WO2010074201A1 - エレベータの群管理制御方法及び装置 - Google Patents
エレベータの群管理制御方法及び装置 Download PDFInfo
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- WO2010074201A1 WO2010074201A1 PCT/JP2009/071544 JP2009071544W WO2010074201A1 WO 2010074201 A1 WO2010074201 A1 WO 2010074201A1 JP 2009071544 W JP2009071544 W JP 2009071544W WO 2010074201 A1 WO2010074201 A1 WO 2010074201A1
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- waiting time
- hall call
- value
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- expected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
- B66B1/2458—For elevator systems with multiple shafts and a single car per shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
- B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
- B66B1/20—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages and for varying the manner of operation to suit particular traffic conditions, e.g. "one-way rush-hour traffic"
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
- B66B2201/102—Up or down call input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/211—Waiting time, i.e. response time
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/216—Energy consumption
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/233—Periodic re-allocation of call inputs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/235—Taking into account predicted future events, e.g. predicted future call inputs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/243—Distribution of elevator cars, e.g. based on expected future need
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/402—Details of the change of control mode by historical, statistical or predicted traffic data, e.g. by learning
Definitions
- the present invention relates to an elevator group management control method and apparatus, and in particular, a group capable of performing efficient elevator operation control under various traffic conditions and various specification conditions required for a group management system.
- An object of the present invention is to provide a management control method and apparatus.
- the conventional group management system has a main control goal of shortening the average waiting time of elevator passengers by efficiently controlling the operation of a plurality of elevators in a building. Therefore, what the group management system should really evaluate in its control is the waiting time of all passengers including passengers that will occur in the future, and basically the weight of waiting time of each passenger should be considered equivalent. is there.
- the waiting time of the hall call that is, the elevator responds to the call after the hall call is registered. Control to evaluate the waiting time as waiting time.
- the waiting time of the newly registered hall call to be assigned was the center of the evaluation, and the waiting time of each hall call was not necessarily treated equally.
- the assignment of hall calls affects not only calls that have already occurred but also hall calls that will occur in the near future, it is indispensable that future hall calls will be included in the evaluation. Even if an evaluation of a hall call to be performed is performed, the evaluation value is generally handled as a correction term (for example, Patent Document 1).
- the conventional general group management system is premised on the “immediate allocation method” that instantly determines the answering machine when a hall call is registered, and the “immediate forecasting method” that immediately guides the assigned car at the hall. Yes.
- this “immediate forecast method” group management system changing the hall call assignment after the assignment may cause confusion for the waiting passengers of the elevator. Therefore, it is desirable not to change the assignment as much as possible. For this reason, the assignment change has been limited to a case where a specific condition is satisfied, for example, a hall call that is likely to wait for a long time is assigned to another machine (for example, Patent Document 2).
- the conventional group management system has a control means for moving a car to an arbitrary floor by assigning a pseudo call (virtual call). It was limited under limited traffic conditions such as floor recall (for example, Patent Document 3).
- the conventional group management system has been developed with a policy of reducing the waiting time for the hall call by applying artificial intelligence techniques such as fuzzy and neuro (see Patent Document 4).
- the allocation is changed only when a specific situation such as the occurrence of a long wait actually occurs.
- the “immediate forecasting method” that is premised on a general group management system in the first place.
- the immediate forecast may not be required depending on the country, region, or customer's way of thinking, and the immediate forecast is often not applied even when the number of elevators in the group management system is small.
- the evaluation criteria differ depending on the allocation of the hall call and the allocation change of the hall call, although the allocation of the hall call may be freely changed. Therefore, it was difficult to say that the change in hall call assignment was utilized to reduce passenger waiting time.
- Patent Document 3 includes a control unit that moves a car to an arbitrary floor by assigning a pseudo call (virtual call) to an empty car (a car that has stopped without having a driving direction). Its use is still limited to limited traffic conditions such as distributed waiting in off-season and reference floor recall at work, and there is a possibility of shortening waiting time by assigning pseudo calls in any traffic situation Nevertheless, it is difficult to say that the pseudo call assignment is still fully utilized to reduce the waiting time of the hall because different evaluation criteria are used for the hall call assignment and the pseudo call assignment.
- Allocation changes and pseudo-call allocations differ depending on the group management specifications, elevator specifications, landing user interface, building use, customer requirements, traffic conditions, etc., but depending on various requirements and specification conditions. Therefore, it has been difficult to perform group management control that reduces the waiting time of passengers while changing assignments or making pseudo-call assignments at an appropriate frequency.
- Patent Document 4 when trying to shorten the waiting time for a hall call by applying artificial intelligence technology or the like, the system is Complicated, large-scale, black-boxed, it is difficult to deal with not only the above-mentioned problems but also the addition of new control functions in a limited development period. Even if the above problems were pointed out, it was extremely difficult to analyze, explain, and adjust them.
- the present invention was made to solve the various problems described above, and a plurality of elevators were put into service for a plurality of floors, and an evaluation index was calculated for a newly generated hall call,
- the elevator group management control method that selects and assigns the optimal car based on the evaluation index, the waiting time expected value of all passengers for each floor direction that has already occurred or is expected to occur within a predetermined time (Total sum of waiting time or average expected value) is used as the evaluation index.
- the present invention not only assigns a new hall call using the expected waiting time as an evaluation index, but also assigns a hall call based on the same evaluation index or assigns a pseudo call to an empty car for a predetermined time. It is characterized in that it is performed every time or at the same time as the assignment of a new hall call.
