CN105000439A - Group management elevator device - Google Patents
Group management elevator device Download PDFInfo
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- CN105000439A CN105000439A CN201510181302.8A CN201510181302A CN105000439A CN 105000439 A CN105000439 A CN 105000439A CN 201510181302 A CN201510181302 A CN 201510181302A CN 105000439 A CN105000439 A CN 105000439A
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- elevator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
- B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
- B66B1/20—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages and for varying the manner of operation to suit particular traffic conditions, e.g. "one-way rush-hour traffic"
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
Abstract
The invention provides a novel group management elevator device. By employing the novel group management elevator device, the operating efficiency of a lift car can be improved, and the service for an individual user and a group of users can be improved. The group management elevator device compares the number of the users in the group with a specified decision threshold of the number of people, when the number of the users in the group exceeds the decision threshold of the number of people, a specialized lift car is distributed to the group, when the number of the users in the group does not exceed the decision threshold of the number of people, a lift car with space is distributed to the group. Thus, when the number of people in the group is relatively more, the specialized lift car is distributed to the group, when the number of people in the group is relatively less, the lift car with space is distributed to the group, and therefore the operating efficiency can be improved, and the service for the users can be improved.
Description
Technical field
The present invention relates to the group management elevator device carrying out destination registration in entrance hall, particularly group user can register destination (entrance hall destination call) group management elevator device at elevator lobby.
Background technology
In the extensive high-rise that the user of elevator is more etc., multiple elevator is set in same building thing, in order to make overall operating efficiency improve, group is carried out for this multiple elevator and manages control.Carry out the group management elevator device that such group manages control, such as known patent documentation 1 shown below.
In the group management elevator device recorded in this patent documentation 1, in order to enable user cosily use elevator with the group of many people, be configured to the number (user's number) can registering destination and this group before taking.Namely, when the representative of group inputs destination and user's number from the destination operation board (destination operation board) in entrance hall, what group management control apparatus had a room corresponding with user's number for this entrance hall destination call distribution takes car.
But in the group management elevator device recorded in patent documentation 1, when user is with group's use elevator, the representative of this group, before inputting user's number with destination operation board, must be carried out user's number and really take industry as.Therefore, there is this problem that confirmation operation is loaded down with trivial details, convenience is poor.In addition, when inputting larger value as user's number, user must wait for until take the room that in car, generation is corresponding with number in entrance hall.Under such circumstances, also need to take what distribute the room that in car, generation is corresponding with above-mentioned number, there is the significantly reduced problem of operating efficiency.
In order to solve such problem, in patent documentation 2 shown below, propose following proposal: the destination operation board of registering destination the entrance hall person of being set using of elevator before taking, and use the group of the content of elevator to take calling mechanism for registering user with group, in addition, user is prestored with user's number during group's use elevator in user's number storage part, when the destination carried out with destination operation board registration with take with group registration that group that calling mechanism carries out uses together carry out when, determine car is taken for entrance hall destination call distribution based on user's number of storing in user's number storage part.Thus, even if when the group of many people uses elevator, also outstanding on convenience, and the reduction of operating efficiency can be prevented.
Prior art document
Patent documentation 1: Japanese Unexamined Patent Application Publication 2007-518652 publication
Patent documentation 2: Japan is public table patent WO2009/141900 publication again
Summary of the invention
But, in such group management elevator device, in order to improve the operating efficiency of taking car, take to what there is room the group user that car distributes many people.Therefore, consider such as when group's large contingent that group passenger is such, be difficult to distribute the elevator unit with the room that all group users can both take, operating efficiency reduces, or what need to make group user to take multiple elevator unit dispersedly takes car, thus Hui Shi group user produces discontented, and service reduces.
The object of the present invention is to provide a kind of new group management elevator device realizing the raising of the operating efficiency of elevator unit and the service raising to group user.
The invention is characterized in, group's number of group user and the number decision threshold of regulation are compared, the elevator unit that distribution group is special when group's number has exceeded the number decision threshold of regulation, distributes the elevator unit with room when group's number does not exceed the number decision threshold of regulation.
