TW201943634A - Cooperative operation system for elevator and self-supporting vehicle - Google Patents
Cooperative operation system for elevator and self-supporting vehicle Download PDFInfo
- Publication number
- TW201943634A TW201943634A TW108101499A TW108101499A TW201943634A TW 201943634 A TW201943634 A TW 201943634A TW 108101499 A TW108101499 A TW 108101499A TW 108101499 A TW108101499 A TW 108101499A TW 201943634 A TW201943634 A TW 201943634A
- Authority
- TW
- Taiwan
- Prior art keywords
- relay
- elevator
- information
- car
- control panel
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/14—Applications of loading and unloading equipment
- B66B17/16—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
- B66B17/20—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
- Types And Forms Of Lifts (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
Abstract
Description
本揭示係關於一種可使用繼電控制(relay control)方式進行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 for an elevator and a self-propelled moving vehicle that can be moved between floors of a self-propelled moving vehicle using a relay control method.
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2019-23959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. 2019-23959, a mobile system for self-propelled vehicles has been proposed, which is connected to a relay device for a control device of an elevator, and the self-propelled vehicle transmits a call signal for a boarding place to the control device through 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，設置將電梯的控制裝置與PLC或中繼裝置連接的端子，且經由該端子來輸出電梯的運行資訊，或輸入欲令電梯執行所期望之動作的動作指令，藉此來進行電梯及自立走行車的協同運行。因此，除了電梯運行用的通常控制程式之外，還必須準備與自立走行車的協同運行專用的控制程式。 However, in the conventional technologies described in Patent Documents 1 and 2, a terminal for connecting the control device of the elevator to a PLC or a relay device is provided, and the operation information of the elevator is outputted through the terminal, or the elevator is required to execute the operation of the elevator. Desired operation instruction to perform cooperative operation of the elevator and the self-propelled traveling vehicle. Therefore, in addition to the normal control program for elevator operation, it is necessary to prepare a control program dedicated to cooperative operation with the self-propelled traveling vehicle.
另一面，在電梯的控制裝置除了使用電腦而成者之外，還大量採用藉由繼電器或開關等構成控制電路的繼電控制方式的控制盤。在繼電控制方式中，由於無法繼由控制程式的變更來改變電梯的運行控制，所以在專利文獻1、2所記載的習知技術中難以進行自立走行車的樓層間移動。 On the other hand, in addition to the use of computers, the control devices for elevators also employ a large number of control panels of relay control methods that use relays or switches to form control circuits. In the relay control method, since the operation control of the elevator cannot be changed by changing the control program, it is difficult to move the floors between the self-propelled vehicles in the conventional technology described in Patent Documents 1 and 2.
因此，本揭示的目的在於：在繼電控制方式的電梯中，可利用簡單的方法達成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 a simple method in an elevator with a relay control method.
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：控制盤，係含有動作繼電器及資訊輸出繼電器，該動作繼電器係藉由導通斷開動作來控制前述電梯的動作，該資訊輸出繼電器係藉由導通斷開動作來輸出前述電梯的運行資訊；指令輸入繼電器，係連接於前述動作繼電器；資訊取得繼電器，係連接於前述資訊輸出繼電器；以及介面裝置，係連接於前述資訊取得繼電器及前述指令輸入繼電器，且根據前述資訊取得繼電器的開閉來從前述控制盤抽出前述電梯的前述運行資訊，且藉由使前述指令輸入繼電器開閉來對前述控制盤輸入前述電梯的動作指令並使前述電梯動作；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 cooperative operation system of the present disclosure is a cooperative operation system of an elevator and a self-propelled traveling vehicle, which is provided with a control panel including an action relay and an information output relay, and the action relay controls the operation of the elevator by turning on and off. The information output relay outputs the operation information of the elevator by turning on and off; the command input relay is connected to the aforementioned action relay; the information acquisition relay is connected to the aforementioned information output relay; and the interface device is connected to The aforementioned information acquisition relay and the aforementioned command input relay, and based on the aforementioned information acquisition relay's opening and closing, the aforementioned operating information of the elevator is extracted from the control panel, and the aforementioned command input relay is opened and closed to input the action of the elevator to the aforementioned control panel. Command and make the elevator operate; the interface device transmits the operation information of the elevator to the self-propelled traveling vehicle, and the self-supporting vehicle transmits an action request 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，介面裝置係藉由控制盤中之連接於資訊輸出繼電器的資訊取得繼電器的開閉來抽出電梯的運行資訊，且藉由連接於動作繼電器的指令輸入繼電器的開閉，來對控制盤輸入電梯的動作指令並使電梯動作，所以可不需要改變控制盤的控制邏輯就能夠簡單地達成藉由電梯所進行之自立走行車的樓層間移動。 In this way, the interface device extracts the operation information of the elevator by obtaining the opening and closing of the relay connected to the information output relay in the control panel, and inputs the elevator's The operation instruction makes the elevator move, so the floor-to-floor movement of the self-propelled traveling by the elevator can be easily achieved without changing the control logic of the control panel.