- the present invention uses the estimated waiting time value for the passenger arrival rate for each floor direction, the estimated landing call occurrence rate for the entire group, and the predicted arrival time for each car for each floor direction. It is characterized in that it is calculated.
- the present invention by using a method of probabilistically evaluating the waiting time of passengers instead of the waiting time of hall calls as in the past, the deviation of passenger arrival rates on each floor and the waiting time of passengers occurring in the future Can be properly evaluated, and the waiting time for passengers, which is originally required, can be reduced even in complicated and diverse traffic situations.
- control means other than landing call assignment that is, assignment change of landing call and assignment of pseudo call to an empty car that has no driving direction.
- the pseudo call assignment can be effectively used at all times without being limited to limited traffic conditions, that is, an empty car that is stopped without having a driving direction can be appropriately positioned at any time.
- the waiting time of passengers can be shortened by moving to.
- a group management control method based on a unified evaluation index of passenger waiting time can be realized, and as a result, a simple control structure is achieved as compared with a group management control using conventional artificial intelligence. be able to. Therefore, it becomes easy to add a new control function, and even if a problem in control is pointed out, the analysis, explanation, adjustment, etc. can be easily performed.
- FIG. 1 is a diagram showing an overall configuration of an elevator group management system according to Embodiment 1 of the present invention.
- FIG. 2 is a diagram showing the relationship between the car position and the call for explaining the prediction of the car arrival time.
- FIG. 3 is a diagram showing an example of the predicted arrival time table in the present invention.
- FIG. 4 is a main flowchart showing the entire processing procedure in the first embodiment of the present invention.
- FIG. 5 is a diagram showing a change in the predicted arrival time of each unit with respect to a certain stop position.
- FIG. 6 is a diagram showing a part of the shaded area shown in FIG.
- FIG. 7 is a flowchart for explaining a specific processing procedure of the new hall call assignment processing in step S2 of FIG.
- FIG. 8 is a flowchart for explaining a specific procedure of waiting time expectation value calculation processing for all passengers at all stopping positions in step S24 of FIG.
- FIG. 9 is a part of a flowchart for explaining a specific procedure of waiting time expectation value calculation processing for all passengers at the stop position s in step S204 of FIG.
- FIG. 10 is a part of a flowchart for explaining a specific procedure of waiting time expectation value calculation processing for all passengers at the stop position s in step S204 of FIG.
- FIG. 11 is a part of a flowchart for explaining a specific procedure of hall call assignment change processing in step S4 of FIG.
- FIG. 12 is a part of a flowchart for explaining a specific procedure of hall call assignment change processing in step S4 of FIG. FIG.
- FIG. 13 is a part of a flowchart for explaining a specific procedure of hall call assignment change processing in step S4 of FIG.
- FIG. 14 is a part of a flowchart for explaining a specific procedure of the pseudo call assignment processing in step S5 of FIG.
- FIG. 15 is a part of a flowchart for explaining a specific procedure of the pseudo call assignment processing in step S5 of FIG.
- FIG. 16 is a part of a flowchart for explaining a specific procedure of the pseudo call assignment process in step S5 of FIG.
- FIG. 17 is a part of a flowchart showing a procedure of new hall call assignment and assignment change processing according to the second embodiment of the present invention.
- FIG. 14 is a part of a flowchart for explaining a specific procedure of the pseudo call assignment processing in step S5 of FIG.
- FIG. 15 is a part of a flowchart for explaining a specific procedure of the pseudo call assignment processing in step S5 of FIG.
- FIG. 16 is a part of a flowchar
- FIG. 18 is a part of a flowchart showing a procedure for new hall call assignment and assignment change processing according to the second embodiment of the present invention.
- FIG. 19 is a part of a flowchart showing a procedure of new hall call assignment and assignment change processing according to the second embodiment of the present invention.
- Embodiment 1 In general, the car position in the group management control cannot be determined by the floor alone, but needs to be determined including the direction of operation of the car. Therefore, in order to simplify the description, in the following description, the term “stop position” will be used as the concept of the stop position of the car including the floor and direction.
- FIG. 1 is a diagram showing an overall configuration of an elevator group management system according to Embodiment 1 of the present invention.
- a case where three elevators of No. 1 to No. 3 are managed as a group will be described as an example, but it is needless to say that the number is not limited to this number.
- 11 is an elevator control device that controls the operation of the elevator of the first unit
- 12 and 13 are elevator control devices that control the operation of the elevators of the second and third units
- 20 is a common hall call for each unit.
- a hall call registration device 30 that performs registration is a group management control device that manages the operation of each elevator as a group while communicating with each of the elevator control devices 11 to 13.
- the passenger arrival rate estimation means for estimating the arrival rate of passengers at each stop position. For example, it is assumed that the arrival of passengers using an elevator is Poisson arrival, and the probability is based on learning data regarding the time when a landing call has not occurred.
- the passenger arrival rate is estimated by a conventionally used method such as estimating the passenger arrival rate.
- the arrival rate of passengers may be corrected based on the number of car calls and changes in the car load.
- a hall call occurrence rate estimating means for estimating the occurrence rate of hall calls in the entire group, for example, dividing the number of hall call occurrences per predetermined time in the time zone based on short-term learning or long-term learning, etc. This can also be easily obtained by a conventionally used method.
