CN102092608A - Elevator with high electronization safety device - Google Patents
Elevator with high electronization safety device Download PDFInfo
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- CN102092608A CN102092608A CN2010105832631A CN201010583263A CN102092608A CN 102092608 A CN102092608 A CN 102092608A CN 2010105832631 A CN2010105832631 A CN 2010105832631A CN 201010583263 A CN201010583263 A CN 201010583263A CN 102092608 A CN102092608 A CN 102092608A
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Abstract
An elevator with a high electronization safety device in the invention si used fro preventing abnormal operation of an elevator control system controlling operation of an elevator car, in the elevator, a safety circuit (4) and a brake (8) are included, wherein, the safety circuit (4) is used for controlling power supply and power cut-off of an elevator control system (3), the brake (8) is controlled by the elevator control system (3), and is used for braking the elevator car, the safety circuit (4) and the brake (8) can be controlled by a safety controller (1) capable of realizing multi safety functions and according to each safety function. According to the elevator in the invention, while satisfying requirements for high functions of the elevator control system, the elevator can appropriately dispose the safety controller, thereby really improving reliability and facilitating maintenance related to safety.
Description
Technical field
The present invention relates to a kind of elevator, this elevator setting has safety sensor and safety device (safety governor, emergency braking apparatus etc.), can prevent unusual operation and the operation that may cause danger, and the present invention is particularly useful for the elevator of high function electronization.
Background technology
In recent years, High Level along with the controllable function of elevator device, in elevator device, be provided with the control that is used to control the group management control of many lift cars and suppresses the various complexity such as control of shock of elevator car, linking between the operation control of elevator and the security-related control is intricate, beyond thought fault may occur.
As prior art, a kind of electronic safety system is for example disclosed in patent documentation 1, it is in order to strengthen the safe operation of elevator, and, adopt communication bus between controller that mainly constitutes and various sensor, to carry out the exchange of control signal and data-signal by microprocessor in order when detecting precarious position, can elevator to be stopped.In addition, a kind of scheme is for example disclosed in patent documentation 2, it is for fear of in fact there not being the electronic security(ELSEC) controller to occur at the state of controlling, to be arranged to and to communicate between elevator control part and the electronic security(ELSEC) controller, and can confirm the communications status between elevator control part and the electronic security(ELSEC) controller in predetermined timing.
In above-mentioned prior art, owing between controller that mainly constitutes and various sensor, carry out the transmission of data by communication by microprocessor, so can confirm whether the communication function between those controllers and the sensor is normal, situation such as not delay but fully take into account speed of response required concerning various sensors (safety device group) and response.
Especially, in end floor forced deceleration function (ETS function), require emergency braking apparatus and drg etc. to have very sensitive response performance, in patent documentation 2 disclosed schemes, ETS device basis is by producing the signal that rotates the governor coder output of corresponding detection signal with the rope sheave of governor, obtain the moving velocity and the position of lift car, and whether the moving velocity that monitors near the lift car the floor of end has reached the mistake speed that ETS monitors, and, the information of the elevator car position obtained in the ETS device is revised according to the detection signal that is arranged on the reference position sensor in the hoist trunk.
Therefore, no matter safety governor is arranged on hoist trunk also is arranged on lift car, all very long transmission path need be set in order to communicate, so emergency braking apparatus and drg possibly can't reach desired performance fully.
Patent documentation 1: the special table 2002-538061 of Japan communique
Patent documentation 2: the international communique that discloses No. 2006/106575
Summary of the invention
The objective of the invention is to solve existing problem in the above-mentioned prior art, when the multifunction of satisfying elevator device requires, can safety governor suitably be set at various sensors (safety device group), thereby can improve reliability effectively, and can be easy to carry out and security-related maintenance.
To achieve these goals, the invention provides a kind of elevator of safety device height electronization, it is used to prevent that the apparatus for controlling elevator that the operation of lift car is controlled from carrying out unusual operation, the elevator of described safety device height electronization has vital circuit and drg, described vital circuit is used to control power supply supply and the supply disconnecton to described apparatus for controlling elevator, described drg is controlled by described apparatus for controlling elevator, be used for described lift car is braked, and described vital circuit and described drg can be controlled according to each described security function by the safety governor that can realize multiple security function.
