Vacant space detection system, vacant space detection method and elevator system

Abstract

Based on the distance data detected by the distance sensor and the data acquisition range, the vehicle within the effective range is detected, the occupied area of ​​the vehicle is calculated, and the non-effective area that meets the specified conditions is calculated. According to the ratio of the occupied area and the non-effective area to the effective range, the free space within the effective range is calculated.

Description

Technical Field

[0001] This invention relates to a space detection system, a space detection method, and an elevator system for detecting the availability of space inside an elevator car. Background Technology

[0002] A control system for an elevator has been disclosed (Patent Document 1), which uses a weight detection unit (load detection device) installed in the car to detect the load inside the car and calculates the passenger load rate based on the load. In Patent Document 1, by making the lighting state of the display device change in stages according to the load of the car, the passenger load rate of the car can be displayed in an easy-to-understand manner.

[0003] Furthermore, Patent Document 2 discloses an invention of an elevator system with a group management device, wherein the group management device is used to control multiple elevators as a group to provide users with more efficient operating services. In Patent Document 2, it is considered that an elevator among the multiple elevators whose load value detected by a load detection device is below a predetermined threshold has available space, and that elevator is used as a service elevator to stop at the target floor.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2021-98577

[0007] Patent Document 2: Japanese Patent Application Publication No. 2018-167921 Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] However, in elevator systems, when load detection devices are used to monitor the car's load and determine whether there is available space, there are situations where the expected available space based on the load value differs from the actual available space. For example, if a large but light load occupies space inside the car, even if there is actually little available space, the load value might be used to determine that there is available space.

[0010] As a result, for example, in elevator group management systems where load values ​​are used to calculate available space, there are instances where cars with no actual available space stop at designated floors. Additionally, in structures displaying car occupancy information, errors can occur.

[0011] Therefore, the present invention aims to provide a vacant space detection system, a vacant space detection method, and an elevator system, which can detect the status of vacant space or the space occupied by passengers or cargo in the elevator car.

[0012] Technical means to solve the problem

[0013] To address the aforementioned problems and achieve the objectives of this invention, the vacant space detection system of this invention includes a distance sensor installed on the ceiling side inside the car, capable of measuring the distance between the sensor and the object being transported inside the car. Furthermore, it includes: an effective range setting unit that calculates the effective range within the car; and a sensor information extraction unit that uses the installation position coordinates of the distance sensor to calculate the data acquisition range of the distance sensor corresponding to the effective range. Additionally, it includes: an occupied area calculation unit that uses the distance data detected by the distance sensor and the data acquisition range to calculate the occupied area where the object is located within the effective range; and a vacant space detection unit that, in the area surrounding the occupied area, calculates non-effective areas that meet predetermined conditions, and calculates the vacant space within the effective range based on the ratio of the occupied area and non-effective areas to the effective range.

[0014] The present invention provides a method for detecting vacant space to calculate the effective range within a car. The installation coordinates of a distance sensor, installed on the ceiling side of the car and capable of measuring the distance to the object being transported within the car, are extracted. Using these installation coordinates as a reference, the data acquisition range of the distance sensor corresponding to the effective range is calculated. Based on the distance data detected by the distance sensor and the data acquisition range, the occupied area of ​​the detected object within the effective range is calculated. Then, in the area surrounding the occupied area, ineffective areas that meet predetermined conditions are calculated. Based on the ratio of the occupied area and the ineffective area to the effective range, the vacant space within the effective range is calculated.

[0015] The elevator system of the present invention includes an elevator that moves the car up and down and the above-mentioned free space detection system.

[0016] Invention Effects

[0017] According to the present invention, the condition of the empty space inside the car can be detected more accurately. Attached Figure Description

[0018] Figure 1 This is a schematic structural diagram of an elevator system 100 according to one embodiment of the present invention.

[0019] Figure 2 This is a rough structural diagram of car 2 viewed from the inside.

[0020] Figure 3 This is a rough structural diagram of car 2 as viewed from the top.

