WO2020240865A1 - Système d'ascenseur - Google Patents

Système d'ascenseur Download PDF

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Publication number
WO2020240865A1
WO2020240865A1 PCT/JP2019/021861 JP2019021861W WO2020240865A1 WO 2020240865 A1 WO2020240865 A1 WO 2020240865A1 JP 2019021861 W JP2019021861 W JP 2019021861W WO 2020240865 A1 WO2020240865 A1 WO 2020240865A1
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WO
WIPO (PCT)
Prior art keywords
car
elevator
information
autonomous mobile
elevator system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/021861
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English (en)
Japanese (ja)
Inventor
鈴木　雄太
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2019/021861 priority Critical patent/WO2020240865A1/fr
Publication of WO2020240865A1 publication Critical patent/WO2020240865A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/14—Applications of loading and unloading equipment
    • B66B17/16—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
    • B66B17/20—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages

Definitions

  • the present invention relates to an elevator system.
  • Patent Document 1 discloses an elevator system. According to the elevator system, a person and an autonomous vehicle can safely share an elevator.
  • An object of the present invention is to provide an elevator system that can be shared by a person and an autonomous mobile body without reducing the transportation efficiency of the elevator.
  • the elevator system according to the present invention is provided in the elevator car, and monitors the state of the elevator and a communication device that wirelessly communicates with an autonomous mobile body existing in the car, and the communication device is used. It is provided with a transfer device that transfers information on the state of the elevator, which is necessary for avoiding contact between the autonomous mobile body existing inside the car and a person, to the autonomous mobile body.
  • the autonomous mobile body receives the transfer of information on the state of the elevator, which is necessary for avoiding contact with a person. Therefore, it can be shared by a person and an autonomous mobile body without lowering the transportation efficiency of the elevator.
  • FIG. It is a block diagram of the elevator system in Embodiment 1.
  • FIG. It is the schematic which shows the example of the speed pattern and the change of acceleration of the car of the elevator system in Embodiment 1. It is the schematic which showed the locus of the torque of the hoisting machine of the elevator system and the speed of a car in Embodiment 1.
  • FIG. It is a figure for demonstrating the time constant measurement method by the elevator system in Embodiment 1.
  • FIG. It is a flowchart for demonstrating the outline of operation of the control device of the elevator system in Embodiment 1.
  • FIG. It is a schematic view when the inside of the car of the elevator system in Embodiment 1 is seen from above. It is a hardware block diagram of the control device of the elevator system in Embodiment 1.
  • FIG. 1 is a configuration diagram of an elevator system according to the first embodiment.
  • the hoistway 1 penetrates each floor of a building (not shown).
  • the machine room 2 is provided directly above the hoistway 1.
  • Each of the plurality of landings 3 is provided on each floor of the building.
  • Each of the plurality of landings 3 faces the hoistway 1. In FIG. 1, only one landing 3 is shown.
  • Each of the plurality of landing side operation panels 4 is provided in each of the plurality of landings 3. In FIG. 1, only one landing side operation panel 4 is shown.
  • the hoisting machine 5 is provided in the machine room 2.
  • the brake 6 is provided on the hoisting machine 5.
  • the encoder 7 is provided in the hoisting machine 5.
  • the main rope 8 is wound around the hoisting machine 5.
  • the car 9 is provided inside the hoistway 1.
  • the car 9 is supported on one side of the main rope 8.
  • the car side operation panel 10 is provided inside the car 9.
  • the weighing device 11 is provided on the floor of the car 9.
  • the camera 12 is provided inside the car 9.
  • the communication device 13 is provided on the ceiling of the car 9.
  • the balance weight 14 is provided inside the hoistway 1.
  • the balance weight 14 is supported on the other side of the main rope 8.
  • control device 15 is provided in the machine room 2.
  • the control device 15 includes a drive command unit 15a, a monitoring system unit 15b, and a communication unit 15c.
  • the elevator management device 16 is provided in the machine room 2.
  • the building management device 17 is provided in the management room of the building.
  • the data center device 18 is provided at a location away from the building.
