EP1544152A1 - Steuerung für aufzugtür - Google Patents

Steuerung für aufzugtür Download PDF

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Publication number
EP1544152A1
EP1544152A1 EP03798459A EP03798459A EP1544152A1 EP 1544152 A1 EP1544152 A1 EP 1544152A1 EP 03798459 A EP03798459 A EP 03798459A EP 03798459 A EP03798459 A EP 03798459A EP 1544152 A1 EP1544152 A1 EP 1544152A1
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EP
European Patent Office
Prior art keywords
door
motor speed
elevator door
velocity
speed pattern
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.)
Granted
Application number
EP03798459A
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English (en)
French (fr)
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EP1544152A4 (de
EP1544152B1 (de
Inventor
Shigeki Mitsubishi Denki Kabushiki Kaisha MIZUNO
M. Mitsubishi Denki Kabushiki Kaisha KOUKETSU
Hiroshi Mitsubishi Denki Kabushiki Kaisha ARAKI
Takashi Mitsubishi Denki Kabushiki Kaisha YUMURA
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of EP1544152A1 publication Critical patent/EP1544152A1/de
Publication of EP1544152A4 publication Critical patent/EP1544152A4/de
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Publication of EP1544152B1 publication Critical patent/EP1544152B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B66B13/143—Control systems or devices electrical
    • B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices

