PLC Gateway System

Abstract

To achieve vertical conveyance of a self-propelled conveyance device using an elevator by PLC control, by comparatively easy installation work and at comparatively low costs, regardless of a maker and a model.SOLUTION: A PLC gateway system is provided with: a self-propelled conveyance device such as a conveying robot; a PLC that controls the self-propelled conveyance device; a PLC interface that controls input / output signals between the PLC and the interface; an elevator having an input device for destination floors, an advancing direction and the like; an operation panel module provided in the input device, which comprises a relay connected in parallel to a button of the input device and an interface device that controls the relay; and an on-car control module mounted on the elevator, which can communicate with the PLC through the PLC interface and can communicate with the operation panel module. The on-car control module controls the relay through the operation panel module, on the basis of a signal from the PLC, and operates the elevator to vertically convey the self-propelled conveyance device.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a PLC gateway system that vertically transports a self-propelled transport device, such as a transport robot controlled by a PLC, using an elevator. [Background technology]

[0002] In recent years, there has been a great demand for vertical transportation of transport robots (AGVs (Automatic Guide Vehicles) and AMRs (Automatic Mobile Robots)) and automatic forklifts in elevators at factories and logistics centers.

[0003] In factories and logistics centers, a sequencer called a PLC (Programmable Logic Controller) is used to control conveyors, the transport robots and automatic forklifts mentioned above.

[0004] Furthermore, as in Patent Document 1, elevators themselves may also be controlled by PLC. In such factories, the management master not only issues driving instructions to transport robots, but also operates the elevators themselves using a PLC stream. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2015-210761 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, as in Patent Document 1, in order to directly control the elevator control panel with a PLC, it is necessary to pull out the A contact from the control panel and develop a circuit board, which poses the problem of a considerable delivery time and high construction costs.

[0007] The object of the present invention is to solve the problems described above and provide a PLC gateway system that can realize vertical transportation of a self-propelled transport device using an elevator controlled by PLC, with relatively simple installation work and relatively low cost, regardless of the elevator manufacturer or model. [Means for solving the problem]

[0008] In order to solve the above problems, one aspect of the PLC gateway system of the present invention is to Self-propelled transport devices such as transport robots and automatic forklifts, A PLC that controls the self-propelled transport device; A PLC interface that controls input / output signals between the PLC and the PLC; an elevator having an input device for inputting a destination floor, a direction of travel, etc.; an operation panel module provided in the input device, the operation panel module including a relay connected in parallel to a button of the input device and an interface device for controlling the relay; an on-car control module mounted on an elevator car, the on-car control module being capable of communicating with the PLC via the PLC interface and with the operation panel module; The car control module controls the relay via the operation panel module based on the PLC signal from the PLC to operate the elevator and transport the self-propelled transport device vertically.

[0009] According to the aspect, when the car control module receives a PLC signal for controlling the elevator from the PLC, the car control module controls the operation panel module to turn the relay on or off. As a result, the button of the input device is pressed down, and the operation of the elevator is controlled by a control device originally provided in the elevator, causing the elevator to vertically transport the self-propelled transport device. Therefore, according to this embodiment, a PLC gateway system is provided that can realize vertical transportation of a self-propelled transport device using an elevator controlled by PLC, regardless of the elevator manufacturer or model, with relatively simple installation work and relatively low cost.

[0010] Another aspect of the present invention is The input device is provided on each floor, and includes an up button and a down button as the buttons, The relay of the operation panel module connected to the input device is connected in parallel to each of the up button and the down button, and the interface device of the operation panel module controls the relays connected in parallel to each of the up button and the down button, respectively; When the on-car control module receives a car call request together with information about the landing floor and the disembarking floor as a PLC signal from the PLC, it sends an instruction to the operation panel module connected to the input devices at the landing floor and the disembarking floor to turn on the relays connected in parallel to the up button and down button of the input devices at the landing floor and the disembarking floor, and moves the elevator car to the landing floor and the disembarking floor.

[0011] According to this aspect, when the car-mounted control module receives a car call request together with information on the landing floor and the disembarking floor from the PLC, it transmits an instruction to the operation panel module connected to the input devices at the landing floor and the disembarking floor to press down the up button and the down button of the input device at the landing floor and the disembarking floor. When the interface device of the operation panel module receives an instruction to press down the up button and the down button from the car-mounted control module, it controls the relay to press down the up button and the down button. As a result, the control device that controls the entire elevator moves the elevator car to the landing floor and the disembarking floor in response to the pressing of the up button and the down button. Therefore, according to this aspect, a PLC gateway system is provided that can realize vertical transportation of a self-propelled transport device using an elevator controlled by a PLC, with relatively simple installation work and relatively low cost, regardless of the elevator manufacturer or model.

[0012] Another aspect of the present invention is The input device is an input device having a plurality of destination floor buttons, The relays of the operation panel module connected to the input device are connected in parallel to each of the destination floor buttons, and the interface device of the operation panel module controls the relays connected in parallel to the destination floor buttons; When the on-car control module receives a car call request together with information on the landing floor and the disembarking floor as a PLC signal from the PLC, it sends an instruction to the operation panel module connected to the input device to turn on the relay connected in parallel to the destination floor buttons corresponding to the landing floor and the disembarking floor, and moves the elevator car to the landing floor and the disembarking floor.

