JPS59167465A - Automatic conveyor for unmanned car - Google Patents
Automatic conveyor for unmanned carInfo
- Publication number
- JPS59167465A JPS59167465A JP58041816A JP4181683A JPS59167465A JP S59167465 A JPS59167465 A JP S59167465A JP 58041816 A JP58041816 A JP 58041816A JP 4181683 A JP4181683 A JP 4181683A JP S59167465 A JPS59167465 A JP S59167465A
- Authority
- JP
- Japan
- Prior art keywords
- car
- unmanned vehicle
- floor
- contact
- relay
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 37
- 238000010586 diagram Methods 0.000 description 2
- 241001494479 Pecora Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Landscapes
- Platform Screen Doors And Railroad Systems (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
この発明は無人車を自動搬送する装置の改良に関するも
のである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a device for automatically transporting an unmanned vehicle.
病院、工場等では、無人の荷物運搬車をエレベータのか
ごで所定階まで搬送する装置が実用されている。すなわ
ち、押ボタン等で無人車に行先を指定すると、無人車は
エレベータの乗場に自動走行シて、エレベータの乗場戸
の前で待機する。ここで、この階の乗場呼びが登録され
、かごを呼び寄せる。かごが到着して戸が開くと、無人
車はかご内に自動走行し、かごは指定の階に向かって走
行する。かごが指定階に到着して戸が開けば、無人車は
自動走行してかごを降り、指定場所まで走行する。これ
らの動作は公知のものである。なお、上記エレベータは
、人が呼びボタンを押してかごを呼び寄せ、かご内の行
先ボタンで所望の階へ行く通常のエレベータ運転もでき
るようになっていることは言うまでもない。BACKGROUND ART In hospitals, factories, etc., devices are in practical use that transport unmanned luggage carriers to predetermined floors using elevator cars. That is, when a destination is designated to the unmanned vehicle using a push button or the like, the unmanned vehicle automatically travels to the elevator landing and waits in front of the elevator landing door. Here, the landing call for this floor is registered and the car is called. When the car arrives and the door opens, the unmanned car automatically moves into the car and the car heads towards the designated floor. When the car arrives at the designated floor and the door is opened, the unmanned car will automatically get off the car and drive to the designated location. These operations are well known. It goes without saying that the above-mentioned elevator can also be used for normal elevator operation in which a person presses a call button to call a car, and then presses a destination button inside the car to go to a desired floor.
しかし、人がエレベータを利用しようとして乗場に来た
とき、無人車がかご内にいるのか、かごが到着したとき
無人車がかごから降りて来るのか等、無人車の状況を知
ることはできない。そのため、人と無人車が接触したり
、衝突したりする危険がある。However, when a person comes to the elevator hall to use an elevator, it is impossible to know the status of the unmanned car, such as whether the unmanned car is inside the car or whether the unmanned car will get off the car when the car arrives. Therefore, there is a risk that humans and unmanned vehicles may come into contact or collide.
この発明は上記不具合を改良するもので、乗場に無人車
とエレベータのかごとの相対関係を報知することKより
、利用者に無人車の状況を知らせ、人と無人車が接触す
る危険を防止できるようにした無人車の自動搬送装置を
提供することを目的とする。This invention improves the above-mentioned problem by notifying the passenger of the relative relationship between the unmanned car and the elevator car, thereby informing the user of the situation of the unmanned car and preventing the risk of contact between people and the unmanned car. An object of the present invention is to provide an automatic transport device for an unmanned vehicle.
以下、第1図〜第5図によりこの発明の一実施例を説明
する。An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.
第1図中、〔1)〜(3)は1階〜3階の階床、(4)
は1階〜3階の階床(1)〜(3)に埋設された誘導線
、(5)は誘導線(4)により走行方向が案内され、搭
載された電池を電源として自動走行する無人車、(IA
)〜(3A)は1階〜3階のエレベータ乗場床に設置さ
れそれぞれ所定区域に無人車(5)が進入したことを検
出する無人車検出装置、(lB)〜(3B)は1階〜3
階の乗場に設置された呼びボタン、(1C)〜(3C)
は同じく戸閉ボタン、(1D)〜(3D)は同じく無人
車(5)がかごを使用していることを表示する表示灯か
らなる使用中報知器、(1E)〜(3E)は同じく無人
車(5)がかごから出ることを表示する表示灯からなる
出車報知器、(IF )〜(3F)はエレベータのかご
(6)内に設置された行先ボタンである。In Figure 1, [1) to (3) are floors from the 1st to 3rd floors, (4)
(5) is an unmanned vehicle that is guided in the direction of travel by the guide wire (4) and runs automatically using the on-board battery as a power source. Car, (IA
) to (3A) are unmanned vehicle detection devices installed on the elevator landing floors of the 1st to 3rd floors to detect when an unmanned vehicle (5) enters a predetermined area, respectively; 3
Call buttons installed at the landing on the floor, (1C) ~ (3C)
is also a door close button, (1D) to (3D) are also in-use alarms consisting of indicator lights that indicate that an unmanned car (5) is using the car, and (1E) to (3E) are also unmanned. A departure alarm consisting of an indicator light indicating that the car (5) is leaving the car, (IF) to (3F) are destination buttons installed in the elevator car (6).