Invention effect
According to the present invention, the elevator unit that distribution group is special when group's number is more, distributes the elevator unit with room when group is fewer in number, therefore, it is possible to improve operating efficiency, also improves the service to group user simultaneously.
Accompanying drawing explanation
Fig. 1 is the block diagram representing the entrance hall of applying group management elevator device of the present invention.
Fig. 2 is the front elevation of the destination floor registration device of the group management elevator device shown in Fig. 1.
Fig. 3 is the block diagram of the group management control apparatus of the group management elevator device shown in Fig. 1.
Fig. 4 is the diagram of circuit of the process action of the destination registration process program of carrying out for illustration of the group management control apparatus shown in Fig. 3.
Nomenclature
2 ... destination floor registration device, 7 ... group's button, 8 ... disabled's button, 9 ... digital button, 11 ... group's alignment processing function part, 13 ... elevator unit distribution function portion, 14 ... output control function portion, entrance hall, 15 ... memory function portion, 16 ... controlling functions portion, 17 ... number decision-making function portion of group, 18 ... decision threshold set-up function portion, 19 ... decision threshold regularized learning algorithm function part.
Detailed description of the invention
Below, use accompanying drawing to describe embodiments of the present invention in detail, but the present invention is not limited to following embodiment, in technological concept of the present invention, various variation and application examples are also contained within the scope of it.
Fig. 1 is the block diagram in the entrance hall representing a certain floor applying group management elevator device of the present invention, possesses multiple elevator unit 1A ~ 1N in the buildings such as skyscraper.Group management elevator device is by processing multiple elevator unit 1A ~ 1N as 1 group, to the operation service that user provides efficiency higher.
Specifically, multiple elevator unit is managed as 1 group, the hall call of newly registering at a certain floor is selected optimally to take car, implement to take the process of the hall call before car distributes to this.
The group management elevator device of the present embodiment is group's way to manage of destination registration formula, is group's management of the mode registering destination in entrance hall in advance.Therefore, the destination of known user when calling out registration, suitable takes car so can distribute for each destination.
And, be configured with in entrance hall: configure on the wall in entrance hall for the entrance hall destination floor registration device of registering destination or the entrance hall destination floor registration device 2 of the centralized configuration type for registering destination configured on other positions.Use the entrance hall destination floor registration device 2 of centralized configuration type in the present embodiment.
Also have and notify the arrival lamp 3 which platform elevator unit and hall call correspondingly arrive and the output guiding device 4 by every platform elevator stand-alone configuration by direction.This output guiding device 4 uses any one in read out instrument or sound notification device or the hybrid device that they combined.
Entrance hall destination floor registration device 2 as shown in Figure 2, comprising: the group's button 7 carry out the efferent 6 of display translation or voice output, being pressed when carrying out the registration of destination for the purpose of group uses by user, disabled's button 8 that the disabled is pressed when carrying out the registration of destination and the multiple digital buttons 9 etc. be pressed in order to designated group number and destination.
And, when group user inputs destination and number, to wait by numeral at efferent 6 and show or report in elevator unit 1A ~ 1N of being assigned with sound.Before group user moves to according to it elevator unit be assigned with, wait for that taking car arrives.
Then, the schematic configuration of the main portion of concrete group management control apparatus 30 is described based on Fig. 3.As mentioned above, entrance hall destination floor registration device 2 is connected with the acceptance division 10 of group management control apparatus 30, is configured to be read by the acceptance division 10 of group management control apparatus 30 from the input/output signal as the efferent 6 in input and output portion, group's button 7, disabled's button 8, digital button 9.
In group management control apparatus 30, based on the destination register information read from entrance hall destination floor registration device 2 and number information etc., carry out the optimal elevator unit undertaken by elevator unit distribution function portion 13 allocation process and by arriving lamp 3, exporting the control of guiding device 4 notifier processes of carrying out etc.
In addition, group management control apparatus 30 comprises: received by acceptance division 10 represent signal that group button 7 is pressed time, the user being judged to operate entrance hall destination floor registration device 2 is the group user of many people and carries out group's alignment processing function part 11 of the process corresponding with group user; And when being received the signal that expression disabled button 8 is pressed by acceptance division 10, be judged to be that the user carrying out operating is the disabled and carries out disabled's alignment processing function part 12 of the process corresponding with the disabled.
