CN109956375A - Elevator control gear and elevator control method - Google Patents
Elevator control gear and elevator control method Download PDFInfo
- Publication number
- CN109956375A CN109956375A CN201811180774.1A CN201811180774A CN109956375A CN 109956375 A CN109956375 A CN 109956375A CN 201811180774 A CN201811180774 A CN 201811180774A CN 109956375 A CN109956375 A CN 109956375A
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- China
- Prior art keywords
- car
- operational part
- lift car
- absolute
- elevator control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The present invention provides a kind of elevator control gear for being not provided with position detection plate and being also able to carry out the high-precision stop position control of lift car.Elevator control gear is equipped with: car position operational part, the motor driven set on the lift car to elevator, and the signal of the pulse generator based on the revolving speed for carrying out self-test motor, the position of operation lift car；Carriage absolute position operational part, based on the adjusting point of location information and the pre-set multiple absolute positions of expression from the position detecting device different from the pulse generator for the position for being able to detect lift car, the absolute position of operation lift car；And car position correction portion is modified the position calculated by car position operational part based on the absolute position calculated by carriage absolute position operational part as unit of the absolute position of adjusting point.
Description
Technical field
The present invention relates to elevator control gear and elevator control method, it is ideally suitable for for example electronic based on self-test is carried out
The signal of the pulse generator of the revolving speed of machine and the elevator control gear and elevator control method of the position of operation lift car.
Background technique
The pulse for detecting the revolving speed of motor is provided on the motor of the driving lift car of elevator to generate
Device.Position and the speed of lift car are detected indirectly from pulse generator, to carry out speed control.In addition, going up and down
Stop-layer and other arbitrary positions in channel are equipped with position detection plate, whenever the position detection plate is by being set to elevator
When the position detection plate detector of carriage, the position detected by pulse generator is modified.
In recent years, it discloses using the pulse generator for being set to adjuster (governor) and detects the stop of lift car
The technology (referring to patent document 1) of position.Under steam whenever detecting position detection plate, to the pulse generation by adjuster
The position that device detects is modified, to realize the reduction for stopping error.
Existing technical literature
Patent document 1: International Publication No. 2017/103968
Each floor is set in order to correct the position desired position detection plate detected by pulse generator, therefore mansion
Height is higher, and the working hour expended in order to which position detection plate is arranged is more.In addition, when change over time and mansion shrink when, position
The initial measurement for setting detection plate generates error, it is possible to carry out accidentally amendment to the position detected by pulse generator.
Summary of the invention
The present invention allows for above point and completes, it is desirable to propose that one kind is not provided with position detection plate and is also able to carry out
The elevator control gear etc. of the high-precision stop position control of lift car.
In order to solve the problem, in elevator control gear of the invention, be equipped with: car position operational part is set
In the motor that the lift car to elevator is driven, and the pulse generator based on the revolving speed for carrying out motor described in self-test
Signal come the position of lift car described in operation；Carriage absolute position operational part is based on from and is able to detect the electricity
The location information of the different position detecting device of the pulse generator of the position of terraced carriage and expression pre-set more
The adjusting point of a absolute position comes the absolute position of lift car described in operation；And car position correction portion, with adjusting point
Absolute position be unit, based on the absolute position calculated by carriage absolute position operational part to by the carriage position
The position that operational part calculates is set to be modified.
In addition, in elevator control method of the invention, comprising: first step, in the first step, by car position
Operational part is set to the motor driven to the lift car of elevator, and the arteries and veins based on the revolving speed for carrying out motor described in self-test
The signal for rushing generator comes the position of lift car described in operation；Second step, in the second step, carriage absolute position fortune
Calculation portion is based on from the position detecting device different from the pulse generator of position for being able to detect the lift car
Location information and the adjusting point for indicating the multiple absolute positions pre-set, come the absolute position of lift car described in operation；
And third step, in the third step, car position correction portion is as unit of the absolute position of adjusting point, based on by described
Absolute position that carriage absolute position operational part calculates and the position calculated by the car position operational part is repaired
Just.
According to above structure, the position of corrected impulse generator can be come as unit of adjusting point.
Invention effect
In accordance with the invention it is possible to carry out the control of high-precision stop position.
Detailed description of the invention
Fig. 1 is the figure for indicating integrally-built an example of elevator of first embodiment.
Fig. 2 is the figure for indicating an example of correction position data of first embodiment.
Fig. 3 is the figure for indicating an example of processing step involved in the correcting process of first embodiment.
Fig. 4 is the figure for indicating integrally-built an example of elevator of second embodiment.
Fig. 5 is the figure for indicating an example of processing step involved in the correcting process of second embodiment.