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。此外，在本揭示的協同運行系統中亦可為：配置於前述控制盤的前述資訊輸出繼電器係含有：服務可能繼電器、梯廂位置繼電器及門全開繼電器，配置於前述控制盤的前述動作繼電器係含有：梯廂呼叫繼電器及開門繼電器，且前述介面裝置係根據連接於前述服務可能繼電器、前述梯廂位置繼電器及前述門全開繼電器的前述資訊取得繼電器的開閉，來抽出前述電梯的服務狀態資訊、梯廂位置資訊及門全開資訊，使連接於前述梯廂呼叫繼電器及前述開門繼電器的前述指令輸入繼電器開閉來令前述電梯執行梯廂的昇降動作與門的開動作。 In the cooperative 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. The operation request transmitted by the self-propelled traveling vehicle is: : Car call request and door open request. The aforementioned interface device responds to the aforementioned action request to perform the car's lifting operation and the door opening operation. In addition, in the cooperative operation system of the present disclosure, the aforementioned information output relays arranged on the aforementioned control panel include: a service possible relay, a car position relay, and a door fully open relay, and the aforementioned action relays arranged on the aforementioned control panel. Contains: elevator call relay and door open relay, and the interface device is based on the information of the relay connected to the service possible relay, the elevator position relay and the door full open relay to obtain the opening and closing of the relay, to extract the elevator service status information, The position information of the elevator car and the information of the door fully open cause the instruction input relay connected to the elevator car call relay and the door opening relay to open and close to cause the elevator to perform a lift operation of the elevator car and a door opening operation.
如此，藉由限定介面裝置與自立走行車之間的傳送接收項目，可使系統簡單化。 In this way, by limiting the transmission and reception items between the interface device and the independent traveling vehicle, the system can be simplified.
本揭示係在繼電控制方式的電梯中，可利用簡單的方法能夠進行自立走行車的樓層移動。 The present disclosure relates to an elevator with a relay control method, and the floor movement of a self-propelled traveling vehicle can be performed by a simple method.
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‧‧‧全開檢測開關 20‧‧‧Fully open detection switch
21‧‧‧控制盤 21‧‧‧Control Panel
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‧‧‧資訊取得繼電器 31‧‧‧ Information 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
50‧‧‧資訊輸出繼電器 50‧‧‧ Information output relay
51‧‧‧服務可能繼電器 51‧‧‧Service possible relay
52‧‧‧梯廂位置繼電器 52‧‧‧ Ladder Position Relay
52a、52b、61a、61b‧‧‧電源端子 52a, 52b, 61a, 61b‧‧‧ Power terminals
52c、52d、61c、61d‧‧‧輸出端子 52c, 52d, 61c, 61d‧‧‧ output terminals
52e、61e‧‧‧機殼 52e, 61e‧‧‧chassis
53‧‧‧門全開繼電器 53‧‧‧door full open relay
60‧‧‧動作繼電器 60‧‧‧action relay
61‧‧‧梯廂呼叫繼電器 61‧‧‧Car call relay
62‧‧‧開門繼電器 62‧‧‧door opening relay
70‧‧‧電源 70‧‧‧ Power
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2圖係顯示於實施形態之協同運行系統的控制盤中所配置的繼電器與介面裝置的構成的系統圖。 Fig. 2 is a system diagram showing a configuration of a relay and an interface device arranged in a control panel of the cooperative operation system of the embodiment.
第3圖係顯示構成實施形態之協同運行系統的設置於控制盤的梯廂位置繼電器、資訊取得繼電器及設置於梯廂的顯示裝置的構成與動作的系統圖。 FIG. 3 is a system diagram showing the configuration and operation of a car position relay provided on a control panel, an information acquisition relay, and a display device provided in a car constituting the cooperative operation system of the embodiment.
第4圖係顯示構成實施形態之協同運行系統的設置於控制盤的梯廂位置繼電器、資訊取得繼電器及設置於梯廂的顯示裝置的構成與動作的系統圖。 Fig. 4 is a system diagram showing the configuration and operation of a car position relay provided on a control panel, an information acquisition relay, and a display device provided in a car constituting the cooperative operation system of the embodiment.
第5圖係顯示構成實施形態之協同運行系統的設置於控制盤的梯廂呼叫繼電器、指令輸入繼電器及設置於梯廂的輸入裝置的構成與動作的系統圖。 Fig. 5 is a system diagram showing the configuration and operation of a car call relay provided on a control panel, a command input relay, and an input device provided in a car constituting the cooperative operation system of the embodiment.
第6圖係顯示構成實施形態之協同運行系統的設置於控制盤的梯廂呼叫繼電器、指令輸入繼電器及設置於梯廂的輸入裝置的構成與動作的系統圖。 Fig. 6 is a system diagram showing the configuration and operation of a car call relay provided on a control panel, a command input relay, and an input device provided in a car constituting the cooperative operation system of the embodiment.
第7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. 7 is an operation sequence chart showing the operation of the cooperative operation system of the embodiment.
第8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. 8 is an operation sequence diagram showing the operation of the cooperative operation system of the embodiment.
第9圖係顯示在實施形態之協同運行系統中，自立走行車到達至搭乘處樓層之狀態的立面圖。 FIG. 9 is a elevation view showing a state in which the self-propelled vehicle arrives at the boarding point floor in the coordinated operation system of the embodiment.
第10圖係顯示在實施形態之協同運行系統中，梯廂到達至搭乘處樓層之狀態的立面圖。 FIG. 10 is an elevational view showing a state where a car arrives at a boarding floor in the coordinated operation system according to the embodiment.
第11圖係顯示在實施形態之協同運行系統中，自立走行車登入梯廂之狀態的立面圖。 FIG. 11 is a elevation view showing a state in which the self-propelled traveling vehicle enters the elevator car in the cooperative operation system of the embodiment.
第12圖係顯示在實施形態之協同運行系統中，自立走行車關閉梯廂門之狀態的立面圖。 FIG. 12 is a elevation view showing a state in which the self-propelled traveling vehicle closes the elevator door in the cooperative operation system of the embodiment.
第13圖係顯示在實施形態之協同運行系統中，梯廂到達至目的地樓層之狀態的立面圖。 FIG. 13 is an elevation view showing a state where the elevator car reaches the destination floor in the coordinated operation system of the embodiment.
