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TW201943635A - Cooperative operation system for elevator and self-supporting vehicle - Google Patents

Cooperative operation system for elevator and self-supporting vehicle Download PDF

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Publication number
TW201943635A
TW201943635A TW108101501A TW108101501A TW201943635A TW 201943635 A TW201943635 A TW 201943635A TW 108101501 A TW108101501 A TW 108101501A TW 108101501 A TW108101501 A TW 108101501A TW 201943635 A TW201943635 A TW 201943635A
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TW
Taiwan
Prior art keywords
elevator
interface device
input
information
car
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TW108101501A
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Chinese (zh)
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TWI785186B (en
Inventor
田口彰吾
田村秀行
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日商三菱電機大樓技術服務股份有限公司
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Publication of TW201943635A publication Critical patent/TW201943635A/en
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Publication of TWI785186B publication Critical patent/TWI785186B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00Control systems of elevators in general
    • B66B1/02Control systems without regulation, i.e. without retroactive action
    • B66B1/06Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00Control systems of elevators in general
    • B66B1/34Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3415Control system configuration and the data transmission or communication within the control system
    • B66B1/3423Control system configuration, i.e. lay-out
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00Hoistway equipment
    • B66B17/14Applications of loading and unloading equipment
    • B66B17/16Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
    • B66B17/20Applications 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Elevator Control (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
  • Types And Forms Of Lifts (AREA)

Abstract

Provided is a cooperative operation system for an elevator (10) and a self-supporting vehicle (40), which has an interface device (30) for extracting operation information of the elevator (10) via a display device (18) and a full-open detection device (20) provided in a car (12), and moving the elevator (10) via an input device (14) provided in the car (12), the interface device (30) transmitting operation information of the elevator (10) to the self-supporting vehicle (40), the self-supporting vehicle (40) transmitting a movement request to the interface device (30) based on the received operation information, and the interface device (30) moving the elevator (10) according to the received movement request. Thereby, movement of the self-supporting vehicle (40) caused by the elevator (10) is enabled with a simple method.

Description

電梯及自立走行車之協同運行系統    Coordinated operation system of elevator and independent traveling vehicle   

本揭示係關於一種能夠由電梯進行之自立走行車之樓層間移動的電梯及自立走行車之協同運行系統。 The present disclosure relates to a coordinated operation system of an elevator and a self-propelled moving vehicle capable of moving between floors of a self-propelled moving vehicle which is performed by an elevator.

近年來,已提出一種藉由電梯來使無人搬運車或自立走行車進行樓層間移動的系統。 In recent years, a system has been proposed in which an unmanned vehicle or a self-propelled vehicle is moved between floors by an elevator.

例如,在日本特開2015-210761號公報中,已提出一種電梯乘降系統,其係對電梯的控制裝置連接PLC以取得電梯的運行資訊,將取得的電梯的運行資訊傳送至無人搬運車,使無人搬運車乘降電梯。 For example, in Japanese Patent Application Laid-Open No. 2015-210761, an elevator landing system has been proposed, which is connected to a control device of a PLC to obtain an elevator operation information, and transmits the obtained elevator operation information to an unmanned vehicle. Take the unmanned vehicle onto the elevator.

此外,在日本特開2010-23959號公報中,已提出一種自立走行車的移動系統,其係對電梯的控制裝置連接中繼裝置,自立走行車經由中繼裝置對控制裝置傳送搭乘處呼叫信號或前往目的地樓層指定信號,藉此使電梯的梯廂移動至所期望的樓層。 In addition, in Japanese Patent Application Laid-Open No. 2010-23959, a mobile system for a self-propelled traveling vehicle has been proposed, which is connected to a relay device for a control device of an elevator, and the self-propelled traveling vehicle transmits a call signal for a boarding place to the control device via the relay device. Or go to the destination floor and assign a signal to move the elevator car to the desired floor.

然而,在專利文獻1、2所記載的習知技術中,由於對電梯的控制裝置連接PLC或中繼裝置來取得電梯的運行資訊,使電梯執行所期望之動作,所以必須在與電梯的控制裝置之間設置進行預定之信號的輸入輸出的端子,或變更控制裝置的動作程式以使其執行期望之動作。 However, in the conventional technologies described in Patent Documents 1 and 2, since a PLC or a relay device is connected to the control device of the elevator to obtain the operation information of the elevator, and the elevator performs a desired operation, it must be controlled with the elevator. A terminal for inputting and outputting a predetermined signal is provided between the devices, or an operation program of the control device is changed to perform a desired operation.

因此,本揭示的目的在於:不用變更電梯的控制裝置,就能夠利用簡單的方法來達成由電梯進行之自立走行車的樓層間移動。 Therefore, an object of the present disclosure is to achieve a floor-to-floor movement of a self-propelled traveling vehicle by an elevator by a simple method without changing the control device of the elevator.

