JPS60167883A - Elevator get-on-off method of autoamtic travelling car - Google Patents
Elevator get-on-off method of autoamtic travelling carInfo
- Publication number
- JPS60167883A JPS60167883A JP59022332A JP2233284A JPS60167883A JP S60167883 A JPS60167883 A JP S60167883A JP 59022332 A JP59022332 A JP 59022332A JP 2233284 A JP2233284 A JP 2233284A JP S60167883 A JPS60167883 A JP S60167883A
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 11
- 230000008054 signal transmission Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 2
- 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
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000002747 voluntary 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)
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】
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.
」二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（足受が行われ
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、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１１ｉ
１１に付設した送受信手段との間で前記のような各種の
信号の受渡しを行っていた。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、既設のエレベータ手前を使
用する場合、非常にコストがかかる欠点があった。When a self-driving vehicle, a so-called unmanned vehicle, as described in 2 above, gets on or off an elevator, a signal such as an elevator boarding completion signal, elevator exit permission (unmanned car start permission) signal, etc. is sent between the unmanned car in the elevator cage and the elevator. In addition, when there are multiple destination floors, it is also necessary to send and receive destination floor instruction signals.In the conventional method, the elevator side transmitting and receiving means is placed on the floor or side of the elevator car. The unmanned vehicle 11i is buried or attached, and is placed so as to face the transmitting/receiving means.
The various signals described above were exchanged between the transmitting and receiving means attached to the transmitter 11. 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/receiving means to the elevator, there is a drawback that the cost is extremely high when using the area in front of the existing elevator.
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
的とするものであって、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 based on 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）
であって、自動操向車輪２と駆動車輪６とを有する。前
記操向車輪２は、操向用モーター４によって垂直軸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７ａ、７ｂが指示されている。前記駆動車輪６
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
射式光電スイッチが使用される。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
右一対のセン酸−としてピンクアッ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７ａ、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にそっ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 Figures 1 and 2, 1 is an unmanned vehicle (automatic driving vehicle)
It has automatic steering wheels 2 and drive wheels 6. 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 includes a pair of left and right automatic steering control sensors. 7a and 7b are indicated. The drive wheel 6
is interlocked and connected to the 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 and 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 pink-up coil is used as the pair of left and right sensors. In either case, the steering motor 4 operates based on the detection results of the pair of left and right sensors 7a and 7b, and the unmanned vehicle 1
The steering wheel 2 is automatically steered so that the vehicle travels along the guideline 9, but since the specific control method thereof is well known, detailed explanation will be omitted.
上記の無人車１には、走行経路中に設定されたステーシ
ョンマーク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によるステーションマーク
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に制動がかげられて無人車１ば自動
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、前記ステーション
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 on the travel route, and the detection signal of the station mark 10 by this sensor 11 is counted, and when it matches the 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. In addition, 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 detecting stop sensor so that the unmanned vehicle 1 is 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、１５ａと受信器１２ｂ、１ろｂ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って、前記送信器１２ａ、１ろａ
を作動させると共に受信器１２ｂ、ｉ６ｂの受信信号を
受け取る。Furthermore, transmitting/receiving means 14 and 15 including infrared transmitters 12a and 15a and receivers 12b and 1b are attached to both the front and rear ends of the unmanned vehicle 1. 16 is unmanned car 1
A control device mounted on the transmitter 12a, 1roa.
and receives the received signals from the receivers 12b and i6b.
