JPS5917614A - Device for detecting lifting distance of unattended travelling car - Google Patents

Abstract

PURPOSE:To use a general lifting gear by both of an operator and an unattended travelling car by obtaining the lifting position of the unattended travelling car from acceleration applied to the unattended travelling car when the lifting gear is actuated vertically. CONSTITUTION:When the lifting gear on which the unattended travelling car is put is lifted, a signal Sa is outputted from an accelerometer 1. If the signal exceeds a positive threshold, an one-shot circuit 7 is triggered, and the counted value of a counter 14 is turned to ''1''. Consequently, an FF 16 is set up, switches 4, 17 are switched, so that the output signal of the accelerometer 1 is integrated by integrators 18, 19 and outputted as a distance signal Sl. When the signal Sa is reduced less than the positive threshold, an one-shot circuit 9 is triggered and the value of the counter 14 is turned to ''2'', so that the speed is reduced. When the signal Sa is reduced less than a negative threshold, an one-shot circuit 12 is triggered and the value of the counter 14 is turned to ''3''. At the stop of the lifting gear, the value of the counter 14 is turned to ''4'', the FF 16 is set up and the switches 4, 17 are restored to the original status.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for detecting the vertical distance of an unmanned vehicle that moves between floors of a building using an elevator.

In a system for moving an unmanned vehicle across multiple floors of a building, a dedicated lift 1 for the unmanned vehicle is used.
We are trying to set up an fIA. However, it is economically disadvantageous to provide a dedicated elevator for the above-mentioned unmanned vehicle.
Therefore, it has been desired to share a general-purpose elevator with humans and unmanned vehicles.

SUMMARY OF THE INVENTION An object of the present invention is to provide an ascent/descent distance detection device for an unmanned vehicle that can meet such demands.

In order to achieve the above object, the present invention detects the acceleration that acts on an unmanned vehicle when the elevator moves up and down,
This acceleration is integrated over time to obtain the vertical distance 11, and based on the calculation result, the vertical position of the unmanned vehicle is obtained.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows an embodiment of the ascending/descending distance detecting device according to the present invention, and this device is mounted on an unmanned vehicle (not shown). In the figure, an accelerometer 1 detects the acceleration in the vertical direction of the unmanned vehicle mounted on an elevator (not shown), and its detection signal Eta is sent to the + side input terminal of the controller 2. , is applied to one input terminal of the comparator 3 and one input terminal of the switch circuit 4.

The reference value setter 5 sets a threshold value aIY for the positive acceleration (speed change at the start of ascent and at the end of descent) output from the accelerometer 1, and the reference value setter 6 sets the threshold value aIY for the positive acceleration (speed change at the start of ascent and end of descent) output from the accelerometer 1.
The threshold value at' for the negative acceleration (speed change at the start of descent and at the end of ascent) output from It is applied to the input terminal and the + side input terminal of the comparator 3, respectively.

The output of the comparator 2 is applied to a one-shot circuit 7 and also to a one-shot circuit 9 via an inverter 8.
, 9 are triggered at the rising edge of the applied signal. Moreover, the output of the comparator 3 is the one-shot circuit lO
is added to the one-shot circuit 12 via the inverter 11, and these
[110°12 is triggered on the falling edge of the applied signal.

However, each of the above one-shot circuits 7, 9, 10 and 1
The output of 2 is applied to the clock input terminal OK of the counter 14 via the OR circuit 1a=a-.

The above counter 14G'l, its count value is 19 and 4#
, the signals s, Io and s4t are respectively applied to the set terminal H of the flip-flop 16 and the reset terminal H via the OR circuit 15, thereby changing the output state of the flip-flop 16 and switching the switch circuits 4 and 1.
7 is switched. Note that the counter 14 is configured to be reset again when it counts up to "4#".

The integrator 18 time-integrates the speed signal SV applied via the switch circuit 4 and the addition switch circuit 17, and outputs a distance signal sty. Then, the distance N1 signal Bt
is added to the dividend input terminal of the divider 20.

(3) The floor-to-floor value setter 21 is for setting the distance between each floor, and its output is added to the divisor input terminal of the divider 20. Then, the divider 20 divides the distance signal BAY by the floor value to output the hail signal sm, which is the number of floors traveled by the unmanned vehicle.

The comparator 22 has the above-mentioned signal am added to its + side input terminal, and the output signal 8 days of the moving floor setting device 23 which sets the moving floor number of the above-mentioned unmanned vehicle to its - side input terminal, and the above-mentioned Sm When exceeds 88, a hail signal SgY indicating that the unmanned vehicle has reached the target floor is output to a control device (not shown).

Here, the operation of this embodiment when the unmanned vehicle moves from, for example, IWj to the third floor will be explained.