本揭示的協同運行系統係電梯及自立走行車之協同運行系統,其係具備有介面裝置,該介面裝置係與前述電梯中之設置於梯廂之複數個機器連接,且經由設置於前述梯廂的一個機器來抽出前述電梯的運行資訊,並且經由設置於前述梯廂的另一個機器來使前述電梯動作;前述介面裝置係對前述自立走行車傳送前述電梯的前述運行資訊,而前述自立走行車係根據從前述介面裝置接收的前述運行資訊對前述介面裝置傳送動作請求,且前述介面裝置係因應所接收的前述動作請求,使前述電梯動作。 The coordinated operation system of the present disclosure is a coordinated operation system of an elevator and a self-propelled traveling vehicle, which is provided with an interface device which is connected to a plurality of machines provided in the elevator in the elevator and via the elevator One machine to extract the operation information of the elevator, and make the elevator operate via another machine installed in the elevator car; the interface device transmits the operation information of the elevator to the independent traveling vehicle, and the independent traveling vehicle The operation request is transmitted to the interface device based on the operation information received from the interface device, and the interface device causes the elevator to operate in response to the received operation request.

如此,由於與介面裝置連接的不是電梯的控制裝置,而是設置於梯廂的複數個機器,藉此可進行電梯的運行資訊的抽出與電梯的動作的控制,所以可以不用變更電梯的控制裝置,可能夠利用簡單的方法來達成由電梯進行之自立走行車的樓層間移動。 In this way, instead of the elevator control device connected to the interface device, a plurality of machines installed in the elevator car can be used to extract the elevator operation information and control the elevator operation, so it is not necessary to change the elevator control device. It may be possible to use a simple method to achieve the floor-to-floor movement of an independent traveling vehicle by an elevator.

在本揭示的協同運行系統中亦可為:前述介面裝置所傳送的前述運行資訊為前述電梯的服務狀態資訊、梯廂位置資訊、門全開資訊,前述自立走行車所傳送的前述動作請求為梯廂呼叫請求、開門請求,前述介面裝置係因應前述動作請求來進行梯廂的昇降動作與門的開動作。 In the coordinated operation system of the present disclosure, the operation information transmitted by the interface device is the service status information of the elevator, the position information of the elevator car, and the fully opened door information, and the operation request transmitted by the self-propelled traveling vehicle is the elevator For the car call request and the door open request, the interface device performs a lift operation of the elevator car and a door opening operation in response to the action request.

如此,藉由限定介面裝置與自立走行車輛之間的傳送項目,藉此可使系統簡便化。 In this way, the system can be simplified by limiting the transmission items between the interface device and the self-propelled vehicles.

在本揭示的協同運行系統中亦可為:前述一個機器為顯示裝置與全開檢測裝置,該顯示裝置係設置於前述電梯的前述梯廂並顯示前述電梯的運行狀態,而該全開檢測裝置係設置於前述梯廂並檢測前述門的全開狀態;前述另一個機器為輸入裝置,該輸入裝置係設置於前述梯廂以對前述電梯的控制裝置輸入動作指令;前述介面裝置係組構成:從前述顯示裝置抽出前述服務狀態資訊及前述梯廂位置資訊,而從前述全開檢測裝置抽出前述門全開資訊;經由前述輸入裝置對前記電梯的控制裝置輸入前述電梯的動作指令,以執行前述梯廂的昇降動作與前述門的開動作。其中,前述介面裝置亦可組構成根據與前述顯示裝置連接的信號取得繼電器的開閉,來抽出前述電梯的前述運行資訊,藉由與前述輸入裝置連接的指令輸入繼電器的開閉,來對前述電梯的前述控制裝置輸入前述動作指令。 In the cooperative operation system of the present disclosure, the aforementioned one machine is a display device and a full-open detection device. The display device is provided in the elevator car of the elevator and displays the operating state of the elevator. The full-open detection device is provided. And detecting the fully opened state of the door at the elevator car; the other machine is an input device, the input device is provided in the elevator car to input action instructions to the control device of the elevator; the interface device is grouped: from the display The device extracts the service status information and the elevator position information, and extracts the door full-open information from the full-open detection device; and inputs the operation instruction of the elevator to the control device of the previous elevator via the input device to perform the elevator's lifting operation. And the opening action of the aforementioned door. The interface device may also be configured to obtain the opening and closing of the relay based on a signal connected to the display device, to extract the operation information of the elevator, and to input the opening and closing of the relay by a command connected to the input device, to the elevator. The control device inputs the operation instruction.

如此,由於藉由對梯廂的顯示裝置及輸入裝置設置繼電器,來進行電梯的運行資訊的抽出與電梯的動作的控制,所以可不需變更電梯的動作程式,就能夠簡單地達成由電梯進行之自力走行車的樓層間移動。 In this way, since the display device and input device of the elevator are provided with relays to extract the operation information of the elevator and control the operation of the elevator, the elevator operation program can be easily achieved without changing the operation program of the elevator. Move between floors on a self-propelled vehicle.