Definitions

  • the present invention relates to an elevator door control device.
  • the present invention relates to an elevator door control device that achieves compatibility between high levels of safety and comfort for elevator users.
  • An elevator door is an interface portion between an elevator and users of the elevator. Accordingly, compatibility between safety and comfort for the elevator users is required.
  • a problem relating to safety involves how to reduce misfortune caused by accidents where a user gets caught by, or gets dragged by, the elevator door.
  • One effective solution strategy for this problem is to make the door velocity slower.
  • a problem relating to comfort involves how to reduce waiting time by the users when utilizing the elevator. It is effective to quickly transport the users to their target floor, and therefore one effective solution strategy for this problem is to make the door velocity faster, or to shorten the amount of time for door opening and closing.
  • Safety is achieved by using the torque command information, which is output from a velocity control portion that controls the door velocity of a door driver motor for driving the elevator door.
  • the torque command is compared with a pattern used for judging door abnormalities, referred to as an overload detection pattern, and a door opening and closing operation abnormality is judged when the torque command exceeds the overload detection pattern.
  • the overload detection pattern is selected from a plurality of overload detection patterns by utilizing a relationship whereby the torque command becomes larger when the door mass is large and the torque command becomes smaller when the door mass is small. Specifically, a large size overload detection pattern is selected when the door mass is large, and a small size overload detection pattern is selected when the door mass is small.
  • comfort is achieved by selecting one appropriate motor speed pattern from among a plurality of motor speed patterns in consideration of the size of the torque command (motor current command). Specifically, the relationship whereby the torque command becomes larger when the door mass is large, and the torque command becomes smaller when the door mass is small, is utilized.
  • the appropriate motor speed pattern is selected from among the plurality of motor speed patterns based on the door mass and the size of the torque command at each floor so that the size of the torque command becomes nearly equal at each floor.
  • Patent Document 1 JP 2000-159461 A
  • a motor speed pattern that corresponds to the door mass is selected for each floor in consideration of the size of the torque command so that the door velocity is slow when the door mass is large, and the door velocity is fast when the door mass is small. For the following reasons, however, there is a problem in that an appropriate door velocity cannot be achieved at which both safety and comfort are compatible.
  • door velocity indicates an average velocity, and this is clearly specified in the regulations issued overseas described above and the like. Specifically, the average velocity is found by Eq. (2) below.
  • Average door closing velocity (door travel distance from fully open position to fully closed position) / (travel time) (2)
  • the travel time for a door that opens from the center is defined as the amount of time necessary for travel from a position 25 mm from the fully open position to a position 25 mm from the fully closed position.
  • the value of the kinetic energy found using the average velocity is restricted to be equal to, or less than, 10 Joules.
  • the kinetic energy restriction is normally only indicated for door closing as described above, similar management of the kinetic energy during door opening, albeit using different values, can be considered effective for door safety. Accordingly, the kinetic energy is treated hereinafter as being capable of being defined using similar forms for door opening and door closing.
  • the average velocity and the maximum velocity can both be used hereinafter as the door velocity for the kinetic energy shown by Eq. (1). It should be noted that the values to which the kinetic energy is restricted will differ according to which velocity is used, however.
  • the door velocity be made fast (that time for door opening and closing be shortened) in order to shorten the amount of time spent waiting for the elevator, and transport the user quickly to the target floor.
  • the kinetic energy of the door should therefore be made as large as possible.
  • An object of the present invention is to realize an elevator door control device that is capable of achieving a suitable door velocity by making the door velocity faster, or by making the amount of time for door opening and closing shorter, in a range that complies with kinetic energy restrictions.
  • an elevator door control device that performs elevator door opening and closing control by outputting a torque command to an elevator door driving unit, the torque command corresponding to a motor speed pattern that is selected from a plurality of motor speed patterns
  • the elevator door control device being characterized by including: a door parameter computing unit that computes door parameters at each floor based on a mass of an elevator door at each floor; and a speed pattern selecting unit that selects, based on computational results from the door parameter computing unit, one of a plurality of motor speed patterns as a motor speed pattern for elevator door opening and closing control at each floor.
  • Fig. 1 is a schematic diagram that shows an example of an elevator door control device according to Embodiment 1 of the present invention.
  • a pulse generator 2 is connected directly to a motor shaft of a door driver motor 1 in an elevator door mechanism portion that drives an elevator door.
  • the pulse generator 2 generates pulse information that shows positions of the door driver motor 1.