第３図乃至第５図に於て、１７ば昇降するニレ−・−タ
ケージ１８を備えたエレベータであって、エレベータケ
ージ１８内とエレベータホール１？とにわたって前記ガ
イドライン９が設げられると共に、エレベータケージ内
８内とエレベータホール１？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、前記のステーションマーク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、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はニレ−・−タケー
ジ１８側の開閉扉であり、２６はエレベータポール１９
側の開閉扉である。3 to 5, reference numeral 17 is an elevator equipped with an elevator cage 18 that moves up and down, and the inside of the elevator cage 18 and the elevator hall 1. The guideline 9 is provided across the inside of the elevator car 8 and the elevator hall 1? Unmanned vehicle stopping position A
, B are set. 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 placed in parallel). Further, on the ceiling near the elevator boarding/exiting area in the elevator hall 19, there is a transmitter/receiver 20a oriented toward the elevator car 18 and a transmitter/receiver 20a oriented in the opposite direction between the transmitting/receiving means 14.15 on the unmanned vehicle 1 side. 20b
A signal transmission device 21 using infrared rays is attached to send and receive signals via the infrared rays. In addition, 22 is an opening/closing door on the side of the elevator cage 18, and 26 is an elevator pole 19.
It is a door that opens and closes on the 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ば、以下に説明するような制御機能を有する
。即し、ガイドライン９にそって自動走行する無人車１
ば、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１８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１６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２１に送受信器２０ｂを介し
て伝送されると、当該装置２１は地上側のニレ−ュータ
制御盤２５にエレヘーク呼び出し指令２６を与える。ご
の結果、エレベータケージ１８が無人車１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. Therefore, unmanned vehicles 1 that automatically travel in accordance with guideline 9
For example, when arriving at stop position B in front of the elevator, and when arriving at stop position A in the elevator car 18,
The unmanned vehicle 1 is configured to automatically stop.
When the elevator reaches the stop position B in front of the elevator and automatically stops, the elevator front arrival signal 24 is transmitted from the transmitting/receiving means 14 and 15 of the unmanned vehicle 1 by the control device 16 mounted on the unmanned vehicle, as shown in FIG. Ru. When this signal 24 propagates through the air and is transmitted to the signal transmission device 21 on the ground side via the transceiver 20b, the device 21 gives an electric call command 26 to the nirator control panel 25 on the ground side. As a result, the elevator car 18 is called to a 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，
２ろ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に乗車許可指令２１が伝達される。当
該装置２１ばこの指令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２０ｂから発信する。当該信汗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内に曲りで発進させる。When the elevator car 18 is called, the opening/closing door 22,
After the second door is opened, a boarding permission command 21 is transmitted from the elevator control panel 25 to the signal transmission device 21 on the ground side. In response to the command 27 from the device 21, an elevator boarding permission signal 28 is transmitted from at least the transceiver 20b on the side facing the waiting unmanned vehicle 1. 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 starts the unmanned vehicle 1 into the elevator cage 18.
ガイドライン？にそっ゛ＣＣ停止位置外らエレベータケ
ージ１８内に向かっ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′５０を伝送する。この結果、開閉扉２２゜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。Guidelines? When the unmanned vehicle 1 automatically travels toward the inside of the elevator cage 18 from outside the CC stop position and automatically stops at the stop position A inside the elevator cage 18, the transmitting/receiving means 14 and 15 of the unmanned vehicle 1 are activated by the action of the control device 16. An elevator boarding completion signal 29 is transmitted from the terminal. This signal 29
When the signal 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 '50 to the elevator control panel 25. As a result, after the doors 22 and 23 are closed, the elevator car 18 moves 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２
２．２５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１Ｊ指令ｉ５１が伝達さ
れる。当該装置２１はこの指令６１を受けてエレベータ
降車許可信号′５２を、少なくともエレベータケージ１
８例の送受信器２゜ａから発信する。当該信号ろ２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１６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（＋＆進）させる。When the elevator car 18 arrives at a predetermined floor, the opening/closing door 2
2.25 is opened, the elevator control panel 25 transmits the disembarkation permission 1J command i51 to the signal transmission device 21 on the ground side. In response to this command 61, the device 21 sends an elevator exit permission signal '52 to at least the elevator car 1.
Transmission is made from eight transceivers 2°a. When the signal 2 propagates through the air and is transmitted to the control device 16 of the unmanned vehicle 1 in the elevator cage 18 via the transmitting/receiving means 15, the control device 16 directs the unmanned vehicle 1 into the elevator hall 19. Start (+& forward).
