JP3734287B2 - Intelligent distributed controller for elevators. - Google Patents

Abstract

Distributed processing units (DPU) are applied to elevator dispatching and back-up architecture. They are localizing the processing functions by sensing and controlling local devices and serially transmitting up-dates to other DPUs via one or more communication media (18). This makes it possible to confine the wiring to local levels eliminating the need for a centralized processor. The distributed processing units (DPU) are designed as floor processing units (FPUa,FPUb,...) one on each floor (E1...), car processing units (CPUa,CPUb,...) in each car (2), group processing units (GPUa,GPUb,...) and signalling processing units (SPUa,SPUb,...) in the machine room (22). They all possess intelligence to communicate and to perform local control algorithms. The distributed control is structured as a neural network, the nodes being implemented by the distributed processing units (DPU). Depending on the function to be processed, there are main nodes (A0,B0,C0...) with additional back-up nodes (Aa,Ba,Ca...) and auxiliary nodes (A1,A2,A3...). The inventive, distributed control is characterized by modularity, configurability and simplicity, providing reduced development cycle, ease of maintenance and increased reliability. <IMAGE>

Description

[0001]
[Industrial application fields]
The present invention includes a hall call registration device which is arranged on each floor to transmit a hall call seeking lift services each floor, the exchange each elevator and signals are received from the elevator and hall call A group control device for controlling the operation of the elevator in response to the received signal, further including a box including a box call registration device for a service required by a passenger, and executing and restraining the operation of the box A box driving device for moving the box in a selected upward or downward direction in response to a signal indicating a state of the box and a signal received from the group control device, and stopping the box A service for a plurality of floors of a building, including a box control device for each elevator to provide the signal indicating the operation of the box to control the operation of the box Comprising a plurality of elevators configured as conventional to row,
The group control device includes signal processor means for performing evaluation calculation for each box when a hall call is generated in response to the signal indicating each state of the box, and based on the evaluation calculation result The present invention relates to a new and improved intelligent distributed controller for elevators in which an optimal elevator box is selected and dispatched to answer the hall call.
[0002]
[Prior art]
Traditionally, an elevator controller is a centralized system and operation is controlled by one intelligent station in the system. This station can be located in the machine room, inside the cab or at the top, etc.
[0003]
Accordingly, such a control device became known from US Pat. No. 5,305,198 issued April 19, 1994 (IP389) and assigned to the present applicant. In this system, target calls are limited and immediately allocated to individual elevators to perform calls in response to higher and lower function requests. This allocation is immediately indicated on the call input floor. The weighted sum corresponding to the higher function request is formed from the partial operating cost, which is modified by the variable bonus penalty point factor to the operating cost in the sense of the lower functional request, and the target call has the lowest operating cost Allocated to This method is implemented on an industrial computer by a target call allocation algorithm that includes a dependent algorithm for bonus penalty point tracking and cost calculation. This calculation of operating costs is done with a cost calculation algorithm according to a special cost formula, and the re-adjusted bonus penalty point factor multiplicatively acts on the 6-term partial cost total. The prior art uses a computer as a central control unit for an elevator group consisting of three elevators A, B, C, and is implemented only by target calls without box calls. The different elements of the elevator group are connected to the controlling computer by a bus system. That is, the measurement and adjustment elements are connected to the computer by an elevator bus, the elements in each box are connected by a box bus, and the decimal keyboard for each floor for inputting a target call is connected to the computer by a floor bus. The elevator bus, box bus, and floor bus form a triple bus system connected to the computer by a special interface. A centralized computer can be any suitable computer, such as a separate computer for each elevator box, one that also controls group functions, a single computer for the entire elevator group, a single computer for more than one elevator group, etc. It may be configured. Common to all these computer configurations is a centralized control device to varying degrees.