  • a current detector 3 detects a load current on the door driver motor 1. It should be noted that a vector control induction motor, a brushless DC motor, or the like is assumed to be used as the door driver motor 1.
  • a velocity command portion 4 stores a plurality of predetermined motor speed patterns and outputs the velocity command according to the plurality of stored motor speed pattern.
  • An adder portion 5 outputs a speed deviation between the velocity command output by the velocity command portion 4, and an actual motor speed (feedback speed) obtained from the pulse generator 2 through a speed conversion portion.
  • a speed control portion 6 outputs a motor current command, which corresponds to a torque command corresponding to the speed deviation output by the adder portion 5, to the door driver motor 1 as a torque command corresponding to the output speed deviation, thus performing speed control.
  • the adder portion obtains a deviation in current from the actual motor current, which is detected by the current detector 3, with respect to the motor current command that is output from the speed control portion 6.
  • the motor current command is then output to a current control portion 10.
  • the current control portion 10 generates the load current for driving the door driver motor 1 according to the input current deviation, thus performing speed control of the motor 1.
  • the current control portion 10 implements vector control based on phase information from the pulse generator 2 when performing speed control.
  • a kinetic energy computing unit 9 is a door parameter computing unit that computes door parameters at each floor based on the mass of the elevator door at each floor.
  • the kinetic energy computing unit 9 computes the kinetic energy of the door as a door parameter based on the mass of the doors at each floor, stored within the door mass storage portion 7, and on door velocity information such as the average velocity, values of the velocity over time, or the like.
  • the speed pattern selecting unit 10 outputs a velocity command from the velocity command portion 4 by using a motor speed pattern that is selected from a plurality of motor speed patterns stored in the velocity command portion 4 according to computational results from the kinetic energy computing unit 9. It should be noted that portions that are identical to, or that correspond to, portions of a normal elevator door control device are shown within a dashed line portion of Fig. 1.
  • Basic operation relating to motor speed pattern selection is explained first. A specific example of operations relating to motor speed pattern selection is then introduced to make understanding easier.
  • Basic operation relating to motor speed pattern selection is as follows. After performing driving for door closing by using a certain motor speed pattern, the kinetic energy at each floor is computed in the kinetic energy computing unit 9 based on information according to floor. The door mass obtained from the door mass storage portion 7, and the door velocity information such as the average velocity, values of the velocity over time, or the like, are used.
  • the above operation is repeated for a plurality of motor speed patterns.
  • the kinetic energy computational results for each of the motor speed patterns are organized for each floor. Specifically, a motor speed pattern having the shortest door opening and closing time is selected in the speed pattern selecting unit 10 as the motor speed pattern for each floor. The selection is made for each floor from among each of the motor speed patterns that satisfies a desired door kinetic energy limit.
  • the motor speed pattern having the shortest door opening and closing time for each floor is selected by the speed pattern selecting unit 10 as the motor speed pattern of each floor in the description above, the selection is not limited to this method.
  • a motor speed pattern that obtains a maximum door kinetic energy may also be selected, from among each of the motor speed patterns that satisfy the desired door kinetic energy limit, as the motor speed pattern of each floor.
  • a high level of safety can thus be achieved by selecting a motor speed pattern that satisfies the desired door kinetic energy limit for each floor.
  • superior comfort can be thus be achieved by selecting a motor speed pattern that has a high kinetic energy in a range that satisfies the desired door kinetic energy limit.
  • a condition, or a range, for selecting the door kinetic energy having not only an upper limit but also a lower limit may also be used as the door kinetic energy limit described above.
  • the average velocity which is the door velocity information used in computing the kinetic energy
  • the average velocity may be computed by using numerical results (approximate values) in which values of the door velocity (values of the velocity over time) are integrated with respect to time, and then divided by the amount of time for door opening and closing.
  • the door velocity information may be the average velocity, or values of the velocity over time, when input to the kinetic energy computing unit 9 in Fig. 1 for computing the kinetic energy.
  • the motor speed pattern having the smallest maximum door velocity is chosen by the speed pattern selecting unit 10 as the velocity command.
  • FIG. 2 An example of operation relating to motor speed pattern selection is explained next while using an operation explanatory diagram shown in Fig. 2.
  • all of the motor speed patterns here are motor speed patterns having the same travel distance for the door from a fully open position to a fully closed position.
  • an initial period motor speed pattern is set to a speed pattern B, for example, and door closing operations are performed.
  • the kinetic energy at that time is computed, and it is verified whether or not the kinetic energy limit is satisfied. If the kinetic energy limit is not satisfied, the speed pattern is set to a speed pattern C, which is one level (one rank) lower than the speed pattern B, because the energy is large. If the kinetic energy limit is satisfied, however, the speed pattern is set to a speed pattern A, which is one level (one rank) higher than the speed pattern B, because the energy is small.