本揭示能夠以簡單的方法來達成由電梯進行之自力走行車的樓層間移動。 The present disclosure can achieve a floor-to-floor movement of a self-propelled vehicle by an elevator in a simple manner.

10‧‧‧電梯 10‧‧‧Elevator

11‧‧‧昇降路徑 11‧‧‧ Lifting path

12‧‧‧梯廂 12‧‧‧ Ladder

13‧‧‧門 13‧‧‧ gate

14‧‧‧輸入裝置 14‧‧‧ input device

15‧‧‧開門按鈕 15‧‧‧ Door Open Button

16‧‧‧樓層按鈕 16‧‧‧Floor button

17‧‧‧服務狀態顯示器 17‧‧‧Service status display

18‧‧‧顯示裝置 18‧‧‧ display device

19‧‧‧指示器 19‧‧‧ indicator

20‧‧‧全開檢測裝置 20‧‧‧Full-open detection device

21‧‧‧控制裝置 21‧‧‧control device

22‧‧‧驅動裝置 22‧‧‧Drive

23‧‧‧平衡重錘 23‧‧‧ counterweight

24‧‧‧鋼索 24‧‧‧Steel rope

25‧‧‧停止樓層 25‧‧‧stop floor

26‧‧‧搭乘處樓層 26‧‧‧Floor

27‧‧‧目的地樓層 27‧‧‧Destination Floor

30‧‧‧介面裝置 30‧‧‧ interface device

31‧‧‧信號取得繼電器 31‧‧‧Signal acquisition relay

32‧‧‧指令輸入繼電器 32‧‧‧Command input relay

40‧‧‧自立走行車 40‧‧‧Self-supporting traveling vehicle

100‧‧‧協同運行系統 100‧‧‧ Cooperative Operation System

第1圖係顯示實施形態之協同運行系統的構成的系統圖。 FIG. 1 is a system diagram showing the configuration of the cooperative operation system of the embodiment.

第2A圖係顯示實施形態之構成協同運行系統的設置於電梯中之梯廂的顯示裝置的構成與動作的系統圖。 FIG. 2A is a system diagram showing the configuration and operation of a display device of a car installed in an elevator, which constitutes a cooperative operation system according to an embodiment.

第2B圖係顯示實施形態之構成協同運行系統的設置於電梯中之梯廂的顯示裝置的構成與動作的系統圖。 Fig. 2B is a system diagram showing the configuration and operation of a display device of a car installed in an elevator constituting a cooperative operation system according to an embodiment.

第3A圖係顯示實施形態之構成協同運行系統的設置於電梯中之梯廂的輸入裝置的構成與動作的系統圖。 Fig. 3A is a system diagram showing the configuration and operation of an input device of a car installed in an elevator constituting a cooperative operation system according to an embodiment.

第3B圖係顯示實施形態之構成協同運行系統的設置於電梯中之梯廂的輸入裝置的構成與動作的系統圖。 Fig. 3B is a system diagram showing the configuration and operation of an input device of a car installed in an elevator, which constitutes a cooperative operation system according to an embodiment.

第4圖係顯示實施形態之協同運行系統的動作的動作循序圖。 FIG. 4 is an operation sequence chart showing the operation of the cooperative operation system of the embodiment.

第5圖係顯示實施形態之協同運行系統的動作的動作循序圖。 Fig. 5 is an operation sequence diagram showing the operation of the cooperative operation system of the embodiment.

第6圖係顯示藉由實施形態之協同運行系統,自立走行車到達至搭乘處樓層之狀態的立面圖。 Fig. 6 is a elevation view showing a state in which a self-propelled vehicle arrives at a boarding place floor through a coordinated operation system according to an embodiment.

第7圖係顯示藉由實施型態之協同運行系統,梯廂到達至搭乘處樓層之狀態的立面圖。 Fig. 7 is an elevation view showing a state where the elevator car arrives at the floor of the boarding place by implementing the cooperative operation system of the type.

第8圖係顯示藉由實施形態之協同運行系統,自立走行車登入梯廂之狀態的立面圖。 FIG. 8 is a elevation view showing a state in which the self-propelled traveling vehicle enters the elevator car by the cooperative operation system of the embodiment.

第9圖係顯示藉由實施形態之協同運行系統,自立走行車關閉梯廂門之狀態的立面圖。 FIG. 9 is a elevation view showing a state in which the self-propelled traveling vehicle closes the elevator door by the cooperative operation system of the embodiment.

第10圖係顯示藉由實施形態之協同運行系統,梯廂到達至目的地樓層之狀態的立面圖。 Fig. 10 is an elevation view showing a state where the elevator car reaches the destination floor by the coordinated operation system of the embodiment.

第11圖係顯示藉由實施形態之協同運行系統,自立走行車從梯廂退出之狀態的立面圖。 FIG. 11 is a elevation view showing a state in which the self-propelled traveling vehicle is withdrawn from the elevator car by the cooperative operation system of the embodiment.