第2図〜第4図中、(ト)、(→は直流電源、(IAa
)〜(3Aa)、(lAb)〜(3Ab)、(lAC)
〜(3AC)はそれぞれ無人車検出装置(lA)〜(3
A)が動作すると閉成する無人車検出リレー接点、(l
Ba、)〜(3Ba’)、 (コ、Bb)〜(3Bb)
はそれぞれ1階〜3階の呼びボタン(lB)〜(3B)
の常開接点(以下単に呼びボタンという)、(1’Fa
)〜(3Fa)、(lFb)〜(3Fb)はそれぞれ1
階〜3階の行先ボタン(IF)〜(3F)の常開接点(
以下単に行先ボタンという)、(IGa) 〜(3Ga
)、(コGb)〜(3Gb)、(lGc)〜(3GC)
、(IGd) 〜(3Gd)はそれぞれ無人車(5)に
1階〜3階が行先階として設定されたとき閉成する行先
指令リレー接点、(lH)〜(3H)はそれぞれ1階〜
3階の行先登録リレーで、(IHa)〜(3Ha)はそ
の常開接点、(1Hb)〜(3Hb)は同じく常閉接点
、(1工a)〜(3工a)はかと(6)が1階〜3階に
あるとき開放する位置検出リレー接点、(lより)〜(
3より)、 (l工C)〜(3IC)は同じく閉成する
位置検出リレー接点、(7)は付勢されると直ちに動作
し消勢されると一定時間後に復帰する登録数制限用時限
りレーで、(’ya)Ate)はその常開接点、(8)
は無人車搬送検出リレーで、(8a)〜(8d)はその
常閉接点、(8e)1(8f)は同じく常開接点、(9
)は手押車搬送検出リレーで、(9a)〜(9g)はそ
の常閉接点、 (9N、 (91)は同じく常開接点、
(10a)〜(10e)はそれぞれ乗場戸が全閉すると
閉成する戸全閉検出リレー接点、(10f)、(10g
)は同じく開放する戸全閉検出リレー接点、(’x1a
’)+(llb)はかごを停止する指令が出ると開放す
る停止指令リレー接点、02はかご(6)が走行中のと
き閉成する走行リレー接点、03は無人車行先登録時期
決定リレーで、(13a)〜(13d)はその常開接点
である。In Figures 2 to 4, (G), (→ are DC power supplies, (IAa
)~(3Aa), (lAb)~(3Ab), (lAC)
~(3AC) are unmanned vehicle detection devices (lA) ~(3AC), respectively.
An unmanned vehicle detection relay contact that closes when A) is activated, (l
Ba, ) ~ (3Ba'), (ko, Bb) ~ (3Bb)
are the call buttons (1B) to (3B) for the 1st to 3rd floors, respectively.
Normally open contact (hereinafter simply referred to as the call button), (1'Fa
)~(3Fa) and (lFb)~(3Fb) are each 1
Normally open contacts of destination buttons (IF) to (3F) for floors to 3rd floors (
(hereinafter simply referred to as destination buttons), (IGa) ~ (3Ga
), (Gb) ~ (3Gb), (lGc) ~ (3GC)
, (IGd) to (3Gd) are destination command relay contacts that close when the first to third floors are set as the destination floors for the unmanned vehicle (5), and (lH) to (3H) are the contacts for the first to third floors, respectively.