[0021] Figure 4 This is a flowchart indicating the method for setting the data acquisition range of the distance sensor 3 installed in the car 2.

[0022] Figure 5 It means Figure 4 The process of extracting the effective range 40 in step S1.

[0023] Figure 6 This is a flowchart of the method for extracting the data acquisition range of distance sensor 3.

[0024] Figure 7 This describes the process of setting the distance data of the distance sensor 3 in the sensor information acquisition unit 24.

[0025] Figure 8 This is a schematic diagram of the information obtained in steps S33 and S34 being reflected in the distance data detected by the distance sensor 3.

[0026] Figure 9 This is a flowchart illustrating the free space calculation method in the free space detection unit 25.

[0027] Figure 10 This is a schematic diagram showing the status of the distance data acquired by distance sensor 3.

[0028] Figure 11 This is the process for calculating invalidity.

[0029] Figure 12 This is a flowchart illustrating an elevator allocation calculation processing method according to one embodiment of the present invention.

[0030] Figure 13 It is a process that determines whether the assigned elevator is full and issues a non-stop command if it cannot provide service.

[0031] Figure 14 This refers to the notification control method of the notification department 27. Detailed Implementation

[0032] Hereinafter, an example of a vacant space detection system, a vacant space detection method, and an elevator system according to embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the following example. In the figures described below, common components are labeled with the same reference numerals.

[0033] <1. Structure of Elevator System>

[0034] First, an elevator system according to one embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a schematic structural diagram of an elevator system 100 according to one embodiment of the present invention (hereinafter referred to as this embodiment). The elevator system 100 of this embodiment includes the vacant space detection system of the present invention, which can be generated by... Figure 1The elevator system 100 shown constitutes a vacant space detection system, and can also be used in... Figure 1 A portion of the elevator system 100 shown constitutes a vacant space detection system.

[0035] like Figure 1 As shown, the elevator system 100 of this embodiment includes an elevator 1, an elevator operation management unit 11, an elevator control unit 10, an in-car camera control unit 18, and a distance sensor control unit 19. The elevator system 100 also includes a host computer 14, a statistical database (DB) 12, and a maintenance database (DB) 13 connected via a communication relay unit 17 and a communication network 16.

[0036] [elevator]

[0037] Elevator 1 moves up and down within a shaft (not shown) formed in a building. Elevator 1 includes a car 2 for passengers and goods (hereinafter referred to as the transported goods), a main hoist 35, a counterweight 33, and a traction machine 34. The main hoist 35 is wound around the traction machine 34, and the car 2 moves up and down under the control of the elevator control unit 21 (described later in the elevator control unit 10). Furthermore, the car 2 is connected to the counterweight 33 via the main hoist 35 and moves up and down within the shaft.

[0038] Figure 2 This is a schematic structural diagram showing the car 2 as viewed from the inside. Additionally, Figure 3 This is a rough structural diagram showing the car 2 as viewed from the top. Figure 3 In the illustration, passengers P1, P2, and P3 and cargo B are shown as examples of the transported goods. Furthermore, in car 2, the depth direction of car 2 is represented by the Y direction, the height direction of car 2 by the Z direction, and the direction perpendicular to the Y and Z directions by the X direction.

[0039] like Figure 2 As shown, the car 2 includes a car floor 2a, side walls 2b erected around the car floor 2a, and a ceiling 2c disposed opposite the car floor 2a, separated by the car compartment. The space enclosed by the car floor 2a, side walls 2b, and ceiling 2c forms the car compartment capable of accommodating and transporting goods. Furthermore, a car side door frame (jamb) is provided on the landing side of the side wall 2b, within which a car door 31 is installed. The car door 31 is positioned corresponding to the landing door (not shown) located on the landing side when the car 2 stops at each floor. The car door 31 and the landing door are opened and closed under the control of the door opening and closing control unit 22, described later.

[0040] On the side wall 2b near the car door 31, there is a destination floor registration button for users to register their destination floor, and an input / output device 28 that displays the registered destination floor and the current position of the car 2.