Description of symbols:
1: lift car；2: adjusting hoist cable；3: adjuster；4: pulse generator is used in adjusting；5: main hoist cable；6: motor；
7: pulse generator；8: balance weight；9: liftway；10: elevator control gear；11: car position operational part；12: carriage is exhausted
To position operational part；13: car position correction portion；14: position detector abnormality determiner；15: car speed control unit.
Specific embodiment
Hereinafter, an embodiment of the invention is described in detail referring to attached drawing.
(1) first embodiment
Fig. 1 shows integrally-built an examples of the elevator of first embodiment.
As shown in Figure 1, the lift car 1 of elevator is connected in one end of main hoist cable 5 in the elevator of present embodiment,
The other end of main hoist cable 5 connects balance weight 8, and main hoist cable 5 is wound in motor 6.By driving motor 6, make elevator
Carriage 1 is gone up and down in liftway 9.
The rising and decline of the lift car 1 as caused by the rotation of motor 6 are controlled by elevator control gear 10.
Here, elevator control gear 10 is that for example have CPU (not shown) (Central Processing Unit), ROM
The storage devices such as (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disc Drive)
Control device.For example, the program for being contained in ROM is unfolded and is executed in RAM by CPU, it is achieved in elevator control gear 10
Function (sentence extremely by car position operational part 11, carriage absolute position operational part 12, car position correction portion 13, position detector
Disconnected portion 14, car speed control unit 15 etc.).It should be noted that CPU can also be substituted and use ASIC (Applied
Specific Integrated Circuit)。
The arteries and veins of the output pulse synchronous with the rotation of motor 6 (revolving speed of detection motor 6) is installed in motor 6
Rush generator 7.It is inputted from the pulse that pulse generator 7 generates to car position operational part 11.Car position operational part 11 is to arteries and veins
It rushes the umber of pulse that generator 7 is exported to be counted, the position (car position data) of operation lift car 1, by car position
Data are notified to car speed control unit 15.Car speed control unit 15 issues speed to motor 6 using car position data
Instruction.
Here, being configured to subtract pulse in decline plus umber of pulse when rising in car position operational part 11
Number, for example, be worth on the basis of by lowest level (0 pulse of 0mm) and in the case that lift car 1 sets out, in the lifting of lift car 1
When returning to lowest level, become a reference value (0mm, 0 pulse) in principle.However, for example being generated between main hoist cable 5 and motor 6
Under the case where sliding (situation that main hoist cable 5 does not move although rotating motor 6), goes up and down and return most lower in lift car 1
In the case where layer, becomes current value (0mm, 2 pulses etc.), become incorrect by the position of 11 operation of car position operational part.
In this regard, in the present embodiment, as described later, as unit of adjusting point, carrying out the position detected using pulse generator 7
Amendment.
More specifically, connection adjusts hoist cable 2 on lift car 1, adjusts hoist cable 2 and is wound in adjuster 3.It is adjusting
The output pulse synchronous with movement (rotation of adjuster) of hoist cable 2 is adjusted (revolving speed of detection adjuster) is installed on device 3
Adjuster pulse generator 4.Lift car 1 is connected on adjusting hoist cable 2, therefore adjuster is exported with pulse generator 4
Pulse become the pulse synchronous with the lifting of lift car 1.
Here, using adjuster pulse generator 4, use stroke small, simultaneously as hoist cable 2 is adjusted
And the hoist cable that the sliding between hoist cable 2 and adjuster 3 becomes smaller is adjusted to reduce evaluated error as much as possible.
The pulse that adjuster pulse generator 4 exports is inputted to carriage absolute position operational part 12.Carriage absolute position
Operational part 12 is based on correction position data 16 shown in Fig. 2 and determines adjusting point, the absolute position of operation lift car 1.
Here, correction position data 16 are to indicate the data of the position of adjusting point, it is stored in depositing for elevator control gear 10
Storage device.Adjusting point can arbitrarily be set.For example, can be in the nearby setting adjusting point of the certain distance of each floor, it can be every
Defined interval (8m, 4m etc.) setting adjusting point is opened, adjusting point can also be set in other positions.
For example, carriage absolute position operational part 12 counts adjuster with the umber of pulse of pulse generator 4, judging
Become moving distance " X for position corresponding with the umber of pulse counted out1" in the case where, to 13 notification list of car position correction portion
Show moving distance " X1" signal (correction position information).
The correction position information that carriage absolute position operational part 12 calculates is entered car position correction portion 13.Carriage position
It sets correction portion 13 and corrects the position detected by car position operational part 11 based on correction position information.By the structure,
Car speed control unit 15 receives revised car position data from car position operational part 11, can be based on revised sedan-chair
Compartment position data issues speed command to motor 6.