On the destination registration relay on the 3rd floor, (IHa) to (3Ha) are normally open contacts, (1Hb) to (3Hb) are normally closed contacts, and (1st a) to (3rd a) are (6) Position detection relay contacts that open when the is on the 1st to 3rd floor, (from l) to (
3), (1C) to (3IC) are position detection relay contacts that also close, and (7) is for registration limit, which operates immediately when energized and returns after a certain period of time when deenergized. ('ya)Ate) is its normally open contact, (8)
is an unmanned vehicle transport detection relay, (8a) to (8d) are normally closed contacts, (8e) 1 (8f) are also normally open contacts, (9
) is a handcart conveyance detection relay, (9a) to (9g) are its normally closed contacts, (9N, (91) is also a normally open contact,
(10a) to (10e) are door fully closed detection relay contacts that close when the landing door is fully closed, (10f) and (10g), respectively.
) is the door fully closed detection relay contact that also opens, ('x1a
') + (llb) is a stop command relay contact that opens when a command to stop the car is issued, 02 is a travel relay contact that closes when car (6) is running, and 03 is a relay that determines when to register the destination of an unmanned vehicle. , (13a) to (13d) are its normally open contacts.
次に、この実施例の動作を説明する。Next, the operation of this embodiment will be explained.
まず、第5図によりこの実施例の動作の概要を説明する
。First, an overview of the operation of this embodiment will be explained with reference to FIG.
無人車行先指令装置■])(詳細は省略)によって無人
車(5)に行先が指定されると、無人車制御回路(ハ)
(詳細は省略)が動作して車輪用電動機(イ)は駆動さ
れ、かつその速度が制御され、無人車(5)は誘導線(
4)に沿って、例えば1階のエレベータ乗場に走行する
。無人車(5)が無人車検出装置(1A)により検出さ
れると、優先決定回路(ハ)(無人車搬送検出リレー(
8)及び手押車搬送検出リレー(9)及びそれらの接点
により構成)を介して行先登録回路(ハ)(行先登録リ
レー(lH)〜(3H)及びそれらの接点により構成)
で行先が登録される。この行先登録によりエレベータ制
御回路(ハ)(詳細は省略)は動作し、巻上電動機(ハ
)を制御して、かご(6)は呼び寄せられる。When the destination is specified for the unmanned vehicle (5) by the unmanned vehicle destination command device (■]) (details omitted), the unmanned vehicle control circuit (c)
(Details omitted) operates to drive the wheel electric motor (A) and control its speed, and the unmanned vehicle (5) moves along the guide line (
4), for example, run to the elevator landing on the first floor. When the unmanned vehicle (5) is detected by the unmanned vehicle detection device (1A), the priority determination circuit (c) (unmanned vehicle transport detection relay (
Destination registration circuit (c) (consisting of destination registration relays (1H) to (3H) and their contacts) via the handcart transport detection relay (9) and their contacts)
The destination will be registered. This destination registration causes the elevator control circuit (c) (details are omitted) to operate, controls the hoisting motor (c), and calls the car (6).
無人車(5)がかと(6)に乗ると行先が登録され、か
ご(6)は指定された行先階へ走行する。また、手押車
を操作する人が、呼びボタン(IB)を押すと、上述と
同様に行先が登録され、かご(6)は呼び寄せられる。When the unmanned car (5) gets on the heel (6), the destination is registered and the car (6) travels to the specified destination floor. Further, when the person operating the handcart presses the call button (IB), the destination is registered in the same manner as described above, and the basket (6) is called.
そして、呼びボタン(IB )が押されるか、又は無人
車(5)が無人車検出装置CIA)で検出されると、優
先決定回路(財)は動作し、その呼びを優先しその後に
生じる呼びを阻止する。また、呼びボタン(且)が押さ
れると、無人車制御回路(イ)に指令を与え、無人車(
5)を所定区域外で停車させる。上述の動作中、相対関
係検出回路(ハ)により、無人車(5)とかと(6)と
の相対関係が検出され、無人車(5)がかと(6)を使
用するときは報知器(LD )により1階乗場に報知し
、無人車(5)がかと(6)から出るときは報知器(1
E)により同様に報知する。Then, when the call button (IB) is pressed or the unmanned vehicle (5) is detected by the unmanned vehicle detection device CIA), the priority determination circuit operates, giving priority to that call and calling subsequent calls. to prevent Also, when the call button (and) is pressed, a command is given to the unmanned vehicle control circuit (a), and the unmanned vehicle (
5) to stop outside the designated area. During the above operation, the relative relationship detection circuit (c) detects the relative relationship between the unmanned vehicle (5) and the heel (6), and when the unmanned vehicle (5) uses the heel (6), the alarm ( When the unmanned vehicle (5) exits from the heel (6), the alarm (1) is used.
E) shall be notified in the same manner.
次に、第10図〜第4図により動作の詳細を説明する。Next, details of the operation will be explained with reference to FIGS. 10 to 4.