[0013] According to this aspect, when the car-mounted control module receives a car call request together with information on the landing floor and the disembarking floor from the PLC, it transmits an instruction to the operation panel module connected to the input device of the landing floor and the disembarking floor to press down the destination floor buttons corresponding to the landing floor and the disembarking floor. When the interface device of the operation panel module receives an instruction from the car-mounted control module to press down the destination floor button, it controls the relay to press down the destination floor button. As a result, the control device that controls the entire elevator moves the elevator car to the landing floor and the disembarking floor in response to the pressing of the destination floor button. Therefore, according to this aspect, a PLC gateway system is provided that can realize vertical transportation of a self-propelled transport device using an elevator controlled by a PLC, with relatively simple installation work and relatively low cost, regardless of the elevator manufacturer or model.

[0014] Another aspect of the present invention is The input device further includes an input device having a door open button and a door close button, The relay of the operation panel module connected to the input device is connected in parallel to each of the door open button and the door close button, and the interface device of the operation panel module controls the relay connected in parallel to the door open button and the door close button, The on-car control module sends an instruction to turn on or off the relay connected in parallel to the door open button and the door close button, thereby opening or closing the elevator doors.

[0015] According to this aspect, the above-car control module transmits an instruction to the operation panel module connected to the input device to press the door open button or the door close button. When the interface device of the operation panel module receives an instruction to press the door open button or the door close button from the above-car control module, it controls the relay to press the door open button or the door close button. As a result, the control device that controls the entire elevator opens or closes the elevator door in response to pressing the door open button or the door close button. Therefore, according to this aspect, a PLC gateway system is provided that enables a self-propelled transport device to get on and off the elevator, and that can realize vertical transport of a self-propelled transport device using an elevator controlled by PLC, with relatively simple installation work and relatively low cost, regardless of the elevator manufacturer or model. Effect of the Invention

[0016] According to the present invention, a PLC gateway system can be provided that can realize vertical transportation of a self-propelled transport device using an elevator controlled by PLC, regardless of the elevator manufacturer or model, with relatively simple installation work and relatively low cost. [Brief description of the drawings]

[0017] [Figure 1] 1 is a diagram illustrating a schematic diagram of a PLC gateway system according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram showing a schematic diagram of an elevator according to a first embodiment of the present invention. [Diagram 3] FIG. 2 is a diagram showing a schematic view of each floor in the elevator according to the first embodiment of the present invention. [Figure 4] FIG. 2 is a block diagram for explaining the control relationship between the components in the first embodiment of the present invention. [Diagram 5]FIG. 2 is a block diagram for explaining the control relationship between an on-car control module, a first operation panel module, a second operation panel module, a first input device, a second input device, and a control panel in the first embodiment of the present invention. [Figure 6] FIG. 4 is a sequence diagram illustrating the operation of the PLC gateway system in the first embodiment of the present invention. [Figure 7] FIG. 11 is a block diagram for explaining the control relationship between the components in a second embodiment of the present invention. [Figure 8] FIG. 11 is a block diagram for explaining the control relationship among an on-car control module, a first operation panel module, a second operation panel module, a first input device, a second input device, and a control panel in a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] (First embodiment) Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram that shows a schematic diagram of a PLC gateway system of this embodiment. FIG. 2 is a diagram that shows a schematic diagram of an elevator of this embodiment. FIG. 3 is a diagram that shows a schematic diagram of each floor in the elevator of this embodiment. FIG. 4 is a block diagram for explaining the control relationship between each component in this embodiment. FIG. 5 is a block diagram for explaining the control relationship between the on-car control module, the first operation panel module, the second operation panel module, the first input device, the second input device, and the control panel in this embodiment. FIG. 6 is a sequence diagram for explaining the operation of the PLC gateway system in the first embodiment of the present invention.

[0019] As shown in FIG. 1, the PLC gateway system 100 of this embodiment includes a management PC 1, a main control panel 10, a conveyor 20, a self-propelled transport device 30, and an elevator 40.

[0020] The management PC 1 is configured, for example, by a personal computer, and is connected to the main control panel 10 to perform serial communication with the main control panel 10. The management PC 1 is also capable of communicating with the self-propelled transport device 30 via a switching hub 26 and a Wi-Fi access point 27. The management PC 1 and the switching hub 26, and the switching hub 26 and the Wi-Fi access point 27 are connected, for example, by a wired LAN.

[0021] The management PC1 is capable of registering maps of factories where the self-propelled transport device 30 travels, and editing courses including creating markers and routes. A user uses the management PC1 to register maps and edit courses. The management PC1 is also capable of editing the ladder program of the PLC 11, and a user uses the management PC1 to edit ladder programs for the conveyor 20, the self-propelled transport device 30, and the elevator 40. When editing the ladder program for the self-propelled transport device 30, for example, a route consisting of two points, a start point and an end point, is connected to create the entire travel course. In addition, the management PC1 manages the route of the self-propelled transport device 30, monitors travel, manages logs, and so on.

[0022] The management PC1 transmits the above-mentioned ladder program to the PLC 11 of the main control panel 10, and the PLC 11 stores the ladder program in an executable manner. After starting up the system, the management PC1 receives travel commands and the like from the PLC 11 via serial communication, and also transmits information about the self-propelled conveying device 30 to the PLC 11 via serial communication.