(invention effect)
According to the present invention, because vital circuit and drg can be controlled according to each described security function by safety governor, so can distinguishing individually, the controllable function of apparatus for controlling elevator and multiple security function realize, thus, safety governor can corresponding with the multifunction of elevator device and suitably be set, thereby can improve reliability, and can be easy to carry out the maintenance of secure context.
Description of drawings
Fig. 1 is the block diagram of expression one embodiment of the present invention.
Fig. 2 is the lateral plan of the arrangement structure of expression one embodiment of the present invention.
Fig. 3 is the diagram of circuit of one embodiment of the present invention.
Fig. 4 is the diagram of circuit of one embodiment of the present invention.
Fig. 5 is the block diagram of expression other embodiments of the present invention.
Fig. 6 is the lateral plan of the arrangement structure of expression other embodiments of the present invention.
Fig. 7 is the block diagram of another other embodiments of expression.
Fig. 8 is the block diagram of another other embodiments of expression.
Fig. 9 is the reference diagram that the embodiment to Fig. 8 describes.
Nomenclature
1 safety governor
2 second safety governors
3 apparatus for controlling elevator
4 vital circuits
5 emergency braking apparatus
6 position transdusers
7 speed sensors
8 drgs
9 electrical motors
11 safety device groups
The specific embodiment
Below, with reference to accompanying drawing elevator device involved in the present invention is described.
Fig. 1 is the block diagram of the basic structure of expression elevator device, Fig. 2 is the lateral plan of arrangement structure that expression comprises the elevator device of elevator lifting channel, in elevator, in the hoist trunk in being formed on building, cross over the lift car 20 that a plurality of floors move and link by hoist cable 21 and counterbalanced weight 22.
The mobile of lift car 20 undertaken by electrical motor 9.Apparatus for controlling elevator 3 carries out Power Conversion and the electric power behind the Power Conversion is supplied to electrical motor 9 as driving with electric power.The impulse generator of coder etc. is installed on the electrical motor 9,3 pairs of pulses that generate along with the rotation of electrical motor 9 of apparatus for controlling elevator are counted, come speed, lift car 20 to electrical motor 9 equivalent locations and the miles of relative movement etc. on the hoist trunk moving direction to calculate thus, so that lift car rests in elevator lobby.Be provided with the elevator cab door that elevator lobby door 23 is opened and closed with 23 engagings of elevator lobby door in the lift car 20.
Be provided with limit switch 24 in hoist trunk, this limit switch 24 is safety switchs, and it moves when lift car 20 has surpassed common moving range, cuts off the electricity supply and emergency braking apparatus is moved, and elevator is stopped rapidly.
In Fig. 1, apparatus for controlling elevator 3 is connected with power supply 10 by vital circuit 4, is used to implement the fundamental operation of elevator, is driving motor 9 specifically so that lift car moves, and makes lift car rest in the floor of the regulation in a plurality of floors.Power supply 10 is generally three phase mains, vital circuit 4 is contactless switch (electromagnetic contactor or the solid-state relay) circuit with a plurality of input terminals, when elevator is carried out emergency braking or taking place when unusual, vital circuit 4 cuts off the electricity supply 10, to stop the power supply to apparatus for controlling elevator 3.
The safety governor 1 that constitutes by microprocessor, its being used on being set at lift car is detected roller type speed sensor 7 incoming signals that the position of lift car is especially detected the position detector 6 of floor and is used to detect elevator car speed, and the action command of drg 8 (lift car is braked) of instruction, electrical motor or winch and the instruction that the electrodynamic type emergency braking apparatus 5 that is arranged on lift car is moved are cut off in an input terminal output in a plurality of input terminals of vital circuit 4.Detect when unusual at apparatus for controlling elevator 3, safety governor 1 cuts off instruction according to the detection signal of apparatus for controlling elevator 3 to another input terminal output of vital circuit 4.
Safety device group 11 (safety switch) has the limit switch 24 that is arranged in the hoist trunk, the elevator that is used to detect the elevator lobby door switch of elevator lobby door switching and be arranged on the hoist trunk bottom that is arranged on the elevator lobby side is cheated switch etc., and the signal of safety device group 11 is input in the safety governor 1.