When the Noboru M1 machine carrying the unmanned vehicle ascends, the accelerometer 1 changes as shown in Fig. 2 until its ascending speed reaches a predetermined value.
A signal sa shown in a) is output. When the signal Ba exceeds the threshold value aI, the output of the comparator 2 rises to the logic level "H" (see (4) in Figure (b)), and at the same time, the one-shot circuit 7 is triggered ( The output of the cough one-sheet circuit 7 is outputted to the counter 14 via the OR circuit 13 (see FIG. 3(f)). Since the count value of the counter 14 becomes @l'', the sales counter 14 outputs the signal 8□ (see figure 8)), which sets the flip-flop 16 (see figure ←)). The switch circuits 4'# and 17 are switched.Therefore, the output signal Ba of the accelerometer 1 is integrated by the integrator 18 and converted into a speed signal BY (see (n) in the same figure), and then this speed The signal sy is integrated by the integrator 19. As a result, the integrator 19 outputs a distance signal No. 8 CIW.
(See Figure 1-(0)).

Furthermore, when the signal 8m becomes smaller than the threshold value a1, the output of the comparator 2 falls, so the output of the inverter 8 rises ((0) in the figure), and at the same time, the output of the one The circuit 9 is triggered (the same figure [
stock])), thereby the count value of the counter 14 becomes ``
It becomes 2″.

At this time, if there is a person riding in the elevator going to the second floor, the elevator decelerates before reaching the second floor and stops when it arrives, but as a result of this deceleration, the signal Sa shifts to one side. Change. Then, when the signal 8a becomes smaller than the threshold value a, the output of the comparator 3 rises to logic level "H" (see FIG. 2(d)), so the output of the inverter 11 falls (see FIG. 2(d)). (see figure (6)),
At the same time, the one-shot circuit 12 is triggered (
As shown in the figure (see RI), the count value of the counter 14 becomes "3#".

When the elevator stops and the signal 8a exceeds the dark value am, the output of the comparator 3 falls, and at the same time, the one-seat cycle [10] is triggered (lit
], the count value of the counter 14 becomes @4#. Therefore, nuclear power ≠ counter 14
outputs the signal S4 (see (A) in the figure), so the flip-flop 16 is reset and the switch circuits 4 and 17 return to the connection state shown. Thus, even if the integrators 18 and 19 stop their integrating operations, they retain the integral value at the time of their stopping.

When the elevator starts to rise again after the person exits the elevator, integrators 18 and 19 operate in the same manner as described above. Therefore, the output of the integrator 19 increases over time,
At time t1, when the output signal am of the divider ZG exceeds the signal say (see (0) in FIG. 2), the arrival signal 13g rises to the logic level "H" (see (P) in the same figure).

Therefore, the control device of the unmanned vehicle uses the signal Sg
You can know when you have reached the target floor.

Furthermore, when the elevator descends and stops at the lower floor, the signal 8a changes as shown in FIG. , and the count value becomes "4" when it stops. Therefore, the flip-flop 16 is set from when the elevator starts descending until it stops, and the integrators 18 and 19 perform the same integration operation as described above (7). can also detect that the elevator has moved a desired number of floors.

Note that the signal R8 is a reset signal output from the control device of the unmanned vehicle at the time of getting on the elevator;
When E is added, the integrator 18, 19 and counter 14
and flip-flop 16 is reset.

The above explanation is for a case where a person riding along with the elevator gets off the elevator at a floor before the target floor of the unmanned vehicle, but of course the signal St increases over time even when no human is riding along with the elevator. Therefore, when the desired floor is reached, the arrival signal Bg is output, and this signal Bg is used as a starting signal for lowering the unmanned vehicle from the elevator.

As explained above, according to the present invention, an elevator used by humans can be shared by an unmanned vehicle, and therefore, there is an advantage that a system for moving an unmanned vehicle across multiple floors of a building can be realized at a low cost. .

[Brief explanation of the drawing]

(8) Fig. 1 is a block diagram showing an embodiment of the ascending/descending distance detecting device according to the present invention, and Figs. 2 (a) to (r) illustrate the operation of the device shown in Fig. 1. Figure 3 is a waveform diagram showing the output of the acceleration needle during the period from when the elevator descends to when it stops. 1... Acceleration needle, 2. a, 22... Comparator, 5, 6...Reference value setter, 7, 9, 10.12.
... one circuit, 14... counter, 16.
...Flip-flop, 4.17...Switch circuit,
18.19... Integrator, 20... Divider, 21...
・Inter-floor value setter, 2'A...Moveable WI setter.

Claims (1)

[Claims] an acceleration detector that detects acceleration as the elevator ascends and descends;
A circuit detects the start and end points of the elevator based on changes in the acceleration of the elevator, and a circuit that integrates the output of the accelerometer over time during the elevator operation from the start to the end of the elevator to calculate the elevator distance. an ascent/descendance distance calculation circuit that calculates and maintains the calculated value while the elevating machine is stopped; and a circuit that outputs an arrival signal when the output of the cough ascent/descendance output circuit exceeds a preset value. 1. A device for detecting the vertical distance of an unmanned vehicle.