- Reference numeral 33 denotes a car arrival time predicting means for predicting the time at which each car can arrive at each stop position.
- This arrival time prediction is basically used for waiting time prediction of a conventional hall call.
- Various techniques can be used. However, for the waiting time prediction of the conventional hall call, it was sufficient to predict the waiting time during one round of the car, but since the present invention needs to predict the waiting time of passengers that will occur in the future, As shown in FIG. 2, taking into account the farthest car call derived from the assigned hall call on the back, one and a half laps, and the waiting time for passengers after having responded to all the calls that can be assumed at present It is necessary to estimate the arrival time during the maximum two and a half laps of the car.
- FIG. 1 An example of the predicted arrival time table created by this car arrival time prediction means is shown in FIG.
- the time required for the car to travel on the first floor is calculated as 2 seconds, and the time required for one stop is 10 seconds. Calculated based on learning data.
- 34 is a sum of waiting times or an average expected value (hereinafter, sum of waiting times) of all passengers (including passengers that have already occurred) expected to occur within a predetermined time at all stop positions.
- the waiting time expectation value calculating means that calculates the average expectation value simply as waiting time expectation value) as a general-purpose evaluation index will be described later.
- a hall call assigning means for assigning a newly registered hall call to the optimum car by comprehensively evaluating the expected waiting time value as an evaluation index or combining the expected waiting time value with other evaluation indices. Every time a new hall call occurs, an assignment process is performed.
- the 36 is a hall call assignment changing means for changing the assigned hall call based on the expected waiting time value.
- the waiting call expectation value when the assignment is changed every predetermined time is calculated. If the difference satisfies the predetermined condition, the hall call assignment is changed.
- a pseudo call allocating means for allocating a pseudo call to an empty car based on the expected waiting time value, and calculates the expected waiting time value when the pseudo call is allocated every predetermined time. If the difference satisfies the predetermined condition, a pseudo call is assigned to the empty car.
- Reference numeral 39 denotes communication means for communicating with each of the elevator control devices 11 to 13.
- FIG. 4 is a main flowchart showing the entire processing procedure, and shows that the allocation process is performed every time a new hall call occurs, and the hall call allocation change process and the pseudo call process are performed every predetermined time. It is always executed repeatedly.
- step S1 it is determined whether or not a new hall call exists. If there is, a waiting time expectation value of all passengers at all the above-mentioned stop positions is calculated in step S2, and the hall call is calculated based on the result. Is assigned to the most appropriate car. Further, apart from the assignment of a new hall call, every time a predetermined time elapses (step S3), the waiting time expectation value of all passengers in step S4 is compared with the waiting time expectation value when the assignment is changed. If the difference satisfies the predetermined condition, the assignment is changed. Similarly, in step S5, the current waiting time expectation value is compared with the waiting time expectation value when a pseudo call is assigned to an empty car.
- pseudo call assignment processing is performed.
- a new hall call occurs and every predetermined time
- waiting time expectation values of all passengers are calculated, and the value becomes as small as possible.
- hall call assignment changes in order to shorten the waiting time for all passengers, not only new hall call assignments based on the same evaluation index, but also hall call assignment changes, pseudo call assignments to empty cars, etc. I am trying to implement it.
- the waiting probability of the empty car By representing the waiting probability of the empty car as an exponential function and using it for the calculation of the waiting time expectation value described later, the presence of the empty car is given to the waiting time of passengers that will occur in the future, although it is simple. It is possible to evaluate the impact probabilistically.
- FIG. 5 is a graph showing a change in predicted arrival time of each unit with respect to a certain stop position, where the horizontal axis represents time and the vertical axis represents predicted arrival time.
- Unit 1 is always traveling within the time T and passes through the target stop position once.
- Unit 2 shows that it is stopped at the current empty car
- Unit 3 is a currently-running, indicates that become empty car stops at time t 4.
- the waiting time expected value of all passengers is a value obtained by integrating the hatched portion and multiplying by the passenger arrival rate ⁇ .
- the expected value of the waiting time is calculated assuming that the empty car responds with the probability P (t) shown in Equation 1.
- the shaded area is divided at a time that satisfies the following conditions.
- (b) The time when the traveling car is stopped in the empty car
- the traveling car is the target Time to reach the stop position
- the waiting time expectation value of all passengers in the region E 5 shown in FIG. 5 can be obtained by the following equation (Equation 2).
- the waiting time expectation value E Z of all passengers in the time period t a to t b is The following equation (Equation 3) can be obtained.
- the waiting time expectation value E S of all the passengers that occur within a predetermined time T at station position s is obtained by the following equation (Equation 4).
- the waiting time expectation value of the passenger in this case can be obtained by the following equation (Formula 5). Then, in all the station positions, already all the passengers waiting time expectation value E T which is expected to occur within Occurring or a predetermined time T, can be obtained by finally following equation (6).
- the E T is the "waiting time expectation value of all the passengers at all the station positions" used as a generic evaluation index in the group management control method according to the present invention.
- FIG. 7 is a flowchart showing a specific processing procedure of step S2 in FIG. 4, and when waiting for a new hall call to be assigned to each car, the waiting time expectation values of all passengers at all the stop positions are calculated respectively. This shows the procedure for assigning a new hall call to the unit with the smallest value.
- step S21 the maximum value is set as the initial value of the variable eval representing the expected waiting time value, and the processing in the meantime is repeated for all units in steps S22 and S27.