In addition, the position detected from pulse generator 7 with from the position that adjuster pulse generator 4 detects to position
Set the input of detector abnormality determiner 14.Position detector abnormality determiner 14 is obtaining the difference of the two and is being judged as more than different
In the case where normal judgment value (detecting exception (omen)), without amendment after being designated as to car position correction portion 13.
Using Fig. 3, the correcting process executed to elevator control gear 10 is illustrated.
Firstly, carriage absolute position operational part 12 judges position corresponding with the umber of pulse of adjuster pulse generator 4
It whether is adjusting point (step S11).Carriage absolute position operational part 12 is repaired in the case where being judged as adjusting point to car position
Positive portion 13 notifies correction position information, and processing is made to move to step S12, in the case where being judged as not is adjusting point, returns processing
It is back to step S11.
In step s 12,13 pairs of positions detected using pulse generator 7 of car position correction portion are modified.
More specifically, car position correction portion 13 is based on correction position information, the pulse to being exported for count pulse generator 7
Several pulse counters (Counter Value) are modified.For example, car position correction portion 13 is receiving expression adjusting point
Position X1Correction position information in the case where, by the position X with adjusting point1Corresponding umber of pulse is set to pulse counter.
Then, position detector abnormality determiner 14 judges that the position detected by pulse generator 7 is used with by adjuster
Whether the difference for the position that pulse generator 4 detects is more than pre-set abnormal judgment value (step S13).Position detector
Abnormality determiner 14 be judged as be more than abnormal judgment value in the case where, so that processing is moved to step S14, be judged as be less than it is different
In the case where normal judgment value, processing is made to move to step S11.
In step S14, position detector abnormality determiner 14 is designated as to car position correction portion 13 without using
The amendment for the position that pulse generator 7 detects.
In the above-described embodiment, the position detecting device (method) as the absolute position of detection lift car 1, is lifted
The case where example is illustrated using adjuster pulse generator 4 for being installed on adjuster 3, but detect the absolute position of lift car 1
The method set is without being limited thereto.
For example, it is also possible to the following method: the absolute position in order to continuously detect lift car 1, from lowest level
Magnetic recording tape is pasted in liftway 9 to top layer, it is read out using the detector for being set to lift car 1.
In addition, for example, it is also possible to using pasting bar code in liftway 9 and utilizing the inspection for being set to lift car 1
Survey the method that device is read out it.
In addition, for example, it is also possible to using photographic device is arranged in lift car 1 and carries out the image shot by photographic device
Parsing and the method that detects absolute position.
In such a configuration, as unit of adjusting point, based on using the position detecting device different from pulse generator 7
The position detected come the absolute position detected to pulse generator 7 is used is modified, so even being not provided with position
Detection plate is set, the high-precision stop position control of lift car 1 is also able to carry out.
(2) second embodiment
Fig. 4 indicates integrally-built an example of the elevator of second embodiment.
In the present embodiment, it in the case where the error of adjuster pulse generator 4 can not be ignored, will be used to eliminate
The base position detection device 21 of error is installed on the arbitrary position such as end layer.For example, adjuster pulse generator 4 have it is errorless
Test when difference is by product export judges.In the present embodiment, mainly illustrate the structure being different from the first embodiment.
Elevator control gear 10 has base position correction portion 22.Base position correction portion 22 does not have elevator in certain time
Calling when, make lift car 1 to be automatically oriented the traveling of base position detection device 21 and the processing of correction position.Example
Such as, base position correction portion 22 is when lift car 1 connects with base position detection device 21, by carriage absolute position operational part
12 pulse counter is set as value (such as 0 pulse) corresponding with base position (such as 0mm).
In addition, base position correction portion 22 is judged as again in the revised certain time based on base position is more than
In the case where abnormal judgment value, carries out sending abnormality alarm and stop the processing etc. of the operating of lift car 1.
Fig. 5 is the figure of an example of processing step involved in the correcting process that indicates in present embodiment.Step S11~step
The processing of rapid S13 is identical as processing illustrated by first embodiment, therefore the description thereof will be omitted.
In the step s 21, base position correction portion 22 judges whether to have passed through certain time from the amendment of last time.Benchmark
Position correction unit 22 be judged as have passed through certain time in the case where, make processing move to step S22, be judged as without one
In the case where fixing time, processing is made to move to step S23.
In step S22, base position amendment traffic sign placement is to connect by base position correction portion 22, and processing is made to move to step
Rapid S11.It should be noted that base position amendment mark is to be represented whether and detecting exception using base position
Modified mark.It is as described later, all in the passenger of lift car 1 in the case where base position is corrected mark and connected
After leaving carriage, without hesitation it is modified based on base position.