[0023] The main control panel 10 includes a PLC (Programmable Logic Controller) 11 and a network unit 12. The PLC 11 performs, in accordance with the above-mentioned ladder program, conveyance instruction management by the conveyor 20, vehicle dispatch management by the self-propelled conveying device 30, and vertical conveyance management by the elevator 40. The network unit 12 is a unit that can connect to a plurality of remote I / Os 25 as a PLC interface, and output signals from the PLC 11 are transmitted to the conveyor 20, the elevator 40, and the like via the network unit 12 and the remote I / Os 25. In addition, output signals from the conveyor 20, the elevator 40, and the like are transmitted to the PLC 11 via the remote I / Os 25 and the network unit 12.

[0024] The conveyor 20 is a conveyor that conveys a load from a predetermined starting point to an end point, and is connected to a remote I / O 25. The conveyor 20 starts a transport operation in response to a signal from the PLC 11, and the fact that the load has been transported to the end point is transmitted to the PLC 11 by a sensor (not shown) or the like via the remote I / O 25.

[0025] The self-propelled transport device 30 is a transport device including a transport robot (AGV (Automatic Guide Vehicle), AMR (Automatic Mobile Robot)) and an automatic forklift, etc., and receives commands from the management PC 1 via the Wi-Fi access point 27, moves from a predetermined start point to an end point, and performs operations such as transporting luggage. The fact that the self-propelled transport device 30 has reached the end point is transmitted from the self-propelled transport device 30 to the PLC 11 via the remote I / O 25.

[0026] As shown in FIG. 2, the elevator 40 includes a car 42 arranged in a hoistway 41, an in-hoistway sensor module 43, an on-car control module 44, a door 45, a first input device 46, a second input device 47, and a third input device 48.

[0027] The car control module 44 of the elevator 40 is connected to the remote I / O 25, receives commands from the PLC 11 via the remote I / O 25, and transmits signals indicating the operating status of the elevator 40, etc., to the PLC 11.

[0028] 3, the elevator 40 also includes a drive unit 60 that raises and lowers the car 42, a wire 62 that is wound around the drive unit 60 and connects the counterweight 61 to the car 42, and a control panel 63 that controls the operations of the drive unit 60 and the door 45. The control panel 63 may be configured as a computer including a CPU and memory therein, or may be configured as a combination of relays and switches.

[0029] The elevator 40 in this embodiment is not an elevator provided with an A-contact drawn from the control panel 63 for control by the PLC 11, a circuit board for control by the PLC 11, or the like. In other words, the elevator 40 in this embodiment is a conventional elevator, and cannot be controlled by the PLC 11 in this state. Therefore, in this embodiment, instead of connecting the remote I / O 25 to the control panel 63, the remote I / O 25 is connected to the on-car control module 44, and the on-car control module 44 is used as a PLC gateway, thereby enabling control of the elevator 40 by the PLC 11. Details of the control will be described later.

[0030] The hoistway sensor modules 43 are installed on the inner wall of the hoistway 41 at predetermined positions corresponding to each floor, and are modules for grasping the position of the car 42. Each hoistway sensor module 43 is equipped with an RFID tag indicating the corresponding floor. As shown in FIG. 4, the hoistway sensor modules 43 can communicate with the car control module 44. In this embodiment, the RFID tag of the hoistway sensor module 43 is, for example, a battery-less passive tag, and operates by obtaining power from a carrier wave transmitted from the car control module 44. The RFID tag itself does not have a signal source, and communicates by, for example, reflecting a carrier wave transmitted from the car control module 44. The ID information of the RFID tag includes information indicating each floor, and this ID information is returned on the reflected wave.

[0031] The on-car control module 44 is a control module installed on the upper part of the car 42. As described above, the on-car control module 44 can communicate with the in-shaft sensor module 43 and reads the ID information of the RFID tag from the in-shaft sensor module 43. As shown in FIG. 4, the on-car control module 44 is connected to the remote I / O 25 and can communicate with the PLC 11 via the remote I / O 25 and the network unit 12. The on-car control module 44 receives commands such as a car call request and a command to move from a boarding floor to a disembarking floor from the PLC 11 via the network unit 12 and the remote I / O 25, and performs a predetermined process as described later. The on-car control module 44 also transmits a signal indicating the state of the elevator 40 to the PLC 11 via the remote I / O 25 and the network unit 12.

[0032] As shown in Figs. 2 and 3, a first input device 46, a second input device 47, and a third input device 48 are provided on the entrance side of the elevator 40.

[0033] As shown in Fig. 2 and Fig. 3, the first input device 46 is provided with an up button 46A which is a push button marked with an upward mark, and a down button 46B which is a push button marked with a downward mark. As shown in Fig. 5, the up button 46A and the down button 46B are analog-connected to the control panel 63. When the up button 46A and / or the down button 46B are pressed, the control panel 63 moves the car 42 to the floor where the up button 46A and / or the down button 46B was pressed.

[0034] The second input device 47 is a device for inputting an instruction to open or close the door 45 of the elevator 40. The second input device 47 is provided with a door open button 47A, which is a push button with an open mark displayed, and a door close button 47B, which is a push button with a close mark displayed. The door open button 47A and the door close button 47B are connected to the control panel 63 by analog connection as shown in FIG. 5. When the door open button 47A is pressed, the control panel 63 operates the opening and closing device of the door 45 to open the door 45. The door close button 47B is also connected to the control panel 63 by analog connection, and when the door close button 47B is pressed, the control panel 63 operates the opening and closing device of the door 45 to close the door 45.