Also comprise in group management control apparatus 30: receive the signal from group's alignment processing function part 11 and disabled's alignment processing function part 12, carry out the elevator unit distribution function portion 13 distributing the allocation process of optimal elevator unit with this processing capacity portion 11,12 accordingly; To the output control function portion, entrance hall 14 that the arrival lamp 3 in the entrance hall of the elevator unit distributed by elevator unit distribution function portion 13, the efferent 6 that exports guiding device 4 and entrance hall destination floor registration device 2 control; Storage control program and the interim memory function portion 15 storing learning data and input information; And by controlling functions portion 16 that the control program in memory function portion 15 controls above-mentioned each function part.
By such group management control apparatus 30, multiple elevator unit is managed as 1 group, optimal car is selected for the hall call of newly registering at a certain floor, when implementing to take the process of the hall call before car distributes to this, this distributed intelligence is sent to elevator unit control panel 21, and the car of taking of corresponding elevator unit runs based on it.
And in the present embodiment, unique point is to have added the new function of following explanation to above-mentioned group's alignment processing function part 11.In the present embodiment, group's number of group user and the number decision threshold of regulation compare by group's alignment processing function part 11, the information whether group's number exceed the number decision threshold of regulation is sent to elevator unit distribution function portion 13, when group's number of group user has exceeded the number decision threshold of regulation, the elevator unit special by elevator unit distribution function portion 13 distribution group, when group's number of group user does not exceed the number decision threshold of regulation, the elevator unit with the room corresponding with group's number of group user is distributed by it.
In order to perform such function, group's alignment processing function part 11 has number decision-making function portion of group 17, decision threshold set-up function portion 18, decision threshold regularized learning algorithm function part 19.And, when based on the signal inputted from group's button 7, acceptance division 10 is judged as that user is group user, based on the signal then inputted from digital button 9, number decision-making function portion of group 17 is inputted to the effective strength of group.
In addition, when acceptance division 10 is judged as that user is the disabled based on the signal inputted from disabled's button 8, be the signal of the content of the disabled to disabled's alignment processing function part 12 input expression.In addition, the present invention is the invention relevant to group user, therefore omits the explanation of the use about the disabled.
Then, the decision threshold from storing as group's number of determinating reference and the decision threshold set-up function portion 18 of decision threshold is inputted to number decision-making function portion of group 17.Number decision-making function portion of group 17 has this decision threshold and the function comparing from the number of the group user that acceptance division 10 sends, judge.Decision threshold can be fixing number, but also can change according to operation conditions, makes to become suitable number.In the present embodiment, be provided with decision threshold regularized learning algorithm function part 19, be set to and can adjust decision threshold by this decision threshold regularized learning algorithm function part 19.
Decision threshold regularized learning algorithm portion 19 can by the various parameter adjustment decision thresholds relevant to the operation of taking car.Such as, typically, because be that group user uses, so can to the direction adjustment improving decision threshold when user is numerous.This is because consider if the group user situation of then knowing each other is more, because be mutually familiar with, so it is also no problem to make slightly many people take.
In addition, group user increases, and when the special elevator unit of group increases, also can imagine meanwhile operating efficiency may reduce.Also can improve decision threshold in this situation, the elevator unit special with group carries more passenger, reduces the operation number of units of the special elevator unit of other groups.In this situation, also more for the situation of knowing each other when being group user, even if slightly many people take also no problem viewpoint, can decision threshold be improved.And then, the number of group user can be estimated according to the history etc. of the change of the history of the history in past (resume), such as number of users, the number of users corresponding to what day, time, therefore also can according to this historical information adjustment decision threshold.
Like this, by adjustment decision threshold, can change the number of units setting of the special elevator unit of group neatly, result can improve the running efficiency of group management elevator device.
As mentioned above, when group user inputs number from entrance hall destination floor registration device 2, by number decision-making function portion of group 17, this number and the decision threshold predetermined are compared, when the number of input is greater than decision threshold, the elevator unit special by elevator unit distribution function portion 13 distribution group, when the number of input is less than decision threshold, distributed the general elevator unit (not being special elevator unit) with the room corresponding with the number of group user by elevator unit distribution function portion 13.