  • the motor speed pattern can be determined at the point where the kinetic energy limit is satisfied.
  • the elevator door control device according to Embodiment 1 can be realized by implementing these determination operations at each floor.
  • the plurality of motor speed patterns (door closing speed patterns) stored in the speed pattern storage portion within the velocity command portion 4 are arranged in advance in this example, in order from the pattern having the shortest door opening and closing time to the pattern having the longest door opening and closing time. Setting an appropriate door velocity can therefore easily be achieved.
  • An appropriate door velocity can thus be achieved according to the elevator door control device of Embodiment 1.
  • the door velocity at each floor is set to the highest velocity, or the door opening and closing time is shorter, in a range that complies with the kinetic energy restrictions.
  • an elevator door control device that achieves compatibility between safety and comfort for elevator users can be provided.
  • the motor speed pattern having the shortest door opening and closing time is selected as the motor speed pattern for each floor from among the plurality of motor speed patterns that satisfy the desired door kinetic energy limit, an appropriate door velocity can be achieved.
  • the door velocity is fast, or the amount of time needed for door opening and closing is short, in a range that complies with the kinetic energy restrictions.
  • the motor speed pattern having the smallest maximum door velocity is selected for cases where a plurality of motor speed patterns having the shortest door opening and closing time exist at each floor from among the motor speed patterns that satisfy the desired door kinetic energy limit.
  • Fig. 3 is a schematic diagram that shows an example of an elevator door control device relating to Embodiment 2 of the present invention.
  • Reference numerals in Fig. 3 that are identical to those of Embodiment 1 shown in Fig. 1 denote identical, or equivalent, structures, and an explanation of those structures is omitted.
  • a door / motor speed conversion portion 8 detects an actual motor speed that is output from a velocity conversion portion, and converts the actual motor speed into the door velocity.
  • a door mass computing unit 11 computes a door mass based on the door velocity that is converted by the door / motor speed converter portion 8, and the torque command that is output from the velocity control portion 6.
  • the configuration of the elevator door control device according to Embodiment 2 is substantially the same as the configuration of the elevator door control device according to Embodiment 1 that is shown in Fig. 1.
  • the door / motor speed converter portion 8 that converts from the motor speed to the door velocity, and the door mass computing unit 11 that computes the door mass by using the door velocity that is obtained from the door / motor speed converter portion 8 and the torque command that is output from the velocity control portion 6, are portions that differ from Embodiment 1.
  • the door mass storage portion 7 in the elevator door control device according to Embodiment 1 and shown in Fig. 1 the door mass at each floor is stored in advance.
  • the door mass that is stored in the door mass storage portion 7 in the elevator door control device according to Embodiment 2 and shown in Fig. 3 is computed by the door mass computing unit 11 based on the door velocity, which is converted by the door / motor speed converter portion 8, and the torque command, which is output from the velocity control portion 6.
  • a method for computing the door mass at each floor by using the door mass computing unit 11 described above is explained.
  • a door type that possesses a door mechanism for transmitting torque of the door driver motor 1 directly to a door portion by a belt, without using a linking mechanism is taken as an object door type here.
  • a non-linear generator link that utilizes weight is attached to the door for generating a mechanical door closing retention force when a power source is cut off.
  • the door type used here is characterized in that there is a linear relationship between the door velocity and the motor speed, and there is a linear relationship between the door acceleration and the motor acceleration. That is, the relationships are fixed gain relationships. It is thus clear that the motor angular velocity can easily be replaced by the door velocity, and that the motor angular acceleration can easily be replaced by the door acceleration in the explanation hereinafter. It should be noted that a schematic diagram is shown in Fig. 3 in which the door velocity is used as the input to the door mass computing unit 11.
  • T J ⁇ a + b
  • T Tm + T1 + T2
  • the motor torque command Tm and the motor acceleration a capable of being found by a difference computation of the motor angular velocity (corresponding to the door velocity), are data that can be obtained by measurement in order to determine the door inertia J by using Eqs. (3) and (4).
  • the torque T1 by the non-linear generator link, and the fixed door closing torque T2 cannot be found by direct measurement.
  • the door inertia J at each floor is found by adding the torque T1 due to the non-linear generator link and the fixed door closing torque T2, which are found in advance, to the motor torque command Tm and taking the result as the total door torque T, and by applying a least squares method to the total door torque T and the motor angular velocity a.
  • the door mass can be computed from the door inertia J.
  • the kinetic energy is computed using the door mass, which is computed by the door mass computing unit 11, similar to the elevator door control device according to Embodiment 1 described above.
  • a motor speed pattern 3 capable of achieving an appropriate door velocity is selected by the speed pattern selecting unit 10 based on the kinetic energy.