以下,參照圖式,一面針對實施形態的協同運行系統100加以說明。如第1圖所示,協同運行系統100係由電梯10、自立走行車40、及介面裝置30所構成。 Hereinafter, the cooperative operation system 100 according to the embodiment will be described with reference to the drawings. As shown in FIG. 1, the cooperative operation system 100 is composed of an elevator 10, a stand-alone traveling vehicle 40, and an interface device 30.

電梯10係由下述構件所構成:配置於昇降路徑11之中的梯廂12;使梯廂12昇降的驅動裝置22;繞掛於驅動裝置22而連接平衡重錘23與梯廂12的鋼索24;及控制驅動裝置22與梯廂12之門13的開閉的控制裝置21。控制裝置21可由於內部含有CPU與記憶體的電腦所構成,亦可由繼電器與開關之組合所構成。 The elevator 10 is composed of the following components: a car 12 arranged in the lifting path 11; a driving device 22 for raising and lowering the car 12; and a wire rope connected to the driving device 22 to connect the balance weight 23 and the car 12 24; and a control device 21 that controls the opening and closing of the drive device 22 and the door 13 of the elevator car 12. The control device 21 may be composed of a computer including a CPU and a memory, or may be composed of a combination of a relay and a switch.

於梯廂12係設置有複數個機器:顯示裝置18、輸入裝置14及全開檢測裝置20。顯示裝置18係顯示電梯10的運行狀態的裝置。輸入裝置14係對電梯10的控制裝置21輸入動作指令的裝置。全開檢測裝置20係輸出門13之全開信號的光感測器、磁性感測器、開關等。 A plurality of machines are installed in the elevator car 12: a display device 18, an input device 14, and a full-open detection device 20. The display device 18 is a device that displays the operating 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 a light sensor, a magnetic sensor, a switch, etc., which outputs a full-open signal of the door 13.

顯示裝置18係安裝有顯示電梯10的服務狀態資訊的服務狀態顯示器17,及顯示梯廂12所位於之樓層的複數個指示器19。服務狀態顯示器17為點燈器,該點燈器例如當地震發生時、火災發生時等之情形,進行限制部分的電梯10運行的管制運行時點亮,而在電梯10進行通常運行,且能夠與自立走行車40的協同運行時熄滅。指示器19為當梯廂12位於其樓層時點亮,而梯廂12未位於其樓層時熄滅。 The display device 18 is provided with a service status display 17 that displays service status information of the elevator 10 and a plurality of indicators 19 that display the floor on which the car 12 is located. The service status display 17 is a lighter, which is illuminated during, for example, an earthquake, a fire, or the like, when the restricted operation of the elevator 10 is restricted, and when the elevator 10 is in normal operation, It goes out during the cooperative operation with the independent traveling vehicle 40. The indicator 19 lights up when the car 12 is on its floor, and goes out when the car 12 is not on its floor.

如第2A圖、第2B圖所示,顯示裝置18的服務狀態顯示器17、指示器19係與控制裝置21連接。此外,於服務狀態顯示器17、指示器19係並聯連接信號取得繼電器31。信號取得繼電器31係與介面裝置30連接,當為導通時輸出導通信號,而斷開時不輸出信號。 As shown in FIGS. 2A and 2B, the service status display 17 and the indicator 19 of the display device 18 are connected to the control device 21. The signal acquisition relay 31 is connected in parallel to the service status display 17 and the indicator 19. The signal acquisition relay 31 is connected to the interface device 30, and outputs an on signal when it is on, and does not output a signal when it is off.

如第2A圖所示,當服務狀態顯示器17、指示器19為熄滅狀態時,控制裝置21與服務狀態顯示器17、指示器19之間沒有通電,信號取得繼電器31為斷開,而信號沒有從信號取得繼電器31輸出至介面裝置30。如第2B圖所示,當服務狀態顯示器17、指示器19點亮時,電流會從控制裝置21流通至服務狀態顯示器17、指示器19。藉由該電流,信號取得繼電器31會導通,且導通信號會從信號取得繼電器31輸出至介面裝置30。 As shown in FIG. 2A, when the service status display 17, the indicator 19 is off, the control device 21 is not energized between the service status display 17, and the indicator 19, the signal acquisition relay 31 is turned off, and the signal is not turned on. The signal acquisition relay 31 is output to the interface device 30. As shown in FIG. 2B, when the service status display 17 and the indicator 19 are on, a current flows from the control device 21 to the service status display 17 and the indicator 19. With this current, the signal acquisition relay 31 is turned on, and the conduction signal is output from the signal acquisition relay 31 to the interface device 30.