When carrying out this distribution, this distributed intelligence is sent to output control function portion, entrance hall 14, reports this result from the efferent 6 of entrance hall destination floor registration device 2.Then, group user takes the elevator unit be assigned with based on this notification result.
Herein, number decision-making function portion of group 17 is set to the number inputted according to the digital button 9 of the entrance hall destination floor registration device 2 shown in Fig. 2 and determines whether to exceed decision threshold, but the view data that also can obtain from the photographic camera taken entrance hall (not shown), judges whether to exceed decision threshold by the number of image procossing measurement group.And then, the number of the image of the photographic camera arranged in entrance hall destination floor registration device 2 and the measurement signal presumption group user from infradred sensor, the various sensor of range acquisition sensor can also be used.
Then, the allocation process action of the concrete elevator unit of group management control apparatus 30 is described with the diagram of circuit shown in Fig. 4.
(step S1)
First, the input status of group management control apparatus 30 pairs of entrance hall destination floor registration devices 2 monitors, when incoming signal when group's button 7 of entrance hall destination floor registration device 2 is pressed being detected in step sl, be judged as that group user has carried out destination registration, perform the entrance hall destination registration process after step 2.On the other hand, when being judged as that group's button 7 is not pressed in step sl, again reducing and the input of group's button 7 is monitored.
Herein, entrance hall destination floor registration device 2 is configured to not only group user and can operates, and individual user also can operate, therefore in the input not having group's button 7, and when first having the input of digital button 9, be judged as individual user, advance to another step and perform the process that the elevator unit with room is distributed.Like this, the judgement of group user or individual user is carried out in step sl according to the input with or without group's button 7.
(step S2)
Then, when being judged as that group's button 7 is pressed in step sl, advance to step 2, judge whether the input undertaken by the digital button 9 of entrance hall destination floor registration device 2 in step s 2.Advance to step S3 when have input the number of group user by digital button 2, when not inputting the number of group user by digital button 2, again return step S2, the input of the number that digital button 9 carries out is monitored.
In addition, as mentioned above, the input of the number of the group user that digital button 9 carries out can be replaced into other input equipments such as photographic camera, therefore can call the number estimated by other input equipments in this step S2 and use in following step.In this situation, by reading the presumption number of other input equipments and be stored in the temporary storage area of RAM formation in memory function portion 15 in another step, people's logarithmic data of group user can be used.
(step S3)
When have input the number of group user in step s 2, in step s3, the effective strength of the group user inputted in the judgement number of the group user predetermined and decision threshold and step S2 is compared, judged.The technical meaning arranging this step S3 is as described below.Such as, the situation then easy understand of group passenger in same layer movement is simultaneously considered.
That is, when this is based on group passenger group user number actual like this more than decision threshold, from the viewpoint of operating efficiency, distribute special elevator unit, make it run more favourable reason with moving to target registration floor simultaneously.And then this is the reason based on meeting the service that namely one of service of user provides spiritual comfort such.
Herein, the decision threshold used in this step S3 is determined by the staffing of taking car of elevator unit, suitably determines decision threshold when staffing is more thereupon.And then, also suitably can adjust decision threshold as described above by study control.
On the other hand, when the number of group user actual in this step S3 is less than decision threshold, do not need the elevator unit that special distribution is special, be considered as the use passenger same treatment with individual, distribute the elevator unit with the room corresponding with the number of group user.And the number of group user actual in step S3 advances to step S4 more than when decision threshold, when the number of actual group user is less than decision threshold, advance to step S5.
(step S4)
When being judged as the number of actual group user in step s3 more than decision threshold, carry out distributing only to the process of the special elevator unit of this group user service.By distributing special elevator unit for the group user that number is more like this, more group user can be transported to same target registration floor simultaneously, the operating efficiency of elevator unit can be improved.
When the large contingent of group, in existing group managing means, be difficult to the elevator unit that fast allocation has the room that all group users can both take, need to make group user take multiple elevator unit dispersedly.Therefore, when considering that group user and individual user become carpool state, move to group user that to register floor relative, individual user when arrive group user registration floor before midway floor descending stair, fail from group user to meet the requirement that will arrive registration floor as early as possible, Hui Shi group user produces discontented sensation.