[0035] The third input device 48 is a device for inputting instructions for a destination floor of the elevator 40. The third input device 48 is provided with a plurality of destination floor buttons (not shown), which are push buttons on which the numbers of the stopping floors are displayed. Although not shown in FIG. 5, the destination floor buttons are connected to the control panel 63 by an analog connection. When a destination floor button is pressed, the control panel 63 moves the car 42 to the destination floor corresponding to the pressed button.

[0036] As shown in Figs. 4 and 5, a first operation panel module 50 is connected to the first input device 46. The first operation panel module 50 is provided with a first instruction input relay 52, a second instruction input relay 53, and a first interface device 54. The first instruction input relay 52 is connected in parallel to the up button 46A. The first instruction input relay 52 is connected to the first interface device 54 and is turned on and off by a command from the first interface device 54. The first interface device 54 is capable of communicating with the on-car control module 44, receives a predetermined control signal from the on-car control module 44, and outputs a command to the first instruction input relay 52 to turn the first instruction input relay 52 on and off.

[0037] Similarly, the second instruction input relay 53 is connected in parallel with the down button 46B. The second instruction input relay 53 is connected to the first interface device 54, and is turned on and off by commands from the first interface device 54. The first interface device 54 is capable of communicating with the on-car control module 44, receives a predetermined control signal from the on-car control module 44, and outputs a command to the second instruction input relay 53 to turn the second instruction input relay 53 on and off.

[0038] When an on signal is not input from the first interface device 54, the first instruction input relay 52 remains in the off state. On the other hand, when an on signal is input from the first interface device 54, the first instruction input relay 52 turns to the on state. Then, a signal indicating that the up button 46A has been pressed is input to the control panel 63, and the control panel 63 outputs an operation command to the drive device 60 to move the car 42 to the floor where the up button 46A was pressed.

[0039] Similarly, when an on signal is not input from the first interface device 54, the second instruction input relay 53 remains in the off state. On the other hand, when an on signal is input from the first interface device 54, the second instruction input relay 53 turns to the on state. Then, a signal indicating that the down button 46B has been pressed is input to the control panel 63, and the control panel 63 outputs an operation command to the drive device 60 to move the car 42 to the floor where the down button 46B was pressed.

[0040] In this way, by using the first interface device 54 to turn on and off the first instruction input relay 52 and the second instruction input relay 53 connected to the up button 46A and the down button 46B, the car 42 can be moved to the floor where the up button 46A and the down button 46B are pressed.

[0041] As shown in Figs. 4 and 5, a second operation panel module 51 is connected to the second input device 47. The second operation panel module 51 is provided with a third instruction input relay 55, a fourth instruction input relay 56, and a second interface device 57. The third instruction input relay 55 is connected in parallel with the door open button 47A. The third instruction input relay 55 is connected to the second interface device 57 and is turned on and off by a command from the second interface device 57. The second interface device 57 is capable of communicating with the on-car control module 44, receives a predetermined control signal from the on-car control module 44, and outputs a command to the third instruction input relay 55 to turn the third instruction input relay 55 on and off.

[0042] Similarly, the fourth instruction input relay 56 is connected in parallel with the door close button 47B. The fourth instruction input relay 56 is connected to the second interface device 57, and is turned on and off by commands from the second interface device 57. The second interface device 57 is capable of communicating with the on-car control module 44, receives a predetermined control signal from the on-car control module 44, and outputs a command to the fourth instruction input relay 56 to turn the fourth instruction input relay 56 on and off.

[0043] When no ON signal is input from the second interface device 57, the third instruction input relay 55 remains in the OFF state. On the other hand, when an ON signal is input from the second interface device 57, the third instruction input relay 55 is turned ON. Then, a signal indicating that the door open button 47A has been pressed is input to the control panel 63, and the control panel 63 outputs an operation command to the opening and closing device of the door 45 to open the door 45.

[0044] Similarly, when no ON signal is input from the second interface device 57, the fourth instruction input relay 56 remains in the OFF state. On the other hand, when an ON signal is input from the second interface device 57, the fourth instruction input relay 56 is turned ON. Then, a signal indicating that the door close button 47B has been pressed is input to the control panel 63, and the control panel 63 outputs an operation command to the opening and closing device of the door 45 to close the door 45.

[0045] In this way, by using the second interface device 57 to turn on and off the third instruction input relay 55 and the fourth instruction input relay 56 connected to the door open button 47A and the door close button 47B, the door 45 can be placed in an open or closed state, as if the door open button 47A and the door close button 47B are pressed.

[0046] The operation of the PLC gateway system 100 configured as above will be described with reference to Fig. 6. Fig. 6 is a sequence diagram for explaining the operation of the PLC gateway system 100. In this example, a case will be described in which the self-propelled conveying device 30 is on the second floor and a dispatch request to the fifth floor is made from the PLC 11.

[0047] First, when the PLC 11 transmits a request to dispatch the self-propelled transport device 30 to the fifth floor to the management PC 1, the management PC 1 receives this dispatch request (step S1). The management PC 1 is aware of the position information and status of the self-propelled transport device 30, and transmits an instruction to the self-propelled transport device 30 on the second floor to move to the position of the elevator 40 on the second floor (step S2).

[0048] When the self-propelled transport device 30 receives the instruction from the management PC 1, in this example, it starts moving to the position of the elevator 40 on the second floor. When the self-propelled transport device 30 arrives at the position of the elevator 40 on the second floor, it transmits a signal to the management PC 1 notifying it of its arrival (step S3).

