CN106516917A - Elevator system - Google Patents

Elevator system Download PDF

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Publication number
CN106516917A
CN106516917A CN201510836848.2A CN201510836848A CN106516917A CN 106516917 A CN106516917 A CN 106516917A CN 201510836848 A CN201510836848 A CN 201510836848A CN 106516917 A CN106516917 A CN 106516917A
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car
mentioned
purpose stratum
control
distribution
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CN201510836848.2A
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CN106516917B (en
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山下广悠
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Toshiba Elevator and Building Systems Corp
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Toshiba Elevator Co Ltd
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  • Elevator Control (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)

Abstract

The invention provides an elevator system, which can be used to maintain the operation without being shutdown in every floor under a condition of faulted DCS control. According to one embodiment, the elevator system is provided with a waiting hall target floor registration device 21 disposed on a waiting hall; a DCS control device 11(a first control device); and a plurality of elevator control devices 12a, 12b, 12c..(a second control device). When the DCS control controlled by the DCS control device 11 is faulted, the control device of the elevator control devices 12a, 12b, 12c preset to be the main control device is switched from the first calling signal of the DCS control system output by the waiting hall target floor registration device 21 into a second calling signal used in a group management control system, and therefore the operation continues.

Description

Elevator device
Technical field
The present invention relates to possess the elevator device of ladder riding hall purpose stratum calling mechanism.
Background technology
Typically, in the ladder riding hall of each floor of building, it is provided with for registering taking advantage of for ladder riding hall calling Terraced Room call button.When the user of elevator operates the ladder riding hall call button, car is to ladder riding hall The register layer response of calling.The purpose stratum button of car, operation cage operating panel is taken in user When, purpose stratum is registered, car is to the purpose strata deformation.
In recent years, possess it is different from above-mentioned ladder riding hall call button, can directly refer in ladder riding hall Determine the ladder riding hall purpose stratum calling mechanism (HDC on purpose stratum:Hall Destination Controller elevator device) is just practical.Such elevator device is referred to as " controlling on purpose stratum System (DCS processed:Destination Control System)”.DCS is based on user in ladder riding hall The purpose stratum of registration, selects most suitable car among multiple stage car, responds the ladder riding hall. In this case, identical car is taken by making the user on identical purpose stratum, seek transfer efficiency Raising.
Here, the DCS for having ladder riding hall purpose stratum calling mechanism in all of storey setting is referred to as " full DCS ".In full DCS, purpose stratum can be registered in the ladder riding hall of each floor, so Purpose stratum button is not needed in car.
The content of the invention
In above-mentioned elevator device, in the case of DCS control failures, switch to standby operating (different Conventional operating), only proceed operating in specific machine.Now, in full DCS, due to profit User can not specify purpose stratum in the car, so by making specific machine stop in each floor Tackled.However, the operational efficiency significance difference that such each floor shuts down, can give user Make troubles.
The invention solves the problems that problem be provide it is a kind of can not in the case of DCS control failures In the elevator device that each floor stoppingly proceeds to operate.
Elevator device involved by one technical scheme possesses:Ladder riding hall purpose stratum calling mechanism, its It is arranged at ladder riding hall;1st control device, which passes through DCS controls, selects distribution from multiple stage car Car simultaneously makes which respond register layer, and the DCS controls are to consider to register by the ladder riding hall purpose stratum The control on the purpose stratum of the user of device registration;And multiple 2nd control devices, its basis should The instruction of the 1st control device and control the operating of above-mentioned each car.
It is in the case where the DCS controls carried out by above-mentioned 1st control device there occurs failure, above-mentioned each The 2nd control device for being redefined for main control unit in 2nd control device will be from above-mentioned ladder riding hall 1st call signal of the DCS control systems of purpose stratum calling mechanism output is transformed to control in group's management The 2nd call signal used in system processed and continue operating.
According to above-mentioned composition, in the case where DCS controls there occurs failure, can not stop in each floor Only continue operating.
Description of the drawings
Fig. 1 is the block diagram of the composition for representing the elevator device involved by an embodiment.
Fig. 2 is to represent block diagram that the function of the elevator control gear in the embodiment is constituted.
Fig. 3 is the flow chart of the action for representing the elevator device in the embodiment.