[0004]
The main drawback of this type of system configuration is that substantial wiring effects are required despite the use of a bus system. Wiring must be done from a distant location in the system to a concentrated location. This process is not only expensive, but also prone to errors and troublesome. Another drawback of such a system is that it requires significant work for software development, testing and maintenance. Expanding the elevator system, i.e., increasing the number of floors and boxes, may overload the centralized computer and other elevator controls. In this case, the load is not averaged and the computer processing efficiency of the entire system is low. When a single central station is used for elevator control, the load of control functions and data processing cannot be distributed and averaged.
[0005]
[Problems to be solved by the invention]
The object of the present invention is therefore to overcome the aforementioned drawbacks by providing a fully modular system in which the overall wiring work is greatly reduced. In addition, the control device according to the present invention is configured to show an increase in system efficiency and reliability for all functions related to banking operations. This problem is solved by the present invention by means characterized in the version of the independent claim. Advantageous developments are indicated in the dependent claims.
[0006]
[Means for Solving the Problems]
The problems and disadvantages of prior art centralized controllers are solved by the present invention by using a distributed processing unit (DPU) that also provides the following advantages. The first advantage can be seen in the modularity and configurability of the distributed controller. The elevator control device based on the DPU localizes the processing according to the function. This results in a control device in which functions are performed locally in the respective parts of the control system. Using a commonly defined interface, different functions can be added simply by adding the necessary hardware and DPU. This makes it easier to create a system with the desired functionality that does not affect other DPUs, namely modularity and configurability. This will also add functionality for a given job with a minimum amount of engineering work in the future. Another advantage can be seen in the simplification of the control structure as a result of distributed processing. The control system is divided into different modules, each performing a defined set of tasks. Therefore, the development and maintenance of the control system is simplified due to the modular nature of this system. By specifying a predefined interface, each module can be developed independently and in parallel, reducing overall system development time. This shortens time to market, reduces development costs, and simplifies software maintenance. It has also been found that the system according to the present invention exhibits improved overall reliability and safety since there is no single point of failure and a reduced operating mode is possible.
[0007]
These and other advantages of the present invention will be readily apparent to those of ordinary skill in the art by reviewing the following detailed description of the preferred embodiment in view of the accompanying drawings.
[0008]
【Example】
In FIG. 1, the elevators of the elevator group are designated by A, B, C, and the box 2 is guided by the elevator shaft 1 for each elevator so as to perform service for the 16 floors E1 to E16. It is driven by a winding motor 3 in a known manner via a winding cable 4. Each drive device 3 is controlled by a drive control device, whereby the target value generation, adjustment function, and start / stop operation start are all performed by the industrial computer 5. The measuring and adjusting element 6 is connected to the industrial computer 5 by a first interface IF1 and an elevator bus 7. Each box includes a load measuring device 8 for determining when a passenger enters and leaves the elevator box, a box display device 9 for notifying each operating state Z of the box, a stop indicator 10, and a box And an operation panel 11. The devices 8, 9, 10 and 11 are connected to the computer 5 via the box bus 12. Box calls are recorded in the elevator boxes A, B, C by a suitable push button arrangement incorporated in the box control panel 11. The call is then serialized and sent to the industrial computer 5 via the box bus 12 and interface CIF along with other box related information.
[0009]
On the floors E1 to E16, the “up” hall call push button 14 located on the lowest floor E1, the “down” hall call push button 15 located on the top floor E16, and the “up” located on each intermediate floor E2 to E15. And a call registration device 8 in the form of a suitable push button 13, such as a “down” hall call push button 16. Similar to the box call, the hall call is serialized and sent to the industrial computer 5 via the floor bus 17 and the input interface ICF, and by using a special hall call allocation algorithm, the required function profile. Are allocated to services for individual boxes 2.