[0049] The management PC 1, which receives this signal, transmits a signal to the PLC 11 notifying it that the mobile transport device 30 has arrived at the position of the elevator 40 on the second floor (step S4). Upon receiving this signal, the PLC 11 transmits a car call request signal to the on-car control module 44 of the elevator 40 to move the car 42 to the second floor (step S5).

[0050] When the car on-car control module 44 receives a car call request from PLC 11, it sends an instruction to the first operation panel module 50 attached to the first input device 46 on the second floor to press the up button 46A and the down button 46B of the first input device 46 on the second floor (step S6).

[0051] When the first interface device 54 of the first operation panel module 50 attached to the first input device 46 on the second floor receives an instruction to press the up button 46A and the down button 46B from the car on-board control module 44, it turns on the first instruction input relay 52 and the second instruction input relay 53. Therefore, a signal indicating that the up button 46A and the down button 46B have been pressed is input to the control panel 63, and the up button 46A and the down button 46B are in a pressed state. The control panel 63 outputs an operation command to the drive device 60 to move the car 42 to the floor where the up button 46A and the down button 46B have been pressed (step S6).

[0052] The reason why both the up button 46A and the down button 46B are pressed in this manner is to allow the car 42 to handle both cases where the car 42 is located below the second floor and where the car 42 is located above the second floor when the car on-board control module 44 receives a car call request. By carrying out the processing in this manner, the movement control of the car 42 can be simplified.

[0053] When the car 42 arrives at the second floor, which is the landing floor, the car-mounted control module 44 receives the ID information of the RFID tag of the in-shaft sensor module 43 and detects that the car 42 has arrived at the second floor (step S7).

[0054] When the on-car control module 44 detects that the car 42 has reached the second floor, it transmits a signal to the PLC 11 informing it that the car 42 has reached the second floor (step S8). The PLC 11, which has received this signal, transmits a command to the on-car control module 44 of the elevator 40 to open the door 45 (step S9).

[0055] When the car control module 44 receives this command, it sends an instruction to the second operation panel module 51 attached to the second input device 47 on the second floor to press the door open button 47A of the second input device 47 on the second floor (step S10).

[0056] When the second interface device 57 of the second operation panel module 51 attached to the second input device 47 on the second floor receives an instruction to press the door open button 47A from the car on-board control module 44, it turns on the third instruction input relay 55. Therefore, a signal indicating that the door open button 47A has been pressed is input to the control panel 63, and the door open button 47A is placed in a pressed state. The control panel 63 outputs an operation command to the opening and closing device of the door 45 to open the door 45.

[0057] The on-car control module 44 can detect that the door 45 is in an open state by a sensor (not shown) or the like. When the on-car control module 44 detects that the door 45 is in an open state, it transmits a signal notifying that the door 45 is in an open state to the PLC 11 (step S11).

[0058] The PLC 11, which has received this signal, transmits a command to the management PC 1 to move the self-propelled conveying device 30, which is located at the elevator 40, into the car 42 (step S12). The management PC 1, which has received this signal, transmits a command to the self-propelled conveying device 30, which is located at the elevator 40, to move into the car 42 (step S13).

[0059] Upon receiving this command, the self-propelled transport device 30 begins moving into the cage 42, and when it detects via a sensor or the like that movement into the cage 42 has been completed, it sends a signal to the management PC 1 informing it that movement into the cage 42 has been completed (step S14).

[0060] The management PC 1, which has received the signal notifying that the self-propelled carrier 30 has completed moving into the car 42, transmits a signal to the PLC 11 notifying that the self-propelled carrier 30 has completed moving into the car 42 (step S15).

[0061] The PLC 11, which receives this signal, transmits a command to the on-car control module 44 of the elevator 40 to close the door 45 (step S16). Upon receiving this command, the on-car control module 44 transmits an instruction to the second operation panel module 51 attached to the second input device 47 on the second floor to press the door close button 47B of the first input device 46 on the second floor (step S17).

[0062] When the second interface device 57 of the second operation panel module 51 attached to the second input device 47 on the second floor receives an instruction to press the door close button 47B from the on-car control module 44, it turns on the fourth instruction input relay 56. Therefore, a signal indicating that the door close button 47B has been pressed is input to the control panel 63, and the door close button 47B is placed in a pressed state. The control panel 63 outputs an operation command to the opening and closing device of the door 45 to close the door 45.

[0063] The on-car control module 44 can detect that the door 45 is in a closed state by a sensor (not shown) or the like. When the on-car control module 44 detects that the door 45 is in a closed state, it transmits a signal notifying that the door 45 is in a closed state to the PLC 11 (step S18).

[0064] Receiving this signal, PLC 11 transmits a command to the on-car control module 44 of the elevator 40 to move the car 42 to the fifth floor (step S19). Upon receiving the command to move to the fifth floor from PLC 11, the on-car control module 44 transmits a command to the first operation panel module 50 attached to the first input device 46 on the fifth floor to press the up button 46A and the down button 46B of the first input device 46 on the fifth floor (step S20).

[0065] When the first interface device 54 of the first operation panel module 50 attached to the first input device 46 on the fifth floor receives an instruction to press the up button 46A and the down button 46B from the car on-board control module 44, it turns on the first instruction input relay 52 and the second instruction input relay 53. Therefore, a signal indicating that the up button 46A and the down button 46B have been pressed is input to the control panel 63, and the up button 46A and the down button 46B are in a pressed state. The control panel 63 outputs an operation command to the drive device 60 to move the car 42 to the floor where the up button 46A and the down button 46B have been pressed (step S20).