因此,若介面裝置30沒有從與服務狀態顯示器17連接的信號取得繼電器31輸入的導通信號,則電梯10係處於通常運行狀態,若有輸入導通信號則可判斷為管制運行狀態。而且,梯廂12所位於之樓層的指示器19會點亮,而其他樓層的指示器19會熄滅,所以介面裝置30可藉由來自與指示器19連接之信號取得繼電器31的導通信號,可檢測出梯廂12的位置。如此,介面裝置30係可藉由與服務狀態顯示器17、指示器19連接的信號取得繼電器31的開閉來抽出電梯10的服務狀態資訊及梯廂位置資訊。 Therefore, if the interface device 30 does not obtain the conduction signal input from the relay 31 from the signal connected to the service status display 17, the elevator 10 is in a normal operating state, and if the conduction signal is input, it can be judged as a regulated operating state. In addition, the indicator 19 on the floor where the car 12 is located will be on, and the indicator 19 on the other floors will be off, so the interface device 30 can obtain the conduction signal of the relay 31 from the signal connected to the indicator 19. The position of the elevator car 12 can be detected. In this way, the interface device 30 can extract the service status information and the car position information of the elevator 10 by obtaining the opening and closing of the relay 31 through signals connected to the service status display 17 and the indicator 19.

輸入裝置14係設置有屬於具有停止樓層編號之按鍵的複數個樓層按鈕16,及屬於具有開記號之按鍵的開門按鈕15。樓層按鈕16係與控制裝置21連接,當按下樓層按鈕16時,以該樓層為目的地樓層並登 錄至控制裝置21。而且,開門按鈕15亦與控制裝置21連接,當按下開門按鈕15,控制裝置21會使門13的開閉裝置動作來打開門13。 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 device 21, and when the floor button 16 is pressed, the floor is used as the destination floor and registered to the control device 21. 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 causes the opening and closing device of the door 13 to operate to open the door 13.

如第3A圖、第3B圖所示,於輸入裝置14的樓層按鈕16與開門按鈕15並聯連接有指令輸入繼電器32。指令輸入繼電器32係與介面裝置30連接,利用來自介面裝置30的指令進行導通、斷開動作。 As shown in FIGS. 3A and 3B, a command input relay 32 is connected in parallel to the floor button 16 and the door open button 15 of the input device 14. The command input relay 32 is connected to the interface device 30 and is turned on and off by a command from the interface device 30.

如第3A圖所示,當沒有介面裝置30輸入的導通信號時,指令輸入繼電器32會保持在斷開狀態。另一方面,如第3B圖所示,當輸入來自介面裝置30的導通信號時,指令輸入繼電器30會導通。如此一來,與按下樓層按鈕16或按下開門按鈕15的情形相同,在與控制裝置21之間會有電流流通,而對控制裝置21輸入動作指令。 As shown in FIG. 3A, when there is no ON signal input from the interface device 30, the command input relay 32 is maintained in an OFF state. On the other hand, as shown in FIG. 3B, when a conduction signal is input from the interface device 30, the command input relay 30 is turned on. In this way, as in the case where the floor button 16 or the door open button 15 is pressed, a current flows between the control device 21 and an operation command is input to the control device 21.

因此,介面裝置30可藉由與開門按鈕15連接的指令輸入繼電器32的導通,來對控制裝置21輸入要門13打開的動作指令。而且,介面裝置30可藉由與樓層按鈕16連接的指令輸入繼電器32的導通,以該樓層作為目的地樓層並登錄至控制裝置21。如此,介面裝置30可藉由使與開門按鈕15、樓層按鈕16連接的指令輸入繼電器開閉來對控制裝置21輸入動作指令。 Therefore, the interface device 30 can input the operation command for opening the door 13 to the control device 21 by turning on the instruction input relay 32 connected to the door open button 15. In addition, the interface device 30 can register the control device 21 with the floor as a destination floor by turning on the instruction input relay 32 connected to the floor button 16. In this way, the interface device 30 can open and close a command input relay connected to the door open button 15 and the floor button 16 to input an operation command to the control device 21.

全開檢測裝置20係與控制裝置21及介面裝置30連接,當門13為全開則輸出門全開信號。 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為根據利用攝影機或感測器、GPS等所獲得的圖像或位置資訊,來辨認走行路徑,而自主地走行至目的地的機器人。例如為下列者:將貨物搬運至預定場所的搬運機器人;將殘障人士或病人移動至預定場所的搭乘型移動支援機器人;清掃預定空間的清掃機器人; 巡邏預定路徑的警備機器人;檢查診斷電梯、電扶梯、照明機器、空調機器之大樓設備的檢查診斷機器人等。自立走行車40係載設有在與介面裝置30之間通信而進行資料的傳送接收的通信裝置。 The self-propelled traveling vehicle 40 is a robot that autonomously travels to a destination based on an image or position information obtained using a camera, a sensor, GPS, or the like, and recognizes a traveling route. For example, the following: a transport robot that transports goods to a predetermined place; a riding-type mobile support robot that moves a person with a disability or a patient to a predetermined place; a cleaning robot that cleans a predetermined space; a security robot that patrols a predetermined path; inspection and diagnosis of elevators and electric appliances Inspection and diagnosis robots for building equipment of escalators, lighting equipment, and air-conditioning equipment. The self-propelled traveling vehicle 40 is provided with a communication device that communicates with the interface device 30 to transmit and receive data.