[0010]
FIG. 2 shows an elevator control system based on the distributed control concept. The control system uses a neuron chip based local operating network (Lonworks) by Echelon Corporation. This is a new technique that promises a better opportunity to create a low cost distributed control system that includes a unique means of implementing a distributed control algorithm. The basic principle of this technique involves creating a system that includes a distributed processing unit (DPU). This DPU has the intelligence to detect and control local devices and send updates to other DPUs in the system. All the distributed processing devices DPU operate automatically, independently and autonomously under the management of software stored in each DPU. The DPUs are connected to each other via one or more available communication media 18, thereby sharing a common message-based communication protocol. This limits the wiring to the local level and allows device status to be sent sequentially to different points in the system. Therefore, the overall wiring work is greatly reduced. Each DPU in such a system has the intelligence to execute control algorithms as well as the intelligence to send messages between different points in the system. By distributing the control functions to different DPUs, there is no need to have a centralized processor.
[0011]
This is shown in FIG. In this figure, the control system is composed of several intelligent DPUs interconnected by a communication medium 18. The number of DPUs varies depending on the requirements of the control system. The control system needs to be configured in relation to the required processing capacity, not in terms of the number of elevators and floors. However, the function performed by any given DPU does not change. In the three floors E1, E2, and E3, the floor processing device FPU is located in the corridor fixing box 20 of each floor E1, E2, and E3 and in the fire control center 21. Located in the elevator box 2 is a box processor CPU for door operation, position indicator, landing system and box call function. In the machine room 22, another group processing device GPU and a signal processing device SPU are located. The floor processing device FPU and the box processing device CPU execute functions related to the sensor device and the actuator device, and execute necessary control functions. In addition, these devices broadcast the latest status of important devices and notify other DPUs in the system. Information received by other DPUs along with the state of the local device in this way is used in making control decisions for which the DPU is responsible. The group processing unit GPU mainly includes a hall call allocation function, and the signal processing unit SPU relates to a transmission function for inter-process communication. Thus, a fully modular system including a distributed control function can be created.
[0012]
An example of how a typical elevator operation is performed by such a system is shown in FIG. When the passenger presses the hallway call button 25 on the third floor, the floor processing unit FPUa located in the hallway fixing box 20 on that floor recognizes that the elevators A, B, and C are operable. Latch. This information is then transmitted to the first group processing unit GPUa in the machine room 22. The group processing unit GPUa executes an evaluation calculation for determining the hall call allocation to the box 2 and controls the drive unit 26 that controls the movement of the elevators A, B, C based on the evaluation calculation result. Responsible for performing box 2 group management. When information on the request on the third floor is received, the group processing unit GPUa starts a command for moving the assigned elevator, which in this case is elevator A, towards the third floor. When the elevator A moves through the building, the box processing device CPUc that monitors the landing system is installed on each floor E1. . . The other distributed processing unit DPU is updated when passing through. Upon receiving this information, the floor processing device FPUa on the third floor changes the position indicator 27 to the position and direction of the appropriate floor. At the same time, the first group processing unit GPUa also receives the landing system update from the box processing unit CPUc and determines whether to continue traveling or to stop at the next floor based on this information. When the next floor is the target floor, the second group processing device GPUb changes the command to the drive device 26 to stop at that floor. When the elevator starts to decelerate, the second group processing unit GPUb broadcasts this information to the entire network. Upon receiving this information, the floor processing device FPUa on the third floor cancels the corridor call being answered, and simultaneously turns on the hall lantern 28 for that purpose. When elevator A arrives at the correct horizontal position, the group processing unit GPUb gets an update from the landing system box processing unit CPUc, whereby the drive unit 26 is instructed to stop the elevator there, and the second group processing The device GPUb notifies the door processing devices CPUa and CPUb that the elevator has stopped at the target floor. At this point, CPUa and CPUb responsible for door operation command the door to open and then close after a predetermined time. All these operations complete the request on the third floor. The typical elevator operation described above involves the exchange of data between the various distributed processing units DPU. For this purpose, the group processing units GPUa and GPUb communicate with each other via the first data field 29 and the box processing units CPUa, CPUb,... Communicate with each other via the second data field 30. Signal processing devices SPUa, SPUb,. As shown in the example above, a fully modular system can be created without the need for a central processing unit designated 5 in FIG. By distributing the processing responsibilities of the system, the task becomes much simpler and the load balance can be averaged. This simplicity is directly reflected in the system development cycle and ease of maintenance. In order to average the load, a distributed processor with a heavy load can actually be temporarily exempted from executing the process. Even if one of the group processing units GPUa, GPUb,... Is operable, group control can be performed, thereby ensuring reliability in this respect. Thus, high reliability and high system efficiency are achieved through cooperative distributed control implemented by individual distributed processing units DPU.
