark.
  • the floor button 16 is connected to the control device 21. When the floor button 16 is pressed, the floor is registered in the control device 21 as the target floor.
  • the door opening button 15 is also connected to the control device 21. When the door opening button 15 is pressed, the control device 21 operates the opening / closing device of the door 13 to open the door 13.
  • a command input relay 32 is connected in parallel to the floor button 16 and the door opening button 15 of the input device 14.
  • the command input relay 32 is connected to the interface device 30 and is turned on / off in response to a command from the interface device 30.
  • the command input relay 32 when the ON signal is not input from the interface device 30, the command input relay 32 remains in the OFF state.
  • FIG. 3B when the ON signal from the interface device 30 is input, the command input relay 32 is turned ON. Then, similarly to the case where the floor button 16 or the door opening button 15 is pressed, a current flows between the control device 21 and an operation command is input to the control device 21.
  • the interface device 30 can cause the control device 21 to input an operation command for opening the door 13 by turning on the command input relay 32 connected to the door opening button 15. Further, the interface device 30 can register the floor as the target floor in the control device 21 by turning on the command input relay 32 connected to the floor button 16. Thus, the interface device 30 can input an operation command to the control device 21 by opening and closing the command input relay 32 connected to the door opening button 15 and the floor button 16.
  • the full open detection device 20 is connected to the control device 21 and the interface device 30 and outputs a door full open signal when the door 13 is fully open.
  • the autonomous vehicle 40 is a robot that autonomously travels to a destination by recognizing a travel route based on images and position information obtained by a camera, a sensor, a GPS, and the like.
  • a transport robot that transports a baggage to a predetermined place
  • a boarding movement support robot that transports a disabled person or a sick person to a predetermined place
  • a cleaning robot that cleans a predetermined space
  • a security robot that patrols a predetermined route
  • An inspection and diagnosis robot that inspects and diagnoses building facilities such as escalators, lighting equipment, and air conditioning equipment.
  • the autonomous vehicle 40 is equipped with a communication device that communicates with the interface device 30 to transmit and receive data.
  • the interface device 30 includes a communication unit that communicates between a computer including a CPU and a memory inside and a communication device mounted on the self-supporting vehicle 40 to transmit and receive data.
  • the interface device 30 uses the signal acquisition relay 31 to turn on / off the service status indicator 17 and the indicator 19 of the display device 18. By detecting, the service status information and the car position information of the elevator 10 are extracted. In addition, the interface device 30 extracts door full open information from the full open detection device 20. In this way, the interface device 30 extracts the operation information of the elevator 10 through the display device 18 and the fully open detection device 20 which are one device.
  • the interface device 30 turns on the command input relay 32 connected to the floor button 16, so that the elevator 10 The destination floor of the elevator 10 is registered in the control device 21 and the elevator 12 is moved up and down. Further, the command input relay 32 connected to the door opening button 15 is turned on to input an opening operation command for the door 13 to the control device 21 of the elevator 10, and the door 13 is opened. In this way, the interface device 30 operates the elevator 10 via the input device 14 which is another device.
  • the interface device 30 extracts the service status information of the elevator 10 and the car position information from the display device 18 and transmits them to the autonomous vehicle 40.
  • the autonomous vehicle 40 arrives at the landing floor 26, it transmits a car call request for the landing floor 26, which is an operation request, to the interface device 30.
  • the interface device 30 receives a car call request from the autonomous vehicle 40, the interface device 30 sends a signal to the input device 14 to turn on the command input relay 32 connected to the floor button 16 corresponding to the landing floor 26 of the input device 14. Output.
  • the floor button 16 corresponding to the landing floor 26 is pressed, and the landing floor 26 is registered in the control device 21.
  • the control device 21 moves from the stop floor 25 toward the landing floor 26.
  • the control device 21 turns on the indicator 19 corresponding to the landing floor 26 of the display device 18.
  • the interface device 30 extracts car position information from the indicator 19 of the display device 18 and transmits the car position information to the autonomous vehicle 40.
  • the self-supporting vehicle 40 receives the car position information corresponding to the landing floor 26, it transmits a door opening request as an operation request to the interface device 30.
  • the interface device 30 receives the door opening request, the interface device 30 outputs a signal for turning on the command input relay 32 to the door opening button 15.
  • the door opening button 15 of the input device 14 is pressed, and a door opening command is input to the control device 21. Accordingly, the control device 21 operates the door opening / closing device to open the door 13.
  • the fully open detection device 20 when the door 13 is fully opened, the fully open detection device 20 operates, and a door fully open signal is output to the control device 21 and the interface device 30.
  • the interface device 30 transmits door full open information to the autonomous vehicle 40.
  • the self-supporting traveling vehicle 40 gets into the car 12 when receiving the door fully open information.
  • the autonomous vehicle 40 When the autonomous vehicle 40 gets into the car 12, it transmits a car call request for the destination floor 27, which is an operation request, to the interface device 30.
  • the interface device 30 When receiving the car call request, the interface device 30 outputs a signal for turning on the command input relay 32 connected to the floor button 16 corresponding to the destination floor 27 of the input device 14 to the input device 14.
  • the floor button 16 corresponding to the destination floor 27 is pressed, and the destination floor 27 is registered in the control device 21.
  • the control device 21 After closing the door 13, the control device 21 moves from the landing floor 26 toward the destination floor 27.
  • the control device 21 turns on the indicator 19 corresponding to the destination floor 27 of the display device 18.