直流電源(ト)、(→が投入されると、登録数制限用時
限リレー(7)は付勢され、接点(7a)〜(7e)は
閉成する。When the DC power supply (g) and (→ are turned on), the time relay for limiting the number of registrations (7) is energized, and the contacts (7a) to (7e) are closed.
今、かご(6)は3階で戸閉待機しているものとすると
、戸全閉検出リレー接点(10a)〜(1oe)は閉成
し、接点(lOf)、(log)は開放している。ここ
で、行先が2階に指定された無人j’[(5)が1階の
乗場に走行して来ると、2階の行先指令リレー接点(2
Ga)〜(2Gd)は閉成している。無人車(5)が1
階乗場所定区域内に入ると、無人車検重装@(1A)は
動作し、無人車検出リレー接点(IAa)〜(1Ac)
は閉成する。接点(”IAa)が閉成すると、(→−(
lAa) −(9f)−(loc) −(’7c)−(
lH)−(→の回路により1階の行先登録リレー(lH
)は付勢され、接点(IHa)の閉成により自己保持す
る。また、接点(lAb)の閉成により、(ト)−(2
Gb)−(コ−Ab)−(ta) −(9g)−(s)
−(→の回路で、無人車搬送検出リレー(8)は付勢さ
れ、接点(8e)の閉成により自己保持する。また、接
点(8a)〜(8C)は開放するので、1階〜3階の呼
びボタン(IBa )〜(3Ba)は不感となり、手押
車搬送操作を阻止する。また、接点(Bf)は閉成する
ので、1階〜3階の使用中報知器(lD)〜(3D)は
、例えば「無人車使用中」と報知し、手押車の搬送を受
は付けないことを知らせる。Now, assuming that the car (6) is waiting on the third floor with the door closed, the door fully closed detection relay contacts (10a) to (1oe) are closed, and the contacts (lOf) and (log) are open. There is. Here, when the unmanned j' [(5) whose destination is specified as the second floor runs to the landing on the first floor, the destination command relay contact on the second floor (2
Ga) to (2Gd) are closed. Unmanned car (5) is 1
When entering the designated area of the factorial place, the unmanned vehicle inspection heavy equipment @ (1A) operates, and the unmanned vehicle detection relay contacts (IAa) ~ (1Ac)
is closed. When the contact ("IAa) closes, (→-(
lAa) -(9f)-(loc) -('7c)-(
lH) - (→ circuit connects the 1st floor destination registration relay (lH
) is energized and maintains itself by closing the contact (IHa). Also, by closing the contact (lAb), (g) - (2
Gb)-(Co-Ab)-(ta)-(9g)-(s)
- (In the circuit →, the unmanned vehicle transport detection relay (8) is energized and self-holds by closing the contact (8e). Also, since the contacts (8a) to (8C) are open, the first floor... The call buttons (IBa) to (3Ba) on the 3rd floor become insensitive and prevent the handcart transport operation.Also, since the contact (Bf) is closed, the in-use alarms (LD) on the 1st to 3rd floors are disabled. (3D), for example, notifies that "unmanned vehicle is in use" and notifies that transport of the handcart will not be accepted.
一方、接点(IHI))は開放するので、時限リレー(
7)は一定時間後に復帰し、接点(7a)(’7e)は
開放する。On the other hand, since the contact (IHI)) is open, the time relay (
7) returns after a certain period of time, and contacts (7a) ('7e) open.
1階の行先登録リレー(IH)の付勢により、1階の行
先呼びは登録され、かご(6)は1階に呼び寄せられる
。かご(6)が1階に到着すると、位置検出リレー接点
(1,Tb)は閉成する。かご(6)が停止すると戸開
開始し、戸全閉検出リレー接点(lOd)は開放する。By energizing the destination registration relay (IH) on the first floor, the destination call on the first floor is registered and the car (6) is called to the first floor. When the car (6) reaches the first floor, the position detection relay contact (1, Tb) is closed. When the car (6) stops, the door starts to open, and the door fully closed detection relay contact (lOd) opens.