第14圖係顯示在實施形態之協同運行系統中，自立走行車從梯廂退出之狀態的立面圖。 FIG. 14 is a elevation view showing a state in which the self-propelled traveling vehicle is withdrawn from the elevator car in the coordinated 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係構成為包括：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的開閉的控制盤21。控制盤21為由繼電器與開關等之組合所構成的繼電控制方式的控制裝置。 The elevator 10 is configured to include: a car 12 disposed in the hoisting path 11; a driving device 22 for lifting the car 12; a steel cable 24 connected to the driving device 22 to connect the balance weight 23 and the car 12; A control panel 21 that controls the opening and closing of the drive device 22 and the door 13 of the car 12. The control panel 21 is a control device of a relay control method including a combination of a relay and a switch.
梯廂12係設置有：顯示裝置18、輸入裝置14及全開檢測開關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的控制盤21輸入動作指令的裝置。全開檢測開關20係輸出門13的全開信號的開關。 The elevator car 12 is provided with a display device 18, an input device 14, and a full-open detection switch 20. The display device 18 is a device that displays the operating state of the elevator 10. The input device 14 is a device for inputting an operation command to the control panel 21 of the elevator 10. The full-open detection switch 20 is a switch that 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、火災發生時等的情形，於進行限制部分電梯 10運行的管制運行時點亮，而在電梯10進行通常運行，且能夠進行與自立走行車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. The lighter is turned on, for example, when an earthquake occurs or when a fire occurs, during a restricted operation that restricts part of the operation of the elevator 10, and when the elevator 10 performs a normal operation, and can It turns off when the cooperative operation with the independent traveling vehicle 40 is performed. 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.
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係與控制盤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盤21。而且，開門按鈕15亦與控制盤21連接，當按下開門按鈕15，控制盤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 panel 21. When the floor button 16 is pressed, the floor is used as the destination floor and is registered to the control panel 21. In addition, the door open button 15 is also connected to the control panel 21. When the door open button 15 is pressed, the control panel 21 causes the opening and closing device of the door 13 to operate to open the door 13.
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、將殘障者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 are: a transport robot that transports goods to a predetermined place, a boarding-type movement support robot that moves a disabled person or a patient to a predetermined place, a cleaning robot that cleans a predetermined space, a guard robot that patrols a predetermined path, an inspection and diagnosis elevator, an electric 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。介面裝置30係與於後說明之載設在控制盤21的資訊取得繼電器31、指令輸入繼電器32連接。 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. The interface device 30 is connected to an information acquisition relay 31 and a command input relay 32 mounted on the control panel 21 to be described later.
如第2圖所示，控制盤21係含有：藉由通關斷動作來控制電梯10之動作的動作繼電器60；及藉由導通關斷動作來輸出電梯10的運行資訊的資訊輸出繼電器50。如第2圖所示，控制盤21中就動作繼電器60而言含有：梯廂呼叫繼 電器61及開門繼電器62。梯廂呼叫繼電器61係與複數個樓層按鈕16相對應並於每一樓層設置一個，當按下某樓層的樓層按鈕16時，對應的梯廂呼叫繼電器61會導通，且該樓層會登錄為目的地樓層。此外，開門繼電器62，當按下開門按鈕15時會導通，進行門13的開動作。例外，控制盤21還載設有例如關門繼電器等未圖式的其他動作繼電器60。 As shown in FIG. 2, the control panel 21 includes: an operation relay 60 that controls the operation of the elevator 10 by an on-off operation; and an information output relay 50 that outputs operation information of the elevator 10 by an on-off operation. As shown in Fig. 2, the control panel 21 includes an operation relay 60 and a car call relay 61 and a door opening relay 62. The car call relay 61 corresponds to a plurality of floor buttons 16 and is provided on each floor. When the floor button 16 of a certain floor is pressed, the corresponding car call relay 61 is turned on and the floor is registered for the purpose Ground floor. The door open relay 62 is turned on when the door open button 15 is pressed, and the door 13 is opened. Exceptionally, the control panel 21 is also provided with other operation relays 60 (not shown) such as door closing relays.
而且，控制盤21中就資訊輸出繼電器50而言係含有服務可能繼電器51、梯廂位置繼電器52、門全開繼電器53。服務可能繼電器51為一種繼電器，在電梯10可通常運行的狀態下，在可進行與自立走行車40的協同運行的情況為導通，例如當地震發生時、火災發生時，在進行限制部分電梯10運行的管制運行時為斷開。此外，梯廂位置繼電器52係由複數個繼電器所構成，將顯示梯廂12位置之樓層的繼電器設為導通使梯廂12所位於的樓層的指示器19點亮。而且，門全開繼電器53為一種繼電器，當於梯廂12所安裝的全開檢測開關20為導通時設為導通。另外，於控制盤21還載設有例如門全開繼電器等未圖示的其他資訊輸出繼電器50。 The control panel 21 includes a service enable relay 51, a car position relay 52, and a door open relay 53 for the information output relay 50. The service-possible relay 51 is a relay. When the elevator 10 can normally run, it is turned on when the cooperative operation with the self-propelled traveling vehicle 40 is possible. For example, when an earthquake or fire occurs, the elevator 10 is restricted. Operational control is disconnected during operation. In addition, the car position relay 52 is constituted by a plurality of relays, and the relay showing the floor position of the car 12 is turned on to turn on the indicator 19 on the floor where the car 12 is located. The door full-opening relay 53 is a relay, and is set to be conductive when the full-opening detection switch 20 installed in the elevator car 12 is conductive. In addition, other information output relays 50 (not shown), such as a door full-open relay, are mounted on the control panel 21.