  • the interface device 30 extracts car position information from the indicator 19 of the display device 18 and transmits the car position information to the autonomous vehicle 40.
  • the self-supporting vehicle 40 receives the car position information corresponding to the destination floor 27, it transmits a door opening request as an operation request to the interface device 30.
  • the interface device 30 receives the door opening request, the interface device 30 outputs a signal for turning on the command input relay 32 to the door opening button 15.
  • the door opening button 15 of the input device 14 is pressed, and a door opening command is input to the control device 21. Accordingly, the control device 21 operates the door opening / closing device to open the door 13.
  • the fully open detection device 20 operates, and a door fully open signal is output to the control device 21 and the interface device 30.
  • the interface device 30 transmits door full open information to the autonomous vehicle 40.
  • the self-supporting vehicle 40 receives the door fully open information, it will leave the car 12 and proceed to the destination floor 27.
  • the cooperative operation system 100 connects the interface device 30 to the display device 18, the input device 14, and the fully open detection device 20 provided in the car 12, not the control device 21 of the elevator 10. Therefore, the operation information of the elevator 10 can be extracted and the operation of the elevator 10 can be controlled, so that the floor space of the self-supporting vehicle 40 by the elevator 10 can be easily changed without changing the control device 21 of the elevator 10. Can be moved.

Abstract

A coordinated operation system for an elevator (10) and an autonomous travel vehicle (40). The coordinated operation system comprises an interface device (30) that is provided to a car (12), extracts operating information about the elevator (10) via a display device (18) and a fully-open-state detection device (20) that are provided to the car (12), and makes the elevator (10) operate via an input device (14). The interface device (30) transmits operating information about the elevator (10) to the autonomous travel vehicle (40), the autonomous travel vehicle (40) transmits an operation request to the interface device (30) on the basis of the received operating information, and the interface device (30) makes the elevator (10) operate in accordance with the received operation request. Said configuration makes it possible for the autonomous travel vehicle (40) to use the elevator (10) to move between floors in a simple manner.

Description

エレベーターと自立走行車との連携運行システムCoordinated operation system between elevator and independent vehicle
　本発明は、エレベーターによる自立走行車の階間移動が可能なエレベーターと自立走行車との連携運行システムに関する。 The present invention relates to a cooperative operation system between an elevator capable of moving between independent floor vehicles by an elevator and an independent vehicle.
　近年、エレベーターによって無人搬送車や自立走行車を階間移動させるシステムが提案されている。 Recently, a system for moving an automated guided vehicle or a self-supporting vehicle between floors by an elevator has been proposed.
　例えば、特許文献１では、エレベーターの制御装置にＰＬＣを接続してエレベーターの運行情報を取得し、取得したエレベーターの運行情報を無人搬送車に送信して無人搬送車をエレベーターに乗降させるエレベーター乗降システムが提案されている。 For example, in Patent Document 1, an elevator boarding / exiting system for connecting a PLC to an elevator control device to acquire elevator operation information, transmitting the acquired elevator operation information to an automatic guided vehicle, and getting on and off the automated guided vehicle. Has been proposed.
　また、特許文献２では、エレベーターの制御装置に中継装置を接続し、中継装置を介して自立走行車が乗り場呼び信号或いは行き先階指定信号を制御装置に送信することにより、エレベーターのかごを所望の階に移動させる自立走行車の移動システムが提案されている。 Further, in Patent Document 2, a relay device is connected to an elevator control device, and a self-supporting vehicle transmits a landing call signal or a destination floor designation signal to the control device via the relay device. A moving system for a self-supporting vehicle that is moved to the floor has been proposed.
特開２０１５－２１０７６１号公報JP 2015-210761 A 特開２０１０－２３９５９号公報JP 2010-23959 A
　ところで、特許文献１、２に記載された従来技術では、エレベーターの制御装置にＰＬＣ或いは中継装置を接続してエレベーターの運行情報を取得し、エレベーターに所望の動作を実行させるので、エレベーターの制御装置との間で所定の信号の入出力を行う端子を設けたり、所望の動作を実行させるために制御装置の動作プログラムを変更したりすることが必要であった。 By the way, in the prior art described in Patent Documents 1 and 2, a PLC or a relay device is connected to an elevator control device to acquire elevator operation information and cause the elevator to perform a desired operation. It is necessary to provide a terminal for inputting / outputting a predetermined signal between them and to change an operation program of the control device in order to execute a desired operation.
　そこで、本発明は、エレベーターの制御装置を変更することなく、簡便な方法でエレベーターによる自立走行車の階間移動を可能とすることを目的とする。 Therefore, an object of the present invention is to enable a self-supporting vehicle to move between floors by an elevator in a simple manner without changing the elevator control device.
　本発明の連携運行システムは、エレベーターと自立走行車との連携運行システムであって、前記エレベーターのかごに設けられた複数の機器に接続され、前記かごに設けられた一の機器を介して前記エレベーターの運行情報を抽出すると共に、前記かごに設けられた他の機器を介して前記エレベーターを動作させるインターフェース装置を備え、前記インターフェース装置は、前記エレベーターの前記運行情報を前記自立走行車に送信し、前記自立走行車は、前記インターフェース装置から受信した前記運行情報に基づいて前記インターフェース装置に動作要求を送信し、前記インターフェース装置は、受信した前記動作要求に応じて、前記エレベーターを動作させること、を特徴とする。 The cooperative operation system of the present invention is a cooperative operation system between an elevator and a self-supporting vehicle, and is connected to a plurality of devices provided in the elevator car, and is connected via the one device provided in the car. An interface device that extracts the operation information of the elevator and operates the elevator via another device provided in the car is provided, and the interface device transmits the operation information of the elevator to the autonomous vehicle. The autonomous vehicle transmits an operation request to the interface device based on the operation information received from the interface device, and the interface device operates the elevator according to the received operation request. It is characterized by.