Fig. 4 is carried out for motion during DCS failures to the elevator device in the embodiment The concrete example of explanation.
Fig. 5 is the distribution sedan-chair for representing the ladder riding hall purpose stratum calling mechanism being shown in the embodiment The figure of the display example in railway carriage or compartment.
Fig. 6 is the display on the purpose stratum of the display for representing each machine being shown in the embodiment The figure of example.
Specific embodiment
Hereinafter, referring to the drawings embodiment is illustrated.
Fig. 1 is the block diagram of the composition for representing the elevator device involved by an embodiment, there is shown right Multiple elevator carries out the composition of group's management.In addition, elevator described here is mainly car, depositing In the case of multiple stage also referred to as " number machine ".In addition, the car for being assigned with ladder riding hall calling is referred to as " dividing With car " or " Distribution Unit ".
The system possess 1 DCS control device 11 and multiple elevator control device 12a, 12b, 12c….DCS control devices 11 are controlled by group's management with elevator control gear 12a, 12b, 12c ... System cable 13 connects.
DCS control devices 11 are the master controller for realizing the control system of DCS, used as the 1st Control device and use.Control program of the DCS control devices 11 with DCS, it is considered to by taking advantage of The purpose stratum of the user of terraced Room purpose stratum calling mechanism 21 registration and from each car 24a, 24b, Select most suitable car among 24c ... makes which (register purposefully layer to register layer as distribution car Floor) response.
Ladder riding hall purpose stratum calling mechanism 21 is to register destination for user in advance in ladder riding hall The device of layer.Ladder riding hall purpose stratum calling mechanism 21 has:For the behaviour on log-on operation purpose stratum Make portion 22;With the car for showing the user purpose stratum registered and be assigned with the purpose stratum The display part 23 of (distribution car).
In addition, as the register method on purpose stratum, realize typically by the operation of numeral keys, but It can also be the method using such as IC-card etc..In addition, ladder riding hall purpose stratum calling mechanism 21 The place away from ladder riding hall can be arranged at.
In the present embodiment, it is assumed that the ladder riding hall of each floor is provided with the registration of ladder riding hall purpose stratum " the full DCS " of device 21.These ladder riding hall purpose stratum calling mechanisms 21 are used via calling mechanism Cable 14 and be connected to DCS control devices 11, in addition, also via calling mechanism with cable 15 It is connected to elevator control gear 12a, 12b, 12c ....Thus, in the boarding by arbitrary floor When Room purpose stratum calling mechanism 21 registers purposefully layer, from ladder riding hall purpose stratum calling mechanism The call signal of DCS control systems of 21 outputs is not only sent to DCS control devices 11, also to Elevator control gear 12a, 12b, 12c ... send.
Elevator control gear 12a, 12b, 12c ... are relative with car 24a, 24b, 24c ... of each machine Answer and arrange.These elevator control gears 12a, 12b, 12c ... is used as the 2nd control device. These elevator control gears 12a, 12b, 12c ... is when generally operating according to from DCS control devices 11 instruction, carries out open and close controlling of the drive control comprising traction machine (not shown) and/or door etc. respectively Car monomer control.
Car 24a, 24b, 24c ... are lifted in elevating road by the driving of traction machine (not shown) Action.In these cars 24a, 24b, 24c ..., the purpose on stratum for designation purposes is not provided with Stratum button.
In addition, on these elevator control gears 12a, 12b, 12c ..., being connected to each machine Display 25a, 25b, 25c ....The display 25a of A machines is arranged at the car of A machines Near the stopping port of 24a, purpose stratum and/or rotation direction of car 24a etc. is shown.For other Display 25b, 25c ... of number machine and same.These display 25a, 25b, 25c ... are by every Individual machine and be arranged at the ladder riding hall of each floor.
Here, in the present embodiment, in elevator control gear 12a, 12b, 12c ..., possess Operating control function (group's management control) used in general cluster management system.In DCS controls In the case of there occurs failure, in advance as master control among elevator control gear 12a, 12b, 12c ... Device processed and the elevator control gear that sets carries out managing the standby operating that control is carried out by group.In addition, So-called the failure of control " DCS ", refer to DCS control devices 11 produce certain it is abnormal, The state of normal DCS controls can not be carried out.Now, ladder riding hall purpose stratum calling mechanism 21 is being just Often, the log-on operation on purpose stratum is carried out as usual.
Hereinafter, it is set to be set as the situation of main control unit to illustrate by elevator control gear 12a.
Fig. 2 is the block diagram of the function composition for representing elevator control gear 12a.In addition, for others Elevator control gear 12b, 12c ... of number machine, is also the composition same with elevator control gear 12a.
