WO2015083217A1 - エレベータの制御装置 - Google Patents

エレベータの制御装置 Download PDF

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Publication number
WO2015083217A1
WO2015083217A1 PCT/JP2013/082366 JP2013082366W WO2015083217A1 WO 2015083217 A1 WO2015083217 A1 WO 2015083217A1 JP 2013082366 W JP2013082366 W JP 2013082366W WO 2015083217 A1 WO2015083217 A1 WO 2015083217A1
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WO
WIPO (PCT)
Prior art keywords
car
route
predicted route
lower car
upper car
Prior art date
Application number
PCT/JP2013/082366
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English (en)
French (fr)
Japanese (ja)
Inventor
孝剛 奥中
彩恵 木村
直彦 鈴木
Original Assignee
三菱電機株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to CN201380079121.3A priority Critical patent/CN105492358B/zh
Priority to JP2015551280A priority patent/JPWO2015083217A1/ja
Priority to PCT/JP2013/082366 priority patent/WO2015083217A1/ja
Publication of WO2015083217A1 publication Critical patent/WO2015083217A1/ja

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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
    • B66B1/2466—For elevator systems with multiple shafts and multiple cars per shaft
    • 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
    • B66B1/2433—For elevator systems with a single shaft and multiple cars
    • 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
    • B66B2201/224—Avoiding potential interference between elevator cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons

Definitions

  • This invention relates to an elevator control device.
  • Patent Document 1 describes a one-shaft multi-car system.
  • a plurality of cars move up and down independently in the same hoistway.
  • the one-shaft multi-car system avoids the collision of a plurality of cars.
  • a call on an intermediate floor up to a planned stop floor is assigned to one of a plurality of cars.
  • An object of the present invention is to provide an elevator control device that can improve the transportation efficiency of an elevator while avoiding a plurality of cars from colliding with each other.
  • the elevator control device when a call is registered in an elevator having an upper car and a lower car that overlap on the vertical projection plane, and when the call is temporarily assigned to the upper car and the call is assigned.
  • a predicted route calculation unit that calculates the predicted route of the upper car and the predicted route of the lower car when temporarily assigned to the lower car, and an overlapping portion of the predicted route of the upper car and the predicted route of the lower car
  • a collision avoidance route calculating unit for calculating a new prediction path of the lower cage and the path, with a.
  • the present invention when the upper car and the lower car approach each other in the predicted route, one of the upper car and the lower car is temporarily stopped. Thereafter, the upper car and the lower car travel in the same direction. For this reason, the time for the upper car and the lower car to approach each other in the predicted route is shortened. As a result, it is possible to improve the transportation efficiency of the elevator while avoiding a plurality of cars colliding with each other.
  • FIG. 1 is a front view of a landing input / output device of an elevator system to which an elevator control device according to Embodiment 1 of the present invention is applied. It is a figure for demonstrating the predicted path
  • FIG. 1 is a configuration diagram of an elevator system to which an elevator control apparatus according to Embodiment 1 of the present invention is applied.
  • the building is provided with a plurality of elevators.
  • Each of the plurality of elevators includes a hoistway 1.
  • Each of the hoistways 1 is formed so as to penetrate each floor of the building.
  • a retreat floor is provided below each hoistway 1.
  • a landing input / output device 2 is provided at each landing.
  • the hall input / output device 2 includes devices such as a button, a touch panel, a photoelectric sensor, a microphone, a camera, a passive tag receiver, an active tag receiver, and a security gate.
  • the hall input / output device 2 includes a combination of these devices.
  • at least one of a lamp and a display is added to the hall input / output device 2.
  • a plurality of cars are provided inside each hoistway 1.
  • the plurality of cars are arranged so as to overlap on the vertical projection plane.
  • the plurality of cars are provided so as to be able to move up and down independently.
  • the plurality of cars includes an upper car 3a and a lower car 3b.
  • a car input / output device (not shown) is provided inside the upper car 3a.
  • a car input / output device (not shown) is provided inside the lower car 3b.
  • the car input / output device includes devices such as a button, a touch panel, a photoelectric sensor, a microphone, a camera, a passive tag receiver, and an active tag receiver.
  • the car input / output device is a combination of these devices.
  • the hall input / output device 2 and the car input / output device are connected to the group management control device 4.
  • the group management control device 4 is composed of a microcomputer.
  • the microcomputer includes a predicted route calculation unit 4a, a collision avoidance route calculation unit 4b, an assignment candidate selection unit 4c, an evaluation index value calculation unit 4d, an assigned car determination unit 4e, and an operation control unit 4f.
  • the predicted route calculation unit 4a, the collision avoidance route calculation unit 4b, the assignment candidate selection unit 4c, the evaluation index value calculation unit 4d, the assigned car determination unit 4e, and the operation control unit 4f are realized by software.
  • the hall input / output device 2 registers the destination floor corresponding to the ID.
  • the car input / output device registers a destination floor corresponding to the ID.
  • the predicted route calculation unit 4a calculates the predicted route of each car when a call corresponding to the destination floor is temporarily assigned to each car. For example, the predicted route calculation unit 4a may calculate the current time, the current position of each car, the current speed of each car, the current acceleration of each car, the jerk of each car, the acceleration, the deceleration, the maximum speed, the schedule of the stop time of each floor, etc. Based on the above, the predicted route of each car is calculated. For example, the predicted route calculation unit 4a calculates the predicted route of each car with the stop time of each floor being constant. For example, the predicted route calculation unit 4a calculates the predicted route of each car based on the planned number of users getting on and off at each floor.
  • the collision avoidance route calculation unit 4b determines whether or not there is an overlapping portion between the prediction route of the upper car 3a and the prediction route of the lower car 3b in the same hoistway 1 based on the calculation result of the prediction route calculation unit 4a. For example, the collision avoidance route calculation unit 4b determines that there is an overlapping portion when the lower limit of the moving range of the upper car 3a is smaller than the upper limit of the moving range of the lower car 3b plus a safety distance. For example, the collision avoidance route calculation unit 4b determines the presence or absence of the overlapping portion with the safety distance being constant. For example, the collision avoidance route calculation unit 4b determines the presence or absence of the overlapping portion using the distance for the first floor as a safety distance.
  • the collision avoidance route calculation unit 4b uses the distance required to stop the upper car 3a and the lower car 3b based on the current speed, current acceleration, jerk, deceleration, etc. of the upper car 3a and the lower car 3b as the safe distance. Determine if there is an overlap.
  • the collision avoidance route calculation unit 4b may prevent the upper car 3a and the lower car 3b from colliding when the predicted route calculation unit 4a determines that there is an overlap between the predicted route of the upper car 3a and the predicted route of the lower car 3b.
  • a new predicted route having a high probability is calculated.
  • the collision avoidance route calculation unit 4b calculates a new predicted route that the upper car 3a and the lower car 3b travel in the same direction.
  • the collision avoidance route calculation unit 4b calculates a new predicted route that causes the upper car 3a and the lower car 3b to travel in different directions and then travels in the same direction.
  • the collision avoidance route calculation unit 4b moves the other of the upper car 3a and the lower car 3b until one of the upper car 3a and the lower car 3b can be reversed.
  • the stopped route is calculated as a new predicted route.
  • the collision avoidance route calculation unit 4b maintains the other of the upper car 3a and the lower car 3b until one of the upper car 3a and the lower car 3b can be reversed.