介面裝置30係含有:於內部含有CPU及記憶體的電腦;及在載設於自立走行車40之通信裝置之間通信而進行資料的傳送接收的通信單元。 The interface device 30 includes a computer including a CPU and a memory therein, and a communication unit that communicates with a communication device mounted on the self-propelled traveling vehicle 40 to transmit and receive data.

如先前參照第2A圖、第2B圖的說明,介面裝置30由信號取得繼電器31來檢測出顯示裝置18的服務狀態顯示器17與指示器19的點亮、熄滅狀態,藉此抽出電梯10的服務狀態資訊與梯廂位置資訊。而且,介面裝置30從全開檢測裝置20抽出門全開資訊。如此,介面裝置30係經由屬於一個機器的顯示裝置18與全開檢測裝置20,來抽出電梯10的運行資訊。 As described above with reference to FIGS. 2A and 2B, the interface device 30 detects the on and off states of the service status display 17 and indicator 19 of the display device 18 by the signal acquisition relay 31, thereby extracting the service of the elevator 10. Status information and cabin location information. The interface device 30 extracts the door full-opening information from the full-opening detection device 20. In this way, the interface device 30 extracts the operation information of the elevator 10 via the display device 18 and the full-open detection device 20 belonging to one device.

而且,如先前參照第3A圖、第3B圖的說明,介面裝置30係藉由使與樓層按鈕16連接的指令輸入繼電器32導通動作,來對電梯10的控制裝置21登錄電梯10之前往目的地樓層並執行梯廂12的升降度動作。而且,令與開門按鈕15連接的指令輸入繼電器32導通動作並對電梯10的控制裝置21輸入門13的開動作指令,執行門13的開動作。如此,介面裝置30係經由屬於其他的機器的輸入裝置14使電梯10動作。 As described above with reference to FIGS. 3A and 3B, the interface device 30 registers the destination of the elevator 10 to the control device 21 of the elevator 10 by turning on the command input relay 32 connected to the floor button 16 to the destination of the elevator 10. The floor 12 performs the lifting operation of the elevator car 12. Then, the command input relay 32 connected to the door open button 15 is turned on, and the control device 21 of the elevator 10 inputs a door 13 open operation command, and executes the door 13 open operation. In this manner, the interface device 30 operates the elevator 10 via the input device 14 belonging to another device.

一面參照第4圖至第11圖一面說明如以上構成的協同運行系統100的動作。 The operation of the cooperative operation system 100 configured as described above will be described with reference to FIGS. 4 to 11.

如第4圖所示,介面裝置30係從顯示裝置18抽出電梯10的服務狀態資訊與梯廂位置資訊,並傳送至自立走行車40。如第6圖所示, 當自立走行車40到達至搭乘處樓層26,對介面裝置30傳送屬於動作請求的搭乘處樓層26的梯廂呼叫請求。介面裝置30接收到來自自立走行車40的梯廂呼叫請求,就對輸入裝置14輸出使輸入裝置14中之與搭乘處樓層26相對應的樓層按鈕16所連接的指令輸入繼電器32導通動作的信號。藉此,形成按下與搭乘處樓層26相對應的樓層按鈕16的狀態,且搭乘處樓層26會登錄至控制裝置21。控制裝置21會從停止樓層25朝搭乘處樓層26移動。 As shown in FIG. 4, the interface device 30 extracts the service status information and the elevator position information of the elevator 10 from the display device 18 and transmits them to the self-propelled traveling vehicle 40. As shown in FIG. 6, when the self-propelled traveling vehicle 40 arrives at the boarding point floor 26, a call request for a car at the boarding point floor 26 belonging to the motion request is transmitted to the interface device 30. When the interface device 30 receives a call from the self-propelled carriage 40, it outputs a signal to the input device 14 to cause the input input relay 14 to connect the floor input button 16 corresponding to the floor 26 at the boarding place. . As a result, the floor button 16 corresponding to the boarding floor 26 is pressed, and the boarding floor 26 is registered to the control device 21. The control device 21 moves from the stop floor 25 to the boarding place floor 26.