On the other hand, special elevator unit is distributed by the group user more to number in the present embodiment, same target registration floor can be transported to simultaneously, achieve the raising of operating efficiency, in addition, because meet the requirement that will arrive registration floor as early as possible from group user, so group user can obtain the satisfaction relevant to comfort level.
Herein, the number of units of the elevator unit that group also can be made special is based on current service condition and the increase and decrease of prediction service condition in the future.Such as, the movement of group user can be carried out when there is the group of multiple large contingent fast by increasing special elevator unit.
In addition, have passed through the lunchtime when there is the time period of the group of multiple large contingent like this, group user returns to working space, therefore, it is possible to reduce the special elevator unit of group, increase general elevator unit, for individual user and group user fast allocation elevator unit fewer in number.
(step S5)
On the other hand, when judging that the number of actual group user is less than decision threshold in step s3, carry out distributing the process of the elevator unit in the room that the number with group user can be taken.Like this, the elevator unit that group user fewer in number can take can be distributed rapidly, therefore, it is possible to improve the operating efficiency of elevator unit.
In addition, consider when individual user under the state that group user takes at the rear portion (inboard) of taking car will after the registration floor of group user when floor descending stair, group user has numerous users when registering floor descending stair and moves, individual user must walk out and takes car or move to make group user pass through, and it can be made to produce think troublesome discontented sensation from individual user.
On the other hand, do not have numerous group users in the present embodiment and take, therefore individual user walk out take car or in order to make group user pass through movement need reduce, individual user can obtain the satisfaction relevant to comfort level.
Like this, as as shown in step S4 and step S5, carry out the number according to group user, distribute special elevator unit or distribute the elevator unit that can usually take such process, therefore, it is possible to realize taking the raising of the operating efficiency of car and the service raising to individual user and group user.
(step S6)
When being assigned with elevator unit in step S4, S5, judge whether in step s 6 to have input destination by the floor button of destination.This destination inputs with the digital button 9 of entrance hall destination floor registration device 2, advancing to step S7, again returning the input of step S6 to destination and monitoring when not inputting destination when have input destination.
Herein, in the present embodiment, step S6 performs after the process of step S4, S5, but also can perform between step S2 and step S3.Like this, if in step S4, S5 during allocated elevators unit destination distinguish, then can further increase the distribution of the elevator unit of operating efficiency rapidly.
(step S7)
This step S7 carries out the process of the elevator unit that actual allocated is distributed according to the number of the group user obtained in step S4, S5.Thereby, it is possible to the floor that the object elevator unit short calling in the current elevator unit run is being stopped to group user.
(step S8)
At the end of the distribution of elevator unit in the step s 7, the result in step s 8 for allocation process carries out following process.That is, the information relevant to the elevator unit distributed is sent to the efferent 6 of entrance hall destination floor registration device 2, to the group user notification of carrying out destination log-on operation.The arrival of taking car is waited for before group user moves to according to it elevator unit be assigned with.
In addition, in step s 8 command signal is sent to the unit control board for elevator 21 controlling the elevator unit distributed, perform the actual operation as the elevator unit of object to control, and then, control arriving lamp 3 and exporting guiding device 4 accordingly with the elevator unit distributed.
Like this, according to the present embodiment, the elevator unit that distribution group is special when group's number is more, distributes the elevator unit with room when group is fewer in number, therefore, it is possible to improve operating efficiency, and also improves the service to user.
Namely, in the group management elevator device of the present embodiment, when the number of group user exceedes decision threshold, distribute special elevator unit, therefore without the need to making numerous group users take multiple elevator unit dispersedly, in addition, when the number of group user is less than decision threshold, the elevator unit in room can be had by fast allocation.
And then, because numerous group users and individual user can not become carpool state, so meet the requirement that will arrive registration floor as early as possible from group user, group user can be made to produce satisfaction.On the other hand, because group user fewer in number and individual user become carpool state, so individual user takes car without the need to walking out or moves to make group user pass through, can eliminate and think from individual user the discontented sensation that trouble is such.