ガイドライン？にそっ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上に向かって自動走行
する無人車１がエレベータポール１９上の停止位置Ｂで
自動停止すると、制御装置１６の１すＪ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６′
５が発信される。この信号５５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ばエレベータ制御盤２５に降車完了
信号５４を伝送する。この結果、開閉扉２２，２６が閉
動され、次のエレヘーク呼び出し指令２６に備える。又
、停止位置Ｂで一旦停止した無人車１ば、前記エレベー
タ降車完了信号５５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にそって目的の行先に向
かって自動走行する。Guidelines? When the unmanned vehicle 1 automatically travels from the stop position A in the elevator car 18 toward the top of the elevator hall 19 along the elevator pole 19 and automatically stops at the stop position B on the elevator pole 19, the unmanned vehicle 1 Elevator exit completion signal 6' from transmitting/receiving means 14 and 15 of 1
5 is transmitted. When this signal 55 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 the exit completion signal 54 to the elevator control panel 25. As a result, the opening/closing doors 22 and 26 are moved to close in preparation for the next elehake call command 26. Further, the unmanned vehicle 1 that has once stopped at the stop position B, after transmitting the elevator exit completion signal 55, automatically starts by the action of the control device 16 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
伝送手段によって行うことが出来る。又、無人車１側の
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、２０ｂ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、適当時期にリセット・すれば良い。更に、無人車＋
ｆｕｌｌの送受信手段１４．１５と地上例の信号転送
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。In addition, the signal transfer device 21 on the ground side and the elevator control panel 25
Signals can be exchanged between the two by ordinary signal transmission means using electric wires or the like. Furthermore, various signals transmitted from the transmitting/receiving means 14.15 on the unmanned vehicle 1 side and the transmitting/receiving devices 20a and 20b of the signal transmitting device 21 on the ground side are confirmed to have completed the operations performed based on these signals. All you have to do is reset it at an appropriate time. In addition, unmanned vehicles +
Infrared rays were used as a signal medium between the full transmitting/receiving means 14 and 15 and the signal transfer device 21 on the ground, but
Other media such as visible light, radio waves, and ultrasound can also be used.
又、実施例では、無人車１を受け入れた階によってエレ
ベータケージ１８の行先階が一定しているものとしζ、
無人車１側から行先階の指定を行っていないが、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１８の行先階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１４．１５
や地上側の信号伝送装置２１の送受信器２０ａ。Further, in the embodiment, it is assumed that the destination floor of the elevator car 18 is constant depending on the floor that receives the unmanned vehicle 1.
Although the destination floor is not specified from the unmanned vehicle 1 side, a signal specifying the destination floor is transmitted from the unmanned vehicle 1 side, and the destination of the elevator car 18 is sent to the elevator control panel 25 via the signal transmission device 21 on the ground side. It is also possible to control by specifying the floor. Also, the transmitting/receiving means 14.15 on the unmanned vehicle 1 side
and the transceiver 20a of the signal transmission device 21 on the ground side.
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、当該信号をコート化
することも出来る。The various signals emitted from 20b can be a single pulse signal if the receiving side can determine the content of the received signal from the operating state immediately before receiving the signal, but it can also be a single pulse signal. If the signal itself needs to have content, such as a designated signal, the signal can also be coated.
