WO2019193718A1 - エレベーターと自立走行車との連携運行システム - Google Patents

エレベーターと自立走行車との連携運行システム 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
Application number
PCT/JP2018/014615
Other languages
English (en)
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 PCT/JP2018/014615 priority Critical patent/WO2019193718A1/ja
Priority to CN201880091675.8A priority patent/CN111902357B/zh
Priority to JP2018538244A priority patent/JP6567195B1/ja
Priority to KR1020207025291A priority patent/KR102363428B1/ko
Priority to TW108101501A priority patent/TWI785186B/zh
Publication of WO2019193718A1 publication Critical patent/WO2019193718A1/ja

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Classifications

    • 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.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Elevator Control (AREA)
  • Types And Forms Of Lifts (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
PCT/JP2018/014615 2018-04-05 2018-04-05 エレベーターと自立走行車との連携運行システム WO2019193718A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PCT/JP2018/014615 WO2019193718A1 (ja) 2018-04-05 2018-04-05 エレベーターと自立走行車との連携運行システム
CN201880091675.8A CN111902357B (zh) 2018-04-05 2018-04-05 电梯与自主行驶车的协同运行系统
JP2018538244A JP6567195B1 (ja) 2018-04-05 2018-04-05 エレベーターと自立走行車との連携運行システム
KR1020207025291A KR102363428B1 (ko) 2018-04-05 2018-04-05 엘리베이터와 자립주행차의 연계 운행 시스템
TW108101501A TWI785186B (zh) 2018-04-05 2019-01-15 電梯及自立走行車之協同運行系統

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/014615 WO2019193718A1 (ja) 2018-04-05 2018-04-05 エレベーターと自立走行車との連携運行システム

Publications (1)

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WO2019193718A1 true WO2019193718A1 (ja) 2019-10-10

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PCT/JP2018/014615 WO2019193718A1 (ja) 2018-04-05 2018-04-05 エレベーターと自立走行車との連携運行システム

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JP (1) JP6567195B1 (ko)
KR (1) KR102363428B1 (ko)
CN (1) CN111902357B (ko)
TW (1) TWI785186B (ko)
WO (1) WO2019193718A1 (ko)

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* Cited by examiner, † Cited by third party
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CN112537702A (zh) * 2020-03-31 2021-03-23 深圳优地科技有限公司 机器人乘梯引导方法、装置、终端设备及可读存储介质
JP2021080102A (ja) * 2019-11-13 2021-05-27 新世代機器人▲ぢ▼人工智慧股▲ふん▼有限公司 ロボット装置とエレベータ装置の双方向制御方法
CN113060610A (zh) * 2021-03-26 2021-07-02 京东数科海益信息科技有限公司 电梯中控设备及电梯控制方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021080102A (ja) * 2019-11-13 2021-05-27 新世代機器人▲ぢ▼人工智慧股▲ふん▼有限公司 ロボット装置とエレベータ装置の双方向制御方法
CN112537702A (zh) * 2020-03-31 2021-03-23 深圳优地科技有限公司 机器人乘梯引导方法、装置、终端设备及可读存储介质
CN113060610A (zh) * 2021-03-26 2021-07-02 京东数科海益信息科技有限公司 电梯中控设备及电梯控制方法

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JPWO2019193718A1 (ja) 2020-04-30
CN111902357B (zh) 2022-08-09
KR20200112980A (ko) 2020-10-05
TWI785186B (zh) 2022-12-01
TW201943635A (zh) 2019-11-16
CN111902357A (zh) 2020-11-06
KR102363428B1 (ko) 2022-02-15
JP6567195B1 (ja) 2019-08-28

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