Safe condition shown in the safety governor 1, it is output to safety governor 1 bonded assembly and maintains in the device 17, and it is output as the situation of the signal of being imported in the safety governor 1 with the security-related running-active status of operating state.Be displayed on telltale and the LED with security-related running-active status, the maintenance personnel can more successfully maintain operation by confirming the maintenance device.
Below, be that the detection of the action of safety device group 11 describes with reference to Fig. 3 to the function of safety governor 1.This function is at the function that is arranged on the safety switch in the hoist trunk, is other functions except the overspeed protection function of lift car 20 are obtained the function of processing respectively.In addition, when certain switch in the safety switch in being arranged on hoist trunk has carried out action, be judged as elevator and precarious position occurred.That is to say, when variation has taken place in the input of being obtained (S101), safety governor 1 is judged as " precarious position has appearred in elevator " (S102), exports the instruction of cutting off the electricity supply to vital circuit 4, and, export the instruction (S103) that drg 8 is moved for elevator is stopped.
By record which safety device of expression (safety switch) unusual daily record (resume of recording exceptional information) has taken place (S104), make the maintenance device 17 in show log information, thus, the maintenance personnel can confirm maintenance information when needed at any time.
Below, illustrate that with reference to Fig. 4 another function of safety governor 1 is the ETS function.The ETS function is overrunning of detection lift car 20 and is detecting the function that when overrunning elevator is stopped that it obtains the location information of lift car by position transduser 6, and obtains the velocity information of lift car by roller type speed sensor 7.Be used to processing that lift car 20 is stopped, it divides two stages (S201～S203 and S206～S208) carry out.
Detect the current location and the velocity information (S201) of lift car by position transduser 6 and speed sensor 7, with lift car the speed of current position with compare (S202) based on the threshold value in the drg action command output table of current location and speed.When lift car, is judged as elevator and is in normal operating condition and end process during less than the threshold value in the drg action command output table (S204) in the speed of current position.That is to say that drg action command output table is to record the data sheet of lift car in the permissible velocity value of each position.
When lift car in the speed of current position during greater than the threshold value of regulation, as the processing of F/s, the instruction (S206) that instruction of cutting off the electricity supply to vital circuit 4 outputs and the drg 8 that makes electrical motor move.
With lift car the speed of current position with compare (S207) based on the threshold speed in the emergency braking apparatus action command table of present speed and current location., before lift car stops fully, continue by braking and cut off the electricity supply to make elevator stop (S209) during in current speed less than threshold speed.In current speed during greater than threshold speed, as the processing of subordinate phase, the instruction (S211) that output is moved electrodynamic type emergency braking apparatus 5.
Roller type speed sensor 7 from the lift car side with roller by being pressed on the guide rail, by the coder that is installed on the roller speed of lift car 20 is detected thus.Speed sensor can use any speed sensor that can detect elevator car speed on lift car 20, for example, as the non-contact type speed sensor, can list the sensor that detects by sound wave or electric wave, by tape or the guide rail magnetization is waited utilize the sensor that magnetic field detects and utilize reflective photoelectric sensor that reflection of light detects etc.
According to above embodiment, vital circuit 4 and drg 8 can be controlled individually by safety governor 1 according at the function that is arranged on the safety device group 16 in the hoist trunk and each security function such as function of carrying out end floor forced deceleration according to the position and the velocity information of lift car.Therefore, can consider with various sensors (safety device group) basis that required speed of response or response are delayed etc. when communicating on, as shown in drawings, safety governor 1 is arranged in the control panel of hoist trunk side, and also safety governor 1 can be arranged on the lift car side, so, can be according to the needs of various and security-related function, safety governor is carried out optimal placement or dispersed placement, thereby can be easy to prevent that response from delaying with blackout etc.Especially, by increasing the design-calculated degree of freedom, when adopting the ETS function, can reduce that response is delayed etc., thereby can shorten the length of hoist trunk.
And, can make each and security-related function separate by apparatus for controlling elevator, and can show and security-related running-active status, thus maintenance and become more convenient with the checking of security-related function, thus can improve the reliability of secure context.