[0066] The reason why both the up button 46A and the down button 46B are pressed in this manner is to simplify the movement control of the car 42, as in the case where the car 42 is called to the second floor.

[0067] When the car 42 arrives at the fifth floor, which is the landing floor, the car on-board control module 44 receives the ID information of the RFID tag of the in-shaft sensor module 43 and detects that the car 42 has arrived at the fifth floor (step S21).

[0068] When the on-car control module 44 detects that the car 42 has reached the fifth floor, it transmits a signal to the PLC 11 informing it that the car 42 has reached the fifth floor (step S22). The PLC 11, which has received this signal, transmits a command to the on-car control module 44 of the elevator 40 to open the door 45 (step S23).

[0069] When the car control module 44 receives this command, it sends an instruction to the second operation panel module 51 attached to the second input device 47 on the fifth floor to press the door open button 47A of the second input device 47 on the second floor (step S24).

[0070] When the second interface device 57 of the second operation panel module 51 attached to the second input device 47 on the fifth floor receives an instruction to press the door open button 47A from the on-car control module 44, it turns on the third instruction input relay 55. Therefore, a signal indicating that the door open button 47A has been pressed is input to the control panel 63, and the door open button 47A is placed in a pressed state. The control panel 63 outputs an operation command to the opening and closing device of the door 45 to open the door 45.

[0071] The on-car control module 44 can detect that the door 45 is in an open state by a sensor (not shown) or the like. When the on-car control module 44 detects that the door 45 is in an open state, it transmits a signal notifying that the door 45 is in an open state to the PLC 11 (step S25).

[0072] The PLC 11, which has received this signal, transmits to the management PC 1 a command to cause the self-propelled transport device 30 in the car 42 of the elevator 40 to dismount from the car 42 (step S26). The management PC 1, which has received this signal, transmits a command to the self-propelled transport device 30 in the car 42 to move out of the car 42 and dismount (step S27).

[0073] When the self-propelled transport device 30 detects disembarking from the elevator 40 by a sensor or the like, it transmits a signal to the management PC 1 notifying that disembarking is complete (step S28). When the management PC 1 receives a signal from the elevator 40 of the self-propelled transport device 30 notifying that disembarking is complete, it transmits a signal to the PLC 11 notifying that the self-propelled transport device 30 has disembarked from the elevator 40 and arrived at the fifth floor (step S29). When the PLC 11 receives this signal, it transmits a command to a specified device to perform the subsequent necessary control.

[0074] In this way, according to the PLC gateway system 100 of this embodiment, it is possible to enable vertical transportation of the self-propelled transport device 30 using the existing elevator 40 so that the control panel 63 of the elevator 40 can be directly controlled by the PLC 11, without the need for new complex wiring or the creation of a new dedicated board.

[0075] As described above, the PLC gateway system 100 uses the on-car control module 44 attached to the car 42 as a PLC gateway, communicates with the PLC 11 via the on-car control module 44, and outputs instructions to the first operation panel module 50 attached to the first input device 46 via the on-car control module 44. Then, by operating the door-open button 47A and the door-close button 47B via the first operation panel module 50, the car 42 can be moved to a floor according to the instruction from the PLC 11. Therefore, regardless of the manufacturer or model of the elevator 40, it is possible to provide the PLC gateway system 100 that enables vertical transportation of the self-propelled transport device 30 using the elevator 40 under the control of the PLC 11 with relatively simple installation work and at relatively low cost.

[0076] Second embodiment Next, a second embodiment of the present invention will be described with reference to Fig. 7 and Fig. 8. In the above-mentioned first embodiment, an aspect has been described in which an instruction is output from the on-car control module 44 to the first operation panel module 50 attached to the first input device 46, and the door open button 47A and the door close button 47B are operated by the first operation panel module 50 to move the car 42 to a floor according to an instruction from the PLC 11.

[0077] 7 and 8, in this embodiment, a third input device 48 for inputting an instruction for a destination floor of the elevator 40 is attached to a third operation panel module 58, and the third operation panel module 58 is used to operate destination floor buttons 48A to 48E to move the car 42 to a floor according to the instruction from the PLC 11. In this embodiment, as an example, a case where the destination floors are the 1st to 5th floors will be described.

[0078] 7 and 8, a third operation panel module 58 is connected to the third input device 48. The third operation panel module 58 includes a fifth instruction input relay 59A, a sixth instruction input relay 59B, a seventh instruction input relay 59C, an eighth instruction input relay 59D, a ninth instruction input relay 59E, and a third interface device 59F.

[0079] The fifth instruction input relay 59A to the ninth instruction input relay 59E5 are connected in parallel to the destination floor buttons 48A to 48E for the first to fifth floors, respectively. The fifth instruction input relay 59A to the ninth instruction input relay 59E are connected to the third interface device 59F, and are turned on and off by commands from the third interface device 59F. The third interface device 59F can communicate with the on-car control module 44, receives a predetermined control signal from the on-car control module 44, and outputs commands to the fifth instruction input relay 59A to the ninth instruction input relay 59E to turn the fifth instruction input relay 59A to the ninth instruction input relay 59E on and off.