　このように、エレベーターの制御装置ではなく、かごに設けられた複数の機器にインターフェース装置を接続することによってエレベーターの運行情報の抽出とエレベーターの動作の制御とを行うことができるので、エレベーターの制御装置を変更することなく、簡便な方法でエレベーターによる自立走行車の階間移動を可能とすることができる。 In this way, it is possible to extract elevator operation information and control the operation of the elevator by connecting the interface device to a plurality of devices provided in the car instead of the elevator control device. Without changing the device, it is possible to move the floor of an autonomous vehicle by an elevator in a simple manner.
　本発明の連携運行システムにおいて、前記インターフェース装置の送信する前記運行情報は、前記エレベーターのサービス状態情報、かご位置情報、ドア全開情報であり、前記自立走行車の送信する前記動作要求は、かご呼び要求、ドア開要求であり、前記インターフェース装置は、前記動作要求に応じて前記かごの昇降動作とドアの開動作とを行うこと、としてもよい。 In the cooperative operation system of the present invention, the operation information transmitted by the interface device is service status information of the elevator, car position information, and door full open information, and the operation request transmitted by the autonomous vehicle is a car call. The interface device may perform a raising / lowering operation of the car and an opening operation of the door in response to the operation request.
　このように、インターフェース装置と自立走行車両との間の送受信項目を限定することにより、システムを簡便化することができる。 Thus, the system can be simplified by limiting the items transmitted and received between the interface device and the autonomous vehicle.
　本発明の連携運行システムにおいて、前記一の機器は、前記エレベーターの前記かごに設けられて前記エレベーターの運行状態を示す表示装置と、前記かごに設けられて前記ドアの全開状態を検出する全開検出装置と、であり、前記他の機器は、前記かごに設けられて前記エレベーターの制御装置に動作指令を入力する入力装置であり、前記インターフェース装置は、前記表示装置から前記サービス状態情報と、前記かご位置情報と、を抽出し、前記全開検出装置から前記ドア全開情報を抽出し、前記入力装置を介して前記エレベーターの制御装置に前記エレベーターの動作指令を入力して前記かごの昇降動作と前記ドアの開動作とを実行させること、としてもよい。ここで、前記インターフェース装置は、前記表示装置に接続された信号取得リレーの開閉に基づいて前記エレベーターの前記運行情報を抽出し、前記入力装置に接続された指令入力リレーを開閉させることによって、前記エレベーターの前記制御装置に前記動作指令を入力すること、としてもよい。 In the cooperative operation system of the present invention, the one device includes a display device provided in the car of the elevator to indicate the operation state of the elevator, and a fully open detection that is provided in the car and detects the fully open state of the door. And the other device is an input device that is provided in the car and inputs an operation command to the elevator control device, and the interface device receives the service status information from the display device, and The car position information is extracted, the door full open information is extracted from the full open detection device, the elevator operation command is input to the elevator control device via the input device, and the elevator lifting operation and the It is good also as performing door opening operation | movement. Here, the interface device extracts the operation information of the elevator based on opening and closing of a signal acquisition relay connected to the display device, and opens and closes a command input relay connected to the input device, thereby It is good also as inputting the said operation command into the said control apparatus of an elevator.
　このように、かごの表示装置や入力装置にリレーを設置することにより、エレベーターの運行情報の抽出とエレベーターの動作の制御とを行うので、エレベーターの動作プログラムを変更する必要がなく、簡便にエレベーターによる自立走行車の階間移動を可能とすることができる。 In this way, by installing relays in the car display device and input device, the elevator operation information is extracted and the elevator operation is controlled, so there is no need to change the elevator operation program, and the elevator can be easily operated. This makes it possible to move the self-supporting vehicle between floors.
　本発明は、簡便な方法でエレベーターによる自立走行車の階間移動が可能となる。 In the present invention, it is possible to move a self-supporting vehicle between floors by an elevator by a simple method.
実施形態の連携運行システムの構成を示す系統図である。It is a systematic diagram which shows the structure of the cooperation operation system of embodiment. 実施形態の連携運行システムを構成するエレベーターのかごに設けられた表示装置の構成と動作を示す系統図である。It is a systematic diagram which shows the structure and operation | movement of a display apparatus provided in the elevator car which comprises the cooperation operation system of embodiment. 実施形態の連携運行システムを構成するエレベーターのかごに設けられた入力装置の構成と動作を示す系統図である。It is a systematic diagram which shows the structure and operation | movement of an input device provided in the elevator car which comprises the cooperation operation system of embodiment. 実施形態の連携運行システムの動作を示す動作シーケンス図である。It is an operation | movement sequence diagram which shows operation | movement of the cooperation operation system of embodiment. 実施形態の連携運行システムの動作を示す動作シーケンス図である。It is an operation | movement sequence diagram which shows operation | movement of the cooperation operation system of embodiment. 実施形態の連携運行システムで自立走行車が乗り場階に到着した状態を示す立面図である。It is an elevational view showing a state in which a self-supporting traveling vehicle has arrived at a landing floor in the cooperative operation system of the embodiment. 実施形態の連携運行システムでかごが乗り場階に到着した状態を示す立面図である。It is an elevational view showing a state where the car has arrived at the landing floor in the cooperative operation system of the embodiment. 実施形態の連携運行システムで自立走行車がかごに乗り込む状態を示す立面図である。It is an elevational view showing a state where a self-supporting traveling vehicle gets into a car in the cooperative operation system of the embodiment. 実施形態の連携運行システムで自立走行車がかごのドアが閉まった状態を示す立面図である。It is an elevation view which shows the state where the door of the cage | basket | car closed in the self-supporting traveling vehicle by the cooperation operation system of embodiment. 実施形態の連携運行システムでかごが目的階に到着した状態を示す立面図である。It is an elevation view which shows the state which the car arrived at the destination floor in the cooperation operation system of embodiment. 実施形態の連携運行システムで自立走行車がかごから退出する状態を示す立面図である。It is an elevational view showing a state in which a self-supporting traveling vehicle leaves the car in the cooperative operation system of the embodiment.