如第2圖所示，於包含在控制盤21的梯廂呼叫繼電器61、開門繼電器62係各自連接有指令輸入繼電器32。此外，於服務可能繼電器51、梯廂位置繼電器52、門全開繼電器53係各自連接有資訊取得繼電器31。各資訊取得繼電器31、各指令輸入繼電器32係與介面裝置30連接。 As shown in FIG. 2, the car call relay 61 and the door opening relay 62 included in the control panel 21 are each connected to a command input relay 32. Further, an information acquisition relay 31 is connected to each of the service possible relay 51, the car position relay 52, and the door open relay 53. Each information acquisition relay 31 and each command input relay 32 are connected to the interface device 30.
接著一面參照第3圖、第4圖，一面針對控制盤21中之梯廂位置繼電器52、連接於梯廂位置繼電器52的資訊取得繼電器31及安裝於梯廂12的顯示裝置18的指示器19的構成的詳細與動作加以說明。 Next, referring to Figs. 3 and 4, the elevator position relay 52 in the control panel 21, the information acquisition relay 31 connected to the elevator position relay 52, and the indicator 19 of the display device 18 installed in the elevator 12 The details and operation of the structure will be described.
如第3圖所示，梯廂位置繼電器52係收納於機殼52e。機殼52e係安裝有：與電源70連接的兩個電源端子52a、52b；及與指示器19連接的輸出端子52c、52d。如第3圖所示，梯廂位置繼電器52、電源70、指示器19係串聯連接，而資訊取得繼電器31係與指示器19並聯連接。 As shown in FIG. 3, the cabin position relay 52 is housed in the housing 52 e. The housing 52e is provided with two power terminals 52a and 52b connected to the power source 70 and output terminals 52c and 52d connected to the indicator 19. As shown in FIG. 3, the car position relay 52, the power source 70, and the indicator 19 are connected in series, and the information acquisition relay 31 is connected in parallel with the indicator 19.
如第3圖所示，當梯廂位置繼電器52斷開時，指示器19會熄滅，而電流未流通至資訊取得繼電器31。 As shown in FIG. 3, when the elevator position relay 52 is turned off, the indicator 19 is turned off, and current does not flow to the information acquisition relay 31.
梯廂12昇降，而來到與梯廂位置繼電器52相對應的樓層時，如第4圖所示，梯廂位置繼電器52為導通，電流會流通指示器19並使指示器19點亮。此時，由於資訊取得繼電器31也流通有電流，所以資訊取得繼電器31會導通。並且，資訊取得繼電器31會將導通信號輸出至介面裝置30。 When the elevator car 12 moves up and down to the floor corresponding to the elevator car position relay 52, as shown in FIG. 4, the elevator car position relay 52 is turned on, and a current flows through the indicator 19 and the indicator 19 is turned on. At this time, since the information acquisition relay 31 also has a current flowing through it, the information acquisition relay 31 is turned on. In addition, the information acquisition relay 31 outputs a conduction signal to the interface device 30.
梯廂12所位於的樓層的梯廂位置繼電器52會導通並使該樓層的指示器19點亮，而其他樓層的梯廂位置繼電器52會斷關而使指示器19熄滅，所以介面裝置30可藉由來自與梯廂位置繼電器52連接的資訊取得繼電器31的導通信號，抽出梯廂12的位置資訊。 The car position relay 52 of the floor on which the car 12 is located will be turned on and the indicator 19 of the floor will be turned on, while the car position relay 52 of other floors will be turned off and the indicator 19 will be turned off, so the interface device 30 The position information of the elevator car 12 is extracted by obtaining the conduction signal of the relay 31 from the information connected to the elevator car position relay 52.
而且，介面裝置30可從與服務可能繼電器51連接的資訊取得繼電器31的導通斷開狀態抽出電梯10屬於通常運行狀態還是屬於管制運行狀態的電機狀態資訊。同樣地，可從門全開繼電器53的導通斷開狀態抽出門13為全開狀態與否的門全開資訊。如此，介面裝置30可藉由分別安裝於服務可能繼電器51、梯廂位置繼電器52、門全開繼電器53的資訊取得繼電器31的開閉，來抽出電梯10的服務狀態資訊、梯廂位置資訊以及門全開資訊。 Further, the interface device 30 can obtain the on / off state of the relay 31 from the information connected to the service possible relay 51 to extract the motor state information whether the elevator 10 belongs to a normal operation state or a regulated operation state. Similarly, the door full-opening information of whether the door 13 is in the fully open state can be extracted from the on / off state of the door full-open relay 53. In this way, the interface device 30 can extract the service status information of the elevator 10, the position information of the elevator car, and the full door opening by installing the information acquisition relay 31 of the service possible relay 51, the car position relay 52, and the door full-open relay 53 respectively. Information.
接著，一面參照第5圖、第6圖，一面針對控制盤21中之梯廂呼叫繼電器61、連接於梯廂呼叫繼電器61的指令輸入繼電器32及安裝於梯廂12的輸入裝置14的樓層按鈕16的構成的詳細與動作加以說明。 Next, referring to FIG. 5 and FIG. 6, the floor call button 61 for the car call relay 61 in the control panel 21, the command input relay 32 connected to the car call relay 61, and the input device 14 installed in the car 12 The structure and operation of 16 will be described in detail.