[0041] Additionally, a handrail 30 is provided on the side wall 2b of the car 2 to assist passenger movement. The handrail 30 is composed of a rod-shaped component and is installed at a position away from the side wall 2b to a degree that allows the passenger to grip it.

[0042] Furthermore, an in-car camera 4 was installed on one side of the ceiling 2c of elevator 1. Figure 1 The car interior camera 4, for example for surveillance purposes, consists of an image sensor capable of capturing images inside the car 2. Under the control of the car interior camera control unit 18 (described later), the car interior camera 4 appropriately captures images inside the car 2.

[0043] Distance sensor 3, such as Figure 2 As shown, a distance sensor 3 is positioned at a predetermined distance from the side wall 2b on one side of the ceiling 2c, and is positioned above the lighting fixtures (not shown) mounted on the ceiling 2c in the vertical direction. The distance sensor 3 is a sensor that detects the distance between itself and the objects P1, P2, P3, and B inside the car 2. The distance sensor 3 can be, for example, a ToF (Time of Flight) sensor or a millimeter-wave sensor. A ToF sensor is a sensor that modulates and emits light of a specific wavelength, receives and processes the light reflected from the emitted light on the object, thereby enabling the measurement of the distance to the object. When using a ToF sensor as a distance sensor, a lamp is required to illuminate the object with the specific wavelength of light.

[0044] A millimeter-wave sensor is a sensor that modulates and emits electromagnetic waves of a specific frequency, receives and processes the reflected waves generated when the emitted waves collide with a transported object, thereby enabling the measurement of the distance to the transported object. In this embodiment, considering the decorative aspect of the car interior, a distance sensor 3 is more preferably constructed using a millimeter-wave sensor that can be fabricated with a cover according to its working principle, rather than a structure where the lens is exposed to the outside.

[0045] The aforementioned components constituting elevator 1 are appropriately connected to the elevator operation management unit 11, the elevator control unit 10, the in-car camera control unit 18, and the distance sensor control unit 19, and are respectively controlled. Furthermore, Figure 1 The illustration shows only one elevator 1, but the elevator system 100 of this embodiment has multiple elevators, numbered from 1 to N, which are managed and controlled by the elevator operation management unit 11. In this case, the elevator control unit 10, the in-car camera control unit 18, and the distance sensor control unit 19 are set up for each elevator 1 and control each elevator 1. On the other hand, the elevator operation management unit 11 manages all the individual elevators 1 in a group.

[0046] [Elevator Control Department]

[0047] The elevator control unit 10 includes, for example, a lifting control unit 21, a door opening and closing control unit 22, a distance sensor setting unit 23, and a notification unit 27.

[0048] The lifting control unit 21 controls the traction machine 34 (main unit) and other components responsible for the operation of the car 2. As described above, the traction machine 34 has a main hoisting cable 35 wound around it. One end of the main hoisting cable 35 is connected to the car 2 for passengers and goods, and the other end is connected to the counterweight 33. In this embodiment, the traction machine 34 operates under the control of the lifting control unit 21, and the car 2 moves up and down in the hoistway. Thus, the elevator system 100 provides services regarding the up and down movement of the elevator 1 to passengers and goods riding in the car 2.

[0049] When the car 2 arrives at the designated floor, the door opening and closing control unit 22 outputs an instruction to the door drive control unit (not shown) – which is used to drive the car doors 31 of each car 2 – indicating the opening and closing actions of the car doors 31 and the landing doors (not shown).

[0050] The distance sensor setting unit 23 sets the time (timing) for acquiring distance data using the distance sensor 3 and sends this information to the sensor information acquisition unit 24 of the distance sensor control unit 19. The distance sensor setting unit 23 generates the distance data acquisition time of the distance sensor 3 based on preset information such as the time when the car door 31 closes and the time when the car 2 begins to rise or fall. Then, the distance sensor setting unit 23 sends information about the generated distance data acquisition time to the sensor information acquisition unit 24. Furthermore, the distance sensor setting unit 23 stores initial setting values ​​for the data acquisition range and resolution of the distance data from the distance sensor 3. These initial setting values ​​are set using the effective range setting unit 15, which will be described later. Alternatively, the acquisition time and other parameters can also be preset as initial values ​​and used.

