JPH037597B2 - - Google Patents
Info
- Publication number
- JPH037597B2 JPH037597B2 JP59022332A JP2233284A JPH037597B2 JP H037597 B2 JPH037597 B2 JP H037597B2 JP 59022332 A JP59022332 A JP 59022332A JP 2233284 A JP2233284 A JP 2233284A JP H037597 B2 JPH037597 B2 JP H037597B2
- Authority
- JP
- Japan
- Prior art keywords
- elevator
- vehicle
- signal
- transmitting
- unmanned vehicle
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
Links
- 230000008054 signal transmission Effects 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 5
- 238000007796 conventional method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Indicating And Signalling Devices For Elevators (AREA)
- Elevator Control (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
本発明は、設定された走行経路上を自動走行す
ると共に設定された停止位置で自動停止すること
の出来る自動走行車輛のエレベータ乗降方法に関
するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for getting on and off an elevator in an automated vehicle that can automatically travel along a set travel route and automatically stop at a set stop position.
上記のような自動走行車輛、所謂無人車がエレ
ベータに対して乗降する場合、エレベータケージ
内の無人車とエレベータとの間でエレベータ乗車
完了信号やエレベータ降車許可（無人車発進許
可）信号等の授受が行われる。又、行先階が複数
ある場合には、行先階指示信号の授受も必要であ
る。従来の方法では、例えば特開昭58−177882号
公報に記載されているように、エレベータケージ
内の床面や側面にエレベータ側の送受信手段を埋
設又は付設し、当該送受信手段と対向するように
無人車側に付設した送受信手段との間で前記のよ
うな各種の信号の受渡しを行つていた。然し乍ら
このような従来方法では、昇降するエレベータケ
ージ内の前記送受信手段と地上側のエレベータ制
御盤との間で同様の信号授受を行うための信号伝
送系が必要となるばかりでなく、エレベータケー
ジ内に前記のような送受信手段を埋設又は付設す
る必要があることから、既設のエレベータ設備を
使用する場合、非常にコストがかかる欠点があつ
た。 When a self-driving vehicle as described above, a so-called unmanned vehicle, gets on or off an elevator, an elevator boarding completion signal, elevator exit permission (unmanned vehicle start permission) signal, etc. is exchanged between the unmanned vehicle in the elevator cage and the elevator. will be held. Furthermore, if there are multiple destination floors, it is also necessary to send and receive a destination floor instruction signal. In the conventional method, for example, as described in Japanese Unexamined Patent Publication No. 177882/1982, a transmitting/receiving means on the elevator side is embedded or attached to the floor or side surface of the elevator car, and the transmitting/receiving means is placed opposite to the transmitting/receiving means. The various signals described above were exchanged with a transmitting/receiving means attached to the unmanned vehicle. However, such a conventional method not only requires a signal transmission system for transmitting and receiving signals in the same way between the transmitting and receiving means in the elevator car that goes up and down and the elevator control panel on the ground side, but also requires a Since it is necessary to bury or attach the above-mentioned transmitting and receiving means to the elevator, the use of existing elevator equipment has the disadvantage of being extremely costly.
本発明はこのような従来方法の欠点を解消する
ことを目的とするものであつて、以下にその一実
施例を添付の例示図に基づいて説明する。 The present invention aims to eliminate the drawbacks of such conventional methods, and one embodiment thereof will be described below with reference to the attached illustrative drawings.