In step S23, base position correction portion 22 carries out sending abnormality alarm and stops the control of the operating of lift car 1
System.
In step s 24, base position correction portion 22 judges whether base position amendment mark is connected.Base position amendment
Portion 22 makes processing move to step S25 in the case where being judged as that base position amendment mark is connected, and is being judged as that base position repairs
In the case that positive mark disconnects, processing is made to move to step S28.
In step s 25, base position correction portion 22 judges whether there is passenger in lift car 1.It repairs base position
Positive portion 22 makes processing move to step S11, is being judged as in elevator in the case where being judged as has passenger in lift car 1
In the case where there is no passenger in carriage 1, processing is made to move to step S26.
In step S26, base position amendment traffic sign placement is to disconnect by base position correction portion 22, and processing is made to move to step
Rapid S27.
In step s 27, base position correction portion 22 is modified based on base position.More specifically, base position
Correction portion 22 by make lift car 1 towards base position detection device 21 in a manner of controlled, detect benchmark when receiving
When the signal that position detecting device 21 connects with lift car 1, the pulse counter of carriage absolute position operational part 12 is set
It is set to value corresponding with base position.
In step S28, whether base position correction portion 22 judges within a certain period of time without elevator-calling.Base position
Correction portion 22 makes processing move to step S27, is being judged as with elevator-calling in the case where being judged as no elevator-calling
In the case of, so that processing is moved to step S11.
According to above-mentioned structure, even if passing through base in the case where the error of adjuster pulse generator 4 can not be ignored
It is modified in base position, is also able to carry out the high-precision stop position control of lift car 1.
In addition, being judged as the position detected by pulse generator 7 and being detected by adjuster pulse generator 4
It, can be more suitably by being modified based on base position in the case that the difference of position is more than abnormal judgment value (exception)
Carry out the stop position control of lift car 1.
Even if in addition, being judged as that the position detected by pulse generator 7 is detected with by adjuster pulse generator 4
The difference of position be more than abnormal judgment value (exception), by considering whether to have passed through one together from the amendment of last time periodically
Between, can continue to carry out the amendment based on adjusting point in the case where the exception is transient factor, therefore can more suitably into
The stop position of row lift car 1 controls.
(3) other embodiment
It should be noted that in above-mentioned first embodiment and second embodiment, for the present invention is applicable in
It is illustrated, however, the present invention is not limited thereto, can also be widely used in addition to this each in the case where elevator control gear 10
Kind elevator control gear.
In addition, in the above-described embodiment, describing car position correction portion 13 to for 7 institute of count pulse generator
The case where pulse counter of the umber of pulse of output is modified, however, the present invention is not limited thereto, car position correction portion 13
Data (umber of pulse) needed for can notifying amendment to car position operational part 11.
In this case, car position operational part 11 can be fast to carriage to the progress operation of reflection modified position data
It spends control unit 15 to notify, operation can also be carried out to position data and correction position data and leads to car speed control unit 15
Know.It should be noted that in the case where notifying position data and correction position data to car speed control unit 15, carriage speed
Degree control unit 15 considers position data and correction position data together and issues speed command to motor 6.In this case, position
Without repairing after setting detector abnormality determiner 14 and can also being designated as when detecting exception to car speed control unit 15
Just.
In addition, in the above-described embodiment, describing and correcting mark connection in base position and do not have in lift car 1
When having passenger, lift car 1 is automatically oriented the case where traveling of base position detection device 21 is modified, but the present invention is unlimited
In this, it can also be not provided with base position amendment mark, when passenger's entirety leaves lift car 1, make lift car 1 automatically
It is modified towards the traveling of base position detection device 21.
In addition, in the above-described embodiment, describing the feelings in the error that can not ignore adjuster pulse generator 4
The case where amendment based on base position is carried out under condition, however, the present invention is not limited thereto can also be with adjuster pulse generator 4
Error carry out the amendment based on base position independently from the size.
In addition, without departing from the gist of the present invention, can also suitably change, replace about above-mentioned structure
It changes, combine, omit.
In addition, realizing that the information such as the program of each function, table, file can be placed in memory, hard in the above description
The recording mediums such as storage devices or IC card, SD card, DVD such as disk, SSD (Solid State Drive).