  • the route to be calculated is calculated as a new predicted route.
  • the collision avoidance route calculation unit 4b allows the rear car to be reversed with respect to only the car that is the front in the traveling direction. Assign virtual calls on floors that are more than safe distance away in the direction of travel. For example, when the upper car 3a and the lower car 3b travel in the same direction, the collision avoidance route calculation unit 4b performs virtual calling of the intermediate floor up to the planned stop floor only for the car that is behind the traveling direction. Assign. For example, when the upper car 3a and the lower car 3b travel in the same direction, the collision avoidance route calculation unit 4b extends the stop time on the planned stop floor of the rear car in the traveling direction.
  • the allocation candidate selection unit 4c determines, for each of the hoistways 1, whether or not there is a collision between the upper car 3a and the lower car 3b in the predicted path of the upper car 3a and the predicted path of the lower car 3b. For example, if the upper car 3a and the lower car 3b are separated by a safety distance or more at a preset time interval, the allocation candidate selection unit 4c determines that the upper car 3a and the lower car 3b do not collide.
  • the allocation candidate selection unit 4c selects the car as a candidate to allocate a call corresponding to the destination floor when the upper car 3a and the lower car 3b do not collide.
  • the allocation candidate selection unit 4c excludes the car from the candidates for assigning a call corresponding to the destination floor when the upper car 3a and the lower car 3b collide with each other in the predicted path of the upper car 3a and the predicted path of the lower car 3b. To do.
  • the evaluation index value calculation unit 4d calculates an evaluation index value based on a predicted route when a call corresponding to the destination floor is allocated to the car selected by the allocation candidate selection unit 4c. For example, the evaluation index value calculation unit 4d calculates the evaluation index value based on the total waiting time of the users on the predicted route. For example, the evaluation index value calculation unit 4d calculates the evaluation index value based on the time when responses to all calls in the predicted route are completed. For example, the evaluation index value calculation unit 4d calculates an evaluation index value based on the travel distance on the predicted route. For example, the evaluation index value calculation unit 4d calculates the evaluation index value by weighting the waiting time of the user, the time when responses to all calls are completed, and the travel distance.
  • the allocation car determination unit 4e determines a car that actually allocates a call corresponding to the destination floor from among candidates that allocate a call corresponding to the destination floor. To do. At this time, on the floor where the call corresponding to the destination floor is registered, the hall input / output device 2 notifies the car assigned the call corresponding to the destination floor using a lamp, a display, or the like.
  • the operation control unit 4f controls the operation of each car based on the predicted route of each car when the call corresponding to the destination floor is assigned to the car determined by the assigned car determination unit 4e. For example, the operation control unit 4f sets the traveling direction of each car based on the predicted route of each car. For example, the operation control unit 4f causes each car to travel based on the predicted route of each car. For example, the operation control unit 4f stops each car based on the predicted route of each car. For example, the operation control unit 4f opens and closes the door of each car based on the predicted route of each car.
  • FIG. 2 is a front view of a landing input / output device of an elevator system to which the elevator control device according to Embodiment 1 of the present invention is applied.
  • a numeric keypad 2a is provided at the bottom of the hall input / output device 2.
  • a display 2 b is provided at the upper part of the hall input / output device 2.
  • the user may press a numeric key corresponding to the destination floor on the numeric keypad 2a.
  • the display 2b displays the number.
  • the display 2b displays a symbol indicating the car.
  • the display 2b displays “5”. At this time, if a call corresponding to the destination floor is assigned to the car A, the display 2b displays “A”.
  • FIG. 3 is a diagram for explaining the predicted path of the upper car and the predicted path of the lower car calculated by the elevator control apparatus according to Embodiment 1 of the present invention.
  • the horizontal axis in FIG. 3 is time.
  • the vertical axis in FIG. 3 is the position of the car.
  • a call in the downward direction from the sixth floor to the first floor is assigned to the upper car 3 a.
  • a call in the upward direction from the first floor to the fifth floor is assigned to the lower car 3b.
  • a call in the upward direction from the second floor to the fifth floor is assigned to the lower car 3b.
  • the upper car 3a and the lower car 3b are traveling in directions approaching each other.
  • the collision avoidance route calculation unit 4 b performs a route for stopping the upper car 3 a on the sixth floor, which is the next stop floor, until the lower car 3 b can be reversed on the fifth floor. Calculate as a new predicted route.
  • FIG. 4 is a diagram for explaining the predicted path of the upper car and the predicted path of the lower car calculated by the elevator control apparatus according to Embodiment 1 of the present invention.
  • the horizontal axis in FIG. 4 is time.
  • the vertical axis in FIG. 4 is the position of the car.
  • the upward call from the 6th floor to the 9th floor is assigned to the upper car 3a.
  • a call in the downward direction from the sixth floor to the first floor is assigned to the upper car 3a.
  • a call in the upward direction from the first floor to the fourth floor is assigned to the lower car 3b.
  • the upper car 3a and the lower car 3b are traveling in directions away from each other.
  • the collision avoidance route calculation unit 4b creates a new predicted route that maintains the upward traveling of the upper car 3a until the lower car 3b can be reversed on the first floor. Calculate as
  • FIG. 5 is a diagram for explaining the predicted path of the upper car and the predicted path of the lower car calculated by the elevator control apparatus according to Embodiment 1 of the present invention.
  • the horizontal axis in FIG. 5 is time.
  • the vertical axis in FIG. 5 is the position of the car.
  • the collision avoidance route calculation unit 4b causes the upper car 3a and the lower car 3b to travel in the downward direction when the lower car 3b can be reversed from traveling in the upward direction to traveling in the downward direction. Is calculated as a new predicted route. At this time, the collision avoidance route calculation unit 4b registers a virtual call that causes the lower car 3b to travel to the retreat floor.
  • FIG. 6 is a flowchart for explaining the operation of the elevator control apparatus according to Embodiment 1 of the present invention.
  • step S1 the destination call is registered by the hall input / output device 2 as a call corresponding to the destination floor.