　以下、図面を参照しながら実施形態の連携運行システム１００について説明する。図１に示すように、連携運行システム１００は、エレベーター１０と、自立走行車４０と、インターフェース装置３０とで構成される。 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 includes an elevator 10, a self-supporting traveling vehicle 40, and an interface device 30.
　エレベーター１０は、昇降路１１の中に配置されたかご１２と、かご１２を昇降させる駆動装置２２と、駆動装置２２に巻きかけられて釣り合い錘２３とかご１２とを接続するワイヤ２４と、駆動装置２２とかご１２のドア１３の開閉を制御する制御装置２１とで構成されている。制御装置２１は、内部にＣＰＵとメモリとを含むコンピュータで構成されてもよいし、リレーとスイッチを組み合わせて構成されていてもよい。 The elevator 10 includes a car 12 disposed in the hoistway 11, a drive device 22 that raises and lowers the car 12, a wire 24 that is wound around the drive device 22 and connects the counterweight 23 and the car 12, and a drive The apparatus 22 and the control apparatus 21 which controls opening and closing of the door 13 of the cage | basket | car 12 are comprised. The control device 21 may be configured by a computer including a CPU and a memory inside, or may be configured by combining a relay and a switch.
　かご１２には、複数の機器である表示装置１８と、入力装置１４と、全開検出装置２０が設けられている。表示装置１８はエレベーター１０の運行状態を表示する装置である。入力装置１４は、エレベーター１０の制御装置２１に動作指令を入力する装置である。全開検出装置２０は、ドア１３の全開信号を出力する光センサ、マグネットセンサ、スイッチ等である。 The car 12 is provided with a display device 18, an input device 14, and a fully open detection device 20 that are a plurality of devices. The display device 18 is a device that displays the operation state of the elevator 10. The input device 14 is a device that inputs an operation command to the control device 21 of the elevator 10. The full open detection device 20 is an optical sensor, a magnet sensor, a switch, or the like that outputs a full open signal of the door 13.
　表示装置１８には、エレベーター１０のサービス状態情報を表示するサービス状態表示器１７とかご１２の位置している階を表示する複数のインジケータ１９が取付けられている。サービス状態表示器１７は、例えば、地震発生時、火災発生時等の場合に、エレベーター１０運行の一部制限する管制運行を行っている場合に点灯し、エレベーター１０が通常運行を行っており、自立走行車４０との連携運行が可能な場合には消灯する点灯器である。インジケータ１９は、かご１２がその階に位置している場合に点灯し、かご１２がその階にいない場合には消灯する。 The display device 18 is provided with a service status indicator 17 for displaying service status information of the elevator 10 and a plurality of indicators 19 for displaying the floor on which the car 12 is located. The service status indicator 17 is lit when, for example, in the event of an earthquake, a fire, etc., when a control operation that restricts a part of the elevator 10 operation is performed, the elevator 10 is operating normally, When the cooperative operation with the self-supporting vehicle 40 is possible, the lighting device is turned off. The indicator 19 is turned on when the car 12 is located on the floor, and is turned off when the car 12 is not on the floor.
　図２（ａ）、図２（ｂ）に示すように、表示装置１８のサービス状態表示器１７、インジケータ１９は制御装置２１に接続されている。また、サービス状態表示器１７、インジケータ１９には、信号取得リレー３１が並列に接続されている。信号取得リレー３１は、インターフェース装置３０に接続され、オンになった場合にオン信号を出力し、オフの場合には信号を出力しない。 2A and 2B, the service status indicator 17 and the indicator 19 of the display device 18 are connected to the control device 21. A signal acquisition relay 31 is connected in parallel to the service status indicator 17 and the indicator 19. The signal acquisition relay 31 is connected to the interface device 30 and outputs an on signal when turned on, and does not output a signal when turned off.
　図２（ａ）に示すように、サービス状態表示器１７、インジケータ１９が消灯状態の場合には、制御装置２１からサービス状態表示器１７、インジケータ１９への通電はなく、信号取得リレー３１はオフで、信号取得リレー３１からインターフェース装置３０には信号は出力されていない。図２（ｂ）に示すように、サービス状態表示器１７、インジケータ１９が点灯した場合には、制御装置２１からサービス状態表示器１７、インジケータ１９に電流が流れる。この電流により信号取得リレー３１がオンとなり、信号取得リレー３１からインターフェース装置３０にオン信号が出力される。 As shown in FIG. 2A, when the service status indicator 17 and the indicator 19 are turned off, there is no energization from the control device 21 to the service status indicator 17 and the indicator 19, and the signal acquisition relay 31 is turned off. Thus, no signal is output from the signal acquisition relay 31 to the interface device 30. As shown in FIG. 2B, when the service status indicator 17 and the indicator 19 are lit, current flows from the control device 21 to the service status indicator 17 and the indicator 19. The signal acquisition relay 31 is turned on by this current, and an ON signal is output from the signal acquisition relay 31 to the interface device 30.