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５５を形成する区画開閉扉３
６が設置されている場合には、当該開閉扉５６の開閉を
指令する信号や開閉扉′５６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。５７は前記区画開閉扉ろ６の
外側に配設された信号伝送装置であって、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辺上のよ
うに実施し得るものであって、その特徴は、自動走行車
輛に、当該車輌がエレベータケージ内にある状態で、エ
レベータホール側に配設された地上側信号伝送装置との
間で信号の受渡しを行うことの出来る送受信手段を設け
、前記車輌がエレベータケージ内に乗車完了したとき当
該型）山の送受信手段から少なくともコーレヘータ乗車
完了信死を発信さ−ｌ、このエレベータ乗車完了（ｉ号
を地上側信号伝送装置が受４Ｍシたことに基づいてエレ
ベータを作動させ、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ったとき、ｉ；ｉｉ記地
上側信号伝送装置からエレベータ降車８′１町信号を発
信させ、このエレベータ降車許可信号を車輌の送受信手
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
発進降車させるようにし）こ点にある。The transmitting/receiving means 14, 15 of the unmanned vehicle 1 can also be applied to transmitting control signals other than signals for getting on and off the elevator. For example, as shown in FIG. 7, a compartment opening/closing door 3 that forms a temporary stopping place 55 for the unmanned vehicle 1 between it and the elevator boarding area
6 is installed, a signal instructing the opening/closing of the opening/closing door 56, a signal for opening/closing the opening/closing door '56 (unmanned vehicle start command), etc. are exchanged via the transmitting/receiving means 14.15. You can also do that. 57 is a signal transmission device disposed on the outside of the compartment opening/closing door 6, which transmits the door opening/closing command signal and the door opening/closing completion signal (unmanned vehicle start) 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, which transfers commands, etc., can be carried out as described above. , a transmitting/receiving means capable of exchanging signals with a ground side signal transmitting device disposed on the elevator hall side, and when the vehicle has completed boarding in the elevator cage, from the transmitting/receiving means of the mountain) At least a signal indicating completion of boarding the elevator is transmitted, and the elevator is operated based on the completion of boarding the elevator (i) received by the signal transmission device on the ground side, and the elevator cage arrives at a predetermined floor and the vehicle When it becomes possible to exit the vehicle, the ground-side signal transmission device described in i; (starting and exiting the elevator).
このような本発明方法によれば、エレベータケージ内に
自動走行車輛が位置しζいる状態で当該車輌とエレベー
タ制御盤との間で受渡しする必要のある信号しＪ総で前
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。従っ
て昇降するエレベータケージと地上側のニレ−５−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置ノる必要もない。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゛ζ簡単容易となり、経済的に実施し得る。According to such a method of the present invention, when an autonomous vehicle is located in an elevator cage, signals that need to be exchanged between the vehicle and the elevator control panel are transmitted by 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 a transmitting/receiving means for transmitting and receiving signals on the floor or side surface of the elevator car as in the past. Therefore, there is no need to install a signal transmission system for transmitting signals to and from the vehicle between the elevator car that goes up and down and the nirator control panel on the ground side. Therefore, incorporating an existing elevator into the travel path of an automated vehicle is extremely simple and 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
ータ乗降部に於り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、６・・・駆動
車輪、４・・・［架間用モーター、６・・・噸向フレー
ム、１ａ、７ｂ・・・自動凍向制御用センサー、８・・
・駆動用モーター、？・・・ガイドライン、１０・・・
ステーションマーク、１１・・・位置検出用センサー、
１２ａ、１ｉ５ ａ−・−送信器、１２ｂ、１５ｂ・・
・受信器、１４゜１５・・・送受信手段、１６・・・制
御装置、１７・・・エレヘー／’、１８・・・」エレベ
ータケージ、１９・・・」−レヘークボール、２０ａ、
２０ｂ−送受信器、２１゜５７・・・地上側信号伝送装
置、２２，２５．５６・・・開閉扉、２５・・・エレベ
ータ制御盤、Ａ−Ｃ・・・停止位置。
第１図
篤３図
第４図
第６図
第５図
自発手続ネｌ↑正書 （方式）
１、事件の表示
昭和５９年特許願第０２２３３２号
、発明の名称
自動走行車輛のエレベータ乗降方法
、補正をする者
事件との関係 特許出願人
住所 大阪府大阪市西淀川区御幣島３丁目２番１１さ名
称 （３６４，）大福機工株式会社
昭和 年 月 日
、補正の列数
（１）明細書全文
、補正の内容
別紙の通りサイズｔ２ｐの文字を使用して明細書全文を
書する（内容に変更なし）。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 of the elevator boarding section. FIG. 5 is a schematic vertical side view explaining the configuration, FIG. 5 is a cross-sectional plan view thereof, FIG. 6 is a signal system diagram between each device, and FIG. 7 is a plan view showing another layout of the elevator boarding area. be. DESCRIPTION OF SYMBOLS 1... Unmanned vehicle, 2... Automatic steering wheel, 6... Driving wheel, 4... [motor for the frame, 6... Direction frame, 1a, 7b... Automatic freezing direction Control sensor, 8...