第１図及び第２図に於て、１は無人車（自動走
行車輛）であつて、自動操向車輪２と駆動車輪３
とを有する。前記操向車輪２は、操向用モーター
４によつて垂直軸５の周りで操向運動せしめられ
る操向フレーム６に軸支され、当該操向フレーム
６には、左右一対の自動操向制御用センサー７
ａ，７ｂが指示されている。前記駆動車輪３は駆
動用モーター８に連動連結されている。この無人
車１の走行経路には床面上に自動操向用ガイドラ
イン９が設けられている。光学式誘導方法で無人
車１を自動操向させるときは、前記ガイドライン
９として光線反射テープが使用され、左右一対の
センサー７ａ，７ｂとして反射式光電スイツチが
使用される。又、電磁誘導方法で無人車１を自動
操向させるときは、前記ガイドラインとして低周
波交流電圧が印加された電線が使用され、前記左
右一対のセンサーとしてピツクアツプコイルが使
用される。何れの場合も、左右一対のセンサー７
ａ，７ｂの検出結果に基づいて操向用モーター４
が作動し、無人車１がガイドライン９にそつて走
行するように操向車輪２が自動的に操向運動せし
められるが、その具体的な制御方法は従来周知で
あるから、詳細な説明は省略する。 In FIGS. 1 and 2, 1 is an unmanned vehicle (automatic driving vehicle), which has automatically steered wheels 2 and driving wheels 3.
and has. The steering wheel 2 is pivotally supported by a steering frame 6 that is steered around a vertical axis 5 by a steering motor 4, and the steering frame 6 has a pair of left and right automatic steering controls. sensor 7
a, 7b are indicated. The drive wheel 3 is operatively connected to a drive motor 8. An automatic steering guideline 9 is provided on the floor of the travel route of the unmanned vehicle 1. When automatically steering the unmanned vehicle 1 using the optical guidance method, a light reflective tape is used as the guideline 9, and reflective photoelectric switches are used as the pair of left and right sensors 7a, 7b. Further, when the unmanned vehicle 1 is automatically steered by the electromagnetic induction method, an electric wire to which a low-frequency AC voltage is applied is used as the guideline, and a pick-up coil is used as the pair of left and right sensors. In either case, a pair of left and right sensors 7
Based on the detection results of a and 7b, the steering motor 4
is activated, and the steering wheel 2 is automatically caused to make a steering movement so that the unmanned vehicle 1 runs along the guideline 9, but since the specific control method is well known, a detailed explanation will be omitted. do.
上記の無人車１には、走行経路中に設定された
ステーシヨンマーク１０を検出する位置検出用セ
ンサー１１も取付けられ、このセンサー１１によ
るステーシヨンマーク１０の検出信号は計数さ
れ、設定値と一致したときに前記駆動用モーター
８に制動がかけられて無人車１は自動停止する。
又、行先に関係なく無人車１を必ず停止させる箇
所、例えば後述するエレベータ手前の停止位置や
エレベータケージ内の停止位置等には、前記ステ
ーシヨンマーク１０とは別に停止マークを設け、
この停止マークを検出する停止用センサーを無人
車１に設けて、当該停止マークの位置では必ず無
人車１を自動停止させるようにすることも出来
る。 The above-mentioned unmanned vehicle 1 is also equipped with a position detection sensor 11 that detects a station mark 10 set in the travel route, and the detection signal of the station mark 10 by this sensor 11 is counted, and when it matches a set value, the detection signal of the station mark 10 is counted. Then, the drive motor 8 is braked, and the unmanned vehicle 1 automatically stops.
Further, a stop mark is provided separately from the station mark 10 at a place where the unmanned vehicle 1 is always stopped regardless of the destination, such as a stop position in front of the elevator or a stop position in the elevator cage, which will be described later.
It is also possible to provide the unmanned vehicle 1 with a stop sensor that detects this stop mark, so that the unmanned vehicle 1 is always automatically stopped at the position of the stop mark.
更に前記無人車１の前後両端には、赤外線利用
の送信器１２ａ，１３ａと受信器１２ｂ，１３ｂ
とを備えた送受信手段１４，１５が取付けられて
いる。１６は無人車１に搭載の制御装置であつ
て、前記送信器１２ａ，１３ａを作動させると共
に受信器１２ｂ，１３ｂの受信信号を受け取る。 Further, at both the front and rear ends of the unmanned vehicle 1, transmitters 12a, 13a and receivers 12b, 13b using infrared rays are installed.