　従って、インターフェース装置３０は、サービス状態表示器１７に接続した信号取得リレー３１からオン信号の入力が無ければ、エレベーター１０は通常運行状態であり、オン信号が入力されれば管制運行状態であると判断できる。また、かご１２の位置している階のインジケータ１９は点灯し、他の階のインジケータ１９は消灯しているので、インターフェース装置３０は、インジケータ１９に接続した信号取得リレー３１からのオン信号により、かご１２の位置を検出することができる。このように、インターフェース装置３０は、サービス状態表示器１７、インジケータ１９に接続された信号取得リレー３１の開閉によりエレベーター１０のサービス状態情報と、かご位置情報とを抽出することができる。 Therefore, the interface device 30 is in the normal operation state if the ON signal is not input from the signal acquisition relay 31 connected to the service status indicator 17, and is in the control operation state if the ON signal is input. I can judge. In addition, since the indicator 19 of the floor where the car 12 is located is lit and the indicators 19 of other floors are turned off, the interface device 30 receives the ON signal from the signal acquisition relay 31 connected to the indicator 19, The position of the car 12 can be detected. Thus, the interface device 30 can extract the service status information of the elevator 10 and the car position information by opening and closing the signal acquisition relay 31 connected to the service status indicator 17 and the indicator 19.
　入力装置１４には、停止階の番号が入った押しボタンである複数の階ボタン１６と、開マークが入った押しボタンである戸開ボタン１５とが設けられている。階ボタン１６は制御装置２１に接続されており、階ボタン１６を押すとその階が目的階として制御装置２１に登録される。また、戸開ボタン１５も制御装置２１に接続されており、戸開ボタン１５を押すと、制御装置２１はドア１３の開閉装置を動作させてドア１３を開とする。 The input device 14 is provided with a plurality of floor buttons 16 that are push buttons containing stop floor numbers and a door open button 15 that is a push button containing an open mark. The floor button 16 is connected to the control device 21. When the floor button 16 is pressed, the floor is registered in the control device 21 as the target floor. The door opening button 15 is also connected to the control device 21. When the door opening button 15 is pressed, the control device 21 operates the opening / closing device of the door 13 to open the door 13.
　図３（ａ）、図３（ｂ）に示すように、入力装置１４の階ボタン１６と戸開ボタン１５には、指令入力リレー３２が並列に接続されている。指令入力リレー３２は、インターフェース装置３０に接続されており、インターフェース装置３０からの指令でオン、オフ動作する。 As shown in FIGS. 3A and 3B, a command input relay 32 is connected in parallel to the floor button 16 and the door opening button 15 of the input device 14. The command input relay 32 is connected to the interface device 30 and is turned on / off in response to a command from the interface device 30.
　図３（ａ）に示すようにインターフェース装置３０からオン信号が入力されていない場合には、指令入力リレー３２はオフ状態のままである。一方、図３（ｂ）に示すように、インターフェース装置３０からのオン信号が入力されると指令入力リレー３２がオンになる。すると、階ボタン１６或いは戸開ボタン１５が押された場合と同様、制御装置２１との間に電流が流れ、制御装置２１に動作指令が入力される。 As shown in FIG. 3A, when the ON signal is not input from the interface device 30, the command input relay 32 remains in the OFF state. On the other hand, as shown in FIG. 3B, when the ON signal from the interface device 30 is input, the command input relay 32 is turned ON. Then, similarly to the case where the floor button 16 or the door opening button 15 is pressed, a current flows between the control device 21 and an operation command is input to the control device 21.
　従って、インターフェース装置３０は、戸開ボタン１５に接続された指令入力リレー３２をオンにすることによって制御装置２１にドア１３を開とする動作指令を入力させることができる。また、インターフェース装置３０は、階ボタン１６に接続された指令入力リレー３２をオンとすることによって、その階を目的階として制御装置２１に登録することができる。このように、インターフェース装置３０は、戸開ボタン１５、階ボタン１６に接続された指令入力リレー３２を開閉させることによって制御装置２１に動作指令を入力することができる。 Therefore, the interface device 30 can cause the control device 21 to input an operation command for opening the door 13 by turning on the command input relay 32 connected to the door opening button 15. Further, the interface device 30 can register the floor as the target floor in the control device 21 by turning on the command input relay 32 connected to the floor button 16. Thus, the interface device 30 can input an operation command to the control device 21 by opening and closing the command input relay 32 connected to the door opening button 15 and the floor button 16.
　全開検出装置２０は、制御装置２１とインターフェース装置３０とに接続されており、ドア１３が全開になったらドア全開信号を出力する。 The full open detection device 20 is connected to the control device 21 and the interface device 30 and outputs a door full open signal when the door 13 is fully open.