In elevator control gear 12a, as proceeding fortune when DCS controls there occurs failure The function of turning, possesses signal transformation component 31, distribution control unit 32, operation control section the 33, the 1st and shows Show control unit 34, the 2nd display control unit 35, send reporting unit 36.
Signal transformation component 31, will be comprising by taking advantage of in the case where DCS control systems there occurs failure The purpose stratum of terraced Room purpose stratum calling mechanism 21 registration and register layer (log-on operation purpose stratum Floor) the call signal (hereinafter referred to as the 1st call signal) of DCS control systems be transformed to Call signal (hereinafter referred to as the 2nd call signal) used in group's management control system.
Distribute 2nd call signal of the control unit 32 based on obtaining by signal transformation component 31, from multiple stage Selecting most suitable car among car 24a, 24b, 24c ... makes which to registration as distribution car Layer response.Operation control section 33 registers destination to the distribution car selected by distributing control unit 32 Layer, the distribution car run to purpose stratum after register layer has been responded.
1st display control unit 34 will be shown by number machine name for distributing the distribution car that control unit 32 is selected Show in the display part 23 for being arranged at ladder riding hall purpose stratum calling mechanism 21, take advantage of as user to be made The information of the car of seat.2nd display control unit 35 be arranged at the display 25a of each number machine, 25b, The purpose stratum of the distribution car is shown in the display corresponding with distribution car among 25c ....
Send reporting unit 36 to occur to the outside control system (DCS control devices 11) for sending DCS The report of failure.So-called outside, is the monitoring room in central monitoring position for example (not shown) and/or building etc.. Central monitoring position is positioned at the dynamic of the elevator at a distance, being present in various places via communication network remote monitoring Make state.
Next, the action to the elevator device in the embodiment is illustrated.
Fig. 3 is the flow chart of the action for representing the elevator device in the embodiment.
In the case of DCS controls are normal, i.e. in the feelings of the normally action of DCS control devices 11 Under condition (step S10 is "No"), execution is considered is stepped on by ladder riding hall purpose stratum calling mechanism 21 Distribution control (step S12) on the purpose stratum of the user of note.
That is, the purpose of user is registered with the operation by ladder riding hall purpose stratum calling mechanism 21 During stratum, by the purpose stratum and register layer (having carried out the floor of the log-on operation on purpose stratum) this Two information is made one group of the 1st call signal and is sent to DCS control devices 11.Now, taking advantage of The display part 23 of terraced Room purpose stratum calling mechanism 21 shows the purpose stratum of user's registration.
DCS control devices 11 when 1 call signal is received, based on the 1st call signal institute The purpose stratum of the user for containing, selects among car 24a, 24b, 24c ... of each machine and most closes Suitable car is used as distribution car.In this case, implement the DCS on the purpose stratum of consideration user Control, is determined to the most suitable car for most efficiently running as distribution car.It is determined that distribution After car, DCS control devices 11 to elevator control gear 12a, 12b, 12c ... among with this point Send with the corresponding elevator control gear of car and indicate so as to respond register layer.
In addition, when distribution car is determined, the display part of calling mechanism 21 on ladder riding hall purpose stratum 23 species (number machine name) for showing the car being selected for being set to distribute car.User sees The display and confirm the car oneself taken, wait near the stopping port of the car.In the car Already registered with the purpose stratum for having user, so not needing the specified behaviour on the purpose stratum at place in car Make (log-on operation of car call).
On the other hand, in the case where DCS controls there occurs failure, i.e. in DCS control devices 11 produce certain it is abnormal and can not be in the case of normally action ("Yes" in step S11), by pre- First it is set as that the elevator control gear 12a of main control unit carries out exception reporting transmission (step to outside S12), switch to standby operating (step S13).
Described " standby operating ", is in the DCS control devices 11 as master controller here Generate the abnormal operating implemented during exception.DCS control devices 11 and elevator control gear 12a, 12b, 12c ... are connect by the transmission that group's management control cable 13 is connected as carrying out mutually data Receive.Do not having from DCS control devices 11 as the elevator control gear 12a of main control unit Signal is judged as producing certain exception and switching to standby to operate in the case of responding.
In addition, so-called said external, is the monitoring room in central monitoring position for example (not shown) and/or building etc.. With sending the Objective of Report for central monitoring position at a distance in the case of, via communication network by DCS The report of the failure of control is sent to central monitoring position.In the monitoring room for sending Objective of Report Di Wei buildings In the case of, sent to monitoring room by the report of the wired or wireless failure for controlling DCS.