Transmitting/receiving means 14, 15 are installed. Reference numeral 16 denotes a control device mounted on the unmanned vehicle 1, which operates the transmitters 12a, 13a and receives reception signals from the receivers 12b, 13b.
第３図乃至第５図に於て、１７は昇降するエレ
ベータケージ１８を備えたエレベータであつて、
エレベータケージ１８内とエレベータホール１９
とにわたつて前記ガイドライン９が設けられると
共に、エレベータケージ１８内とエレベータホー
ル１９とに夫々無人車停止位置Ａ，Ｂが設定され
ている。これ等無人車停止位置Ａ，Ｂには、前記
のステーシヨンマーク１０が設けられている（前
記停止マークが採用されるときは、当該停止マー
クも並設される）。又、エレベータホール１９に
於けるエレベータ乗降部近傍の天井には、無人車
１側の送受信手段１４，１５との間でで、エレベ
ータケージ１８側に指向する送受信器２０ａと反
対方向に指向する送受信器２０ｂとを介して信号
の授受を行う赤外線利用の信号伝送装置２１が取
付けられている。尚、２２はエレベータケージ１
８側の開閉扉であり、２３はエレベータホール１
９側の開閉扉である。 In FIGS. 3 to 5, 17 is an elevator equipped with an elevator car 18 that moves up and down,
Inside the elevator cage 18 and elevator hall 19
The guideline 9 is provided throughout the vehicle, and unmanned vehicle stopping positions A and B are set within the elevator car 18 and the elevator hall 19, respectively. The station mark 10 described above is provided at these unmanned vehicle stop positions A and B (when the stop mark is adopted, the stop mark is also provided in parallel). Further, on the ceiling near the elevator boarding/exiting area in the elevator hall 19, there is a transmitter/receiver 20a directed toward the elevator car 18 and a transmitter/receiver 20a directed in the opposite direction between the transmitter/receiver means 14 and 15 on the unmanned vehicle 1 side. A signal transmission device 21 using infrared rays is attached to send and receive signals via the device 20b. In addition, 22 is elevator cage 1
8 side opening/closing door, 23 is elevator hall 1
This is the opening/closing door on the 9th side.
前記無人車１に搭載の制御装置１６及び地上側
の信号伝送装置２１は、以下に説明するような制
御機能を有する。即ち、ガイドライン９にそつて
自動走行する無人車１は、エレベータ手前の停止
位置Ｂに到着したとき、及びエレベータケージ１
８内の停止位置Ａに到着したとき、夫々自動停止
するように構成されており、当該無人車１がエレ
ベータ手前の停止位置Ｂに到着して自動停止する
と、第６図に示すように無人車搭載の制御装置１
６の働きで無人車１の送受信手段１４，１５から
エレベータ前到着信号２４が発信される。この信
号２４が空中を伝播して地上側の信号伝送装置２
１に送受信器２０ｂを介して伝送されると、当該
装置２１は地上側のエレベータ制御盤２５にエレ
ベータ呼び出し指令２６を与える。この結果、エ
レベータケージ１８が無人車１のの待機する所定
階まで呼び出される。 The control device 16 mounted on the unmanned vehicle 1 and the signal transmission device 21 on the ground side have control functions as described below. That is, when the unmanned vehicle 1 that automatically travels along the guideline 9 arrives at the stopping position B in front of the elevator,
When the unmanned vehicle 1 reaches the stop position A in front of the elevator and stops automatically, the unmanned vehicle 1 automatically stops as shown in Fig. 6. Onboard control device 1
6, a pre-elevator arrival signal 24 is transmitted from the transmitting/receiving means 14, 15 of the unmanned vehicle 1. This signal 24 propagates through the air to the signal transmission device 2 on the ground side.
1 via the transceiver 20b, the device 21 gives an elevator call command 26 to the elevator control panel 25 on the ground side. As a result, the elevator car 18 is called to the predetermined floor where the unmanned vehicle 1 is waiting.