　自立走行車４０は、カメラやセンサ、ＧＰＳ等で得られる画像や位置情報を基に走行経路を認識して目的地まで自立的に走行するロボットである。例えば、荷物を所定の場所まで搬送する搬送ロボット、障害者や病人を所定の場所まで移送する搭乗型移動支援ロボット、所定の空間を清掃する清掃ロボット、所定の経路を巡回する警備ロボット、エレベーターやエスカレーターや照明機器、空調機器といったビル設備を点検診断する点検診断ロボット等である。自立走行車４０は、インターフェース装置３０との間で通信してデータの送受信を行う通信装置が搭載されている。 The autonomous vehicle 40 is a robot that autonomously travels to a destination by recognizing a travel route based on images and position information obtained by a camera, a sensor, a GPS, and the like. For example, a transport robot that transports a baggage to a predetermined place, a boarding movement support robot that transports a disabled person or a sick person to a predetermined place, a cleaning robot that cleans a predetermined space, a security robot that patrols a predetermined route, an elevator, An inspection and diagnosis robot that inspects and diagnoses building facilities such as escalators, lighting equipment, and air conditioning equipment. The autonomous vehicle 40 is equipped with a communication device that communicates with the interface device 30 to transmit and receive data.
　インターフェース装置３０は、内部にＣＰＵとメモリとを含むコンピュータと、自立走行車４０に搭載された通信装置との間で通信してデータの送受信を行う通信ユニットを含んでいる。 The interface device 30 includes a communication unit that communicates between a computer including a CPU and a memory inside and a communication device mounted on the self-supporting vehicle 40 to transmit and receive data.
　先に図２（ａ）、図２（ｂ）を参照して説明したように、インターフェース装置３０は、信号取得リレー３１によって表示装置１８のサービス状態表示器１７とインジケータ１９の点灯、消灯状態を検出することによりエレベーター１０のサービス状態情報とかご位置情報とを抽出する。また、インターフェース装置３０は、全開検出装置２０からドア全開情報を抽出する。このようにインターフェース装置３０は、一の機器である表示装置１８と全開検出装置２０とを介してエレベーター１０の運行情報を抽出する。 As described above with reference to FIGS. 2A and 2B, the interface device 30 uses the signal acquisition relay 31 to turn on / off the service status indicator 17 and the indicator 19 of the display device 18. By detecting, the service status information and the car position information of the elevator 10 are extracted. In addition, the interface device 30 extracts door full open information from the full open detection device 20. In this way, the interface device 30 extracts the operation information of the elevator 10 through the display device 18 and the fully open detection device 20 which are one device.
　また、先に図３（ａ）、図３（ｂ）を参照して説明したように、インターフェース装置３０は、階ボタン１６に接続された指令入力リレー３２をオン動作させることにより、エレベーター１０の制御装置２１にエレベーター１０の行き先階を登録してかご１２の昇降動作を実行させる。また、戸開ボタン１５に接続された指令入力リレー３２をオン動作させてエレベーター１０の制御装置２１にドア１３の開動作指令を入力し、ドア１３の開動作を実行させる。このように、インターフェース装置３０は他の機器である入力装置１４を介してエレベーター１０を動作させる。 Further, as described above with reference to FIGS. 3A and 3B, the interface device 30 turns on the command input relay 32 connected to the floor button 16, so that the elevator 10 The destination floor of the elevator 10 is registered in the control device 21 and the elevator 12 is moved up and down. Further, the command input relay 32 connected to the door opening button 15 is turned on to input an opening operation command for the door 13 to the control device 21 of the elevator 10, and the door 13 is opened. In this way, the interface device 30 operates the elevator 10 via the input device 14 which is another device.
　以上のように構成された連携運行システム１００の動作について図４から図１１を参照しながら説明する。 The operation of the cooperative operation system 100 configured as described above will be described with reference to FIGS.
　図４に示すように、インターフェース装置３０は、表示装置１８からエレベーター１０のサービス状態情報と、かご位置情報とを抽出して自立走行車４０に送信する。図６に示すように、自立走行車４０は、乗り場階２６に到着したら、インターフェース装置３０に動作要求である乗り場階２６のかご呼び要求を送信する。インターフェース装置３０は、自立走行車４０からのかご呼び要求を受信したら、入力装置１４の乗り場階２６に対応する階ボタン１６に接続されている指令入力リレー３２をオン動作させる信号を入力装置１４に出力する。これにより、乗り場階２６に対応する階ボタン１６が押された状態となり、乗り場階２６が制御装置２１に登録される。制御装置２１は、停止階２５から乗り場階２６に向かって移動する。 As shown in FIG. 4, the interface device 30 extracts the service status information of the elevator 10 and the car position information from the display device 18 and transmits them to the autonomous vehicle 40. As shown in FIG. 6, when the autonomous vehicle 40 arrives at the landing floor 26, it transmits a car call request for the landing floor 26, which is an operation request, to the interface device 30. When the interface device 30 receives a car call request from the autonomous vehicle 40, the interface device 30 sends a signal to the input device 14 to turn on the command input relay 32 connected to the floor button 16 corresponding to the landing floor 26 of the input device 14. Output. As a result, the floor button 16 corresponding to the landing floor 26 is pressed, and the landing floor 26 is registered in the control device 21. The control device 21 moves from the stop floor 25 toward the landing floor 26.