In addition, the elevator control gear 12a of A machines is set to main control unit, but if in electricity In the case that terraced control device 12a there occurs failure, the elevator control gear 12b of others machine, Some of 12c ... becomes main control unit, implements exception reporting and sends and standby operating.
When switching to standby to operate, as main control unit elevator control gear 12a from ladder riding hall Purpose stratum calling mechanism 21 obtains the 1st call signal used in DCS control systems, keeps In internal storage (not shown) (step S14).In the 1st call signal, comprising user's Purpose stratum and register layer.1st call signal is transformed to manage in group by elevator control gear 12a The 2nd call signal (step S15) used in control system.In the 2nd call signal, comprising Rotation direction and register layer.
In detail, elevator control gear 12a is from the 1st calling letter for being held in above-mentioned internal storage Number the relation of purpose stratum and register layer judge the rotation direction of user.For example, in register layer it is 1 layer, in the case that purpose stratum is 4 layers, be judged as rotation direction=upper direction.It is contrary to register Layer for 4 layers, purpose stratum be 1 layer in the case of, be judged as rotation direction=lower direction.Elevator control Device 12a processed adds from the 1st call signal the " registration for obtaining to such " rotation direction " for judging Layer " information and generate the 2nd call signal.
Next, elevator control gear 12a based on conversion after the 2nd call signal be allocated control (step S16).In detail, elevator control gear 12a uses predetermined arithmetic expression, obtains to sedan-chair Railway carriage or compartment 24a, 24b, 24c ... be respectively allocated the 2nd call signal in the case of evaluation of estimate, select wherein Highest car (most suitable car) is evaluated as distribution car.
In addition, so-called " predetermined arithmetic expression ", is using such as fuzzy neuron (neuro fuzzy) etc. Evaluation arithmetic expression of method etc..But, the present invention is not particularly limited for the method, it is possible to use Method used in group's management control of general elevator, has accounted for all operating effects of elevator The distributive judgement computing of rate.In addition, so-called " evaluation of estimate ", is the situation for representing distribution ladder riding hall calling Under most suitable degree index.The numerical value of the evaluation of estimate is less, represents and evaluates higher, and the numerical value is bigger, Represent and evaluate lower.
When have selected distribution car, elevator control gear 12a makes the distribution car (enter to register layer Gone purpose stratum log-on operation floor) response (step S17).In this case, by electricity The elevator control gear corresponding with the distribution car among terraced control device 12a, 12b, 12c ... Control the operating of the distribution car.
That is, in the case where the car 24a of A machines is selected as distribution car, by being used as master control The elevator control gear 12a of the A machines of device processed controls the operating of car 24a.On the other hand, exist For example in the case of selecting the car 24b of B machines as distribution car, from as main control unit Elevator control gear 12a sends distribution instruction to elevator control gear 12b, by receiving the distribution The elevator control gear 12b of instruction controls the operating of car 24b.
Hereinafter, the car 24b for being set to select B machines is illustrated as the situation of distribution car.
In the case where the car 24b of B machines is selected as distribution car, elevator control gear 12a The purpose stratum for being held in the 1st call signal of above-mentioned internal storage is sent to the elevator of B machines Control device 12b, is registered (step S18) as the car call of car 24b.For example, In the case where 4 layers being registered as purpose stratum, register 4 as the car call of car 24b Layer.
In addition, can be for example to select to the timing of distribution car registration purpose stratum (car call) During distribution car, or when register layer (has been arrived at) in distribution car response.
In addition, when have selected distribution car, elevator control gear 12a includes taking advantage of by car is distributed On terraced Room purpose stratum calling mechanism 21, also, in the display of the ladder riding hall corresponding with distribution car Purpose stratum (step S19) is shown on device 25b.
Specifically, first, elevator control gear 12a is registered from the ladder riding hall purpose stratum of each floor Among device 21, Selection utilization person registers the ladder riding hall purpose stratum calling mechanism of destination's layer operation 21, as destination is shown, send the letter of distribution car to the ladder riding hall purpose stratum calling mechanism 21 Breath.Thus, ladder riding hall purpose stratum calling mechanism 21 display part 23 show distribution car number Machine name (B machines) (with reference to Fig. 5).
Next, elevator control gear 12a from the display 25a of the ladder riding hall for being arranged at register layer, The display 25b of B machines is selected among 25b, 25c ... as destination is shown, to display 25b The purpose stratum that transmission is registered as the car call of B machines.Thus, show in display 25b There is the purpose stratum (with reference to Fig. 6) of B machines.