エレベータケージ１８が呼び出されると、開閉
扉２２，２３が開動した後にエレベータ制御盤２
５から地上側の信号伝送装置２１に乗車許可指令
２７が伝達される。当該装置２１はこの指令２７
を受けてエレベータ乗車許可信号２８を、少なく
とも待機する無人車１に対向する側の送受信器２
０ｂから発信する。当該信号２８が空中を伝播し
て無人車１の制御装置１６に送受信手段１４を介
して伝送されると、当該制御装置１６は無人車１
をエレベータケージ１８内に向けて発進させる。 When the elevator car 18 is called, the elevator control panel 2 is opened after the opening/closing doors 22 and 23 are opened.
5, the boarding permission command 27 is transmitted to the signal transmission device 21 on the ground side. The device 21 follows this command 27
In response, the elevator boarding permission signal 28 is sent to at least the transmitter/receiver 2 on the side facing the waiting unmanned vehicle 1.
Transmits from 0b. When the signal 28 propagates through the air and is transmitted to the control device 16 of the unmanned vehicle 1 via the transmitting/receiving means 14, the control device 16
is launched into the elevator car 18.
ガイドライン９にそつて停止位置Ｂからエレベ
ータケージ１８内に向かつて自動走行する無人車
１がエレベータケージ１８内の停止位置Ａで自動
停止すると、制御装置１６の働きで無人車１の送
受信手段１４，１５からエレベータ乗車完了信号
２９が発信される。この信号２９が空中を伝播し
てエレベータケージ１８内から地上側の信号伝送
装置２１に送受信器２０ａを介して伝送される
と、当該装置２１はエレベータ制御盤２５に乗車
完了信号３０を伝送する。この結果、開閉扉２
２，２３が閉動された後、エレベータケージ１８
が予め設定されている所定階まで昇降移動する。 When the unmanned vehicle 1, which is automatically traveling from the stop position B toward the elevator cage 18 along the guideline 9, automatically stops at the stop position A inside the elevator cage 18, the transmitting/receiving means 14, An elevator boarding completion signal 29 is transmitted from the terminal 15. When this signal 29 propagates through the air and is transmitted from inside the elevator car 18 to the signal transmission device 21 on the ground side via the transceiver 20a, the device 21 transmits a boarding completion signal 30 to the elevator control panel 25. As a result, opening/closing door 2
2, 23 are closed, the elevator car 18
move up and down to a predetermined floor.
エレベータケージ１８が所定階に到着すると、
開閉扉２２，２３が開動した後にエレベータ制御
盤２５から地上側の信号伝送装置２１に降車許可
指令３１が伝達される。当該装置２１はこの指令
３１を受けてエレベータ降車許可信号３２を、少
なくともエレベータケージ１８側の送受信器２０
ａから発信する。当該信号３２が空中を伝播して
エレベータケージ１８内の無人車１の制御装置１
６に送受信手段１５を介して伝送されると、当該
制御装置１６は無人車１をエレベータホール１９
内に向けて発進（後進）させる。 When the elevator car 18 arrives at a predetermined floor,
After the opening/closing doors 22 and 23 are opened, an exit permission command 31 is transmitted from the elevator control panel 25 to the signal transmission device 21 on the ground side. Upon receiving this command 31, the device 21 sends an elevator exit permission signal 32 to at least the transmitter/receiver 20 on the elevator car 18 side.
Send from a. The signal 32 propagates through the air and is transmitted to the control device 1 of the unmanned vehicle 1 in the elevator cage 18.
6 via the transmitting/receiving means 15, the control device 16 directs the unmanned vehicle 1 to the elevator hall 19.
Start (reverse) inward.