　図７に示すように、かご１２が乗り場階２６に到着すると、制御装置２１は、表示装置１８の乗り場階２６に対応するインジケータ１９を点灯させる。インターフェース装置３０は、表示装置１８のインジケータ１９からかご位置情報を抽出し、自立走行車４０に送信する。自立走行車４０は、乗り場階２６に対応するかご位置情報を受信したら、インターフェース装置３０に動作要求であるドア開要求を送信する。インターフェース装置３０は、ドア開要求を受信したら、戸開ボタン１５に指令入力リレー３２をオン動作させる信号を出力する。これにより、入力装置１４の戸開ボタン１５が押された状態となり、制御装置２１にドア開指令が入力される。これにより、制御装置２１は、ドア開閉装置を動作させてドア１３を開動作させる。 As shown in FIG. 7, when the car 12 arrives at the landing floor 26, the control device 21 turns on the indicator 19 corresponding to the landing floor 26 of the display device 18. The interface device 30 extracts car position information from the indicator 19 of the display device 18 and transmits the car position information to the autonomous vehicle 40. When the self-supporting vehicle 40 receives the car position information corresponding to the landing floor 26, it transmits a door opening request as an operation request to the interface device 30. When the interface device 30 receives the door opening request, the interface device 30 outputs a signal for turning on the command input relay 32 to the door opening button 15. As a result, the door opening button 15 of the input device 14 is pressed, and a door opening command is input to the control device 21. Accordingly, the control device 21 operates the door opening / closing device to open the door 13.
　図８に示すように、ドア１３が全開すると、全開検出装置２０が動作し、制御装置２１とインターフェース装置３０にドア全開信号が出力される。インターフェース装置３０は、ドア全開信号が入力されたらドア全開情報を自立走行車４０に送信する。自立走行車４０は、ドア全開情報を受信したらかご１２の中に乗り込む。 As shown in FIG. 8, when the door 13 is fully opened, the fully open detection device 20 operates, and a door fully open signal is output to the control device 21 and the interface device 30. When the door full open signal is input, the interface device 30 transmits door full open information to the autonomous vehicle 40. The self-supporting traveling vehicle 40 gets into the car 12 when receiving the door fully open information.
　自立走行車４０は、かご１２に乗り込んだら、インターフェース装置３０に動作要求である目的階２７のかご呼び要求を送信する。インターフェース装置３０は、かご呼び要求を受信したら、入力装置１４の目的階２７に対応する階ボタン１６に接続されている指令入力リレー３２をオン動作させる信号を入力装置１４に出力する。これにより、目的階２７に対応する階ボタン１６が押された状態となり、目的階２７が制御装置２１に登録される。制御装置２１は、ドア１３を閉とした後、乗り場階２６から目的階２７に向かって移動する。 When the autonomous vehicle 40 gets into the car 12, it transmits a car call request for the destination floor 27, which is an operation request, to the interface device 30. When receiving the car call request, the interface device 30 outputs a signal for turning on the command input relay 32 connected to the floor button 16 corresponding to the destination floor 27 of the input device 14 to the input device 14. As a result, the floor button 16 corresponding to the destination floor 27 is pressed, and the destination floor 27 is registered in the control device 21. After closing the door 13, the control device 21 moves from the landing floor 26 toward the destination floor 27.
　図１０に示すように、かご１２が目的階２７に到着すると、制御装置２１は、表示装置１８の目的階２７に対応するインジケータ１９を点灯させる。インターフェース装置３０は、表示装置１８のインジケータ１９からかご位置情報を抽出し、自立走行車４０に送信する。自立走行車４０は、目的階２７に対応するかご位置情報を受信したら、インターフェース装置３０に動作要求であるドア開要求を送信する。インターフェース装置３０は、ドア開要求を受信したら、戸開ボタン１５に指令入力リレー３２をオン動作させる信号を出力する。これにより、入力装置１４の戸開ボタン１５が押された状態となり、制御装置２１にドア開指令が入力される。これにより、制御装置２１は、ドア開閉装置を動作させてドア１３を開動作させる。 As shown in FIG. 10, when the car 12 arrives at the destination floor 27, the control device 21 turns on the indicator 19 corresponding to the destination floor 27 of the display device 18. The interface device 30 extracts car position information from the indicator 19 of the display device 18 and transmits the car position information to the autonomous vehicle 40. When the self-supporting vehicle 40 receives the car position information corresponding to the destination floor 27, it transmits a door opening request as an operation request to the interface device 30. When the interface device 30 receives the door opening request, the interface device 30 outputs a signal for turning on the command input relay 32 to the door opening button 15. As a result, the door opening button 15 of the input device 14 is pressed, and a door opening command is input to the control device 21. Accordingly, the control device 21 operates the door opening / closing device to open the door 13.
　図１１に示すように、ドア１３が全開すると、全開検出装置２０が動作し、制御装置２１とインターフェース装置３０にドア全開信号が出力される。インターフェース装置３０は、ドア全開信号が入力されたらドア全開情報を自立走行車４０に送信する。自立走行車４０は、ドア全開情報を受信したらかご１２から退出して目的階２７に進む。 As shown in FIG. 11, when the door 13 is fully opened, the fully open detection device 20 operates, and a door fully open signal is output to the control device 21 and the interface device 30. When the door full open signal is input, the interface device 30 transmits door full open information to the autonomous vehicle 40. When the self-supporting vehicle 40 receives the door fully open information, it will leave the car 12 and proceed to the destination floor 27.
　以上説明したように、本実施形態の連携運行システム１００は、エレベーター１０の制御装置２１ではなく、かご１２に設けられた表示装置１８、入力装置１４、全開検出装置２０にインターフェース装置３０を接続することによってエレベーター１０の運行情報の抽出とエレベーター１０の動作の制御とを行うことができるので、エレベーター１０の制御装置２１を変更することなく、簡便な方法でエレベーター１０による自立走行車４０の階間移動を可能とすることができる。 As described above, the cooperative operation system 100 according to the present embodiment connects the interface device 30 to the display device 18, the input device 14, and the fully open detection device 20 provided in the car 12, not the control device 21 of the elevator 10. Therefore, the operation information of the elevator 10 can be extracted and the operation of the elevator 10 can be controlled, so that the floor space of the self-supporting vehicle 40 by the elevator 10 can be easily changed without changing the control device 21 of the elevator 10. Can be moved.