  • the door mass at each floor which is necessary for computing the kinetic energy, can be calculated automatically by arithmetic processing based on Eq. (3). For example, an enormous amount of effort for finding the door mass from structural information such as size and material properties becomes unnecessary. The calculation of an erroneous door mass due to human mistakes can therefore be prevented. It becomes possible to obtain a highly accurate door mass, and therefore highly accurate kinetic energy computational results can be obtained.
  • An appropriate door velocity can thus be achieved in which the door velocity at each floor is set to the highest velocity, or the door opening and closing time is shorter, in a range that complies with the kinetic energy restrictions.
  • an elevator door control device that achieves high levels of safety and comfort for elevator users can be provided.
  • Fig. 4 is a schematic diagram that shows an example of an elevator door control device according to Embodiment 3 of the present invention.
  • Reference numerals in Fig. 4 that are identical to those of Embodiment 1 shown in Fig. 1 denote identical, or equivalent, structures, and an explanation of those structures is omitted.
  • a velocity limit value computing unit 9a is a door parameter computing unit that computes door parameters at each floor based on the mass of the elevator door at each floor.
  • the velocity limit value computing unit 9a is provided as a substitute for the kinetic energy computing unit 9 of Fig. 1, and computes a limit value of the average door velocity at each floor based on a predetermined door kinetic energy limit value, which is based on the mass of the elevator door at each floor from the door mass storage portion 7 and Eq. (1).
  • the limit value of the average door velocity at each floor is computed in advance in the velocity limit value computing unit 9a by using the predetermined door kinetic energy limit value, which is based on the elevator door mass at each floor in accordance with floor information, and Eq. (1).
  • the limit value of the average door velocity unit a condition on the average door velocity that is necessary in order to satisfy the door kinetic energy limit value.
  • the condition need not be only an upper limit, but may also include a lower limit as the door kinetic energy limit value. That is, a selection condition according to the door kinetic energy having a fixed range may also be used.
  • a motor speed pattern having the shortest door opening and closing time is selected as the motor speed pattern for each floor from among the various motor speed patterns that satisfy the predetermined door kinetic energy limit, similar to the embodiments described above.
  • the selection is made by using the limit value from the velocity limit value computing unit 9a, which becomes the average door velocity condition.
  • a velocity command is output from the velocity command portion 4.
  • the motor speed pattern having the lowest maximum door velocity may be selected from among those motor speed patterns with the speed pattern selecting unit 10 and a velocity command may be output.
  • the motor speed pattern having the shortest door opening and closing time is selected as the motor speed pattern for each floor with the speed pattern selecting unit 10, the selection is not limited to this method.
  • the motor speed pattern with which the largest average door velocity is obtained may also be selected from among each of the motor speed patterns that satisfy the average door velocity limit value.
  • the door parameters are computed by using the kinetic energy computing unit 9, or the velocity limit computing unit 9a, as the door parameter computing unit according to the elevator door control devices of Embodiments 1 to 3 described above.
  • a configuration in which a map storing unit for storing a map (table) in advance that has correspondence between a plurality of motor speed patterns and the elevator door mass can also be considered as a substitute for the configurations of Embodiments 1 to 3.
  • Fig. 5 is a diagram that shows an example of the map storing unit. An example of a case in which four motor speed patterns V1, V2, V3, and V4 are provided is shown in the figure. Average velocities within the figure are values computed from experiments performed using the four motor speed patterns, or from door velocity waveforms obtained by numerical simulation. It should be noted that the units shown in Fig. 5 are m/sec for average velocity, J for door kinetic energy, and kg for door mass.
  • the motor speed pattern V1 is used when the door mass is equal to or less than 370 kg
  • the motor speed pattern V2 is used when the door mass is in a range from 370 to 462 kg
  • the motor speed pattern V3 is used when the door mass is in a range from 462 kg to 649 kg
  • the motor speed pattern V4 is used when the door mass is in a range from 649 to 665 kg
  • the speed pattern selecting unit 10 performs selection by reading in the corresponding motor speed pattern from the map, which is stored in advance in the map storing unit, based on the elevator door mass at each floor.
  • the velocity command portion 4 performs elevator door opening and closing control according to the motor speed pattern that is read. Actual computations by the door kinetic energy computing unit 9, the velocity limit value computing unit 9a, or the like can thus be substituted by using the map or table.
  • an appropriate door velocity considering the door parameter relating to the kinetic energy restrictions can be achieved according to the present invention.
  • an elevator door control device that achieves compatibility between safety and comfort for elevator users can be provided.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)
EP03798459A 2002-09-27 2003-09-24 Steuerung für aufzugtür Expired - Lifetime EP1544152B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2002283701 2002-09-27
JP2002283701 2002-09-27
PCT/JP2003/012156 WO2004028951A1 (ja) 2002-09-27 2003-09-24 エレベータドアの制御装置