ガイドライン９にそつてエレベータケージ１８
内の停止位置Ａからエレベータホール１９上に向
かつて自動走行する無人車１がエレベータホール
１９上の停止位置Ｂで自動停止すると、制御装置
１６の働きで無人車１の送受信手段１４，１５か
らエレベータ降車完了信号３３が発信される。こ
の信号３３が空中を伝播して地上側の信号伝送装
置２１に送受信器２０ｂを介して伝送されると、
当該装置２１はエレベータ制御盤２５に降車完了
信号３４を伝送する。この結果、開閉扉２２，２
３が閉動され、次のエレベータ呼び出し指令２６
に備える。又、停止位置Ｂで一旦停止した無人車
１は、前記エレベータ降車完了信号３３を発信し
た後、制御装置１６の働きで自動発進し、ガイド
ライン９にそつて目的の行先に向かつて自動走行
する。 Elevator cage 18 according to guideline 9
When the unmanned vehicle 1, which is automatically traveling from the stop position A in the elevator hall 19 to the elevator hall 19, automatically stops at the stop position B above the elevator hall 19, the control device 16 causes the transmitting and receiving means 14 and 15 of the unmanned vehicle 1 to send the elevator to the elevator hall. A disembarkation completion signal 33 is transmitted. When this signal 33 propagates through the air and is transmitted to the signal transmission device 21 on the ground side via the transceiver 20b,
The device 21 transmits an exit completion signal 34 to the elevator control panel 25. As a result, the opening/closing door 22, 2
3 is closed, and the next elevator call command 26
Prepare for. Further, the unmanned vehicle 1, which has once stopped at the stop position B, automatically starts by the action of the control device 16 after transmitting the elevator exit completion signal 33, and automatically travels along the guideline 9 toward the desired destination.
尚、地上側の信号転送装置２１とエレベータ制
御盤２５との間の信号の受渡しは、電線等を使用
する通常の信号伝送手段によつて行うことが出来
る。又、無人車１側のの送受信手段１４，１５や
地上側の信号伝送装置２１の送受信器２０ａ，２
０ｂから発信された各種信号は、これ等信号に基
づいて行われた動作の終了が確認されたとき等、
適当時期にリセツトすれば良い。更に、無人車１
側の送受信手段１４，１５と地上側の信号伝送装
置２１との間の信号媒体として赤外線を利用した
が、可視光線や電波、超音波等、他の媒体を利用
することも出来る。 Note that signals can be exchanged between the signal transfer device 21 on the ground side and the elevator control panel 25 by ordinary signal transmission means using electric wires or the like. In addition, the transmitting/receiving means 14 and 15 on the unmanned vehicle 1 side and the transmitting/receiving devices 20a and 20 of the signal transmission device 21 on the ground side
Various signals sent from 0b are sent when the completion of the operation based on these signals is confirmed, etc.
All you have to do is reset it at the appropriate time. Furthermore, unmanned vehicle 1
Although infrared rays are used as a signal medium between the side transmitting/receiving means 14 and 15 and the signal transmission device 21 on the ground side, other media such as visible light, radio waves, ultrasonic waves, etc. can also be used.
又、実施例では、無人車１を受け入れた階によ
つてエレベータケージ１８の行先階が一定してい
るものとして、無人車１側から行先階の指定を行
つていないが、無人車１側から行先階を指定する
信号を発信させ、地上側の信号伝送装置２１を介
してエレベータ制御盤２５にエレベータケージ１
８の行先階をを指定するように制御することも可
能である。又、無人車１側の送受信手段１４，１
５や地上側の信号伝送装置２１の送受信器２０
ａ，２０ｂから発信される各種信号は、その信号
を受信する側で信号受信直前の動作状態から受信
した信号の内容が決定出来るときは、単なる一つ
のパルス信号とすることも出来るが、先の行先階
指定信号等、信号そのものに内容を持たせる必要
のある場合には、当該信号をコード化することも
出来る。 Furthermore, in the embodiment, the destination floor of the elevator cage 18 is assumed to be constant depending on the floor that receives the unmanned vehicle 1, and the destination floor is not specified from the unmanned vehicle 1 side. A signal specifying the destination floor is transmitted from the elevator car 1 to the elevator control panel 25 via the signal transmission device 21 on the ground side.