如第5圖所示，梯廂呼叫繼電器61係收納於機殼61e。機殼6e係安裝有：與電源70連接的兩個電源端子61a、61b；以及與樓層按鈕16連接的輸出端子61c、61d。如第5圖所示，梯廂呼叫繼電器61、電源70及樓層按鈕16係串聯連接，而指令輸入繼電器32係與樓層按鈕16並聯連接。 As shown in FIG. 5, the car call relay 61 is housed in the housing 61 e. The cabinet 6e is provided with two power terminals 61a and 61b connected to the power source 70 and output terminals 61c and 61d connected to the floor button 16. As shown in FIG. 5, the car call relay 61, the power source 70, and the floor button 16 are connected in series, and the command input relay 32 is connected in parallel with the floor button 16.
如第5圖所示，當指令輸入繼電器32斷開時，梯廂呼叫繼電器61成為斷開。 As shown in FIG. 5, when the command input relay 32 is turned off, the car call relay 61 is turned off.
如第6圖所示，當輸入了來自介面裝置30的導通信號時，指令輸入繼電器32為導通。如此一來，形成與樓層按鈕16被按下之同樣的狀態，梯廂呼叫繼電器61會導通，且梯廂呼叫繼電器61之對應的樓層會登錄至控制盤21。並且，控制盤21會朝向登錄的樓層昇降移動梯廂12。 As shown in FIG. 6, when a conduction signal from the interface device 30 is input, the command input relay 32 is turned on. In this way, the same state as when the floor button 16 is pressed, the car call relay 61 is turned on, and the floor corresponding to the car call relay 61 is registered to the control panel 21. Then, the control panel 21 moves up and down the car 12 toward the registered floor.
同樣地，當來自介面裝置30的導通信號輸入至與開門繼電器62連接的指令輸入繼電器32時，開門繼電器62會導通，且控制盤21會使門13的開閉裝置動作並執行門13的開動作。 Similarly, when the ON signal from the interface device 30 is input to the command input relay 32 connected to the door open relay 62, the door open relay 62 will be turned on, and the control panel 21 will cause the opening and closing device of the door 13 to operate and perform the opening of the door action.
如此，介面裝置30可對與梯廂呼叫繼電器61連接的指令輸入繼電器32設為導通，藉此以該樓層為目的地樓層並登錄至控制盤21，且可將與開門繼電器62連接的指令輸入繼電器32設為導通，藉此對控制盤21輸入令門13打開的動作指令。如此，介面裝置30可使連接於梯廂呼叫繼電器61、開門繼電器62的指令輸入繼電器32開閉，藉此對控制盤21輸入動作指令。 In this way, the interface device 30 can turn on the command input relay 32 connected to the car call relay 61, thereby registering the floor as the destination floor to the control panel 21, and can input the command connected to the door open relay 62. The relay 32 is turned on, and an operation command for opening the door 13 is input to the control panel 21. In this way, the interface device 30 can open and close the command input relay 32 connected to the car call relay 61 and the door open relay 62, thereby inputting an operation command to the control panel 21.
一面參照第7圖至第14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. 7 to 14.
如第7圖所示，介面裝置30係從控制盤21中之與服務可能繼電器51連接的資訊取得繼電器31的開閉抽出電梯10的服務狀態資訊，且從與複數個梯廂位置繼電器52連接的資訊取得繼電器31的開閉狀態抽出梯廂位置資訊並傳送至自立走行車40。如第9圖所示，自立走行車40當電梯10為通常運行狀態的情形，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，就使控制盤21中之連接於與搭乘處樓層26相對應的梯廂呼叫繼電器61的指令輸入繼電器32導通動作。藉此，控制盤21中之與搭乘處樓層26相對應的梯廂呼叫繼電器61會成為導通狀態，且搭乘處樓層26會登錄至控制盤21。控制盤21會使梯廂12從停止樓層25朝向搭乘處樓層26移動。 As shown in FIG. 7, the interface device 30 obtains the service status information of the elevator 10 from the opening and closing of the relay 31 from the information connected to the service possible relay 51 in the control panel 21, and is connected to a plurality of elevator position relays 52. The open / closed state of the information acquisition relay 31 extracts the position information of the elevator car and transmits it to the self-propelled traveling vehicle 40. As shown in FIG. 9, when the self-propelled traveling vehicle 40 reaches the boarding point floor 26 when the elevator 10 is in a normal running state, it transmits a call request for the car of the boarding point floor 26 belonging to the motion request to the interface device 30. When the interface device 30 receives a car call request from the self-propelled traveling vehicle 40, the interface input device 30 causes the command input relay 32 connected to the car call relay 61 corresponding to the boarding floor 26 in the control panel 21 to turn on. Thereby, the car call relay 61 corresponding to the boarding floor 26 in the control panel 21 is turned on, and the boarding floor 26 is registered to the control panel 21. The control panel 21 moves the car 12 from the stop floor 25 toward the boarding floor 26.
如第10圖所示，當梯廂12到達至搭乘處樓層26時，控制盤21中之與搭乘處樓層26相對應的梯廂位置繼電器52會導通，且梯廂12中之與顯示裝置18的搭乘處樓層26的指示燈19會點亮。並且，與梯廂位置繼電器52連接的資訊取得繼電器31導通。藉此，介面裝置30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，就輸出使與開門繼電器62連接的指令輸入繼電器32導通動作的信號。藉此，控制盤21的開門繼電器62會成為導通狀態，且控制盤21會使門開閉裝置動作並使門13開動作。 As shown in FIG. 10, when the car 12 reaches the boarding floor 26, the car position relay 52 in the control panel 21 corresponding to the boarding floor 26 is turned on, and the car 12 is connected to the display device 18 The indicator 19 on the floor 26 of the boarding place will light up. The information acquisition relay 31 connected to the car position relay 52 is turned on. With this, the interface device 30 extracts the position information of the elevator car and transmits it to the self-propelled traveling vehicle 40. The self-propelled traveling vehicle 40 receives the position information of the car corresponding to the boarding place floor 26 and transmits a door opening request belonging to the motion request to the interface device 30. When the interface device 30 receives the door opening request, it outputs a signal for turning on the command input relay 32 connected to the door opening relay 62. As a result, the door opening relay 62 of the control panel 21 is turned on, and the control panel 21 operates the door opening and closing device and opens the door 13.