[0051] The notification unit 27 controls the notifications issued to the car 2 based on information from the vacant space detection unit 25, the lifting control unit 21, and the door opening / closing control unit 22. In this embodiment, the notification unit 27 issues a notification to the passengers in the car 2 at a predetermined time, reminding them to move towards the wall. The control method of the notification unit 27 will be described in detail later.

[0052] [Elevator Operation and Management Department]

[0053] The elevator operation management unit 11 includes an allocation calculation processing unit 20. Based on information about the available space in the car 2 calculated by the available space detection unit 25 (described later), the allocation calculation processing unit 20 determines which elevator can be allocated to, and decides which elevator 1 will stop at the floor where the call request was issued. The allocation method of the allocation calculation processing unit 20 will be detailed later.

[0054] [In-car camera control unit]

[0055] The in-car camera control unit 18, under the control of the elevator control unit 10, drives the in-car camera 4. Images acquired by the in-car camera 4 are stored, for example, in a storage unit (not shown) provided in the in-car camera control unit 18. Alternatively, images acquired by the in-car camera 4 can be stored in a statistics DB12 and / or a maintenance DB13 via a communication path 190, a communication relay unit 17, a communication network 16, and a main computer 14. Furthermore, the in-car camera 4 can continuously record images, or it can record images only when it senses a moving object. The recording timing of the in-car camera 4 can be varied.

[0056] [Distance Sensor Control Unit]

[0057] The distance sensor control unit 19 includes a sensor information acquisition unit 24, an occupied area calculation unit 29, and an idle space detection unit 25. The sensor information acquisition unit 24 acquires distance data detected by the distance sensor 3 at a predetermined time (hereinafter referred to as the distance data acquisition time) sent from the distance sensor setting unit 23 (described later). This predetermined distance data acquisition time is, for example, the time when the car door 31 closes, or the time when the car 2 begins its lifting or lowering operation. The sensor information acquisition unit 24 obtains distance information corresponding to the distance data acquisition time by receiving a signal from the elevator control unit 10 regarding this distance data acquisition time. Furthermore, in Figure 3 In the case of the structure, the distance data obtained by the distance sensor 3 is processed by the distance sensor control unit 19 via the communication path 190, but is not limited to this. For example, the function of the distance sensor control unit 19 may be integrated into the distance sensor 3, and the processed data may be exchanged with the elevator control unit 10 via the communication path 190.

[0058] The occupancy area calculation unit 29 calculates the occupied area within the car 2 occupied by the transported object based on distance data obtained by distance sensor 3 and sensor information obtained by sensor information acquisition unit 24 (described later). The vacant space detection unit 25 calculates the vacant space within the car based on the space between the transported object and the wall. The occupancy area calculation method in the occupancy area calculation unit 29 and the vacant space calculation method in the vacant space detection unit 25 will be described in detail later.

[0059] [Main Computer]

[0060] The main computer 14 is a computer connected to the communication path 190 via the communication relay unit 17 and the communication network 16. The communication path 190 connects the elevator 1, the in-car camera control unit 18, the distance sensor control unit 19, the elevator control unit 10, and the elevator operation management unit 11. The main computer 14 includes an effective range setting unit 15 and a sensor information extraction unit 26.

[0061] The effective range setting unit 15 sets the measurement range (hereinafter referred to as the effective range 40) to be detected by the distance sensor 3 in the space inside the car 2 where people and goods can ride. The effective range setting unit 15 retrieves information about the car 2 stored in the maintenance DB13 and sets the effective range 40 based on this information. The method for setting the effective range 40 in the effective range setting unit 15 will be described in detail later.