  • the data center device 18 is installed in a building management company.
  • the person 19 and the autonomous mobile body 20 move between the floors from the landing 3 to the car 9.
  • the drive command unit 15a controls the rotation of the hoisting machine 5.
  • the drive command unit 15a opens and closes the brake 6 according to the position of the car 9, the position of the balancing weight 14, the speed control, and the start or stop of the car 9.
  • the monitoring system unit 15b monitors the state of the elevator and the equipment. For example, the monitoring system unit 15b monitors the position information, speed information, and acceleration information of the car 9 obtained from the pulse information of the encoder 7 as the state of the elevator. For example, the monitoring system unit 15b monitors the opening / closing information of the brake 6 as the state of the elevator. For example, the monitoring system unit 15b monitors the feedback current information for the drive command of the hoisting machine 5 as the state of the elevator. For example, the monitoring system unit 15b monitors the load weight information inside the car 9 obtained from the weighing device 11 as the state of the elevator. For example, the monitoring system unit 15b monitors the detection information of the person 19 or the autonomous mobile body 20 taken by the camera 12 as the state of the elevator.
  • the monitoring system unit 15b controls the elevator according to the abnormality level of each device when it detects an abnormality or failure of the device. For example, the monitoring system unit 15b prohibits the use of the car 9 after stopping the car 9 at the destination floor registered as a call. For example, the monitoring system unit 15b prohibits the use of the car 9 after stopping the car 9 from the traveling position of the car 9 to the nearest floor where the car 9 can be stopped. For example, the monitoring system unit 15b transfers the emergency stop command to the drive command unit 15a, shuts off the power of the hoisting machine 5, and closes the brake 6.
  • the communication unit 15c transfers the internal information of the control device 15 to the autonomous mobile body 20 via the communication device 13. For example, when the car 9 is normally traveling, the communication unit 15c transmits the position, speed, acceleration, traveling direction of the car 9, the torque of the hoisting machine 5, and the weighing device 11 at regular intervals via the communication device 13. Information on the total weight of the car 9, the person 19, and the autonomous mobile body 20 measured in 1 and the drive command of the hoisting machine 5 and the brake 6 is transferred to the autonomous mobile body 20 by wireless communication. The communication unit 15c transfers the internal information of the autonomous mobile body 20 or the car 9 to the monitoring system unit 15b.
  • the elevator management device 16 manages the registration of the car call registration set on the car side operation panel 10 and the registration of the landing call set on the landing side operation panel 4.
  • the elevator management device 16 collects information on the elevator status and equipment abnormality or failure collected from the control device 15.
  • the building management device 17 receives information on the elevator status and equipment abnormality or failure from the elevator management device 16.
  • the building management device 17 transfers the movement route information for the next movement to the autonomous mobile body 20 via the elevator management device 16 after the car 9 is urgently stopped due to an abnormality or failure detection of the equipment.
  • the data center device 18 controls information on a plurality of building management devices 17 in each region.
  • the data center device 18 is connected to a cloud computing service or a dedicated line of the building management device 17.
  • the communication unit 15c wirelessly communicates emergency stop information, acceleration change propagating from the floor surface, and speed change information at the time of sudden stop in response to an abnormality or failure of the device via the communication device 13. Transfers to the autonomous mobile body 20.
  • the autonomous moving body 20 performs feedback control for avoiding a fall in response to a change in acceleration propagating from the floor surface of the car 9 and a change in speed at the time of sudden stop.
  • Short-term, medium-term, and long-term learning periods are set for information on speed changes and acceleration changes during sudden stops.
  • the autonomous mobile body 20 switches the feedback control according to the learning level.
  • the accelerometer (not shown) is temporarily placed on the floor of the car 9.
  • the accelerometer measures the change in acceleration when the car 9 makes an emergency stop due to an internal factor related to an abnormality or failure of the elevator equipment.
  • the FFT analysis is performed for the acceleration change. As a result, the period, intensity, and peak timing of the acceleration waveform are obtained.