如第7圖所示,當梯廂12到達至搭乘處樓層26時,控制裝置21會使顯示裝置18的與搭乘處樓層26相對應的指示燈19點亮。介面裝置30會從表示装置18的指示器19抽出梯廂位置資訊,且傳送至自立走行車40。當自立走行車40接收到與搭乘處樓層26相對應的梯廂位置資訊,會對介面裝置30傳送屬於動作請求的開門請求。介面裝置30接收到開門請求,就對開門按鈕15輸出使指令輸入繼電器32導通動作的信號。藉此,形成按下輸入裝置14的開門按鈕15的狀態,且對控制裝置21輸入開門指令。藉此,控制裝置21會使門開閉裝置動作並使門13開動作。 As shown in FIG. 7, when the car 12 reaches the boarding floor 26, the control device 21 lights up the indicator 19 corresponding to the boarding floor 26 of the display device 18. The interface device 30 extracts the position information of the car from the indicator 19 indicating the device 18 and transmits the information to the self-propelled traveling vehicle 40. When the self-propelled traveling vehicle 40 receives the position information of the car corresponding to the boarding floor 26, it transmits a door opening request belonging to the motion request to the interface device 30. When the interface device 30 receives a door opening request, it outputs a signal to the door opening button 15 to cause the command input relay 32 to be turned on. As a result, the door opening button 15 of the input device 14 is pressed, and a door opening instruction is input to the control device 21. With this, the control device 21 operates the door opening and closing device and opens the door 13.

如第8圖所示,當門13全開時,全開檢測裝置20動作,而輸出門全開信號給控制裝置21與介面裝置30。當介面裝置30被輸入了門全開信號,會將門全開資訊傳送至自立走行車40。當自立走行車40接收到門全開資訊就會登入梯廂12中。 As shown in FIG. 8, when the door 13 is fully opened, the full-open detection device 20 operates, and a full-door signal is output to the control device 21 and the interface device 30. When the door opening signal is input to the interface device 30, the door opening information is transmitted to the self-driving carriage 40. When the self-propelled traveling vehicle 40 receives the full door opening information, it enters the car 12.

自立走行車40登入梯廂12後,就會對介面裝置30傳送屬於動作請求的目的地樓層27的梯廂呼叫請求。介面裝置30接收到梯廂呼叫請求,就會對輸入裝置14輸出使輸入裝置14中之與目的地樓層27相 對應的樓層按鈕16所連接的指令輸入繼電器32導通動作的信號。藉此,形成按下與目的地樓層27相對應的樓層按鈕16的狀態,且目的地樓層27會登錄至控制裝置21。控制裝置21在門13關上後,從搭乘處樓層26朝目的地樓層27移動。 When the self-propelled traveling vehicle 40 logs into the car 12, it sends a car call request belonging to the destination floor 27 of the action request to the interface device 30. When the interface device 30 receives a call request for a car, it outputs a signal to the input device 14 to turn on the command input relay 32 connected to the floor button 16 corresponding to the destination floor 27 in the input device 14. Thereby, a state where 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 the door 13 is closed, the control device 21 moves from the boarding place floor 26 to the destination floor 27.

如第10圖所示,當梯廂12到達目的地樓層27時,控制裝置21會使顯示裝置18的與目的地樓層27相對應的指示器19點亮。介面裝置30會從表示装置18的指示器19抽出梯廂位置資訊,且傳送至自立走行車40。自立走行車40接收到與目的地樓層27相對應的梯廂位置資訊,就對介面裝置30傳送屬於動作請求的開門請求。介面裝置30接收到開門請求,就對開門按鈕15輸出使指令輸入繼電器32導通動作的信號。藉此,形成按下輸入裝置14的開門按鈕15的狀態,且對控制裝置21輸入開門指令。藉此,控制裝置21使門開閉裝置動作來使門13開動作。 As shown in FIG. 10, when the car 12 reaches the destination floor 27, the control device 21 lights up the indicator 19 corresponding to the destination floor 27 of the display device 18. The interface device 30 extracts the position information of the car from the indicator 19 indicating the device 18 and transmits the information to the self-propelled traveling vehicle 40. The self-propelled traveling vehicle 40 receives the position information of the car corresponding to the destination floor 27, and transmits a door opening request belonging to the motion request to the interface device 30. When the interface device 30 receives a door opening request, it outputs a signal to the door opening button 15 to cause the command input relay 32 to be turned on. As a result, the door opening button 15 of the input device 14 is pressed, and a door opening instruction is input to the control device 21. As a result, the control device 21 operates the door opening and closing device to open the door 13.

如第11圖所示,當門13全開時,全開檢測裝置20動作,而輸出門全開信號至控制裝置21與介面裝置30。介面裝置30在被輸入了門全開信號時,就會對自立走行車40傳送門全開資訊。自立走行車40接收到門全開資訊,就會從梯廂12退出並往目的地樓層27前進。 As shown in FIG. 11, when the door 13 is fully opened, the full-open detection device 20 operates, and the door full-open signal is output to the control device 21 and the interface device 30. When the interface opening signal is input to the interface device 30, it will transmit the door full opening information to the self-propelled traveling vehicle 40. When the self-supporting traveling vehicle 40 receives the full door opening information, it will exit from the car 12 and proceed to the destination floor 27.