如第11圖所示，當門13全開時，安裝於梯廂12的全開檢測開關20動作，使控制盤21中之門全開繼電器53成為導通。如此一來，與門全開繼電器53 連接的資訊取得繼電器31會成為導通，且對介面裝置30輸入門全開信號。當介面裝置30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接收到門全開資訊會登入梯廂12中。 As shown in FIG. 11, when the door 13 is fully opened, the full-open detection switch 20 installed in the elevator car 12 is operated, and the door full-open relay 53 in the control panel 21 is turned on. In this way, the information acquisition relay 31 connected to the door full-open relay 53 is turned on, and a door full-open signal is input to 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 logs into the car 12.
如第12圖所示，自立走行車40登入梯廂12，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，就使控制盤21中之連接於與目的地樓層27相對應之梯廂呼叫繼電器61的指令輸入繼電器32導通動作。藉此，與目的地樓層27相對應的梯廂呼叫繼電器61會導通，且目的地樓層27會登錄至控制盤21。控制盤21在門13關上後，使梯廂12從搭乘處樓層26朝目的地樓層27移動。 As shown in FIG. 12, when the self-propelled traveling vehicle 40 logs in to the car 12, it transmits a car call request belonging to the destination floor 27 of the action request to the interface device 30. Upon receiving the car call request, the interface device 30 turns on the command input relay 32 in the control panel 21 connected to the car call relay 61 corresponding to the destination floor 27. Thereby, the car call relay 61 corresponding to the destination floor 27 is turned on, and the destination floor 27 is registered to the control panel 21. After the door 13 is closed, the control panel 21 moves the car 12 from the boarding place floor 26 to the destination floor 27.
如第13圖所示，當梯廂12到達目的地樓層27時，控制盤27中之與目的地樓層27相對應的梯廂位置繼電器52會導通，且使梯廂12中之與顯示裝置18的目的地樓層27相對應的指示器19點亮。並且，與梯廂位置繼電器52連接的資訊取得繼電器31會導通。藉此，介面裝置30會抽出梯廂位置資訊，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，就輸出使連接於開門繼電器62的指令輸入繼電器32導通動作的信號。藉此控制盤21中的開門繼電器62成為導通狀態，且控制盤21使門開閉裝置動作來使門13開動作。 As shown in FIG. 13, when the car 12 reaches the destination floor 27, the car position relay 52 corresponding to the destination floor 27 in the control panel 27 is turned on, and the car 12 and the display device 18 are turned on. The indicator 19 corresponding to the destination floor 27 is turned on. The information acquisition relay 31 connected to the car position relay 52 is turned on. As a result, the interface device 30 extracts the position information of the car and transmits it 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 the door opening request, it outputs a signal for turning on the command input relay 32 connected to the door opening relay 62. As a result, the door opening relay 62 in the control panel 21 is turned on, and the control panel 21 operates the door opening and closing device to open the door 13.
如第14圖所示，當門13全開時，安裝於梯廂12的全開檢測開關20動作，使控制盤21中之門全開繼電器53及與門全開繼電器53連接的資訊取得繼電器31導通，而對介面裝置30輸入門全開信號。介面裝置30在輸入了門全開信號，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. 14, when the door 13 is fully opened, the full-open detection switch 20 installed in the elevator car 12 is operated, and the door full-open relay 53 in the control panel 21 and the information acquisition relay 31 connected to the door full-open relay 53 are turned on, and A door full-open signal is input to the interface device 30. When the interface device 30 inputs the door full-open signal, it transmits the door full-open 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，由於介面裝置30藉由控制盤21中之連接於服務可能繼電器51、梯廂位置繼電器52、門全開繼電器53的資訊取得繼電器31的開閉來抽出電梯10的運行資訊，且藉由控制盤21中之連接於梯廂呼叫繼電器61、開門繼電器62的指令輸入繼電器32的開閉，來對控制盤21輸入電梯10的動作指令並使電梯10動作，所以可不用變更控制盤21的控制邏輯就能夠簡單地達成由電梯10所進行之自立走行車40的樓層間移動。 As described above, the coordinated operation system 100 of the present embodiment extracts the interface device 30 from the control panel 21 by connecting the service enable relay 51, the elevator position relay 52, and the door full-open relay 53 to the opening and closing of the information acquisition relay 31 to extract it. The operating information of the elevator 10, and the opening and closing of the command input relay 32 connected to the car call relay 61 and the door opening relay 62 in the control panel 21, input the operation command of the elevator 10 to the control panel 21 and cause the elevator 10 to operate, Therefore, the inter-floor movement of the self-propelled traveling vehicle 40 by the elevator 10 can be easily achieved without changing the control logic of the control panel 21.
而且，在協同運行系統100中，由於將介面裝置30傳送至自立走行車40的項目設為電梯10的服務狀態資訊、梯廂位置資訊及門全開資訊，而將自立走行車40傳送至介面裝置30的動作請求限定為梯廂呼叫請求、開門請求，所以可使系統簡單化。 Furthermore, in the cooperative operation system 100, since the items transmitted from the interface device 30 to the self-propelled traveling vehicle 40 are set as the service status information, elevator position information, and door opening information of the elevator 10, the self-propelled traveling vehicle 40 is transmitted to the interface device. The action request of 30 is limited to a call request for a car and a door opening request, so that the system can be simplified.