It is also possible to specify the destination floor of 8. Moreover, the transmitting/receiving means 14, 1 on the unmanned vehicle 1 side
5 and the transceiver 20 of the signal transmission device 21 on the ground side
The various signals emitted from a and 20b can be simply a single pulse signal if the content of the received signal can be determined from the operating state immediately before the signal is received on the side receiving the signal. If the signal itself needs to have content, such as a destination floor designation signal, the signal can also be encoded.
前記無人車１の送受信手段１４，１５は、エレ
ベータ乗降のための信号以外の制御信号の受渡し
にも応用し得る。例えば第７図に示すように、エ
レベータ乗降部との間に無人車１の一旦停止場所
３５を形成する区画開閉扉３６が設置されている
場合には、当該開閉扉３６の開閉を指令する信号
や開閉扉３６の開閉完了信号（無人車発進指令）
等の受渡しを前記送受信手段１４，１５を介して
行わせることも出来る。３７は前記区画開閉扉３
６の外側に配設された信号伝送装置であつて、停
止位置Ｃに停止した無人車１との間で前記の扉開
閉指令信号や扉開閉完了信号（無人車発進指令）
等の受渡しを行う
本発明の自動走行車輛のエレベータ乗降方法は
以上のように実施し得るものであつて、その特徴
は、自動走行車輌に送受信手段を設け、前記車輌
が乗り移るエレベータケージ内ではなくエレベー
タホールに、エレベータケージ内に乗り移つた車
輌の前記送受信手段との間で信号の受渡しを行え
る地上側信号伝送装置を配設し、前記車輌がエレ
ベータケージ内に乗車完了したとき、当該車輌の
送受信手段から少なくともエレベータ乗車完了信
号をエレベータホールに向かつて発信させ、この
エレベータ乗車完了信号を前記地上側信号伝送装
置が受信したことに基づいてエレベータケージを
昇降させ、エレベータケージが所定階に到着して
車輌の降車が可能な状態となつたとき、当該到着
階のエレベータホールの前記信号伝送装置からエ
レベータケージ内に向かつてエレベータ降車許可
信号を発信させ、このエレベータ降車許可信号を
エレベータケージ内の車輌の前記送受信手段を受
信したことに基づいて当該車輌をエレベータから
発進降車させる点にある。 The transmitting/receiving means 14 and 15 of the unmanned vehicle 1 can also be applied to the exchange of control signals other than signals for getting on and off the elevator. For example, as shown in FIG. 7, if a compartment opening/closing door 36 that forms a temporary stopping place 35 for the unmanned vehicle 1 is installed between the elevator boarding section and the elevator boarding section, a signal is sent to command the opening/closing of the opening/closing door 36. Opening/closing completion signal of opening/closing door 36 (unmanned vehicle start command)
It is also possible to have the transmission/reception means 14, 15 perform the transfer. 37 is the compartment opening/closing door 3
6 is a signal transmission device disposed outside of the vehicle 6, which transmits the door opening/closing command signal and door opening/closing completion signal (unmanned vehicle start command) between the unmanned vehicle 1 stopped at the stop position C.
The method of getting on and off an elevator for an automatic driving vehicle according to the present invention can be carried out as described above, and its feature is that the automatic driving vehicle is provided with a transmitting/receiving means, and the transmission/reception means is provided in the automatic driving vehicle, rather than inside the elevator cage where the vehicle transfers. A ground-side signal transmission device capable of exchanging signals with the transmitting/receiving means of the vehicle transferred into the elevator cage is installed in the elevator hall, and when the vehicle completes getting into the elevator cage, the signal transmission device of the vehicle is The transmitter/receiver transmits at least an elevator boarding completion signal toward the elevator hall, and the elevator car is raised or lowered based on the reception of the elevator boarding completion signal by the ground side signal transmission device, so that the elevator car arrives at a predetermined floor. When it becomes possible for the vehicle to exit the vehicle, the signal transmission device in the elevator hall of the arrival floor transmits an elevator exit permission signal to the elevator cage, and this elevator exit permission signal is transmitted to the vehicle in the elevator cage. The vehicle is started and exited from the elevator based on the reception of the transmitting/receiving means.