[0062] The sensor information extraction unit 26 extracts the resolution of the distance sensor 3 from the information stored in the maintenance DB13. Furthermore, the sensor information extraction unit 26 extracts the data acquisition range of the distance sensor 3 based on the installation position coordinates of the distance sensor 3 and the effective range 40 set by the effective range setting unit 15. The method for extracting the data acquisition range of the distance sensor 3 will be described in detail later.

[0063] [Maintaining the DB]

[0064] Maintenance DB13 is a database that stores the identification numbers, models, and specifications of all elevators 1 that are to be maintained. In this embodiment, the information to be used among the information stored in Maintenance DB13 includes: the design drawings and 3D information of the car 2, the resolution of the distance sensor 3 installed in the car 2, and the coordinates of the installation position of the distance sensor 3.

[0065] [Statistics DB]

[0066] The statistics database DB12 stores various statistical information, including statistics on the number of passengers using all elevators 1 under maintenance, statistics on the floors where elevators stopped, and statistics on fault details. In this embodiment, the statistics on available space calculated by the available space detection unit 25 are updated and stored continuously.

[0067] <2. Control methods for elevator systems>

[0068] The control method of an elevator system including the free space detection method of this embodiment will be described below.

[0069] [How to set the data acquisition range]

[0070] First, when detecting the free space inside the car 2, the detection range (hereinafter referred to as the data acquisition range) of the distance sensor 3 installed in the car 2 is set. Figure 4 This is a flowchart indicating the method for setting the data acquisition range of the distance sensor 3 installed in the car 2.

[0071] First, in the main computer 14, the design drawing and 3D information of the car 2 stored in the maintenance DB13 are input into the effective range setting unit 15 (step S1). The effective range setting unit 15 uses the input 3D design drawing information to extract the effective range 40 of the car 2 and the area of ​​the effective range 40 (hereinafter referred to as the effective area) (step S2). The effective range 40 is as follows... Figure 3 As shown, the effective range 40 is defined as the area at a predetermined distance from the side wall 2b and the car door 31, i.e., the area excluding obstacles such as the handrail 30 that are pre-installed inside the car 2. In other words, the effective range 40 is defined as the area within which a load is expected to be actually loaded into the car 2. Details of the method for setting the effective range 40 and the effective area will be described later. Furthermore, this embodiment uses design drawings and their 3D information as input information, but it is not limited to this; the setting information obtained by combining digitized data from the design information can also be used as input information.

[0072] Next, the sensor information extraction unit 26 extracts the data acquisition range corresponding to the effective range 40 based on the effective range 40 set by the effective range setting unit 15 and the installation position coordinates of the distance sensor 3 received from the maintenance DB13 (step S3). The data acquisition range refers to the range of data acquisition by the distance sensor 3 that corresponds to the effective range 40 set with the installation position coordinates of the distance sensor 3 as a reference. By extracting the data acquisition range, the data acquisition range of the distance sensor 3 can be bound to the effective range 40. The method for extracting the data acquisition range will be described in detail later.

[0073] In addition, in step S3, the sensor information extraction unit 26 also extracts information about the resolution of the distance sensor 3 from the maintenance DB13.

[0074] Then, the information on the effective range 40, data acquisition range and resolution extracted in steps S2 and S3 is fed back to the maintenance DB13, and the setting information of the distance sensor 3 is updated in the maintenance DB13.

[0075] Figure 4 The extraction of the effective range 40, the data acquisition range of the distance sensor 3, and the resolution shown in the process flow can be performed within the main computer 14 based on the information stored in the maintenance DB13. Therefore, this information can be extracted in advance before the elevator 1 leaves the factory. It can be designed so that the extraction of the effective range 40, the data acquisition range, and the resolution is performed automatically when the information of the car 2 is stored in the maintenance DB13. In addition, this embodiment uses a maintenance DB, but it can also cooperate with a design DB that stores design drawings, etc.