在以上的說明中，以介面裝置30藉由控制盤21中之連接於服務可能繼電器51、梯廂位置繼電器52、門全開繼電器53的資訊取得繼電器31的開閉來抽出電梯10的運行資訊的情形加以說明，惟不限於此，亦可從以下之其他的繼電器或信號來抽出電梯10的運行資訊。 In the above description, the interface device 30 is used to extract the operation information of the elevator 10 from the opening and closing of the information acquisition relay 31 connected to the service enable relay 51, the car position relay 52, and the door full-open relay 53 in the control panel 21. In addition, it is not limited to this, and operation information of the elevator 10 may be extracted from other relays or signals below.
例如，以全自動繼電器或安全開關動作繼電器取代服務可能繼電器51，而將資訊取得繼電器31連接於全自動繼電器以抽出電梯10為通常運行狀態與否之資訊，或將資訊取得繼電器31連接於安全開關動作繼電器以抽出電梯10為通常運行狀態與否之資訊，其中該全自動繼電器為當全自動運轉時為導通，而不是全自動運轉時為斷開者。 For example, replace the service possible relay 51 with a fully automatic relay or a safety switch action relay, and connect the information acquisition relay 31 to the fully automatic relay to extract the information on whether the elevator 10 is in the normal operating state, or connect the information acquisition relay 31 to safety The switching action relay takes the elevator 10 as the information of the normal running state, in which the fully automatic relay is turned on when the fully automatic operation is performed, rather than the disconnected when the fully automatic operation is performed.
而且，亦可以樓層地板選擇器取代梯廂位置繼電器52，而將資訊取得繼電器31連接於配置於控制盤21之內部的樓層地板選擇器(選擇器)以取得梯廂位置資訊。而且，當取代梯廂位置繼電器52而於控制盤21配置有以數位顯示 梯廂位置資訊或以LED顯示梯廂位置資訊的顯示器時，亦可藉於光感測器或攝影機等來擷取顯示器的顯示內容取得梯廂位置資訊。 In addition, the floor position selector may replace the car position relay 52, and the information acquisition relay 31 may be connected to a floor floor selector (selector) arranged inside the control panel 21 to obtain the car position information. In addition, when instead of the elevator position relay 52, a display is provided on the control panel 21 to display the elevator position information digitally or the LED is used to display the elevator position information, the display can also be captured by a light sensor or a camera. Display content to get the position information of the car.
此外，在先前說明中，已藉由控制盤21中之連接於梯廂呼叫繼電器61、開門繼電器62的指令輸入繼電器32的開閉，來對控制盤21輸入電梯10的動作指令而使電梯10動作的情形進行說明，惟不限於此，亦可對下述之其他的繼電器輸入動作指令信號使電梯10動作。 In addition, in the previous description, the elevator 10 is operated by inputting the operation command of the elevator 10 to the control panel 21 by opening and closing the command input relay 32 connected to the car call relay 61 and the door opening relay 62 in the control panel 21. The case will be described, but the present invention is not limited to this, and an operation instruction signal may be input to other relays described below to operate the elevator 10.
例如，亦可以門安全緣(safety shoe)開關取***門繼電器62，而將與門安全緣開關連接的繼電器連接指令輸入繼電器32，該門安全緣開關係安裝於梯廂12的門13，當門13發生誤夾時會成為導通者，藉由設為與門安全緣開關動作之同樣的狀態，使門13開動作。此外，亦可配置對配置於控制盤21之內部的門開關進行機械性開路(ON)/閉路(OFF)操作的指令輸入裝置，藉此使門13開閉，以取***門繼電器62。 For example, a door safety shoe switch may be used in place of the door open relay 62, and a relay connection instruction connected to the door safety edge switch may be input to the relay 32. The door safety edge is installed on the door 13 of the elevator car 12, and when the door 13 will become a conductor when a misclamp occurs, and the door 13 will be opened by setting the same state as the door safety edge switch operation. In addition, a command input device for mechanically opening / closing a door switch disposed inside the control panel 21 may be provided to open and close the door 13 instead of the door open relay 62.
此外，亦可取代梯廂呼叫繼電器61，而將指令輸入繼電器32連接於維護檢點時所使用的梯廂呼叫開關，或配置藉由對該開關進行機械性操作而進行呼叫登錄的指令輸入裝置，藉此使梯廂12昇降動作。 In addition, instead of the elevator call relay 61, the instruction input relay 32 may be connected to a elevator call switch used for maintenance inspection, or an instruction input device for registering a call by mechanically operating the switch may be provided. Thereby, the elevator car 12 is raised and lowered.