  • the process proceeds to step S2, and the predicted route calculation unit 4a assigns the destination call to each car, and the predicted route of the car and other cars in the same hoistway 1 in the same hoistway 1. Calculate the predicted route.
  • the process proceeds to step 3 where the collision avoidance route calculation unit 4b determines whether the predicted route of the upper car 3a and the predicted route of the lower car 3b overlap in the same hoistway 1 based on the calculation result of the predicted route calculation unit 4a. Determine whether or not.
  • step S3 the assignment candidate selection unit 4c selects the car as a candidate for assigning the destination call.
  • step S3 the collision avoidance route calculation unit 4b determines whether or not the current traveling directions of the upper car 3a and the lower car 3b are the same.
  • step S6 the collision avoidance route calculation unit 4b calculates a predicted route until one of the upper car 3a and the lower car 3b can be reversed. Thereafter, the process proceeds to step S7, and the collision avoidance route calculation unit 4b calculates a predicted route in which the upper car 3a and the lower car 3b always travel in the same direction.
  • step S5 If the current traveling direction of the upper car 3a and the lower car 3b is the same in step S5, the process proceeds to step S7 without going through step S6.
  • step S7 the collision avoidance route calculation unit 4b calculates a predicted route in which the upper car 3a and the lower car 3b always travel in the same direction.
  • step S8 the allocation candidate selection unit 4c determines whether or not a collision between the upper car 3a and the lower car 3b is avoided.
  • step S8 If the collision between the upper car 3a and the lower car 3b is avoided in step S8, the process proceeds to step S4.
  • step S4 the assignment candidate selection unit 4c selects the car as a candidate for assigning the destination call.
  • step S8 the assignment candidate selection unit 4c excludes the car from the candidates to which the destination call is assigned. Then, it returns to step S2.
  • step S9 the evaluation index value calculation unit 4d calculates an evaluation index value for the car candidate to which the destination call is assigned. Thereafter, the process proceeds to step S10, and the allocation car determination unit 4e determines a car to which the destination call is allocated based on the evaluation index value calculated by the evaluation index value calculation unit 4d. Thereafter, the process proceeds to step S11, and the operation control unit 4f controls the operation of each car based on the predicted route of each car when the destination call is assigned to the car determined by the assigned car determination unit 4e.
  • the upper car 3a and the lower car 3b approach each other in the predicted route, one of the upper car 3a and the lower car 3b is temporarily stopped. Thereafter, the upper car 3a and the lower car 3b travel in the same direction. For this reason, the time for the upper car 3a and the lower car 3b to approach each other in the predicted route is the shortest. As a result, it is possible to improve the transportation efficiency of the elevator while avoiding a plurality of cars colliding with each other. At this time, the upper car 3a and the lower car 3b do not run backward with the user on the car. For this reason, it can prevent giving a user anxiety.
  • the collision avoidance route calculation unit 4b allows the rear car to be reversed with respect to only the car that is forward with respect to the traveling direction. Assign virtual calls on floors that are more than safe distance away in the direction of travel. For this reason, registration of virtual calls for collision avoidance can be minimized.
  • the collision avoidance route calculation unit 4b performs a virtual call on the intermediate floor up to the planned stop floor only for the car that is behind the traveling direction. Assign. For this reason, registration of virtual calls for collision avoidance can be minimized.
  • the collision avoidance route calculation unit 4b extends only the stop time on the planned stop floor of the car that is behind the traveling direction. For this reason, the extension of the stop time for collision avoidance can be minimized.
  • the collision avoidance method of the present embodiment is applied to group management control. For this reason, the transport efficiency of the elevator can be further improved while avoiding a plurality of cars colliding with each other.
  • FIG. FIG. 7 is a configuration diagram of an elevator system to which the elevator control device according to Embodiment 2 of the present invention is applied.
  • symbol is attached
  • the group management control device 4 of the second embodiment is obtained by adding a reverse car determination unit 4g to the group management control device 4 of the first embodiment.
  • the reverse car determination unit 4g determines a car to be preferentially reversed when the collision avoidance route calculation unit 4b calculates a new predicted route of the upper car 3a and a new predicted route of the lower car 3b.
  • the reverse car determination unit 4g is based on the evaluation index value calculated by the evaluation index value calculation unit 4d in the case where the upper car 3a is preferentially reversed and the lower car 3b is preferentially reversed. Decide which car you want to run in reverse.
  • the reversing car determination unit 4g determines whether the car that arrives first on the floor where the reversing traveling is possible next on the predicted route is reversed traveling among the upper car 3a and the lower car 3b. For example, the reversing car determination unit 4g determines whether to reversely travel a car that has the closest distance between the current position and the floor that can be reversed next in the predicted route among the upper car 3a and the lower car 3b.
  • the operation of the group management control device 4 of the second embodiment is the same as the operation of the group management control device 4 of the first embodiment except for the content of step S6 in FIG.
  • the reverse car determination unit 4g determines a car to be preferentially reverse driven at the timing corresponding to step S6.
  • the car having the best evaluation index value among the upper car 3a and the lower car 3b preferentially runs in reverse. For this reason, the transport efficiency of an elevator can further be improved.
  • the reversing car determination unit 4g determines whether to reverse the car that arrives first on the floor where the next reversing traveling is possible on the predicted route. For this reason, it is possible to reduce the chance of calculating a predicted route with a large amount of calculation. As a result, calculation time can be reduced.
  • the reversing car determination unit 4g determines whether or not to reversing the car whose distance between the floor where the next reversing traveling is possible on the predicted route and the current position is closer. For this reason, it is possible to reduce the chance of calculating a predicted route with a large amount of calculation. As a result, calculation time can be reduced.
  • the elevator control device can be used in a system that improves the transportation efficiency of the elevator.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
PCT/JP2013/082366 2013-12-02 2013-12-02 エレベータの制御装置 WO2015083217A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201380079121.3A CN105492358B (zh) 2013-12-02 2013-12-02 电梯的控制装置
JP2015551280A JPWO2015083217A1 (ja) 2013-12-02 2013-12-02 エレベータの制御装置
PCT/JP2013/082366 WO2015083217A1 (ja) 2013-12-02 2013-12-02 エレベータの制御装置