このとき、停止指令リレー接点(11a)は開放してい
るので、1階の行先登録リレー(1H)は消勢され、接
点(1aa)は開放し、接点(IHb)は閉成する。こ
れで、再び時限リレー(7)は付勢される。また、接点
(1of)は閉成するので、(ト)−(lAc)−(1
より) −(1ot)−(]:1−(−)の回路により
、無人車行先登録時期決定リレー0りは付勢され、接点
C13d)の閉成により自己保持する。また、接点(1
3a)〜(13c)は閉成する。戸開完了すれば無人車
(5)はかと(6)内に入り、停止すると戸は閉まシ始
める。戸閉完了すると、戸全閉検出リレー接点(lOb
)は閉成し、(→−C2Ga) −(13b)−(9c
)−(10b)−(’7b) −(2H)−(→の回路
により、2階の行先登録リレー(2H)は付勢され、接
点(2Ha)の閉成により自己保持する。また、接点(
2Hb)は開放するので、時限リレー(7)は一定時間
後に復帰し、接点(7a)〜(7c)は開放する。行先
登録リレー(2H)の付勢により、2階の行先呼びは登
録され、かご(6)は2階に向かって走行する。かご(
6)が2階に接近して、停止指令リレー接点(11b)
が開放すると、無人車行先登録時期決定リレー(13は
消勢され、接点(13a)〜(13d)は開放する。こ
のとき、2階の位置検出リレー接点(2工C)は閉成し
ているので、(→−1Ga) −(2IC) −(2E
)−(→の回路で、2階の出車報知器(2E)は、例え
ば「無人車が出ます」と報知し、かご(6)から無人*
(5)が降りて来ることを知らせる。At this time, since the stop command relay contact (11a) is open, the destination registration relay (1H) on the first floor is deenergized, the contact (1aa) is opened, and the contact (IHb) is closed. Now, the time relay (7) is energized again. Also, since the contact (1of) is closed, (T) - (lAc) - (1
-(1ot)-(]:1-(-) circuit energizes the unmanned vehicle destination registration timing determination relay 0, and maintains itself by closing contact C13d). In addition, the contact (1
3a) to (13c) are closed. When the door is completely opened, the unmanned vehicle (5) enters the base (6), and when the vehicle stops, the door begins to close. When the door is completely closed, the door fully closed detection relay contact (lOb
) is closed, (→-C2Ga) -(13b)-(9c
) - (10b) - ('7b) - (2H) - (By the circuit →, the destination registration relay (2H) on the second floor is energized and self-retained by closing the contact (2Ha). (
2Hb) is opened, the time relay (7) returns after a certain period of time, and the contacts (7a) to (7c) are opened. By energizing the destination registration relay (2H), the destination call for the second floor is registered, and the car (6) runs toward the second floor. Basket (
6) approaches the second floor, the stop command relay contact (11b)
When the unmanned vehicle destination registration timing determination relay (13) is deenergized, the contacts (13a) to (13d) are opened. At this time, the position detection relay contact (2C) on the second floor is closed. Therefore, (→-1Ga) -(2IC) -(2E
) - ( → circuit, the departure alarm (2E) on the 2nd floor notifies, for example, "An unmanned car is leaving", and the unmanned * from the car (6)
(5) announces that it is coming down.
かご(6)が停止すると戸開開始し、戸全閉検出リレー
接点(lOd)は開放するので、2階の行先登録リレー
(2H)は消勢され、接点(2Ha )は開放し、接点
(2Hb)は閉成する。これで、再び時限リレー(7)
は付勢される。また、戸全閉検出リレー接点(10a)
〜(1OC) +(10e)は開放するので、1階〜3
階の呼びボタン(1Ba)〜(3Ba)、(IBb)〜
(3Bb)は不感となり、手押車搬送操作を阻止する。When the car (6) stops, the door starts to open, and the door fully closed detection relay contact (lOd) opens, so the destination registration relay (2H) on the second floor is deenergized, the contact (2Ha) opens, and the contact ( 2Hb) is closed. Now timed relay (7)
is energized. In addition, the door fully closed detection relay contact (10a)
~ (1OC) + (10e) will be open, so 1st floor~3
Floor call buttons (1Ba) ~ (3Ba), (IBb) ~
(3Bb) becomes insensitive and prevents the handcart transport operation.
戸が全開して無人車(5)がかと(6)から降りると、
無人車検出装置(2A)は動作し、この動作により2階
の行先指令リレー接点(2Ga )〜(aGd’)は開
放する(回路は省略)。接点(2Gb)、(2GC)の
開放により、無人車搬送検出リレー(8)は消勢され、
接点(8a)〜(8d)は閉成し、接点(8e)は開放
する。When the door opens fully and the unmanned car (5) gets off the heel (6),
The unmanned vehicle detection device (2A) operates, and this operation opens the destination command relay contacts (2Ga) to (aGd') on the second floor (circuits are omitted). By opening the contacts (2Gb) and (2GC), the unmanned vehicle transport detection relay (8) is deenergized.