このような本発明方法によれば、エレベータケ
ージ内に自動車走行車輛が位置している状態で当
該車輛とエレベータ制御盤との間で受渡しする必
要のある信号は総て前記地上側信号伝送装置とエ
レベータケージ内の車輛との間で空中伝播により
行わせることが出来、従来のようにエレベータケ
ージ内の床面や側面にこれ等信号の受渡しのため
の送受信手段を設ける必要が全くなくなる。従つ
て昇降するエレベータケージと地上側のエレベー
タ制御盤との間に、前記車輛との間で受渡しする
信号を伝送する信号伝送系を設ける必要もない、
このため、自動走行車輛の走行経路中に既設のエ
レベータを取り入れることが極めて簡単容易とな
り、経済的に実施し得る。 According to the method of the present invention, all signals that need to be exchanged between the vehicle and the elevator control panel when the vehicle is located in the elevator cage are transmitted to the ground side signal transmission device. This can be carried out by air propagation between the signal and the vehicle inside the elevator car, and there is no need to provide transmitting and receiving means for transmitting and receiving signals on the floor and side surfaces of the elevator car as in the past. Therefore, there is no need to provide a signal transmission system for transmitting signals to and from the vehicle between the elevator car that goes up and down and the elevator control panel on the ground side.
Therefore, it is extremely simple and easy to incorporate an existing elevator into the travel route of an automatic vehicle, and it can be implemented economically.
第１図は自動走行車輛（無人車）の構成を説明
する概略平面図、第２図は同側面図、第３図はエ
レベータ乗降部のレイアウトを示す平面図、第４
図はエレベータ乗降部の構成を説明する概略縦断
側面図、第５図は同横断平面図、第６図は各装置
間での信号系統図、第７図はエレベータ乗降部に
於ける別のレイアウトを示す平面図である。
１…無人車、２…自動操向車輪、３…駆動車
輪、４…操向用モーター、６…操向フレーム、７
ａ，７ｂ…自動操向制御用センサー、８…駆動用
モーター、９…ガイドライン、１０…ステーシヨ
ンマーク、１１…位置検出用センサー、１２ａ，
１３ａ…送信器、１２ｂ，１３ｂ…受信器、１
４，１５…送受信手段、１６…制御装置、１７…
エレベータ、１８…エレベータケージ、１９…エ
レベータホール、２０ａ，２０ｂ…送受信器、２
１，３７…地上側信号伝送装置、２２，２３，３
６…開閉扉、２５…エレベータ制御盤、Ａ〜Ｃ…
停止位置。
Fig. 1 is a schematic plan view illustrating the configuration of an autonomous vehicle (unmanned vehicle), Fig. 2 is a side view of the same, Fig. 3 is a plan view showing the layout of the elevator boarding section, and Fig. 4 is a plan view showing the layout of the elevator boarding section.
The figure is a schematic longitudinal side view explaining the configuration of the elevator boarding area, Figure 5 is a cross-sectional plan view of the same, Figure 6 is a signal system diagram between each device, and Figure 7 is another layout of the elevator boarding area. FIG. DESCRIPTION OF SYMBOLS 1...Unmanned vehicle, 2...Automatic steering wheel, 3...Drive wheel, 4...Steering motor, 6...Steering frame, 7
a, 7b...Sensor for automatic steering control, 8...Drive motor, 9...Guideline, 10...Station mark, 11...Sensor for position detection, 12a,
13a...Transmitter, 12b, 13b...Receiver, 1
4, 15... Transmitting/receiving means, 16... Control device, 17...