  • the acceleration function is obtained from the main frequencies and amplitudes of the acceleration waveform.
  • the speed change when the car 9 is suddenly stopped at each point during acceleration, constant speed, and deceleration from the encoder 7 is set as an exponential function, and the time constants TV and W of the speed change function v (t) are measured. .. In the time constants TV and W , the unbalanced load caused by the difference between the weight of the car 9 and the passenger and the weight of the balance weight 14 is added as a factor.
  • Information on the speed change function and the acceleration change function at the time of sudden stop is stored in the data center device 18.
  • the building management device 17 or the elevator management device 16 causes the autonomous moving body 20 to download information on the speed change function and the acceleration change function at the time of sudden stop in advance.
  • cluster illing is performed for the vibration intensity generated by external factors such as earthquakes that affect the emergency stop of elevators from the outside and building shaking due to building wind.
  • the parameters at this time are the height of the building, location, ground, structure, natural frequency, vibration mode (primary, secondary, tertiary), installed seismic isolation, seismic resistance, structure of seismic control device, installation position. (Foundation, underground intermediate layer, above-ground intermediate layer, top floor), height, structure, distance, etc. of the surrounding buildings of the building. These parameters are called class parameters.
  • the vibration intensity of the car 9 when the elevator is urgently stopped due to the building wind or the shaking of the building due to the earthquake, and the speed change at the time of sudden stop are measured.
  • Building wind intensity and direction when measuring the vibration of the car 9 the detection level of the seismic detector specified by the legal installation at the time of an earthquake, the distance from the earthquake source, the magnitude, the pitch and roll measured in the building.
  • Information on the intensity (seismic intensity), the vibration intensity of the car 9, and the vibration intensity measured by the autonomous moving body 20 is recorded in the data center device 18 as time-series data.
  • the recorded time series data is called building vibration data.
  • the building vibration data does not have to be real-time data when the elevator is stopped in an emergency, and data before and after the emergency stop of the elevator may be aggregated in a subsequent analysis.
  • Building vibration data is stored in the data center device 18.
  • Non-linear regression analysis is performed on the data accumulated for each building for each building of the same class based on the elevator state data and the building vibration data.
  • an elevator car vibration model function that estimates the vibration intensity is generated.
  • the information of the car vibration model function is stored in the data center device 18.
  • the data center device 18 transfers the information of the car vibration model function to the building management device 17 of another building of the same class.
  • the building management device 17 causes the autonomous moving body 20 to download the information of the car vibration model function via the elevator management device 16.
  • the autonomous moving body 20 uses the elevator state data and the building vibration data as input data and uses the car 9 vibration model function to avoid falling when the elevator is stopped due to an internal factor or an external factor that leads to an emergency stop of the elevator at its own discretion. To perform feedback control for.
  • FIG. 2 is a schematic view showing an example of changes in the speed pattern and acceleration of the car of the elevator system according to the first embodiment.
  • the speed pattern and acceleration change of the car 9 are set in the first section, the second section, the third section, the fourth section, the fifth section, the sixth section, and the seventh section. ..
  • the first section is a section that accelerates with a downwardly convex quadratic curve from the start time T0 of the car 9 to the time T1 when the constant acceleration ⁇ is reached.
  • the second section is a section in which the acceleration ⁇ constantly accelerates from time T1 to time T2.
  • the third section is a section that accelerates from time T2 to time T3 with an upwardly convex quadratic curve so that the acceleration becomes 0.
  • the fourth section is a section in which the vehicle travels at a constant speed from time T3 to time T4 after reaching the rated speed V0.
  • the fifth section is a section in which the vehicle decelerates on an upwardly convex quadratic curve from the deceleration start time T4 to the time T5 when the constant deceleration ⁇ is reached.
  • the sixth section is a section in which the deceleration is constant from time T5 to time T6 at deceleration ⁇ .
  • the seventh section is a section in which deceleration is performed by a downwardly convex quadratic curve so that the deceleration is set to 0 from time T6 to time T7.
  • FIG. 3 is a schematic view showing the loci of the torque of the hoisting machine of the elevator system and the speed of the car according to the first embodiment.