- step S23 a predicted arrival time table when a new hall call HC is temporarily assigned to the i-th car is created for all the cars as shown in FIG. Then, based on the predicted arrival time table in step S24, the waiting time expectation values of all passengers at all the stop positions when temporarily assigned to the i-th car are calculated (detailed procedure will be described later), and stored as a variable e. .
- step S25 this e is compared with the above-mentioned eval. If e ⁇ eval, the waiting time expected value e at that time is substituted in eval and the machine number i is substituted in car in step S26. Similarly, when step S23 to step S26 are repeated for all units, the minimum value of the waiting time expectation values of all passengers at all stop positions when a new hall call is provisionally assigned to each unit is set to eval. Since the temporarily assigned car at that time is stored as car, a new hall call HC is actually assigned to the car car whose waiting time expectation value is minimized in step S28.
- step S24 a specific processing procedure for calculating the waiting time expectation values of all passengers at all the stop positions when a new hall call is temporarily assigned to a certain car in step S24 is shown in the flowchart of FIG.
- step S201 the initial value of the variable E T representing the waiting time expectation value of all the passengers at all the station positions in step S201 is zero.
- step S202 the occurrence rate of the hall call shown in the above equation 1 is obtained and set to ⁇ , and the processing in between is repeated for all the stop positions in steps S203 and S206. That it was the E S calculates the waiting time expectation value of all the passengers in step S204 the station position s, updates and stores those of the E S was added to the E T in step S206 as a new E T.
- step S204 and step S205 for all the station positions, the waiting time expectation value of all the passengers at all the station positions, assuming that the temporarily assigned a new hall call is that obtained as E T in one Unit, return this E T in step S24 in FIG. 7 in step S207, it is substituted into e.
- step S251 the passenger arrival rate at the stop position s is obtained as ⁇ , and in step S252, a predetermined time T (for example, about 60 seconds) is calculated, and a plurality of times in which the waiting time expected value can be integrated as described with reference to FIG. Divide into bands.
- the number of steps S253 in divided time periods is n, 0 as the initial value of E S in step S254, sets respectively the current time as the initial value of t a.
- step S259 the time period z, by substituting the predicted arrival time of Unit reachable in the shortest time to w 0 with respect to the station position s, at step S260, the driving direction in the time period z
- the arrival times of all the units whose estimated arrival time for the stop position s is shorter than w0 among the no units are assigned to w 1 to w m in the shortest order, and the number of units is assigned to m. Then, based on the formula given by the number 3 above at step S261, calculates the expected value E Z of latency in time zone z.
- step S257 if z is the first time zone in step S257 and there is a landing call at the stop position s in step S258, the passenger who has already occurred is targeted, so the waiting time expectation based on the above equation 5 is expected. The value is to be calculated, and the process proceeds to step S262. Step S262 and hall call acar assignment No.
- step S266 in search of the predicted arrival time hcwt from the difference, it calculates the expected value E Z of latency in the time period z based on the formula shown in step S266 by the number 5 above.
- step S 267 a material obtained by adding the E Z determined in step S261 or step S266 as a new E S in the original E S, updates and stores the t b as a new t a in step S268.
- the waiting time expectation value E s of all the passengers in the station position s is obtained, returns this E s in step S270 to step S204 of FIG. 8 , updated and stored as a new E s.
- FIG. 11 to FIG. 13 are flowcharts showing the specific procedure of the hall call assignment changing process in step S4 of FIG. 4.
- the flow is divided into three parts by connection symbols C and D.
- This process calculates the waiting time expectation value of all passengers at all the stop positions when the assigned car of the assigned hall call is changed to another car, and the difference is compared with before the assignment change. When the predetermined condition is satisfied, the allocation change is attempted.
- step S401 the current predicted arrival time table is created for all units, and is stored as a Tab.
- step S402 the waiting time expectation value of all the passengers at all the current stop positions is calculated based on the predicted arrival time table, and is stored as eval0.
- the procedure for calculating the expected waiting time for all passengers in step S402 is the same as that in step S24 in FIG.
- step S403 the maximum value is set as the initial value of the variable eval that represents the expected waiting time when the assignment is changed.
- step S405 it is determined whether or not there is an assigned hall call at the stop position s. If there is an assigned hall call, the assigned car is set to acar in step S406.
- step S408 it is determined whether or not the i-th car is the above-mentioned acar car. If the service is possible, a predicted arrival time table in the case where the assigned car at the stop position s is assigned to the i-th car in step S410 is created as shown in FIG. 3, and the predicted arrival time is obtained in step S411. An expected waiting time value for all passengers based on the time table is calculated and stored as a variable e. The procedure for calculating the expected waiting time for all passengers in step S411 is the same as that in step S24 in FIG.
- step S412 this e and the above eval are compared. If e is smaller, it is updated and stored as a new eval, and the assigned machine number i at that time is stored as car. If the same processing is performed for all the units in step S414 and repeated for all the stop positions in step S415, the minimum value of the expected waiting time when the allocation is changed for eval, The allocation change machine at the time will be stored.
- step S416 it is determined whether or not the difference between the current waiting time expected value eval0 (before changing the temporary assignment) and the minimum value eval after changing the temporary assignment is larger than the set value ReasParam1. Further, in step S417, whether the expected waiting time reduction rate (the value obtained by dividing the difference between the current waiting time expected value eval0 and the minimum value eval after the temporary allocation change by eval0 ⁇ 100%) is equal to or greater than the set value ReasParam2. If NO in step S418, the hall call at the stop position s is reassigned to car No. in step S418, and the hall call assignment change process ends.