So, during even at DCS failures, car and mesh is also allocated in the same manner as DCS Stratum display, thus, it is possible to correctly by user to distribution car guiding.As distribution sedan-chair During car 24b response (arriving at) register layers of the B machines in railway carriage or compartment, elevator control gear 12a passes through B The elevator control gear 12b of number machine makes car 24b open the door and after taking user, makes car 24b (step S19) is operated to purpose stratum.Now, in the car 24b of the B machines as distribution car Be registered with the purpose stratum of user, thus the registration on purpose stratum for not needing in car (car is exhaled The registration cried).
In addition, when DCS controls there occurs failure, to the monitoring room of such as central monitoring position or building Send exception reporting (step S12).Maintainer receive the exception reporting send and reach the spot into Before row repair, implement standby operating as described above.After the reparation of DCS controls, such as generally Like that according to the instruction from DCS control devices 11, by elevator control gear 12a, 12b, 12c ... The operating of car 24a, 24b, 24c ... of control each machine.
Concrete example is represented in the diagram.
Now, it is set in 1 layer~15 layers of building, the car 24a of 3 (A~C machines)~ During 24c is in each floor operating.In each floor, at least 1 ladder riding hall purpose is respectively arranged with Stratum calling mechanism 21.Generally, by based on by these ladder riding hall purpose stratum calling mechanisms 21 The distribution control of the DCS on the purpose stratum of the user of registration, selects distribution car.In this case, Distribution car is selected so that the user on identical purpose stratum takes identical car, carrying capacity is sought Improve.
In the case where the control system (DCS control devices 11) of such DCS there occurs failure, Switch to the standby operating for managing control using group.For example, as shown in figure 4, in 1 layer of ladder riding hall Purpose stratum calling mechanism 21, user register 4 layers as purpose stratum.Now, in ladder riding hall mesh Stratum calling mechanism 21 display part 23, show the purpose stratum for representing user's registration “4F”。
Here, the ladder riding hall purpose stratum calling mechanism 21 from 1 layer export " purpose stratum=4 layer, 1st call signal of the DCS control systems of register layer=1 layer ".Main elevator control gear (example Such as elevator control gear 12a) receive the 1st call signal, it is transformed in group's management control system The 2nd call signal for using.In this example embodiment, register layer is 1 layer, on the other hand, purpose stratum For 4 layers, so rotation direction=upper direction.Therefore, the 1st call signal is transformed to such as " operating 2nd call signal of direction=upper direction, register layer=1 layer ".
Implement to distribute control using the 2nd call signal.In this case, do not consider purpose stratum, Car position and/or rotation direction according to such as each machine etc. selects the car work for being capable of fastest response For most suitable car, distribute the 2nd call signal to the most suitable car.
In the example in fig. 4, the car 24b of B machines is selected as distribution car, to 1 layer step on Note layer is responded.Now, the mesh for obtaining from above-mentioned 1st call signal relative to car 24b registrations Stratum as car call.As described above, to distribution car registration purpose stratum (car call) Timing can be for for example have selected during distribution car, or the distribution car responds (arriving at) During register layer.
When distribution car is defined as the car 24b of B machines, as shown in figure 5, in the ladder riding hall of 1F The display part 23 of purpose stratum calling mechanism 21, the purpose stratum registered instead of user " 4F ", shows the mark of " B " as number machine name for distributing car.
In addition, as shown in fig. 6, in 1 layer of ladder riding hall, boarding hall door 26a in such as each machine, The vicinity of 26b, 26c is provided with display 25a, 25b, 25c.These display 25a, 25b, The display 25b corresponding with B machines among 25c, shows the purpose stratum of " 4F ".
So, in the case where DCS controls there occurs failure, each machine is made by group's management control Operating continues.Therefore, from only to make specific number machine different in the general standby operating that each floor stops, Will not significantly make operational efficiency low.In this case, distribution car and mesh is equally shown with DCS Stratum, it is possible to make user seen hold successfully as by DCS distribute most suitable car, one While proceeding operating.
At least one embodiment in accordance with the above, using the teaching of the invention it is possible to provide there occurs failure in DCS controls In the case of, can not each floor stoppingly proceed operate elevator device.
In addition, several embodiments of the invention is illustrated, but these embodiments are conducts Example and propose, its be not intended to limit invention scope.These new embodiments, can Implemented in other various modes, without departing from the spirit and scope of the invention, various provinces can be carried out Slightly, displacement, change.These embodiments and its deformation are contained in the scope or spirit of invention, and And be contained in the range of the invention described in claims and equivalent.