It is decentralized and be provided with other embodiments of two safety governors that Fig. 5 and Fig. 6 are expressed as the function that makes safety governor, in this embodiment, is provided with second safety governor 2 in the control panel side, is provided with safety governor 1 in the lift car side.
The signal that is arranged on the safety device group 11 (safety switch) in the hoist trunk 16 is imported in second safety governor 2.Second safety governor 2 is according to the action of safety device group 11, and an input terminal in a plurality of input terminals of vital circuit 4 is exported the instruction that cut-out is instructed and output is moved the drg 8 of electrical motor or winch.
As shown in Figure 6, safety governor 1 is independent of second safety governor 2 and is provided with, for example, safety governor 1 is arranged on the lift car, and form by different microprocessors, detect the position transduser 6 of elevator car position and be used for the roller type speed sensor 7 of detection speed and be transfused to signal from being arranged on being used on the lift car equally, and the instruction that instruction and output are moved the electrodynamic type emergency braking apparatus 5 that is arranged on the lift car is cut off in an input terminal output in a plurality of input terminals of vital circuit 4.The motion detection functionality of the safety device group 11 shown in the diagram of circuit of second safety governor, 2 responsible enforcement Fig. 3, the ETS function shown in the diagram of circuit of safety governor 1 responsible enforcement Fig. 4.
Because safety governor 1 is arranged on the lift car 20, so can share security function with second safety governor 2, can improve reliability, especially can shorten the transmission distance when communicating with the device relevant of position transduser 6, speed sensor 7 and electrodynamic type emergency braking apparatus 5 etc. with the ETS function, can further improve the speed and the reliability of communication, reduce operating lag etc., thereby can further improve performance.
That is to say, in the ETS function, the operating lag of various sensors is big more, then the idling stopping distance of lift car (free running distance) is long more, thereby need to deepen the elevator hole degree of depth of hoist trunk to guarantee surplus capacity, influenced by it, for hoist trunk, its length that can shorten is restricted.
Especially, as prior art, be arranged on governor in the hoist trunk and coder be arranged on the pulley of governor when detecting the speed of lift car, because the electrodynamic type emergency braking apparatus 5 that lift car 20 is braked is arranged on the lift car, so no matter which position safety governor is arranged on, all can increase from the communication delay of hoist trunk when the lift car speed of transmission information, make the length that is difficult to shorten hoist trunk.In addition, because the length of information transfer channel lengthening, so the risk that garble and broken string etc. take place rises.Therefore, will realize as present embodiment that preferably all required structure important documents of ETS function all concentrate on the lift car 20.
And the safe condition shown in second safety governor 2 is output to second safety governor, 2 bonded assemblys first and maintains in the device 17, and the operating state shown in the safety governor 1 is output in the second maintenance device 18.
According to above embodiment, at the holding function of the safety device group of being controlled by the apparatus for controlling elevator and second safety governor 2 11 (safety switch) and the ETS function of being controlled by safety governor 1, can adopting separately independently respectively, microprocessor comes construction system, so can improve the reliability of secure context to verifying operation respectively with security-related various functions.In addition, can also speed that carry out the safety governor 1 of ETS function can be arranged to be higher than the speed of second safety governor 2 at safety governor being arranged on suitable place with security-related various functions.Thus, can get rid of response between each equipment respectively according to the needs of various security functions and delay delaying and the influence of blackout etc., can improve controller performance and reliability with communicating by letter.
Fig. 7 represents another other embodiments, be provided with in the present embodiment drg braking instruction and supply disconnecton instruction etc. is transferred to the transfer unit 20 of second safety governor 2 from safety governor 1, and only in second safety governor 2, be provided with maintenance device 21.
Under situation about directly braking maneuver and supply disconnecton being controlled shown in Figure 5 by safety governor 1, need between safety governor 1 and the drg and between safety governor 1 and the vital circuit distribution be set, but by adopting the structure of present embodiment, then only need between the safety governor 1 and second safety governor 2 distribution be set gets final product, thus, can save distribution with cost-cutting, and have the effect that reduces failure risk.