・Drive motor? ...Guidelines, 10...
Station mark, 11... position detection sensor,
12a, 1i5 a--transmitter, 12b, 15b...
・Receiver, 14° 15...Transmitting/receiving means, 16...Control device, 17...Erehe/', 18..."Elevator cage, 19..."-Reheke ball, 20a,
20b-Transmitter/receiver, 21°57... Ground side signal transmission device, 22, 25.56... Opening/closing door, 25... Elevator control panel, A-C... Stop position. Fig. 1 Atsushi 3 Fig. 4 Fig. 6 Fig. 5 Voluntary procedure ↑ Original (Method) 1. Indication of the incident 1982 Patent Application No. 022332 Title of the invention Method for getting on and off an elevator for a self-driving vehicle; Relationship with the case of the person making the amendment Patent applicant address: 3-2-11 Gohejima, Nishiyodogawa-ku, Osaka-shi, Osaka (364,) Daifuku Kiko Co., Ltd. Showa Year, month, day, number of columns of amendment (1) Full text of the specification, Contents of the amendment Write the entire specification using characters of size t2p as shown in the attached sheet (no change in content).
Claims (1)
停止位置で自動停止することの出来る自動走行車輛に、
当該車輛がエレベータケージ内にある状態で、エレベー
タホール側に配設された地上側信号伝送装置との間で信
号の受渡しを行うことの出来る送受信手段を設け、前記
車輛がエレベータケージ内に乗車完了したとき当該車輛
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
発信させ、このエレベータ乗車完了信号を地上側信号伝
送装置が受信したことに基づい”ζエレベータを作動さ
せ、エレベータケージが所定階に到着して車輌の降車が
可能な状態となったとき、前記地上側信号伝送装置から
エレベータ降車許可信号を発信させ、このエレベータ降
車許可信号を車輌の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
とする自動走行車輛のエレベータ乗降方法。Automated vehicles that can automatically travel along a set travel route and automatically stop at a set stopping position,
A transmitting/receiving means capable of exchanging signals with a ground-side signal transmission device disposed on the elevator hall side while the vehicle is in the elevator cage is provided, and the vehicle completes entering the elevator cage. When this occurs, at least an elevator boarding completion signal is transmitted from the transmitting/receiving means of the vehicle, and upon receipt of this elevator boarding completion signal by the signal transmission device on the ground side, the "ζ elevator is operated, and when the elevator car arrives at a predetermined floor. When the vehicle is ready to exit, the ground-side signal transmission device transmits an elevator exit permission signal, and the vehicle is started from the elevator based on the transmission/reception means of the vehicle receiving the elevator exit permission signal. A method for getting on and off an elevator in an autonomous vehicle, which is characterized by letting the user get off the elevator.
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 true JPS60167883A (en) | 1985-08-31 |
| JPH037597B2 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) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03174608A (en) * | 1989-12-04 | 1991-07-29 | Fujita Corp | Transfer device for construction material and mechanical equipment |
| JP2005206362A (en) * | 2004-01-26 | 2005-08-04 | Mikishii:Kk | Automatic elevator, operation method for automatic elevator |
| JP2018058656A (en) * | 2016-09-30 | 2018-04-12 | 株式会社Ｚｍｐ | Unmanned 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 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03174608A (en) * | 1989-12-04 | 1991-07-29 | Fujita Corp | Transfer device for construction material and mechanical equipment |
| JP2005206362A (en) * | 2004-01-26 | 2005-08-04 | Mikishii:Kk | Automatic elevator, operation method for automatic elevator |
| JP2018058656A (en) * | 2016-09-30 | 2018-04-12 | 株式会社Ｚｍｐ | Unmanned delivery system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH037597B2 (en) | 1991-02-01 |
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