- the expected waiting time reduction rate the value obtained by dividing the difference between the current waiting time expected value eval0 and the minimum value eval after the temporary allocation change by eval0 ⁇ 100%
- the allocation change is performed only when the waiting time expectation value of all passengers at all the stop positions is reduced by the set value or more and the reduction rate is the set value or more. Like to do.
- FIGS. 14 to 16 are flowcharts showing a specific procedure of the pseudo call assignment process in step S5 of FIG. 4, and the flow is divided into three by connection symbols E and F for convenience.
- This process calculates the waiting time expectation value of all passengers at all the stop positions when a pseudo call of a certain stop position is temporarily assigned to an empty car, and the difference satisfies a predetermined condition as compared with before the temporary assignment. If so, try to perform the pseudo-call assignment.
- step S501 the current predicted arrival time table is created for all units, and is stored as a Tab.
- step S502 the waiting time expectation value of all passengers at all the current stop positions is calculated based on the predicted arrival time table, and stored as eval0.
- the calculation procedure of the waiting time expectation value of all passengers at all the stop positions in step S502 is the same as that in step S24 in FIG.
- step S503 the maximum value is set as the initial value of eval.
- step S504 it is determined whether or not the i-th car is an empty car, and if it is an empty car, the process between the steps is repeated for all the stop positions s in steps S506 and S512.
- step S507 it is determined whether or not the i-th station can service the stop position s. If it can be serviced, the predicted arrival time table when the pseudo call of the stop position s is temporarily allocated to the i-th station in step S508 is described above. Created as shown in FIG. 3, the waiting time expectation value of all passengers is calculated based on the predicted arrival time table in step S509, and stored as a variable e. The procedure for calculating the expected waiting time for all passengers in step S509 is the same as that in step S24 in FIG.
- step S510 this e and the above eval are compared. If e is smaller, it is updated and stored as a new eval in step S511, and the assigned machine number i at that time is updated and stored as car. If the same processing is performed for all the stop positions and repeated for all units, the minimum value of the expected waiting time when pseudo call allocation is performed is set to eval, and the pseudo call temporary allocation at that time is set to car. The machine will be stored.
- step S514 it is determined whether or not the difference between the current waiting time expectation value eval0 (before pseudo call temporary allocation) and the minimum value eval after pseudo call temporary allocation is greater than the set value PseudoParam1. Further, in step S515, the waiting time expected value reduction rate (the value obtained by dividing the difference between the current waiting time expected value eval0 and the minimum value eval after pseudo-call provisional allocation by eval0 ⁇ 100%) is equal to or greater than the set value PseudoParam2. If it is equal to or greater than the set value, the pseudo call at the stop position s is assigned to the car No. in step S516, and the pseudo call assignment process to the empty car is terminated.
- the waiting time expected value reduction rate the value obtained by dividing the difference between the current waiting time expected value eval0 and the minimum value eval after pseudo-call provisional allocation by eval0 ⁇ 100%
- the waiting time expectation value of all passengers is reduced by more than the set value and the reduction rate is set.
- the pseudo call is assigned only when the value exceeds the value.
- Embodiment 2 the assignment of the new hall call and the assignment change of the hall call or the assignment of the pseudo call are performed at different timings. However, these can be performed simultaneously.
- FIGS. 17 to 19 are flow charts showing specific processing procedures when assigning a new hall call and changing the hall call assignment at the same time.
- the flow is divided into three by connection symbols A and B. It shows. This process is based on the expected waiting time of all passengers at all stop positions when a new hall call is assigned to each unit, and all passengers at all stop positions when the assigned hall call is reassigned to another unit.
- the waiting time expected value is compared, and if the difference satisfies the predetermined condition, an example of assigning a new hall call and changing the assigned hall call at the same time is shown. It is executed when it occurs.
- variable evalA representing the expected waiting time when the new hall call is temporarily allocated in step S601 and the variable evalB representing the expected waiting time when the allocation is changed simultaneously with the temporary allocation of the new hall call are maximized.
- a value is set, and the processing between the steps is repeated for all units in steps S602 and S617. That is, in step S603, a predicted arrival time table when a new hall call HC is temporarily assigned to the i-th car is created, and in step S604, waiting time expectation values of all passengers at all the stop positions are calculated based on the predicted arrival time table. Calculate and set it to variable e.
- the procedure for calculating the expected waiting time for all passengers in step S604 is the same as that in step S24 in FIG.
- step S605 the e and the above evalA are compared. If e is smaller, the value of e is updated and stored in step S606 as a new evalA, and the temporary assigned machine number i at that time is acarA.
- steps S607 and S616 the process between the steps is repeated for all hall calls AHC that the temporary assigned machine i is responsible for. That is, in step S608, it is determined whether or not HC and AHC are on the same floor. If they are not the same floor, the processing between them is repeated for all units j in steps S609 and S615. Here, it is determined whether or not HC and AHC are on the same floor. If a hall call in the opposite direction is already registered on the same floor as the new hall call, the hall call is simultaneously made on the same floor. This is to prevent a waiting call on the same floor from being subject to assignment change when assigning a new landing call, because there is a possibility that waiting customers may be confused when the assignment and the assignment change occur.