As mentioned above, the present invention compares group's number of group user and the number decision threshold of regulation, the elevator unit that distribution group is special when group's number exceedes number decision threshold, distributes the elevator unit with room when group's number does not exceed number decision threshold.Thus, the elevator unit that when group's number is more, distribution group is special, distributes the elevator unit with room when group is fewer in number, therefore, it is possible to improve operating efficiency, and also improves the service to user.
Claims (7)
1. a group management elevator device, it comprises: multiple elevator unit; Entrance hall destination floor registration device, it is arranged on entrance hall, has the group's input media for being carried out destination registration by group user; And group management control apparatus, it has the elevator unit distribution function portion distributing described elevator unit with the destination log-on operation from described entrance hall destination floor registration device accordingly, and the feature of described group management elevator device is:
Described group management control apparatus has number decision-making function portion of group, the number decision threshold of regulation and the number of group user compare and judge whether the number of described group user exceedes described decision threshold by this number decision-making function portion of group, and described elevator unit distribution function portion is based on described result of determination, the described elevator unit that distribution group user is special when the number of described group user exceedes described decision threshold, the described elevator unit with the room that described group user can take is distributed when the number of described group user does not exceed described decision threshold.
2. group management elevator device as claimed in claim 1, is characterized in that:
The number of described group user is input to number decision-making function portion of described group from the input media beyond described entrance hall destination floor registration device or described entrance hall destination floor registration device.
3. group management elevator device as claimed in claim 2, is characterized in that:
Described input media beyond the destination floor registration device of described entrance hall is the photographic camera being arranged on described entrance hall or the photographic camera be arranged in the destination floor registration device of described entrance hall, resolves and estimate the number of described group user to the image from described photographic camera.
4. the group management elevator device according to any one of claims 1 to 3, is characterized in that:
As the described decision threshold of the determinating reference in number decision-making function portion of described group, be decide based on the staffing of taking car of described elevator unit.
5. group management elevator device as claimed in claim 4, is characterized in that:
Described decision threshold as the determinating reference in number decision-making function portion of described group is adjustable threshold value, the number of the described decision threshold after adjustment and described group user is compared by number decision-making function portion of described group.
6. group management elevator device as claimed in claim 5, is characterized in that:
The number of described group user is more, and by adjusting thresholds learning functionality, described decision threshold is adjusted to higher value by portion.
7. the group management elevator device according to any one of claim 1 ~ 6, is characterized in that:
The number of units of the elevator unit that described group is special increases and decreases based on current service condition and prediction service condition in the future.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2014-084100 | 2014-04-16 | ||
| JP2014084100A JP6244253B2 (en) | 2014-04-16 | 2014-04-16 | Group management elevator equipment |
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| CN105000439A true CN105000439A (en) | 2015-10-28 |
| CN105000439B CN105000439B (en) | 2017-05-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205412A (en) * | 2017-06-29 | 2019-01-15 | 佳能株式会社 | Elevator control aggregate, elevator control method and storage medium |
| CN113682909A (en) * | 2021-08-16 | 2021-11-23 | 易普森智慧健康科技（深圳）有限公司 | Detection method and device for boarding elevator by robot and robot dispatching system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019193707A1 (en) * | 2018-04-05 | 2019-10-10 | 三菱電機株式会社 | Group management device for elevators |
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| CN103159093A (en) * | 2011-12-16 | 2013-06-19 | 株式会社日立制作所 | Elevator system and elevator control method |
| JP2013184787A (en) * | 2012-03-08 | 2013-09-19 | Mitsubishi Electric Corp | Elevator group management and control device |
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| CN109205412A (en) * | 2017-06-29 | 2019-01-15 | 佳能株式会社 | Elevator control aggregate, elevator control method and storage medium |
| CN109205412B (en) * | 2017-06-29 | 2021-10-26 | 佳能株式会社 | Elevator control apparatus, elevator control method, and storage medium |
| CN113682909A (en) * | 2021-08-16 | 2021-11-23 | 易普森智慧健康科技（深圳）有限公司 | Detection method and device for boarding elevator by robot and robot dispatching system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2015202950A (en) | 2015-11-16 |
| JP6244253B2 (en) | 2017-12-06 |
| CN105000439B (en) | 2017-05-24 |
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