[0076] In addition, information regarding the effective range 40, data acquisition range, and resolution is updated in real time if the design of the elevator car 2 changes or the installation coordinates of the distance sensor 3 changes.

[0077] [Methods for extracting the effective range]

[0078] Figure 5 It means Figure 4 The process of extracting the effective range 40 in step S1 is as follows: First, the effective range setting unit 15 sets a threshold value for the starting position of distance data acquisition from the side wall 2b, including the car door 31, to the distance sensor 3 in the horizontal direction of the car 2, i.e., the X and Y directions. This threshold value is set to prevent the distance sensor 3 from detecting the side wall 2b as a vehicle, and is determined based on the assumption that the vehicle could actually be loaded at that location. These threshold values ​​are predetermined and stored in the maintenance DB13. The effective range setting unit 15 extracts the threshold information in the X and Y directions from the maintenance DB13.

[0079] Next, the effective range setting unit 15 extracts the handrail and other obstacles 30 that exist on the inside of the side wall 2b from the design drawing information stored in the maintenance DB13 (step S12).

[0080] Then, the effective range setting unit 15 extracts the effective size Xed in the X direction, the effective size Yed in the Y direction, and the effective range 40 based on the threshold set in step S11 for the distance data acquisition start position from the side wall 2b, and the obstacle information extracted in step S12 (step S13). In step S13, the effective area of ​​the effective range 40 is also calculated based on the values ​​of the effective size Xed and Yed. As described above, the effective range 40 and the effective area of ​​the effective range 40 are extracted.

[0081] [Methods for extracting the scope of data acquisition]

[0082] Next, use Figure 6 Extraction of the data acquisition range of distance sensor 3 (equivalent to) Figure 4 Step S3 will be explained. Figure 6 This is a flowchart of the method for extracting the data acquisition range of distance sensor 3.

[0083] First, the sensor information extraction unit 26 extracts the installation position coordinates (Xs, Ys) of the distance sensor 3 on the XY plane based on the information stored in the maintenance DB13 (step S21). The installation position coordinates of the distance sensor 3 represent the center position of the distance sensor 3 installed on the ceiling 2c of the car 2 on the XY plane.

[0084] Next, the sensor information extraction unit 26 compares the installation position coordinates (Xs, Ys) of the distance sensor 3 with the effective range 40, and extracts the data acquisition range of the distance data to be acquired by the distance sensor 3 using the installation coordinate position (Xs, Ys) of the distance sensor 3 as a reference (step S22). Let the installation coordinate position (Xs, Ys) of the distance sensor 3 be (0, 0), and the data acquisition range in the X direction be set as follows: Figure 3 The range shown is from -X1 (mm) to +X2 (mm). Additionally, the data acquisition range in the Y direction is set to... Figure 3 The range shown is from -Y1 (mm) to +Y2 (mm).

[0085] Next, the sensor information extraction unit 26 extracts the mounting height Zs of the distance sensor 3 in the Z direction from the information stored in the maintenance DB13 (step S23). The mounting height Zs of the distance sensor 3 in the Z direction is the height from the floor of the car 2 to the mounting position of the distance sensor 3.

[0086] Next, the sensor information extraction unit 26 sets a threshold value in the height direction of the Z-direction based on the information stored in the maintenance DB13. The threshold value in the Z-direction is a value set to determine the effective size in the Z-direction, and threshold values ​​are set for both the ceiling 2c side and the floor 2a side in the Z-direction. The threshold value set for the ceiling 2c side is a value set to prevent the distance sensor 3 from detecting the lighting panel, which is positioned below the distance sensor 3 in the vertical direction. The threshold value set for the floor 2a side is a value set to prevent the distance sensor 3 from detecting objects that do not affect occupancy—such as a low platform that passengers can climb onto. By setting the threshold values, the dimension from the position at a threshold distance from the floor 2a to the position at a threshold distance from the lighting panel is the effective size Zed in the Z-direction.