Elevator, 18...Elevator cage, 19...Elevator hall, 20a, 20b...Transmitter/receiver, 2
1, 37...Ground side signal transmission device, 22, 23, 3
6... Opening/closing door, 25... Elevator control panel, A to C...
Stop position.
Claims (1)
設定された停止位置で自動停止することの出来る
自動走行車輌に送受信手段を設け、前記車輌が乗
り移るエレベータケージ内ではなくエレベータホ
ールに、エレベータケージ内に乗り移つた車輌の
前記送受信手段との間で信号の受渡しを行える地
上側信号伝送装置を配設し、前記車輌がエレベー
タケージ内に乗車完了したとき、当該車輌の送受
信手段から少なくともエレベータ乗車完了信号を
エレベータホールに向かつて発信させ、このエレ
ベータ乗車完了信号を前記地上側信号伝送装置が
受信したことに基づいてエレベータケージを昇降
させ、エレベータケージが所定階に到着して車輌
の降車が可能な状態となつたとき、当該到着階の
エレベータホールの前記信号伝送装置からエレベ
ータケージ内に向かつてエレベータ降車許可信号
を発信させ、このエレベータ降車許可信号をエレ
ベータケージ内の車輌の前記送受信手段が受信し
たことに基づいて当該車輌をエレベータから発進
降車させることを特徴とする自動走行車輌のエレ
ベータ乗降方法。1. A self-driving vehicle capable of automatically traveling on a set travel route and automatically stopping at a set stop position is provided with a transmitting/receiving means, and the transmission/reception means is provided in an elevator hall, not in an elevator cage where the vehicle transfers, and in an elevator cage. A ground-side signal transmission device capable of exchanging signals with the transmitting/receiving means of the transferred vehicle is provided, and when the vehicle completes entering the elevator cage, at least an elevator boarding completion signal is sent from the transmitting/receiving means of the vehicle. is transmitted toward the elevator hall, and the elevator cage is raised or lowered based on the ground-side signal transmission device receiving this elevator boarding completion signal, and the elevator cage arrives at a predetermined floor and the vehicle is in a state where it is possible to exit the vehicle. When this occurs, an elevator exit permission signal is transmitted from the signal transmission device in the elevator hall of the arrival floor toward the elevator cage, and the elevator exit permission signal is received by the transmitting/receiving means of the vehicle within the elevator cage. A method for getting on and off an elevator for an autonomous vehicle, characterized by starting and getting off the elevator from the elevator based on the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59022332A JPS60167883A (en) | 1984-02-08 | 1984-02-08 | Elevator get-on-off method of autoamtic travelling car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59022332A JPS60167883A (en) | 1984-02-08 | 1984-02-08 | Elevator get-on-off method of autoamtic travelling car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60167883A JPS60167883A (en) | 1985-08-31 |
| JPH037597B2 true JPH037597B2 (en) | 1991-02-01 |
Family
ID=12079750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59022332A Granted JPS60167883A (en) | 1984-02-08 | 1984-02-08 | Elevator get-on-off method of autoamtic travelling car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60167883A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0818649B2 (en) * | 1989-12-04 | 1996-02-28 | 株式会社フジタ | Conveying equipment for materials and equipment for construction work |
| JP2005206362A (en) * | 2004-01-26 | 2005-08-04 | Mikishii:Kk | Automatic elevator, operation method for automatic elevator |
| JP6714488B2 (en) * | 2016-09-30 | 2020-06-24 | 株式会社Ｚｍｐ | Unattended delivery system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58177882A (en) * | 1982-04-08 | 1983-10-18 | 三菱電機株式会社 | Conveyor |
-
1984
- 1984-02-08 JP JP59022332A patent/JPS60167883A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58177882A (en) * | 1982-04-08 | 1983-10-18 | 三菱電機株式会社 | Conveyor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60167883A (en) | 1985-08-31 |
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