[0013]
FIG. 3 shows a neural network structure used to implement distributed control for an elevator dispatch backup architecture. The multi-box dispatch model was selected by applying a low cost and high performance neuron MC143150 chip. The boxes to be allocated to the hall call are selected based on the results obtained using the neural net corresponding to the neurons of the human brain. The neural net includes an input layer, an output layer, and an intermediate layer provided between the input layer and the output layer. In the intermediate layer, weighting factors are applied when combining the signals from the nodes of the input layer and when distributing the signals to the output nodes. The weighting factor is variable and is appropriately changed and corrected through learning to provide more reasonable box allocation. Different sets of learning factors can be applied at different times or under different conditions in which passenger load is detected. Learning (network correction) can be performed using a back-propagation scheme. Backpropagation is a method of correcting the weighting factor using the error between the output data of the network and the desired output data created from statistical data or control target values. Each primary node includes its own estimated arrival time software to implement a token ring algorithm for box-to-box communication and a designed backup architecture. Both of these ensure reliability for banking services.
[0014]
In this dispatch model, nodes A0, B0, C0, D0,... Are the primary nodes (MC143150) for all bank boxes, and nodes A1, A2, A3,. MC143120), and nodes Aa, Ba, Ca, Da,... Are backup nodes (MC143150) for the main nodes of all boxes A, B, C, and D.
[0015]
Rather than simply having one node calculate the ETA to ensure reliability for banking operations, each primary node will run its own ETA calculation software to execute the token ring algorithm for box-to-box communication including. The neuron network management also ensures the parallelism of signal transmission between the auxiliary nodes A1, A2, A3, .. or the main nodes A0, B0, C0,. The 3150 chip provides 64 KB for user programs and communicates with other nodes via the network common port 34.
[0016]
In the case of important nodes such as main nodes A0, B0, C0,..., Additional backup nodes Aa, Ba, Ca,. Each node pair 35 includes a main node and a backup node. Each node pair starts for incoming data and also follows outgoing data by multiplexer 36. On the backup node side, the consistency check software always sends a signal to check the network common port 34 and application I / O port 37 of the main node. When an error is found, a signal for selecting backup nodes Aa, Ba, Ca,... For data communication is transmitted from the node pair 35. When this system is installed, every node has its own ID, and possibly backup nodes Aa, Ba, Ca,. When a common error occurs, all related nodes can look for backup nodes.
[0017]
The present invention is not limited to the specific embodiments described above. Various changes and modifications can be made without departing from the spirit and scope of the invention.
[Brief description of the drawings]
FIG. 1 is a schematic diagram of a conventional elevator group performing centralized control for three elevators using an industrial computer.
FIG. 2 is a schematic diagram of an elevator system using neural network based distributed control according to the present invention.
FIG. 3 is a diagram of a neural network structure used to implement distributed control according to the present invention.