　１０　エレベーター、１１　昇降路、１２　かご、１３　ドア、１４　入力装置、１５　戸開ボタン、１６　階ボタン、１７　サービス状態表示器、１８　表示装置、１９　インジケータ、２０　全開検出装置、２１　制御装置、２２　駆動装置、２３　釣り合い錘、２４　ワイヤ、２５　停止階、２６　乗り場階、２７　目的階、３０　インターフェース装置、３１　信号取得リレー、３２　指令入力リレー、４０　自立走行車、１００　連携運行システム。 10 elevator, 11 hoistway, 12 car, 13 door, 14 input device, 15 door open button, 16 floor button, 17 service status indicator, 18 display device, 19 indicator, 20 fully open detection device, 21 control device, 22 drive Equipment, 23 counterweights, 24 wires, 25 stop floors, 26 landing floors, 27 destination floors, 30 interface devices, 31 signal acquisition relays, 32 command input relays, 40 independent vehicles, 100 linked operation systems.

Claims (4)

  1. 　エレベーターと自立走行車との連携運行システムであって、
    　前記エレベーターのかごに設けられた複数の機器に接続され、前記かごに設けられた一の機器を介して前記エレベーターの運行情報を抽出すると共に、前記かごに設けられた他の機器を介して前記エレベーターを動作させるインターフェース装置を備え、
    　前記インターフェース装置は、前記エレベーターの前記運行情報を前記自立走行車に送信し、
    　前記自立走行車は、前記インターフェース装置から受信した前記運行情報に基づいて前記インターフェース装置に動作要求を送信し、
    　前記インターフェース装置は、受信した前記動作要求に応じて、前記エレベーターを動作させること、
    　を特徴とする連携運行システム。     A cooperative operation system between an elevator and a self-supporting vehicle,
    It is connected to a plurality of devices provided in the elevator car, extracts the operation information of the elevator through one device provided in the car, and through the other devices provided in the car Equipped with an interface device to operate the elevator,
    The interface device transmits the operation information of the elevator to the autonomous vehicle,
    The autonomous vehicle transmits an operation request to the interface device based on the operation information received from the interface device,
    The interface device operates the elevator in response to the received operation request;
    A cooperative operation system characterized by
  2. 　請求項１に記載の連携運行システムであって、
    　前記インターフェース装置の送信する前記運行情報は、前記エレベーターのサービス状態情報、かご位置情報、ドア全開情報であり、
    　前記自立走行車の送信する前記動作要求は、かご呼び要求、ドア開要求であり、
    　前記インターフェース装置は、前記動作要求に応じて前記かごの昇降動作とドアの開動作とを行うこと、
    　を特徴とする連携運行システム。     The cooperative operation system according to claim 1,
    The operation information transmitted by the interface device is service status information of the elevator, car position information, door full open information,
    The operation request transmitted by the self-supporting vehicle is a car call request, a door opening request,
    The interface device performs the raising / lowering operation of the car and the opening operation of the door in response to the operation request;
    A cooperative operation system characterized by
  3. 　請求項２に記載の連携運行システムであって、
    　前記一の機器は、前記エレベーターの前記かごに設けられて前記エレベーターの運行状態を示す表示装置と、前記かごに設けられて前記ドアの全開状態を検出する全開検出装置と、であり、
    　前記他の機器は、前記かごに設けられて前記エレベーターの制御装置に動作指令を入力する入力装置であり、
    　前記インターフェース装置は、
    　前記表示装置から前記サービス状態情報と、前記かご位置情報と、を抽出し、前記全開検出装置から前記ドア全開情報を抽出し、
    　前記入力装置を介して前記エレベーターの制御装置に前記エレベーターの動作指令を入力して前記かごの昇降動作と前記ドアの開動作とを実行させること、
    　を特徴とする連携運行システム。     The cooperative operation system according to claim 2,
    The one device is a display device that is provided in the car of the elevator and indicates an operation state of the elevator, and a full-open detection device that is provided in the car and detects the fully-open state of the door,
    The other device is an input device that is provided in the car and inputs an operation command to the elevator control device,
    The interface device
    Extracting the service status information and the car position information from the display device, extracting the door full open information from the full open detection device,
    Inputting an operation command of the elevator to the control device of the elevator via the input device to cause the elevator to move up and down and the door to open;
    A cooperative operation system characterized by
  4. 　請求項３に記載の連携運行システムであって、
    　前記インターフェース装置は、
    　前記表示装置に接続された信号取得リレーの開閉に基づいて前記エレベーターの前記運行情報を抽出し、
    　前記入力装置に接続された指令入力リレーを開閉させることによって、前記エレベーターの前記制御装置に前記動作指令を入力すること、
    　を特徴とする連携運行システム。     The cooperative operation system according to claim 3,
    The interface device
    Extracting the operation information of the elevator based on opening and closing of a signal acquisition relay connected to the display device,
    Inputting the operation command to the control device of the elevator by opening and closing a command input relay connected to the input device;
    A cooperative operation system characterized by
PCT/JP2018/014615 2018-04-05 2018-04-05 Coordinated operation system for elevator and autonomous travel vehicle WO2019193718A1 (en)

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JP2018538244A JP6567195B1 (en) 2018-04-05 2018-04-05 Coordinated operation system between elevator and independent vehicle
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