Claims (4)
1. a kind of elevator control gear, which is characterized in that
The elevator control gear has:
Car position operational part is located at the motor driven to the lift car of elevator, and is based on coming self-test institute
The signal for stating the pulse generator of the revolving speed of motor comes the position of lift car described in operation；
Carriage absolute position operational part, based on from the pulse generator with the position for being able to detect the lift car
The adjusting point for multiple absolute positions that the location information of different position detecting devices and expression are pre-set, comes described in operation
The absolute position of lift car；And
Car position correction portion, as unit of the absolute position of adjusting point, based on by carriage absolute position operational part fortune
The absolute position of calculating and the position calculated by the car position operational part is modified.
2. elevator control gear according to claim 1, which is characterized in that
The elevator control gear has base position correction portion, which is based on from for detecting benchmark position
The signal for the base position detection device set, and the base position based on the lift car and to by the carriage absolute position
The absolute position that operational part calculates is modified.
3. elevator control gear according to claim 2, which is characterized in that
It is being judged as that the position calculated by carriage absolute position operational part calculates with by the car position operational part
Position difference be more than abnormal judgment value in the case where, the base position correction portion is controlled such that the lift car
Towards the base position detection device.
4. a kind of elevator control method, which is characterized in that
The elevator control method includes:
Car position operational part is set to the electricity driven to the lift car of elevator in the first step by first step
Motivation, and the signal of the pulse generator based on the revolving speed for carrying out motor described in self-test is come the position of lift car described in operation
It sets；
Second step, in the second step, carriage absolute position operational part is based on coming from and is able to detect the lift car
Position the different position detecting device of the pulse generator location information and expression pre-set it is multiple absolutely
The adjusting point of position comes the absolute position of lift car described in operation；And
Third step, in the third step, car position correction portion is as unit of the absolute position of adjusting point, based on by described
Absolute position that carriage absolute position operational part calculates and the position calculated by the car position operational part is repaired
Just.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017245851A JP6796053B2 (en) | 2017-12-22 | 2017-12-22 | Elevator control device and elevator control method |
| JP2017-245851 | 2017-12-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109956375A true CN109956375A (en) | 2019-07-02 |
| CN109956375B CN109956375B (en) | 2021-06-18 |
Family
ID=67023181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811180774.1A Active CN109956375B (en) | 2017-12-22 | 2018-10-10 | Elevator control device and elevator control method |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6796053B2 (en) |
| CN (1) | CN109956375B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723604A (en) * | 2019-09-20 | 2020-01-24 | 深圳优地科技有限公司 | Elevator control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1475421A (en) * | 2003-06-24 | 2004-02-18 | 上海三菱电梯有限公司 | Elevator control device |
| CN101121483A (en) * | 2006-08-10 | 2008-02-13 | 东芝电梯株式会社 | Control device of elevator |
| CN102050361A (en) * | 2009-11-10 | 2011-05-11 | 株式会社日立制作所 | Elevator system and control method of elevator system |
| CN102060220A (en) * | 2009-11-18 | 2011-05-18 | 林浩生 | Automatic rescue device for elevator |
| JP2015013731A (en) * | 2013-07-05 | 2015-01-22 | 株式会社日立製作所 | Safety system for elevator |
| WO2017168619A1 (en) * | 2016-03-30 | 2017-10-05 | 株式会社日立製作所 | Elevator system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3958551B2 (en) * | 2001-10-16 | 2007-08-15 | 株式会社日立製作所 | Elevator control method and apparatus |
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2017
- 2017-12-22 JP JP2017245851A patent/JP6796053B2/en active Active
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2018
- 2018-10-10 CN CN201811180774.1A patent/CN109956375B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1475421A (en) * | 2003-06-24 | 2004-02-18 | 上海三菱电梯有限公司 | Elevator control device |
| CN101121483A (en) * | 2006-08-10 | 2008-02-13 | 东芝电梯株式会社 | Control device of elevator |
| CN102050361A (en) * | 2009-11-10 | 2011-05-11 | 株式会社日立制作所 | Elevator system and control method of elevator system |
| CN102060220A (en) * | 2009-11-18 | 2011-05-18 | 林浩生 | Automatic rescue device for elevator |
| JP2015013731A (en) * | 2013-07-05 | 2015-01-22 | 株式会社日立製作所 | Safety system for elevator |
| WO2017168619A1 (en) * | 2016-03-30 | 2017-10-05 | 株式会社日立製作所 | Elevator system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723604A (en) * | 2019-09-20 | 2020-01-24 | 深圳优地科技有限公司 | Elevator control method and device |
| CN110723604B (en) * | 2019-09-20 | 2022-03-22 | 深圳优地科技有限公司 | Elevator control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6796053B2 (en) | 2020-12-02 |
| JP2019112172A (en) | 2019-07-11 |
| CN109956375B (en) | 2021-06-18 |
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