Contacts (8a) to (8d) are closed, and contact (8e) is open.
接点(2Gd)の開放により、出車報知器(2E)は消
灯する。When the contact (2Gd) is opened, the vehicle exit alarm (2E) is turned off.
無人車(5)が所定区域外に出ると、無人車検出装置(
2A)は復帰し、この動作により戸は閉まり始める(回
路は省略)。戸閉完了すれば、戸全閉検出リレー接点(
10a)〜(10θ)は閉成する。これで、再び1階〜
3階の呼びボタン(IBa)何3Ba)、 (IBb)
〜(3Bb)は有効となり、次に来る手押車又は無人車
(5)にサービス可能となる。゛また、接点(IOg)
は開放するが、このとき接点(8f)は既に開放してい
るので、1階〜3階の使用中報知器(1D)〜(3D)
は消灯し、上記サービス可能を報知する。When the unmanned vehicle (5) leaves the designated area, the unmanned vehicle detection device (
2A) returns, and the door begins to close due to this operation (circuit omitted). When the door is closed, the door fully closed detection relay contact (
10a) to (10θ) are closed. Now on the 1st floor again~
3rd floor call button (IBa), (IBb)
~(3Bb) becomes valid and can service the next handcart or unmanned vehicle (5).゛Also, contact (IOg)
is opened, but since the contact (8f) is already open at this time, the busy alarms (1D) to (3D) on the 1st to 3rd floors are
turns off and notifies you that the above service is available.
次に、かご〔6)が3階で戸閉待機しており、手押車を
操作した人が1階乗場で呼びボタン(lB)を押したと
する。呼びボタン(lBa)の閉成により、(+L−(
IBa) −(8c) =(10c’) −(’7c)
−(la) −(→の回路で、1階の行先登録リレー
(IH)は付勢され、自己保持する。登録リレー(IH
)の動作により、時限リレー(7)は消勢され、接点(
ツa)〜(7c)は開放するので、二つ目以降の呼びは
受は付けられなくなる。Next, suppose that the car [6] is waiting on the third floor with the door closed, and the person operating the handcart presses the call button (lB) at the landing on the first floor. By closing the call button (lBa), (+L-(
IBa) - (8c) = (10c') - ('7c)
-(la) -(→ In the circuit, the destination registration relay (IH) on the first floor is energized and maintains itself. Registration relay (IH)
), the time relay (7) is deenergized and the contact (
Since TS a) to (7c) are open, subsequent calls cannot be accepted.
また、呼びボタン(1Bb’)の閉成により、(1)−
(xBb )−(10e) −(’7e) −(8d)
−(9)−(→の回路で、手押車搬送検出リレー(9
)は付勢され、接点(9h)の閉成により、(ト)−(
1a) −(2a) −(30) −(9h) −(9
) −(→の回路で自己保持する。まだ、接点(91)
は閉成するので、1階〜3階の使用中報知器(1D)〜
(3D)は動作し、手押車の搬送を受は付けないことを
知らせる。Also, by closing the call button (1Bb'), (1)-
(xBb) - (10e) - ('7e) - (8d)
- (9) - (→ circuit, wheelbarrow conveyance detection relay (9)
) is energized, and by closing the contact (9h), (g) - (
1a) -(2a) -(30) -(9h) -(9
) −(Self-holding in → circuit. Still contact (91)
will be closed, so the busy alarms (1D) on the 1st to 3rd floors will be closed.
(3D) is activated and indicates that the handcart will not be accepted.
一方、手押車搬送検出リレー(9)が付勢されると、無
人車(5)に対し上記所定区域内に入る前でいったん停
止するように進入禁止信号を送る(無線送信されるが、
詳細は省略)。1階の行先登録リレー(1H)が付勢さ
れると、上述のようにかと(6)は走行して1階に到着
すると戸は開く。ここで、手押車をかご(6)内に入れ
、かご(6)内の2階の行先ボタン(2F)を押す。(
ト)−1Fa)−(7b) −(2n) −(→の回路
により、2階の行先登録リレー(2H)は付勢され、自
己保持する。これで、戸は閉まり始め、戸閉完了すれば
かと(6)は走行し、2階に到着すれば戸は開く。戸開
完了すれば手押車をかと(6)から降ろす。On the other hand, when the handcart transport detection relay (9) is energized, it sends an entry prohibition signal to the unmanned vehicle (5) to stop before entering the predetermined area (although it is transmitted wirelessly).