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PCT/JP2013/082366 WO2015083217A1 (ja) 2013-12-02 2013-12-02 エレベータの制御装置

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7356651B1 (ja) 2022-03-30 2023-10-05 フジテック株式会社 マルチカーエレベータの運行管理装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106494954A (zh) * 2016-12-28 2017-03-15 重庆金鑫科技产业发展有限公司 一种电梯控制系统以及电梯控制方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007137546A (ja) * 2005-11-15 2007-06-07 Toshiba Elevator Co Ltd エレベータの群管理制御装置
JP2011505309A (ja) * 2007-11-30 2011-02-24 オーチス エレベータ カンパニー 昇降路における複数のエレベータかごの連係

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5262094B2 (ja) * 2007-12-10 2013-08-14 フジテック株式会社 ワンシャフトマルチカーエレベータの運行制御方法
JP2013184751A (ja) * 2012-03-05 2013-09-19 Toshiba Elevator Co Ltd マルチカーエレベータの群管理制御装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007137546A (ja) * 2005-11-15 2007-06-07 Toshiba Elevator Co Ltd エレベータの群管理制御装置
JP2011505309A (ja) * 2007-11-30 2011-02-24 オーチス エレベータ カンパニー 昇降路における複数のエレベータかごの連係

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7356651B1 (ja) 2022-03-30 2023-10-05 フジテック株式会社 マルチカーエレベータの運行管理装置

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