  • FIG. 3 an example of power running operation and regenerative operation is shown.
  • the unbalanced torque generated by the difference between the "total weight of the car 9, the person 19 and the autonomous moving body 20" and the “weight of the balanced weight 14" is in the direction opposite to the direction of rotation of the hoisting machine 5.
  • an unbalanced torque generated by the difference between the "total weight of the car 9, the person 19 and the autonomous moving body 20" and the "weight of the balanced weight 14" is applied to the rotation direction of the hoisting machine 5.
  • the symbols in FIG. 3 correspond to the symbols in FIG. It moves on the trajectory according to the passage of time corresponding to the speed change in FIG. At the rated speed V0, the speed of the car 9 is constant. Therefore, it stays at a certain point on the trajectory.
  • the torque in FIG. 3 is proportional to the acceleration / deceleration of the car 91.
  • the torque T0 is an unbalanced torque generated by the difference between the "total weight of the car 9, the person 19 and the autonomous moving body 20" and the "weight of the balanced weight 14". Since a torque of T0 is applied to the hoisting machine 5 before the brake 6 is released, the car 9 does not suddenly start moving when the brake 6 is released. Similarly, even when the car 9 travels and stops at the target floor, a torque of T0 minutes is applied to the hoisting machine 5 until the car 9 speed is 0 and the brake 6 is closed.
  • FIG. 4 is a diagram for explaining a method of measuring the time constant by the elevator system according to the first embodiment.
  • the mode can be obtained from the distribution of the time constant measured by suddenly stopping the car 9 a plurality of times at each point during acceleration, constant speed, and deceleration. Further, the speed of the car 9 is gradually increased, and as a plurality of modes, TV , W 1 to TV , W n are obtained.
  • V (t) Vs * exp (-t / TV , W ) (1)
  • the speed change function v (t) at the time of sudden stop in Eq. (1) is a speed change function when the unbalanced load has the same value. Therefore, the weight is gradually loaded inside the car 9 so as to change from the regenerative operation to the power running operation, and the speed change function v (t) is obtained for each value of each unbalanced load Wn.
  • the velocity change function v (t) is represented by contour lines indicated by three variables of the time constants TV and W, the sudden stop velocity Vs, and the unbalanced load Wn.
  • FIG. 5 is a flowchart for explaining an outline of the operation of the control device of the elevator system according to the first embodiment.
  • step S1 the control device 15 determines whether or not an emergency stop of the car 9 has been detected. If the emergency stop of the car 9 is not detected in step S1, the control device 15 performs the following processing. When the emergency stop of the car 9 is detected in step S1, the control device 15 performs the operation of step S2.
  • step S2 the control device 15 transfers the information of the speed conversion function and the acceleration change function at the time of sudden stop obtained in the short learning period to the autonomous mobile body 20. After that, the control device 15 performs the operation of step S3. In step S3, the control device 15 determines whether or not the actual speed value at the time of sudden stop of the car 9 and the value of the speed change function are separated from each other by a preset value or more.
  • step S4 the control device 15 determines whether or not the actual acceleration value at the time of sudden stop of the car 9 and the value of the acceleration change function are separated from each other by a preset value or more.
  • step S4 If the actual acceleration value at the time of sudden stop of the car 9 and the value of the acceleration change function are not separated by more than the preset value in step S4, the control device 15 performs the following processing.
  • step S3 When the actual speed value at the time of sudden stop of the car 9 and the value of the speed change function are separated from each other to a preset value or more in step S3, or the actual acceleration at the time of sudden stop of the car 9 in step S4.
  • the control device 15 When the value and the value of the acceleration change function are separated from each other by a value equal to or higher than a preset value, the control device 15 performs the operation of step S5.
  • step S5 the control device 15 transfers the information of the car vibration model function to the autonomous mobile body 20. After that, the control device 15 performs the following processing.
  • FIG. 6 is a schematic view of the inside of the car of the elevator system according to the first embodiment when viewed from above.