- step S613 the e is compared with the above evalB. If e is smaller, the value of e is set as a new evalB in step S614, the HC temporary allocation machine i is acarB, and the AHC temporary allocation change machine is rcarB. Each update is stored. When this is repeated for all units in step S615 and repeated for all hall calls AHC in step S, a new hall call and an assigned hall call are simultaneously assigned to evalB at the same time. In this case, the minimum waiting time expected value is stored, a temporary allocation machine at that time is stored in acarB, and a temporary allocation change machine is stored in rcarB.
- step S617 when this is repeated for all the cars, evalA stores the minimum waiting time expectation value when a new hall call is temporarily assigned, and acarA stores the temporary assigned car at that time. Will be.
- step S618 it is determined whether or not the difference between evalA and evalB is greater than the set value ReasParam1. Further, in step S619, it is determined whether or not the waiting time expected value reduction rate (a value obtained by dividing the difference between evalA and evalB by evalA ⁇ 100%) is equal to or greater than the set value ReasParam2.
- step S620 HC is assigned to the acarB machine, and in step S621, AHC is assigned to the rcarB machine and changed.
- step S618 or step S619 is not satisfied, an HC is assigned to acar A at step S622, and the assigned hall call assignment is not changed.
- a new landing is only made when the waiting time expectation value of all passengers at all stopping positions is reduced by more than the set value and the reduction rate is more than the set value. Call assignment and assignment change are performed at the same time. Otherwise, only new hall call assignment is performed.
- the difference from the current waiting time expectation value and the reduction rate are compared with the set value.
- the set value need not be a fixed value. For example, when immediate forecasting is not performed, the setting value related to the allocation change is brought close to 0, and if there is a possibility that the waiting time expected value can be improved even slightly, the hall call allocation change is executed, In this case, the setting value related to pseudo call assignment is set to a large value, and standby operation by pseudo call is performed only in a situation where a large waiting time reduction effect is expected, according to the group management specifications and conditions of the building. It is possible to set arbitrarily.
- the waiting time expectation value of all passengers at all the stop positions is used as a general-purpose evaluation index, a car that can arrive in the shortest time is not necessarily assigned to each hall call, It may be possible to pass through a hall call.
- the group management system having only hall lanterns as the hall guidance device even if the car passes the hall call, there is no problem because the waiting passengers cannot recognize that, but the hall guidance device
- a waiting customer at the hall recognizes how the car passes.
- A is a constant for converting customer dissatisfaction with respect to the passing event into time
- B is a coefficient representing customer dissatisfaction that increases in proportion to the elapsed time from passage.