(details omitted). When the destination registration relay (1H) on the first floor is energized, the toe (6) runs as described above and when it reaches the first floor, the door opens. Now, put the handcart into the basket (6) and press the destination button (2F) for the second floor inside the basket (6). (
G) -1Fa) -(7b) -(2n) -(→ The destination registration relay (2H) on the second floor is energized and self-holding.The door begins to close, and the door closes completely. The fool (6) runs, and when it reaches the second floor, the door opens. Once the door is opened, the handcart is lowered from the fool (6).
2階乗場の戸閉ボタン(2C)を押すと、このとき、2
階の位置検出リレー(2工a)及び走行リレー接点0り
は開放しているので、手押車搬送検出リレー(9)は消
勢され、接点(9a)〜(9g)は閉成し、接点(9h
)、 (91)は開放する。これで、使用中報知器(1
D)〜(3D)は消灯する。また、戸閉ボタン(2C)
が押されると、周知の戸閉回路(図示しない)が動作し
て戸は閉まり始める。戸閉完了すれば、戸全閉検出リレ
ー接点(10a)〜(10e)は閉成し、1階〜3階の
呼びボタン(IBa )〜(3Ba ’)は有効となる
。また、接点(log’)は開放する。When you press the door close button (2C) on the second floor landing,
Since the floor position detection relay (2nd a) and travel relay contact 0 are open, the handcart transport detection relay (9) is deenergized, contacts (9a) to (9g) are closed, and the contact (9h
), (91) are open. Now the in-use alarm (1
D) to (3D) are turned off. Also, door close button (2C)
When pressed, a well-known door closing circuit (not shown) is activated and the door begins to close. When the door is completely closed, the door fully closed detection relay contacts (10a) to (10e) are closed, and the call buttons (IBa) to (3Ba') for the first to third floors are enabled. Further, the contact (log') is opened.
なお、次のように実施することも可能である。Note that it is also possible to implement as follows.
(至) 使用中報知器(]、D)〜(3D)及び出車報
知器(lE)〜(3E)の外に、荷物の有無、人の利用
有無等、更に多くの情報を報知する報知器を用いる。(To) In addition to the in-use alarms (], D) to (3D) and departure alarms (lE) to (3E), notifications that provide even more information such as the presence or absence of luggage and the presence or absence of people in use. Use a vessel.
(イ) 上記各報知器は、表示灯の代わりに音数合成等
による自動放送やブザー等を用いる。また、それらを併
用する。(b) Each of the above-mentioned alarms uses automatic broadcasting using tone synthesis, etc., or a buzzer, etc. instead of indicator lights. Also, use them together.
(つ) 上記各報知器は、乗場だけでなく、無人車(5
)又は人の通路上にも設置する。(X) Each of the above-mentioned alarms are installed not only in the boarding areas, but also in unmanned vehicles (5
) or installed on people's paths.
に) 無人車(5)を定められた時間帯に運転する場合
は、その時刻を報知する。2) If the unmanned vehicle (5) is to be operated during a specified time period, the time shall be announced.
以上説明したとおりこの発明では、無人車とエレベータ
のかごとの相対関係を検出し、その内容を乗場に報知す
るようにしたので、エレベータの利用者に無人車の状況
を知らせ、人と無人車が接触する危険を防止することが
できる。As explained above, in this invention, the relative relationship between the unmanned car and the elevator car is detected and the contents are reported to the hall, so that the elevator users are informed of the situation of the unmanned car, and the relationship between people and the unmanned car is The danger of contact can be prevented.