  • image 21 shows the strength of movement restriction in the surrounding space of the autonomous moving body 20 in shades of light.
  • the left side of the autonomous moving body 20 is shown in the darkest color in order to strongly restrict the movement to the side where the person 19 exists.
  • the front side of the autonomous moving body 20 is the second darkest in order to avoid blocking the entry and exit of the person 19 into the car 9 by colliding with the door 22 and falling when moving forward as a fall avoidance action. Shown in color.
  • the right side of the autonomous moving body 20 is shown in the third darkest color to avoid a collision with the car side operation panel 10.
  • the rear side of the autonomous mobile body 20 is shown in the lightest color because there is no person 19 and no design.
  • the monitoring system unit 15b recognizes the image of the person 19 photographed by the camera 12 and the car side operation panel 10 and quantifies the direction in which the movement of the autonomous moving body 20 is restricted.
  • the communication unit 15c transfers the digitized movement restriction information to the autonomous mobile body 20 via the communication device 13.
  • the building management device 17 transfers the evacuation status information of the person 19 to the elevator management device 16 after the elevator has returned from the emergency stop and traveled to the stop floor where the elevator can be stopped after the return. To do.
  • the elevator management device 16 outputs a stop command to the autonomous mobile body 20 via the communication device 13 until the evacuation of the person 19 is completed.
  • the building management device 17 transfers the movement route information to the autonomous mobile body 20 via the elevator management device 16.
  • the building management device 17 transfers the information of the floor on which the autonomous moving body 20 stays inside the car 9 and moves to the next in the car 9 to the autonomous moving body 20.
  • the building management device 17 transfers the information of the floor on which the autonomous moving body 20 moves from the inside of the car 9 to the landing, gets on the inside of another car 9, and moves to the next moving body 20 to the autonomous moving body 20.
  • the autonomous mobile body 20 receives the transfer of the information necessary for avoiding contact with the person 19 among the information on the state of the elevator. Therefore, the elevator can be shared by the person 19 and the autonomous mobile body 20 without lowering the transportation efficiency of the elevator. As a result, when the person 19 and the autonomous moving body 20 ride in the car 9 and move to the same floor to work, the work efficiency can be improved.
  • the autonomous moving body 20 receives information transfer between the speed function and the acceleration function when the car 9 suddenly stops. Therefore, the autonomous mobile body 20 can operate in order to avoid falling.
  • the data center device 18 transfers the information of the car vibration model function to the building management device 17 of another building of the same class. Therefore, the information of the car vibration model function can be prepared more appropriately.
  • the autonomous mobile body 20 receives the transfer of the information of the car vibration model function. Therefore, the autonomous mobile body 20 can move more appropriately in order to avoid falling.
  • the autonomous mobile body 20 receives information that limits the moving direction inside the car 9. Therefore, the autonomous mobile body 20 can perform a more appropriate operation inside the car 9.
  • the autonomous mobile body 20 receives the transfer of movement route information after the evacuation of a person is completed. Therefore, the movement of the person 19 and the movement of the autonomous mobile body 20 can be separated from each other to avoid unnecessary contact, and the service of the autonomous mobile body 20 can be continued.
  • the function as a transfer device for transferring information to the autonomous mobile body 20 may be provided in the elevator management device 16 or the building management device 17.
  • the elevator can be shared by the person 19 and the autonomous mobile body 20 without lowering the transportation efficiency of the elevator.
  • FIG. 7 is a hardware configuration diagram of the control device of the elevator system according to the first embodiment.
  • Each function of the control device 15 can be realized by a processing circuit.
  • the processing circuit includes at least one processor 100a and at least one memory 100b.
  • the processing circuit comprises at least one dedicated hardware 200.
  • each function of the control device 15 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the control device 15 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
  • at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD or the like.
  • the processing circuit comprises at least one dedicated hardware 200
  • the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
  • each function of the control device 15 is realized by a processing circuit.
  • each function of the control device 15 is collectively realized by a processing circuit.
  • a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware.