[0080] When an ON signal is not input from the third interface device 59F, the fifth instruction input relay 59A to the ninth instruction input relay 59E remain in the OFF state. On the other hand, when an ON signal is input from the third interface device 59F, the fifth instruction input relay 59A to the ninth instruction input relay 59E are turned ON. Then, a signal indicating that a destination floor button 48A to 48E has been pressed is input to the control panel 63, and the control panel 63 moves the car 42 to the floor corresponding to the pressed destination floor button.

[0081] In this way, by using the third interface device 59F to turn on and off the fifth instruction input relay 59A to the ninth instruction input relay 59E5 connected to the destination floor buttons 48A to 48E, the cage 42 can be moved to the desired floor, as if the destination floor button 48A to 48E was pressed.

[0082] In the second embodiment shown in Figure 6, in step S5, the PLC 11 sends a car call request signal to the on-car control module 44 of the elevator 40 to move the car 42 to the second floor, and in step S6, the on-car control module 44 sends an instruction to the first operation panel module 50 attached to the first input device 46 on the second floor to press the up button 46A and the down button 46B of the first input device 46 on the second floor.

[0083] However, in this embodiment, instead of step S6, the on-cage control module 44 sends an instruction to the third operation panel module 58 attached to the third input device 48 to press the destination floor button 48B corresponding to the second floor on the third input device 48.

[0084] When the third interface device 59F of the third operation panel module 58 attached to the first input device 46 receives an instruction to press the destination floor button 48B from the on-car control module 44, it turns on the sixth instruction input relay 59B. Therefore, a signal indicating that the destination floor button 48B has been pressed is input to the control panel 63, and the destination floor button 48B is placed in a pressed state. The control panel 63 outputs an operation command to the drive device 60 to move the car 42 to the second floor corresponding to the destination floor button 48B.

[0085] Also, in the second embodiment described above, in step S20, when the car control module 44 receives a command to move to the 5th floor from the PLC 11, it sends an instruction to the first operation panel module 50 attached to the first input device 46 on the 5th floor to press the up button 46A and the down button 46B of the first input device 46 on the 5th floor.

[0086] However, in this embodiment, instead of step S20, the on-cage control module 44 sends an instruction to the third operation panel module 58 attached to the third input device 48 to press the destination floor button 48E corresponding to the 5th floor on the third input device 48.

[0087] When the third interface device 59F of the third operation panel module 58 attached to the first input device 46 receives an instruction to press the destination floor button 48E from the on-car control module 44, it turns on the ninth instruction input relay 59E. Therefore, a signal indicating that the destination floor button 48E has been pressed is input to the control panel 63, and the destination floor button 48E is placed in a pressed state. The control panel 63 outputs an operation command to the drive device 60 to move the car 42 to the fifth floor corresponding to the destination floor button 48E.

[0088] As described above, according to this embodiment, instead of using the first operation panel module 50 to operate the door open button 47A and the door close button 47B to move the car 42 to a floor according to an instruction from the PLC 11, the third operation panel module 58 turns on and off the fifth instruction input relay 59A to the ninth instruction input relay 59E5 connected to the destination floor buttons 48A to 48E, so that the car 42 can be moved to a desired floor as if the destination floor buttons 48A to 48E were pressed. Therefore, regardless of the manufacturer or model of the elevator 40, it is possible to provide a PLC gateway system 100 that enables vertical transportation of the self-propelled transport device 30 using the elevator 40 under the control of the PLC 11 with relatively simple installation work and at relatively low cost.

[0089] In this embodiment, an example has been described in which the third input device 48 is provided on the boarding side of the elevator 40 on each floor, but the third input device 48 controlled by the third operation panel module 58 may be the third input device 48 provided on any floor.

[0090] Further, the third operation panel module 58 may not be attached to the third input devices 48 on all floors, but may be attached to only the third input device 48 on one of the floors, for example, the first floor.

[0091] Furthermore, the third input device 48 may be provided inside the car 42 of the elevator 40 instead of at the entrance side of the elevator 40 on each floor.

[0092] Third embodiment In the above-described embodiment, an example has been described in which the on-car control module 44 is connected to the remote I / O by wire, but the present invention is not limited to this aspect. For example, in this embodiment, the on-car control module 44 is configured to be able to communicate with a cloud server (not shown), and receives instructions from the PLC 11 from the cloud server using a PLC signaling method. In addition, signals are also transmitted from the on-car control module 44 to the PLC 11 via the cloud server.

[0093] Furthermore, in the above example, the self-propelled transport device 30 received control commands from the management PC 1 via the Wi-Fi access point 27, but in this embodiment, the self-propelled transport device 30 is also configured to be able to communicate with the cloud server, and receives control commands from the management PC 1 via the cloud server in PLC signaling format over TCP / IP via Wi-Fi.

[0094] In this manner, in a configuration in which the self-propelled transport device 30 receives instructions from the management PC 1 or the PLC 11 via the cloud, in conventional systems that do not use the car-mounted control module 44 as the PLC gateway of the present invention, it was necessary to perform API integration in order to achieve integration between the elevator 40 and the self-propelled transport device 30.

[0095] In other words, the self-propelled transport device 30 had to be modified to enable API connection, and API linkage had to be established between the self-propelled transport device 30 and a controller installed in the elevator 40.

[0096] However, in this embodiment, the car-mounted control module 44 is used as the PLC gateway of the present invention described above, and the car-mounted control module 44 converts the PLC-type command signal from the PLC 11 and operates the elevator 40, which has the advantage that no modifications are required for API connection in the self-propelled conveying device 30.