Claims (3)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| WOPCT/JP2018/014617 | 2018-04-05 | ||
| PCT/JP2018/014617 WO2019193719A1 (en) | 2018-04-05 | 2018-04-05 | Coordinated operation system for elevator and autonomous travel vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201943634A true TW201943634A (en) | 2019-11-16 |
| TWI777022B TWI777022B (en) | 2022-09-11 |
Family
ID=67766752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW108101499A TWI777022B (en) | 2018-04-05 | 2019-01-15 | Cooperative operation system for elevator and self-supporting vehicle |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6567196B1 (en) |
| KR (1) | KR102435543B1 (en) |
| CN (1) | CN111971246B (en) |
| TW (1) | TWI777022B (en) |
| WO (1) | WO2019193719A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109789998B (en) * | 2016-10-04 | 2021-06-29 | 三菱电机株式会社 | Elevator system |
| CN112623905B (en) * | 2020-12-18 | 2023-05-05 | 上海机器人产业技术研究院有限公司 | Simulation test system for robot riding elevator |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3319802B2 (en) * | 1993-03-29 | 2002-09-03 | 綜合警備保障株式会社 | Mobile body movement control system |
| JPH09230938A (en) * | 1996-02-23 | 1997-09-05 | Meidensha Corp | Unmanned carriage system |
| KR20000013365A (en) * | 1998-08-07 | 2000-03-06 | 이종수 | Elevator door control device and method |
| JP2001171918A (en) * | 1999-12-21 | 2001-06-26 | Hitachi Building Systems Co Ltd | Elevator control device |
| JP2003146412A (en) * | 2001-11-12 | 2003-05-21 | Mitsubishi Electric Corp | Transfer system |
| JP4241678B2 (en) * | 2005-06-30 | 2009-03-18 | 三菱電機ビルテクノサービス株式会社 | Elevator communication control system and elevator communication control program |
| JP2007137650A (en) * | 2005-11-22 | 2007-06-07 | Mitsubishi Electric Corp | Elevator system |
| JP5302584B2 (en) * | 2008-07-16 | 2013-10-02 | 富士重工業株式会社 | Autonomous vehicle moving system by elevator |
| JP5449952B2 (en) * | 2009-09-29 | 2014-03-19 | Ｃｙｂｅｒｄｙｎｅ株式会社 | Autonomous traveling robot and control system for autonomous traveling robot |
| JP2012018645A (en) * | 2010-07-09 | 2012-01-26 | Murata Mach Ltd | Autonomous traveling body mobile system |
| JP5545539B2 (en) * | 2010-07-09 | 2014-07-09 | 村田機械株式会社 | Autonomous traveling body moving system |
| CN201817157U (en) * | 2010-09-08 | 2011-05-04 | 佛山市顺德区鼎力电气有限公司 | Multifunctional elevator information acquiring and processing device |
| JP6354296B2 (en) | 2014-04-30 | 2018-07-11 | 株式会社リコー | Automated guided vehicle traveling system |
| TWI533100B (en) * | 2014-10-09 | 2016-05-11 | 財團法人工業技術研究院 | Elevator control system and method for automated guided vehicle |
| CN105035893B (en) * | 2015-06-30 | 2017-05-31 | 广东嘉腾机器人自动化有限公司 | The communication system and its means of communication of a kind of AGV and elevator |
| CN106044419B (en) * | 2016-05-31 | 2019-04-30 | 北京云迹科技有限公司 | The system and method for automatic disengaging elevator |
| JP2018008760A (en) * | 2016-07-11 | 2018-01-18 | 株式会社日立製作所 | Elevator |
| CN107445002B (en) * | 2017-07-28 | 2019-11-12 | 苏州博众机器人有限公司 | A kind of elevator floor information acquisition methods, device and external lift facility |
-
2018
- 2018-04-05 WO PCT/JP2018/014617 patent/WO2019193719A1/en active Application Filing
- 2018-04-05 JP JP2018538908A patent/JP6567196B1/en active Active
- 2018-04-05 KR KR1020207025290A patent/KR102435543B1/en active IP Right Grant
- 2018-04-05 CN CN201880091710.6A patent/CN111971246B/en active Active
-
2019
- 2019-01-15 TW TW108101499A patent/TWI777022B/en active
Also Published As
| Publication number | Publication date |
|---|---|
| KR102435543B1 (en) | 2022-08-22 |
| CN111971246A (en) | 2020-11-20 |
| JPWO2019193719A1 (en) | 2020-04-30 |
| TWI777022B (en) | 2022-09-11 |
| CN111971246B (en) | 2022-08-09 |
| WO2019193719A1 (en) | 2019-10-10 |
| JP6567196B1 (en) | 2019-08-28 |
| KR20200112979A (en) | 2020-10-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109987463B (en) | Robot and elevator interaction system and method | |
| TWI785186B (en) | Cooperative operation system for elevator and self-supporting vehicle | |
| KR20110054054A (en) | Method and apparatus for modernizing an elevator installation | |
| KR20100077920A (en) | Robot, robot control method, elevator system linked with robot and control method thereof | |
| CN114728758B (en) | Elevator control system and elevator control method | |
| CN112135787B (en) | Safety switching system and method for switching an elevator installation between a normal operating mode and an inspection operating mode | |
| JP6702575B1 (en) | Elevator operating method and operating system | |
| JP5554154B2 (en) | Elevator remote control system | |
| TW201943634A (en) | Cooperative operation system for elevator and self-supporting vehicle | |
| JP2015224116A (en) | Elevator rescue operation device | |
| KR20160043642A (en) | Elevator Control System | |
| KR101947570B1 (en) | Lifting system performing user-customized operation | |
| JP2007246230A (en) | Rescue system for elevator | |
| US20220363513A1 (en) | Mobile control unit and method for remotely controlling an elevator installation | |
| KR102183746B1 (en) | Control system of elevator and control method thereof | |
| JP6537539B2 (en) | Control device and control method of elevator | |
| CN107207197A (en) | Apparatus for controlling elevator | |
| JP7377466B2 (en) | elevator | |
| JP6898578B2 (en) | User detection device and elevating movement system | |
| CN117897350A (en) | Mobile device and method for monitoring an elevator installation | |
| KR101293035B1 (en) | Inspection position automatic landing system of elevator car and the control method thereof | |
| KR100531329B1 (en) | Control System and Control Method of The Elevator | |
| JPH07144844A (en) | Maintenance operation on device for elevator | |
| JPH0731763U (en) | Elevator automatic landing system during blackout |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GD4A | Issue of patent certificate for granted invention patent |