  • the function of the drive command unit 15a is realized by a processing circuit as dedicated hardware 200
  • the function other than the function of the control unit 9b is a program in which at least one processor 100a is stored in at least one memory 100b. It may be realized by reading and executing.
  • the processing circuit realizes each function of the control device 15 by hardware 200, software, firmware, or a combination thereof.
  • each function of the elevator management device 16 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the control device 15.
  • Each function of the building management device 17 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the control device 15.
  • Each function of the data center device 18 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the control device 15.
  • the elevator system according to the present invention can be used as a system for controlling an autonomous mobile body.

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  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)

Abstract

L'invention concerne un système d'ascenseur qui peut être utilisé à la fois par des êtres humains et des unités mobiles autonomes sans réduire l'efficacité de transport de l'ascenseur. Le système d'ascenseur comprend : un dispositif de communication disposé dans une cabine de l'ascenseur et destiné à communiquer sans fil avec une unité mobile autonome présente à l'intérieur de la cabine ; et un dispositif de transfert qui surveille l'état de l'ascenseur et qui, par l'intermédiaire du dispositif de communication, transfère à une unité mobile autonome présente à l'intérieur de l'ascenseur des informations, parmi des informations sur l'état de l'ascenseur, qui sont nécessaires pour éviter un contact entre l'unité mobile autonome et un être humain.
PCT/JP2019/021861 2019-05-31 2019-05-31 Système d'ascenseur Ceased WO2020240865A1 (fr)

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JP2022150191A (ja) * 2021-03-26 2022-10-07 パナソニックＩｐマネジメント株式会社 計測システムおよび計測ユニット
CN115159293A (zh) * 2021-04-05 2022-10-11 三菱电机株式会社 移动体控制装置、移动体协作装置及移动体协作系统
WO2023058190A1 (fr) * 2021-10-07 2023-04-13 三菱電機株式会社 Système d'inspection de commande d'ascenseur et procédé d'inspection de commande d'ascenseur
JP7283604B1 (ja) 2022-03-17 2023-05-30 三菱電機株式会社 エレベーターシステム、連携装置、連携方法、および連携プログラム
JP7670208B1 (ja) 2024-06-10 2025-04-30 三菱電機ビルソリューションズ株式会社 エレベータシステム、エレベータシステムの制御方法及びプログラム

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JP2012017184A (ja) * 2010-07-08 2012-01-26 Hitachi Ltd 自律移動装置同乗エレベータシステム
WO2018211650A1 (fr) * 2017-05-18 2018-11-22 三菱電機株式会社 Dispositif de planification d'opération pour corps mobile autonome
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Publication number Priority date Publication date Assignee Title
JP2022150191A (ja) * 2021-03-26 2022-10-07 パナソニックＩｐマネジメント株式会社 計測システムおよび計測ユニット
JP7710179B2 (ja) 2021-03-26 2025-07-18 パナソニックＩｐマネジメント株式会社 計測システムおよび計測ユニット
CN115159293A (zh) * 2021-04-05 2022-10-11 三菱电机株式会社 移动体控制装置、移动体协作装置及移动体协作系统
CN115159293B (zh) * 2021-04-05 2024-04-05 三菱电机株式会社 移动体控制装置、移动体协作装置及移动体协作系统
WO2023058190A1 (fr) * 2021-10-07 2023-04-13 三菱電機株式会社 Système d'inspection de commande d'ascenseur et procédé d'inspection de commande d'ascenseur
JP7283604B1 (ja) 2022-03-17 2023-05-30 三菱電機株式会社 エレベーターシステム、連携装置、連携方法、および連携プログラム
JP2023136761A (ja) * 2022-03-17 2023-09-29 三菱電機株式会社 エレベーターシステム、連携装置、連携方法、および連携プログラム
JP7670208B1 (ja) 2024-06-10 2025-04-30 三菱電機ビルソリューションズ株式会社 エレベータシステム、エレベータシステムの制御方法及びプログラム
JP2025185502A (ja) * 2024-06-10 2025-12-22 三菱電機ビルソリューションズ株式会社 エレベータシステム、エレベータシステムの制御方法及びプログラム

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