- t s and t p can be obtained from the foregoing table for estimated time of arrival. If the waiting passenger can recognize the passing of the car by installing a hall indicator, etc., this penalty value is evaluated in addition to the waiting time expectation value of all passengers, which is a general-purpose evaluation index of the present invention, or other evaluation indices In addition, comprehensive evaluation may be performed.
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Abstract
Description
したがって、群管理システムが、その制御において真に評価すべきなのは、将来発生する乗客も含めた全ての乗客の待ち時間であり、基本的に乗客一人一人の待ち時間の重みは等価と考えるべきである。しかしながら、群管理システムは直接的に乗客一人一人の待ち時間を知ることが困難なため、従来は、その代替として乗場呼びの待ち時間、すなわち乗場呼びが登録されてからその呼びにエレベータが応答して到着するまでの時間を待ち時間として評価する制御を行っていた。
一般に、群管理制御におけるかご位置については、階床だけでは判断できず、かごの運転方向も含めて判断する必要がある。そこで、説明を簡略化するため、これ以降の説明では、階と方向を含むかごの停止位置の概念として、「停留位置」という言葉を用いることとする。
図1は本発明の実施の形態1におけるエレベータの群管理システムの全体構成を示す図である。ここでは1号機~3号機の3台のエレベータを一群として管理する場合を例にとって説明するが、勿論この台数に限定されないことは言うまでもない。
39は各エレベータ制御装置11~13と通信を行うための通信手段である。
図4は、全体の処理手順を示すメインのフローチャートで、新規乗場呼びが発生する毎に割り当て処理を行ない、また所定時間毎に乗場呼びの割り当て変更処理や、疑似呼び処理を行うことを示しており、常時繰り返し実行されている。
まず、全乗客の待ち時間を評価しようとする場合、空かご(運転方向を持たずに停止しているかご)の到着時間の評価方法について考えておかなければならない。空かごの到着時間について適正な評価を行えない限り、あらゆる交通状況に適用できる汎用的な評価指標にはなり得ない。特に、疑似呼びの割り当て制御は、原則として空かごに対するものなので、空かごの到着時間を適正に評価することが重要なポイントとなる。
図5は、或る停留位置に対する各号機の予測到着時間の変化を表したグラフであり、横軸が時刻、縦軸が予測到着時間を表す。ここで、1号機は、T時間内で常に走行中であり、対象となる停留位置を一度通過することを示している。また、2号機は、現在空かごで停止していることを示しており、3号機は、現在走行中であるが、時刻t4で停止して空かごになることを示している。
この斜線部の領域を、次に示す条件に当てはまる時刻で分割する。
(イ)走行中のかごの予測到着時間が、空かごの予測到着時間と等しくなる時刻
(ロ)走行中のかごが、空かごで停止状態になる時刻
(ハ)走行中のかごが、対象となる停留位置に到達する時刻
たとえば、図5に示すE5の領域における全乗客の待ち時間期待値は、次式(数2)で求めることができる。
ステップS23では新規乗場呼びHCをi号機に仮に割り当てた場合の予測到着時間テーブルを図3に示したように全かごについてそれぞれ作成する。そしてステップS24でその予測到着時間テーブルに基づいて、i号機に仮割り当てした場合の全ての停留位置における全乗客の待ち時間期待値を算出し(詳細手順は後述)、それを変数eとして記憶する。
まずステップS251で停留位置sにおける乗客到着率を求めてλとし、ステップS252で所定時間T(例えば60秒程度)を、図5で説明したように待ち時間期待値の積分計算可能な複数の時間帯に分割する。ステップS253では分割された時間帯の数をnとし、ステップS254でESの初期値として0を、taの初期値として現在時刻をそれぞれセットする。
ステップS262では停留位置sの乗場呼び割り当て号機をacarとし、ステップS263で停留位置sの乗場呼び発生時刻をta、ステップS264で停留位置sに対するacar号機の予測到着時刻をtbとして、ステップS265でその差から予測到着時間hcwtを求め、ステップS266で前述の数5で示した式に基づいて時間帯zにおける待ち時間の期待値EZを算出する。
次に、同じく全停留位置における全乗客の待ち時間期待値を評価指標として、所定時間毎に行う乗場呼びの割り当て変更処理について説明する。
図14~図16は、図4のステップS5における疑似呼び割り当て処理の具体的な手順を示すフローチャートで、便宜上、接続記号E,Fによりフローを3つに分割して示している。この処理は、或る停留位置の疑似呼びを空かごに仮に割り当てた場合の全停留位置における全乗客の待ち時間期待値を算出し、仮割り当て前と比較してその差が所定条件を満足する場合は、その疑似呼び割り当てを実行しようとするものである。
ステップS507ではi号機が停留位置sをサービス可能か否かを判定し、サービス可能であれば、ステップS508で停留位置sの疑似呼びをi号機に仮割り当てした場合の予測到着時間テーブルを前述の図3で示したように作成し、ステップS509でこの予測到着時間テーブルに基づく全乗客の待ち時間期待値を算出し、変数eとして記憶する。このステップS509における全乗客の待ち時間期待値の算出手順については、前述の図7におけるステップS24と同様の手順であるので説明は省略する。
実施の形態1では、新規乗場呼びの割り当てと、乗場呼びの割り当て変更或いは疑似呼びの割り当てをそれぞれ異なるタイミングで行っていたがこれらを同時に行うことも可能である。
この処理は、新規乗場呼びを各号機に割り当てた場合の全停留位置における全乗客の待ち時間期待値と、同時に割り当て済の乗場呼びを他の号機に割り当て変更した場合の全停留位置における全乗客の待ち時間期待値とを比較して、その差が所定条件を満足する場合は新規乗場呼びの割り当てと割り当て済の乗場呼びの割り当て変更とを同時に行う例を示したもので、新規乗場呼びの発生時に実行される。
ステップS618ではこのevalAとevalBとの差が設定値ReasParam1より大きいか否かを判定する。更にステップS619では待ち時間期待値の削減率(evalAとevalBとの差をevalAで除算した値×100%)が設定値ReasParam2以上であるか否かを判定し、設定値以上であれば、ステップS620でacarB号機にHCを割り当て、ステップS621でrcarB号機にAHCを割り当て変更する。また、ステップS618とステップS619のどちらか一方でも満足しない場合は、ステップS622でacarA号機にHCを割り当て、割り当て済の乗場呼びの割り当て変更は行わないようにする。すなわち、この例では割り当て変更に伴う必要以上の混乱を防止するため、全停留位置における全乗客の待ち時間期待値が設定値以上減少し、かつその削減率が設定値以上となる場合のみ新規乗場呼びの割り当てと割り当て変更を同時に行ない、そうでない場合は新規乗場呼びの割り当てのみを行うようにしている。