Claims (6)

1. a kind of elevator device, it is characterised in that possess:
Ladder riding hall purpose stratum calling mechanism, which is arranged at ladder riding hall;
1st control device, which passes through the control of purpose stratum control system, selects point from multiple stage car With car and which is made to respond register layer, control system control in the purpose stratum is considered by the boarding The control on the purpose stratum of the user of Room purpose stratum calling mechanism registration;And
Multiple 2nd control devices, its instruction according to the 1st control device and control above-mentioned each car Operating,
The feelings of failure be there occurs in the purpose stratum control system control carried out by above-mentioned 1st control device Under condition, the 2nd control device for being redefined for main control unit in above-mentioned each 2nd control device will From the 1st call signal of the purpose stratum control system of above-mentioned ladder riding hall purpose stratum calling mechanism output The 2nd call signal that is transformed to used in group's management control system and continue operating.
2. elevator device according to claim 1, it is characterised in that
Above-mentioned the 2nd control device for being set as main control unit possesses:
Signal transformation component, the purpose stratum exported from above-mentioned ladder riding hall purpose stratum calling mechanism is controlled by which 1st call signal of system processed is transformed to the 2nd call signal used in group's management control system;
Distribution control unit, its based on the 2nd call signal obtained by the signal transformation component, from above-mentioned Most suitable car is selected in each car as distribution car so as to which response registers above-mentioned purpose stratum Floor;And
Operation control section, which registers above-mentioned purpose stratum to the distribution car selected by the distribution control unit, Above-mentioned purpose stratum is run to after the response of the distribution car.
3. elevator device according to claim 2, it is characterised in that
Purpose stratum of the above-mentioned signal transformation component according to contained by above-mentioned 1st call signal and the pass of register layer System adds above-mentioned rotation direction to above-mentioned register layer and is transformed to the above-mentioned 2nd and exhales judging rotation direction It is signal.
4. elevator device according to claim 2, it is characterised in that
Above-mentioned the 2nd control device for being set as main control unit is also equipped with the 1st display control unit, described 1st display control unit makes a number machine name for the distribution car selected by above-mentioned distribution control unit be displayed in setting In the display part of above-mentioned ladder riding hall purpose stratum calling mechanism, as the letter of the car for taking user Breath.
5. elevator device as claimed in claim 2, it is characterised in that
Above-mentioned the 2nd control device for being set as main control unit is also equipped with the 2nd display control unit, described 2nd display control unit is displayed in the purpose stratum of above-mentioned distribution car and is arranged at each above-mentioned each car Multiple display in display corresponding with above-mentioned distribution car on.
6. elevator device according to claim 2, it is characterised in that
Above-mentioned the 2nd control device for being set as main control unit is also equipped with sending reporting unit, the transmission Reporting unit there occurs the report of failure to the control of outside sending destination layer control system.
CN201510836848.2A 2015-09-10 2015-11-26 Elevator device Active CN106516917B (en)

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JP6885363B2 (en) * 2018-03-23 2021-06-16 フジテック株式会社 Elevator system
CN111186735A (en) * 2020-01-07 2020-05-22 中升乙源建设工程有限公司 Elevator management system

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JP6046222B1 (en) 2016-12-14
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SG10201510633TA (en) 2017-04-27
CN106516917B (en) 2018-12-07

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