[Explanation of symbols]
A, B, C Elevator, Elevator group 1 Elevator shaft 2 Box 3 Drive device 4 Floor 5 of winding cables E1,, E16 16 Industrial computer 6 Measurement setting member IF1 Interface 7 Elevator bus 8 Load measuring device Z Operation state 9 Operation state notification device 10 Stop indicator 11 Box operation panel 12 Box bus CIF interface 13 Push button 14 Up hall call push button 15 Down hall call push button 16 Up down hall call push Button 17 Floor / bus DPU Distributed processing device 18 Communication medium FPU Floor processing device 20 Corridor fixed box 21 Fire control center CPU Box processing device GPU Group processing device SPU Signal processing device 22 Machine room 23 Sensor device 24 Actuator device 25 Corridor call button ( (3rd floor)
FPUa Floor processing device: 3rd floor FPUb Floor processing device: 2nd floor FPUc Floor processing device: 1st floor FPUd Fire control processing device GPUa First group processing device GPUb Second group processing device 26 Drive device CPUa Front door box processing device CPUb Back door box processor CPUc Landing system box processor CPUd Position display box processor CPUe Box call function box processor 27 Position indicator GPUd Third group processor 28 Hall lantern 29 First data field 30 Second Data fields A0, B0, C0. . . Main nodes A1, A2, A3. . . Auxiliary nodes Aa, Ba, Ca. . . Backup node 34 Network common port 35 Node pair (main node / backup node)
36 Multiplexer 37 Application I / O port

Claims (6)

Includes a hall call registration device which is arranged on each floor to transmit a hall call seeking lift services each floor, the exchange each elevator and signals, to the signal received from the elevator and hall call A group control device for controlling the operation of the elevator in response, further comprising a box, a box drive device for executing and restraining the operation of the box, a signal indicating the state of the box and a group control device A box control that provides a signal indicating the state of the box to control the operation of the box to move the box in a selected upward or downward direction in response to the received signal and to stop the box A plurality of elevators configured conventionally to perform services for a plurality of floors of a building, including a device for each of the elevators,
The group control device includes signal processor means for performing evaluation calculation for each box when a hall call is generated in response to the signal indicating each state of the box, and based on the evaluation calculation result In an intelligent distributed controller for elevators where the optimal elevator box is selected and dispatched to answer the hall call,
The intelligent distributed control device includes a distributed processing unit (DPU) and is configured as a neural network including an input layer , an intermediate layer, and an output layer, and the nodes of the neural network are implemented by the distributed processing unit (DPU). And a floor processing unit (FPUa) arranged on each floor (E1, E2,...) For controlling the corridor fixing box (20) on each floor and autonomously inputting / outputting information related to the floor. , FPUb, ...) and
Box processing arranged in each box (2) of the elevator (A, B, ...) to control each box (2) and autonomously input / output information related to that box (2) Devices (CPUa, CPUb,...),
Group processing arranged in the machine room (22) to perform evaluation calculation to determine the hall call assignment to the box (2) and to perform group management of the box (2) based on the evaluation calculation result Devices (GPUa, GPUb,...),
One or more signal processing devices (SPUa, SPUb,...) Provided to allow the group processing devices (GPUa, GPUb,...) And the floor processing devices (FPUa, FPUb,...) To communicate with each other. ...). First door processing device (CPUa) for front door operation, second door processing device (CPUb) for back door operation, landing system processing device (CPUc) for landing system, position display 2. The intelligent distributed control device according to claim 1, wherein a position processing device for CPU (CPUd) and a box call processing device (CPUe) for a box calling function are provided in each box. The intelligent distributed control device according to claim 1, characterized in that the status of the device is transmitted sequentially to the various distributed processing units (DPUs) in the system. The intermediate layer includes a first weighting factor between an individual node of the input layer and an individual node of the intermediate layer, and a first weight factor between the individual node of the intermediate layer and the individual node of the output layer. The intelligent distributed control apparatus according to claim 1, further comprising: a weighting factor of two. The neural network includes main nodes (A0, B0, C0,...) And auxiliary nodes (A1, A2, A3,...), Whereby each main node (A0, B0, C0,...). 2. The intelligent decentralized control device according to claim 1, characterized in that it is connected in parallel to backup nodes (Aa, Ba, Ca,...). Intelligent according to claim 1, characterized in that each main node (A0, B0, C0, ...) includes its own ETA software for executing a token ring algorithm for inter-box communication. Distributed control unit.

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