[0097] In both the above-described embodiment and the present embodiment, the car control module 44 is given the function of a PLC gateway, but the car control module 44 that controls the elevator 40 and the PLC gateway that receives and converts PLC-based command signals from the PLC 11 may be provided separately.

[0098] In this case, the PLC gateway receives a PLC-based instruction signal from the PLC 11 via the cloud and converts the signal into a signal used for communication with the on-cage control module 44. The PLC gateway and the on-cage control module 44 are configured to be able to communicate with each other via, for example, LoRa communication, and the on-cage control module 44, having received the signal converted by the PLC gateway, may operate the elevator as described above.

[0099] (Modification) The above-described embodiment is merely an example, and various modifications are possible without departing from the scope of the present invention.

[0100] In the above embodiment, when passengers get on and off the self-propelled transport device 30, the door 45 is opened and closed by instructions from the on-car control module 44 based on commands from the PLC 11. However, the present invention is not limited to such an example. For example, the opening and closing of the door 45 may be left to the control of the control panel 63, and the self-propelled transport device 30 may move autonomously after checking the open / closed state of the door 45 by itself.

[0101] In the above embodiment, an example has been described in which, when moving the car 42, both the up button 46A and the down button 46B are operated at the same time by the on-car control module 44 and the first operation panel module 50. However, the present invention is not limited to such an example. For example, when a car call request is received from the PLC 11, the on-car control module 44 may grasp both the floor for which the car call request is received and the position of the car 42, and may operate either the up button 46A or the down button 46B depending on the situation, taking into consideration the upper and lower floor relationship between the landing floor and the disembarking floor.

[0102] In the above embodiment, an example has been described in which the self-propelled conveying device 30 communicates only with the management PC 1, and the door 45 is opened and closed in response to commands from the PLC 11. However, the present invention is not limited to this aspect, and the self-propelled conveying device 30 may be configured to be able to communicate with the above-car control module 44, and the door 45 may be opened and closed based on a signal from the self-propelled conveying device 30. [Explanation of symbols]

[0103] 1 Management PC 10 Main control panel 20 Conveyor 30 Self-propelled transport device 40 Elevator 41 Hoistway 42 Basket 43 Sensor module in elevator shaft 44 On-board control module 45 Doors 46 First Input Device 46A Up button 46B Exit button 47 Second input device 47A Door open button 47B Door close button 48 Third Input Device 48A Destination Floor Button 48B Destination Floor Button 48C Destination Floor Button 48D Destination Floor Button 48E Destination Floor Button 50 First operation panel module 51 Second operation panel module 52 First instruction input relay 53 Second instruction input relay 54 First Interface Device 55 3rd instruction input relay 56 4th instruction input relay 57 Second Interface Device 58 3rd operation panel module 59A 5th instruction input relay 59B 6th instruction input relay 59C 7th instruction input relay 59D 8th instruction input relay 59E 9th instruction input relay 59F 3rd Interface Device 60 Drive unit 61 Counterweight 62 Wire 63 Control Panel 100 PLC Gateway System

Claims

1. Self-propelled transport devices, including transport robots and automatic forklifts, A PLC that controls the self-propelled transport device; A PLC interface that controls input / output signals between the PLC and the PLC; an elevator having an input device for inputting information including a destination floor and a direction of travel; an operation panel module provided in the input device, the operation panel module including a relay connected in parallel to a button of the input device and an interface device for controlling the relay; an on-car control module mounted on an elevator car, the on-car control module being capable of communicating with the PLC via the PLC interface and with the operation panel module; The car control module controls the relay via the operation panel module based on the PLC signal from the PLC to operate the elevator and vertically transport the self-propelled transport device. PLC gateway system.

2. The input device is provided on each floor, and includes an up button and a down button as the buttons, The relay of the operation panel module connected to the input device is connected in parallel to each of the up button and the down button, and the interface device of the operation panel module controls the relays connected in parallel to each of the up button and the down button, respectively; When the car on-car control module receives a car call request together with information on the landing floor and the disembarking floor as a PLC signal from the PLC, the car on-car control module transmits an instruction to the operation panel module connected to the input devices at the landing floor and the disembarking floor to turn on the relays connected in parallel to the up button and the down button of the input devices at the landing floor and the disembarking floor, thereby moving the elevator car to the landing floor and the disembarking floor.

2. The PLC gateway system according to claim 1.

3. The input device is an input device having a plurality of destination floor buttons, The relays of the operation panel module connected to the input device are connected in parallel to each of the destination floor buttons, and the interface device of the operation panel module controls the relays connected in parallel to the destination floor buttons; When the car on-board control module receives a car call request together with information on the landing floor and the disembarking floor as a PLC signal from the PLC, the car on-board control module transmits an instruction to the operation panel module connected to the input device to turn on the relays connected in parallel to the destination floor buttons corresponding to the landing floor and the disembarking floor, thereby moving the elevator car to the landing floor and the disembarking floor.

2. The PLC gateway system according to claim 1.

4. The input device further includes an input device having a door open button and a door close button, The relay of the operation panel module connected to the input device is connected in parallel to each of the door open button and the door close button, and the interface device of the operation panel module controls the relay connected in parallel to the door open button and the door close button, The car control module transmits an instruction to turn on or off the relay connected in parallel to the door open button and the door close button, thereby opening or closing the elevator door.

4. The PLC gateway system according to claim 2 or 3.

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