In addition, in occasion shown in Figure 5, because independent fully between the safety governor 1 and second safety governor 2, so when the electrodynamic type emergency braking apparatus has carried out action, can not grasp the action situation of electrodynamic type emergency braking apparatus in second safety governor, 2 sides.Therefore, in each safety governor, be provided with the maintenance device.On the other hand, when adopting structure shown in Figure 7, owing to can in second safety governor 2, synthetically grasp the action situation of safety device, so the situation that a maintenance device 21 just can be grasped all and security-related function only need be set.
According to above embodiment, transmit the instruction delivery unit of braking maneuver instruction and supply disconnecton instruction by being provided with to second safety governor 2 from safety governor 1, can save interior distribution of hoist trunk and adaptor union etc., and can cost-cutting and failure risk, thereby can make contributions for improving system reliability, simultaneously, because only by being arranged on the maintenance device in second safety governor 2, just can grasp the state of the safety device in the hoist trunk, so, can improve maintenance personnel's operating efficiency.
Fig. 8 represents another other embodiments, is provided with the transmitting element 30 that is used for the information that sends to apparatus for controlling elevator from second safety governor 2 in the present embodiment.This transmitting element 30 communicates with second safety governor 2 and apparatus for controlling elevator by total wire joint or wire transmission.In addition, second safety governor 2 is used to implement the instruction of braking maneuver and supply disconnecton action from safety governor 1 input.Owing between second safety governor 2 and the apparatus for controlling elevator 3 connection is arranged, thus apparatus for controlling elevator 3 sides also can be in elevator cage operation control the signal of device group 11 safe in utilization.For example, the switch that detects the switching of elevator lobby door is a safety device in the safety device group 11, but when carrying out the elevator operation, discern the open and-shut mode of elevator door and lift car is moved in apparatus for controlling elevator 3 sides by this switch, so, this switch not only can be used for security function, but also can be used in controllable function.
When also the signal of safety device being input to apparatus for controlling elevator 3, for example, as shown in Figure 9, when the signal of safety device is input to second safety governor 2 and apparatus for controlling elevator 3 simultaneously, then need to be provided for respectively to be input to the distribution of second safety governor 2 and apparatus for controlling elevator 3 and adaptor union etc., thereby cause amount of parts to increase, reliability reduces.
,, then can save distribution and parts, reduce failure risk, improve the reliability of system by sending necessary signal to apparatus for controlling elevator 3 from second safety governor 2.
And, apparatus for controlling elevator 3 is diagnosed unusual with prior discovery safety device and other lift facilities according to the signal that is sent by the combination of safety device, thus, can make elevator notify fault and elevator is stopped by apparatus for controlling elevator before stopping at safety governor.
Diagnosis is carried out in normal operation procedure or in the diagnosis operational mode etc. usually.In the diagnosis of being undertaken by elevator device,, judge elevator to be moved to stop behind the nearest floor or make elevator proceed normal operation etc. according to the degree of fault.Trouble location is maintained the center to use as maintenance information by long-distance service care device untill further notice.
According to above embodiment,, improve the reliability of system by being provided for to save distribution and parts from the transmitting element 30 of second safety governor 2 to apparatus for controlling elevator 3 transmission information.In addition, by diagnosis function being set, can making elevator detect the unusual of equipment before stopping at second safety governor 2, and it is used as maintenance information at apparatus for controlling elevator 3.
Claims (10)
1. the elevator of a safety device height electronization, it is used to prevent that the apparatus for controlling elevator that the operation of lift car is controlled from carrying out unusual operation, the elevator of described safety device height electronization is characterised in that:
Have vital circuit and drg, wherein, described vital circuit is used to control power supply supply and the supply disconnecton to described apparatus for controlling elevator, and described drg is controlled by described apparatus for controlling elevator, be used for described lift car is braked,
Described vital circuit and described drg can be controlled according to each described security function by the safety governor that can realize multiple security function.
2. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
Described multiple security function comprises at the function that is arranged on the safety device group in the hoist trunk and the function of carrying out end floor forced deceleration according to the position and the velocity information of described lift car.
3. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
Have position transduser and described safety governor, described position transduser is set on the described lift car, is used to detect the position of described lift car, and the signal of this position transduser is input in the described safety governor,
Described safety governor is according to the signal of described position transduser, to described vital circuit and the instruction of described drg output action.
4. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
The described safety governor that is used to detect the position transduser of described elevator car position and receives from the signal of this position transduser is arranged on described lift car.
5. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
The signal that is arranged on the safety device group of hoist trunk is imported in the described safety governor,
Described safety governor is according to the signal of described safety device group, to described vital circuit and the instruction of described drg output action.
6. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
Have speed sensor, described speed sensor is arranged on the described lift car, the speed of described lift car is input in the described safety governor,
Described safety governor is controlled described drg according to the position of described lift car and the speed of described lift car.
7. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
Have the emergency braking apparatus that is arranged on described lift car, this emergency braking apparatus is controlled by described safety governor.
8. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
Described safety governor by corresponding with described security function and independently microprocessor constitute.
9. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
Have second safety governor,
The signal that is arranged on the safety device group of hoist trunk is imported in described second safety governor,
Described second safety governor instructs to described vital circuit and described drg output action according to the signal of described safety device group.
10. the elevator of safety device height electronization as claimed in claim 1 is characterized in that:
Have second safety governor,
The signal that is arranged on the safety device group of hoist trunk is imported in described second safety governor,
Described safety governor instructs to described vital circuit and described drg output action via described second safety governor according to the signal of described position transduser.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009281106A JP5222833B2 (en) | 2009-12-11 | 2009-12-11 | Electronic safety elevator |
| JP2009-281106 | 2009-12-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102092608A true CN102092608A (en) | 2011-06-15 |
| CN102092608B CN102092608B (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010583263 Active CN102092608B (en) | 2009-12-11 | 2010-12-06 | Elevator with high electronization safety device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5222833B2 (en) |
| CN (1) | CN102092608B (en) |
| HK (1) | HK1153445A1 (en) |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424313A (en) * | 2011-08-19 | 2012-04-25 | 上海新时达电气股份有限公司 | Elevator system |
| US10071881B2 (en) | 2013-12-12 | 2018-09-11 | Otis Elevator Company | Safety system for use in a drive system |
| WO2015085527A1 (en) * | 2013-12-12 | 2015-06-18 | Otis Elevator Company | Safety system for use in a drive system |
| CN104444689B (en) * | 2014-11-18 | 2016-08-17 | 苏州通润驱动设备股份有限公司 | A kind of traction sheave safety guard and the method for urgent stop elevator car thereof |
| CN104444689A (en) * | 2014-11-18 | 2015-03-25 | 苏州通润驱动设备股份有限公司 | Traction wheel safety protection device and elevator car emergency braking method thereof |
| CN104477722A (en) * | 2014-12-26 | 2015-04-01 | 重庆迈高电梯有限公司 | Movable detection device and elevator preventing accidental movement of compartment |
| CN109476450A (en) * | 2016-07-29 | 2019-03-15 | 三菱电机株式会社 | The control device of elevator |
| CN107082334A (en) * | 2017-05-16 | 2017-08-22 | 广东弘凌光电技术有限公司 | A kind of Load-Carrying Equipment safe early warning guard system and method |
| CN109650212A (en) * | 2019-01-21 | 2019-04-19 | 日立电梯（中国）有限公司 | Safety guard, elevator security control method and elevator |
| CN109650212B (en) * | 2019-01-21 | 2021-06-08 | 日立电梯（中国）有限公司 | Safety protection device, elevator safety control method and elevator |
| CN111824895A (en) * | 2019-04-15 | 2020-10-27 | 杭州沪宁电梯部件股份有限公司 | Accidental car movement protection device |
| CN111824895B (en) * | 2019-04-15 | 2024-06-04 | 杭州沪宁电梯部件股份有限公司 | Unexpected protection device that removes of car |
| CN113942904A (en) * | 2020-07-16 | 2022-01-18 | 苏州汇川技术有限公司 | Elevator safety control method, system, equipment and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5222833B2 (en) | 2013-06-26 |
| CN102092608B (en) | 2013-06-19 |
| JP2011121726A (en) | 2011-06-23 |
| HK1153445A1 (en) | 2012-03-30 |
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