第1図はとの発明による無人車の自動搬送装置の一実施
例を示すエレベータ乗場の縦断面図、第2図〜第4図は
同じく回路図、第5図は第2図〜第3図の説明用ブロッ
ク回路図である。
(lA)〜(3A)・・・1階〜3階の無人車検出装侍
、 OB)〜(3B)・・・同左呼びボタン、(ID)
〜(3Tl)・・・同左使用中報知器、(IE)〜(3
E)・・・同左出車報知器、(lGb)〜(3Gb)、
(IGd)〜(3()d )・・・同左行先指令リレー
接点、(IIa)〜(3工a)・・・同左位置検出リレ
ー接点、(5)・・・無人車、r6)・・・エレベータ
のかご、(8)・・・無人車搬送検出リレー
なお、図中同一符号は同一部分を示す。
代理人 葛野 信 −(外1名)
第1図
第2図
モ
−第3図
十
−3(z6 3A6 1d デ
2g
ユ、L−ヱ
T汀
二ニ
ア(−6ヂ
3(rc
二二
汗
エ
ヂ
J3Fd 7e get ’?羊
□
ユ/
」3
景
工
、、 2C3ご qhIIIf2
工a、3Ia。
//12
第4図Fig. 1 is a vertical cross-sectional view of an elevator hall showing an embodiment of the automatic transport system for unmanned vehicles according to Hato's invention, Figs. 2 to 4 are circuit diagrams, and Fig. 5 is the same as Figs. 2 to 3. FIG. 2 is an explanatory block circuit diagram. (lA) ~ (3A)...Unmanned vehicle detection equipment Samurai on the 1st to 3rd floors, OB) ~ (3B)...Same call button on the left, (ID)
~(3Tl)...Same in-use alarm on the left, (IE)~(3
E)...Same left exit vehicle alarm, (lGb) ~ (3Gb),
(IGd) ~ (3()d)...Left destination command relay contact, (IIa)~(3A)...Left position detection relay contact, (5)...Unmanned vehicle, r6)...・Elevator car, (8)... Unmanned vehicle transport detection relay Note that the same reference numerals in the drawings indicate the same parts. Agent Makoto Kuzuno - (1 other person) Figure 1 Figure 2 Mo
-Figure 3
-3(z6 3A6 1d de2g yu, L-eT 汀二nia(-6も3(rc niinihan edji J3Fd 7e get '? sheep □ yu/''3 Keiko,, 2C3 go qhIIIf2
Engineering a, 3Ia. //12 Figure 4
Claims (2)
行させてかごに乗せ、このかごを運転して上記無人車を
自動搬送するようにしたものにおいて、上記無人車と上
記かととの相対関係を検出する相、 対関係検出回路
、及び上記乗場に設けられ上記相対関係検出回路が動作
するとその内容を報知する報知器を備えだことを特徴と
する無人車の自動搬送装置。(1) In a system in which an unmanned vehicle is automatically driven to an elevator landing, placed in a car, and the car is driven to automatically transport the unmanned vehicle, the relative relationship between the unmanned vehicle and the heel is determined. An automatic transport device for an unmanned vehicle, comprising: a phase to be detected, a relationship detection circuit, and an alarm provided at the landing to notify the contents when the relationship detection circuit is activated.
かとから降車することを無人車とかごとの相対関係とし
た特許請求の範囲第1項記載の無人車の自動搬送装置。(2) The automatic transport system for an unmanned vehicle according to claim 1, wherein the relative relationship between the unmanned vehicle and the car is that the unmanned vehicle is riding in the car and that the car is disembarked from the car.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58041816A JPS59167465A (en) | 1983-03-14 | 1983-03-14 | Automatic conveyor for unmanned car |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58041816A JPS59167465A (en) | 1983-03-14 | 1983-03-14 | Automatic conveyor for unmanned car |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS59167465A true JPS59167465A (en) | 1984-09-20 |
Family
ID=12618825
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP58041816A Pending JPS59167465A (en) | 1983-03-14 | 1983-03-14 | Automatic conveyor for unmanned car |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS59167465A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005273648A (en) * | 2004-02-23 | 2005-10-06 | Aisin Seiki Co Ltd | Electric pump |
WO2018066054A1 (en) * | 2016-10-04 | 2018-04-12 | 三菱電機株式会社 | Elevator control device and autonomous moving body control device |
-
1983
- 1983-03-14 JP JP58041816A patent/JPS59167465A/en active Pending
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005273648A (en) * | 2004-02-23 | 2005-10-06 | Aisin Seiki Co Ltd | Electric pump |
WO2018066054A1 (en) * | 2016-10-04 | 2018-04-12 | 三菱電機株式会社 | Elevator control device and autonomous moving body control device |
JPWO2018066054A1 (en) * | 2016-10-04 | 2019-02-21 | 三菱電機株式会社 | Autonomous mobile control device |
CN109789990A (en) * | 2016-10-04 | 2019-05-21 | 三菱电机株式会社 | Elevator control gear and autonomous member control apparatus |
CN109789990B (en) * | 2016-10-04 | 2020-12-15 | 三菱电机株式会社 | Autonomous moving body control device |
DE112016007313B4 (en) | 2016-10-04 | 2022-04-28 | Mitsubishi Electric Corporation | elevator control device and autonomous moving body control device |
US11897727B2 (en) | 2016-10-04 | 2024-02-13 | Mitsubishi Electric Corporation | Elevator control device and autonomous moving body control device |
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