Publications (3)

Publication Number Publication Date
EP1544152A1 true EP1544152A1 (de) 2005-06-22
EP1544152A4 EP1544152A4 (de) 2007-11-28
EP1544152B1 EP1544152B1 (de) 2012-02-08

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Application Number Title Priority Date Filing Date
EP03798459A Expired - Lifetime EP1544152B1 (de) 2002-09-27 2003-09-24 Steuerung für aufzugtür

Country Status (6)

Country Link
EP (1) EP1544152B1 (de)
JP (1) JP4488210B2 (de)
KR (1) KR20050044626A (de)
CN (1) CN100390042C (de)
TW (1) TWI231289B (de)
WO (1) WO2004028951A1 (de)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
WO2007028850A1 (en) * 2005-09-05 2007-03-15 Kone Corporation Elevator arrangement
CZ304108B6 (cs) * 2009-05-14 2013-10-30 Aufzugswerke M. Schmitt & Sohn Gmbh & Co. Zpusob rízení výtahového zarízení
EP2690051A1 (de) * 2011-03-22 2014-01-29 Mitsubishi Electric Corporation Steuervorrichtung für eine aufzugstür
DE112007003699B4 (de) 2007-11-07 2018-08-30 Mitsubishi Electric Corp. Türsteuervorrichtung für einen Aufzug

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CN101258087B (zh) * 2005-09-05 2010-06-16 通力股份公司 用于改进电梯系统的性能的方法和系统
JP5182694B2 (ja) * 2008-03-18 2013-04-17 東芝エレベータ株式会社 エレベータのドア制御装置
WO2010070378A1 (en) 2008-12-19 2010-06-24 Otis Elevator Company Elevator door frame with electronics housing
JP5328892B2 (ja) * 2009-03-18 2013-10-30 三菱電機株式会社 エレベータのドア制御装置
JP2013040006A (ja) * 2011-08-15 2013-02-28 Mitsubishi Electric Building Techno Service Co Ltd エレベータドア監視装置およびエレベータドア監視方法
DE102013204925B4 (de) 2013-03-20 2018-03-01 Siemens Aktiengesellschaft Steuerung eines Antriebs für ein bewegbares Objekt
US9834414B2 (en) * 2015-06-17 2017-12-05 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling elevator door systems
CN107399652B (zh) * 2015-12-04 2019-07-09 安徽省特种设备检测院 一种应用在电梯检测中的电梯瞬时动能测量装置
CN108217398B (zh) * 2016-12-21 2020-09-22 上海三菱电梯有限公司 门机控制器对轿门驱动电机的控制方法
JP7012488B2 (ja) * 2017-09-11 2022-01-28 株式会社日立製作所 エレベーターのドア制御装置ならびにエレベーターのドア駆動システム
JP7014250B2 (ja) * 2020-03-27 2022-02-01 フジテック株式会社 エレベータのドア装置用の動作設定装置、及び該動作設定装置を用いたドア装置の開閉動作の設定方法。
CN114890259B (zh) * 2022-07-12 2022-09-30 菱王电梯有限公司 电梯控制方法、装置、电梯及计算机可读存储介质

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JP2000159461A (ja) * 1998-11-30 2000-06-13 Mitsubishi Electric Corp エレベータのドア制御装置
WO2004021094A1 (de) * 2002-08-12 2004-03-11 Siemens Aktiengesellschaft Masseermittlung bei automatischen schiebe- und aufzugtürsteuerungen

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007028850A1 (en) * 2005-09-05 2007-03-15 Kone Corporation Elevator arrangement
EP1922278A1 (de) * 2005-09-05 2008-05-21 Kone Corporation Aufzugsanordnung
US7637355B2 (en) 2005-09-05 2009-12-29 Kone Corporation Elevator arrangement
EP1922278A4 (de) * 2005-09-05 2011-08-17 Kone Corp Aufzugsanordnung
DE112007003699B4 (de) 2007-11-07 2018-08-30 Mitsubishi Electric Corp. Türsteuervorrichtung für einen Aufzug
CZ304108B6 (cs) * 2009-05-14 2013-10-30 Aufzugswerke M. Schmitt & Sohn Gmbh & Co. Zpusob rízení výtahového zarízení
EP2690051A1 (de) * 2011-03-22 2014-01-29 Mitsubishi Electric Corporation Steuervorrichtung für eine aufzugstür
EP2690051A4 (de) * 2011-03-22 2014-11-12 Mitsubishi Electric Corp Steuervorrichtung für eine aufzugstür

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KR20050044626A (ko) 2005-05-12
TW200410891A (en) 2004-07-01
EP1544152A4 (de) 2007-11-28
CN1617826A (zh) 2005-05-18
JP4488210B2 (ja) 2010-06-23
TWI231289B (en) 2005-04-21
EP1544152B1 (de) 2012-02-08
CN100390042C (zh) 2008-05-28
JPWO2004028951A1 (ja) 2006-01-19
WO2004028951A1 (ja) 2004-04-08

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