如以上說明,本實施形態的協同運行系統100,由於與介面裝置30連接的不是電梯的控制裝置21,而是設置於梯廂12的顯示裝置18、輸入裝置14、全開檢測裝置20,藉此可進行電梯10的運行資訊的抽出與電梯10的動作的控制,所以可以不用變更電梯10的控制裝置21,能夠利用簡單的方法來達成由電梯10進行之自立走行車40的樓層間移動。 As described above, since the cooperative operation system 100 of this embodiment is connected to the interface device 30 instead of the elevator control device 21, the display device 18, the input device 14, and the full-open detection device 20 installed in the car 12 are used to thereby The operation information of the elevator 10 can be extracted and the operation of the elevator 10 can be controlled. Therefore, without changing the control device 21 of the elevator 10, the floor-to-floor movement of the self-propelled traveling vehicle 40 by the elevator 10 can be achieved by a simple method.

Claims (4)

一種電梯及自立走行車之協同運行系統,該協同運行系統係具備有介面裝置,該介面裝置係與前述電梯中之設置於梯廂之複數個機器連接,且經由設置於前述梯廂的一個機器來抽出前述電梯的運行資訊,並且經由設置於前述梯廂的另一個機器來使前述電梯動作;前述介面裝置係對前述自立走行車傳送前述電梯的前述運行資訊,前述自立走行車係根據從前述介面裝置接收的前述運行資訊來對前述介面裝置傳送動作請求,前述介面裝置係因應所接收的前述動作請求,使前述電梯動作。     A coordinated operation system for an elevator and a self-propelled traveling vehicle. The coordinated operation system is provided with an interface device. The interface device is connected to a plurality of machines provided in the elevator in the elevator, and via a machine provided in the elevator. To extract the operation information of the elevator and make the elevator operate via another machine installed in the elevator car; the interface device transmits the operation information of the elevator to the self-propelled traveling vehicle, and the self-propelled traveling vehicle is based on the The operation information received by the interface device transmits an action request to the interface device, and the interface device causes the elevator to operate in response to the received operation request.     如申請專利範圍第1項所述之協同運行系統,其中,前述介面裝置所傳送的前述運行資訊為前述電梯的服務狀態資訊、梯廂位置資訊、門全開資訊,前述自立走行車所傳送的前述動作請求為梯廂呼叫請求、開門請求,前述介面裝置係因應前述動作請求來進行前述梯廂的昇降動作與門的開動作。     According to the coordinated operation system described in item 1 of the scope of the patent application, wherein the operation information transmitted by the interface device is the service status information of the elevator, the position information of the elevator car, and the fully opened door information, and the foregoing information transmitted by the self-propelled traveling vehicle The action request is a car call request or a door opening request, and the interface device performs a lift operation of the car and a door opening operation in response to the action request.     如申請專利範圍第2項所述之協同運行系統,其中,前述一個機器為顯示裝置與全開檢測裝置,該顯示裝置係設置於前述電梯的前述梯廂並顯示前述電梯的運行狀態,而該全開檢測裝置係設置於前述梯廂並檢測前述門的全開狀態;前述另一個機器為輸入裝置,該輸入裝置係設置於前述梯廂以對前述電梯的控制裝置輸入動作指令;前述介面裝置係組構成: 從前述顯示裝置抽出前述服務狀態資訊及前述梯廂位置資訊,從前述全開檢測裝置抽出前述門全開資訊;經由前述輸入裝置對前記電梯的控制裝置輸入前述電梯的動作指令,以執行前述梯廂的昇降動作與前述門的開動作。     The cooperative operation system according to item 2 of the scope of patent application, wherein the aforementioned one machine is a display device and a full-open detection device, and the display device is installed in the elevator car of the elevator and displays the operating state of the elevator, and the full-open device The detection device is installed in the elevator car and detects the fully opened state of the door; the other machine is an input device, and the input device is installed in the elevator car to input action instructions to the control device of the elevator; the interface device is composed of a group : Extracting the service status information and the elevator car position information from the display device, and extracting the door fully open information from the full-open detection device; inputting the elevator's operation instruction to the control device of the previous elevator via the input device to execute the elevator car Lifting operation and opening operation of the aforementioned door.     如申請專利範圍第3項所述之協同運行系統,其中,前述介面裝置係組構成:根據與前述顯示裝置連接的信號取得繼電器的開閉,來抽出前述電梯的前述運行資訊,藉由與前述輸入裝置連接的指令輸入繼電器的開閉,來對前述電梯的前述控制裝置輸入前述動作指令。     The coordinated operation system according to item 3 of the patent application scope, wherein the interface device is configured to obtain the opening and closing of a relay based on a signal connected to the display device, to extract the operation information of the elevator, and to input the information through the input A command input relay connected to the device is opened and closed to input the operation command to the control device of the elevator.    
TW108101501A 2018-04-05 2019-01-15 Cooperative operation system for elevator and self-supporting vehicle TWI785186B (en)

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