上記の各実施形態では、乗場呼びの割り当て変更や疑似呼びの割り当てを実行する判断基準として、現状の待ち時間期待値との差分及び削減率を設定値と比較したが、勿論この設定値は固定の値である必要はない。例えば、即時予報を行わない場合は割り当て変更に関する設定値を0に近づけて、僅かでも待ち時間期待値が改善される可能性があれば乗場呼びの割り当て変更を実行するようにしたり、省エネ重視の場合は疑似呼び割り当てに関する設定値を大きな値にして、大きな待ち時間短縮効果が期待される状況でしか疑似呼びによる待機運転は行わないようにするなど、そのビルの群管理仕様や条件に合わせて任意に設定することが可能である。
たとえば、かごの通過時刻をtp、他のかごによって乗場呼びがサービスされる時刻をts
とすると、このペナルティ値は次式(数7)で計算することができる。
乗場インジケータの設置などにより待ち客がかごの通過を認識できる場合、このペナルティ値を、本願発明の汎用評価指標である全乗客の待ち時間期待値に加えて評価し、或いは更に他の評価指標も加えて総合的な評価を行うようにしてもよい。
20 乗場呼び登録装置
30 群管理制御装置
31 乗客到着率推定手段
32 乗場呼び発生率推定手段
33 かご到着時間予測手段
34 待ち時間期待値算出手段
35 乗場呼び割り当て手段
36 乗場呼び割り当て変更手段
37 疑似呼び割り当て手段
38 学習手段
39 通信手段
Claims (9)
- 複数の階床に対して複数台のエレベータを就役させ、新規に発生した乗場呼びに対して評価指標を算出し、該評価指標に基づいて最適なかごを選択し割り当てるようにしたエレベータの群管理制御方法において、既に発生しているか若しくは所定時間内に発生すると予想される各階方向別の全乗客の待ち時間期待値(待ち時間の総和または平均の期待値)を前記評価指標とすることを特徴とするエレベータの群管理制御方法。
- 割り当て済みの乗場呼びについて割り当て変更を行った場合の前記待ち時間期待値を所定時間毎に算出し、割り当て変更前の前記待ち時間期待値との差が所定条件を満足する場合は、その割り当て変更を実行するようにしたことを特徴とする請求項1に記載のエレベータの群管理制御方法。
- 新規乗場呼びを割り当てた場合の前記待ち時間期待値と、同時に乗場呼びの割り当て変更を行った場合の前記待ち時間期待値とを新規乗場呼びの発生毎に算出し、その差が所定条件を満足する場合は、乗場呼びの割り当て変更を新規乗場呼びの割り当てと同時に実行するようにしたことを特徴とする請求項1に記載のエレベータの群管理制御方法。
- 空かごに対して疑似呼びを仮割り当てした場合の前記待ち時間期待値を所定時間毎に算出し、仮割り当て前の前記待ち時間期待値との差が所定条件を満足する場合は、その疑似呼びの割り当てを実行するようにしたことを特徴とする請求項1乃至請求項3に記載のエレベータの群管理制御方法。
- 新規乗場呼びを割り当てた場合の前記待ち時間期待値と、同時に空かごに対して疑似呼びを仮割り当てした場合の前記待ち時間期待値を新規乗場呼びの発生毎に算出し、その差が所定条件を満足する場合は、疑似呼びの割り当てを新規乗場呼びの割り当てと同時に実行するようにしたことを特徴とする請求項1乃至請求項3に記載のエレベータの群管理制御方法。
- 前記所定条件は、調整可能であることを特徴とする請求項2乃至5に記載のエレベータの群管理制御方法。
- 前記待ち時間期待値は、各階方向別の乗客到着率の推定値と、群全体における乗場呼び発生率の推定値と、各階方向別の各かごの予測到着時間とを用いて算出するようにしたことを特徴とする請求項1乃至請求項6に記載のエレベータの群管理制御方法。
- 複数の階床に対して複数台のエレベータを就役させ、新規に発生した乗場呼びに対して評価指標を算出し、該評価指標に基づいて最適なかごを選択し割り当てるようにしたエレベータの群管理制御装置において、既に発生しているか若しくは所定時間内に発生すると予想される各階方向別の全乗客の待ち時間期待値を算出する待ち時間期待値算出手段と、前記待ち時間期待値に基づいて新規乗場呼びの割り当てを行う乗場呼び割り当て手段とを備えたことを特徴とするエレベータの群管理制御装置。
- 複数の階床に対して複数台のエレベータを就役させ、新規に発生した乗場呼びに対して評価指標を算出し、該評価指標に基づいて最適なかごを選択し割り当てるようにしたエレベータの群管理制御装置において、既に発生しているか若しくは所定時間内に発生すると予想される各階方向別の全乗客の待ち時間期待値を算出する待ち時間期待値算出手段と、前記待ち時間期待値に基づいて新規乗場呼びの割り当てを行う乗場呼び割り当て手段と、前記待ち時間期待値に基づいて乗場呼びの割り当て変更を行う乗場呼び割り当て変更手段と、前記待ち時間期待値に基づいて空かごに疑似呼びを割り当てる疑似呼び割り当て手段とを備えたことを特徴とするエレベータの群管理制御装置。
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EP09834997.0A EP2371752B1 (en) | 2008-12-25 | 2009-12-25 | Method and device for managing/controlling group of elevators |
US13/142,183 US8960374B2 (en) | 2008-12-25 | 2009-12-25 | Elevator group control method and device for performing control based on a waiting time expectation value of all passengers on all floors |
SG2011047016A SG172401A1 (en) | 2008-12-25 | 2009-12-25 | Elevator group control method and device thereof |
CN200980152488.7A CN102264620B (zh) | 2008-12-25 | 2009-12-25 | 电梯的群管理控制方法及装置 |
KR1020117014732A KR101674693B1 (ko) | 2008-12-25 | 2009-12-25 | 엘리베이터의 군 관리 제어 방법 및 장치 |
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JP5735384B2 (ja) * | 2011-09-05 | 2015-06-17 | 東芝エレベータ株式会社 | エレベータの群管理制御装置 |
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SG172401A1 (en) | 2011-07-28 |
HK1161867A1 (en) | 2012-08-10 |
US20110284329A1 (en) | 2011-11-24 |
EP2371752A4 (en) | 2013-08-07 |
JP2010149986A (ja) | 2010-07-08 |
US8960374B2 (en) | 2015-02-24 |
CN102264620B (zh) | 2015-07-22 |
EP2371752A1 (en) | 2011-10-05 |
CN102264620A (zh) | 2011-11-30 |
KR101674693B1 (ko) | 2016-11-09 |
KR20110098759A (ko) | 2011-09-01 |
JP5347492B2 (ja) | 2013-11-20 |
EP2371752B1 (en) | 2015-02-25 |
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