[0087] Next, the sensor information extraction unit 26 compares the mounting position coordinates Zs of the distance sensor 3 in the Z direction with the effective size Zed, and uses the mounting coordinate position Zs in the height direction of the distance sensor 3 as a reference to extract the data acquisition range in the Z direction. Assuming the mounting position coordinates Zs in the height direction of the distance sensor 3 = 0, the distance acquisition range in the Z direction of the distance sensor 3 is... Figure 3 The range shown is from MAX+Z1 (mm) to MIN+Z2 (mm).

[0088] As described above, the data acquisition range corresponding to the effective range 40 of the distance sensor 3 was extracted in the X, Y, and Z directions. Furthermore, this effective range 40 can be set by connecting to the maintenance DB13 at the factory, or it can be set during field installation of the sensor. Moreover, by cooperating with the maintenance DB13, the effective range can be automatically set even if the installation position is modified, reflecting the manufacturer's design data. For the aforementioned ToF sensor and millimeter-wave sensor, it is important to suppress the emission of light beams or electromagnetic waves into unwanted locations and to set the threshold of the area based on reflection. Furthermore, it is important that the area is not set using data obtained from the sensor, but rather that the effective range is pre-set and processed accordingly.

[0089] [Sensor Information Setting Method]

[0090] Next, the sensor information setting method in the sensor information acquisition unit 24 of the distance sensor control unit 19 will be described. Figure 7 This describes the process of setting the distance data of the distance sensor 3 in the sensor information acquisition unit 24.

[0091] First, the sensor information acquisition unit 24 determines whether it has received information (data) regarding the settings of the distance sensor 3 from the sensor information extraction unit 26 (step S31). Here, the data sent from the sensor information extraction unit 26 to the sensor information acquisition unit 24 is the data acquisition range in the X, Y, and Z directions, as well as the resolution of the distance sensor 3 in the XY plane.

[0092] If the determination in step S31 is "no," that is, if it is determined that data cannot be received normally, the initial setting value for the distance sensor 3 pre-stored in the distance sensor setting unit 23 of the elevator control unit 10 is retrieved (step S32). This initial setting value is related to... Figure 6 Similarly, the initial values ​​of the data acquisition range and resolution of the distance sensor 3 are obtained.

[0093] On the other hand, if the determination in step S31 is "yes", that is, if it is determined that the data has been received normally, the sensor information acquisition unit 24 sets the data acquisition range (X direction, Y direction, Z direction) of the distance data to be detected by the distance sensor 3. The data acquisition range of the distance data is -X1 (mm) to +X2 (mm) in the X direction, -Y1 (mm) to +Y2 (mm) in the Y direction, and MIN+Z1 (mm) to MAX+Z2 (mm) in the Z direction.

[0094] Next, the sensor information acquisition unit 24 obtains the resolution of the distance sensor 3 extracted by the sensor information extraction unit 26 (step S34). Figure 8 The diagram shows a schematic of the process of reflecting the information obtained in steps S33 and S34 onto the distance data detected by the distance sensor 3. Figure 8 In China, for the sake of Figure 3 The corresponding parts are labeled with the same reference numerals as in the attached figure, and repeated descriptions are omitted.

[0095] like Figure 8 As shown, the data acquisition range of the distance sensor 3 obtained by the sensor information acquisition unit 24 is the same as the effective range 40. Furthermore, based on the resolution setting, the distance data within the effective range 40 on the XY plane is divided into predetermined unit regions 41. In this embodiment, for each unit region 41 divided within the effective range 40, it is determined whether a carrier exists, and the available space is calculated. The method for calculating the available space will be explained below.

[0096] [Methods for calculating occupied area and detecting free space]

[0097] Figure 9 This describes the flow of the occupancy area calculation method in the occupancy area calculation unit 29 and the free space detection method in the free space detection unit 25. After the distance sensor 3 acquires distance data at a predetermined time, the "resolution loop" (step S41) begins in the occupancy area calculation unit 29, wherein the effective range 40 is divided according to the resolution of the distance sensor 3, and it is determined whether there is a carrier in each of the divided unit areas 41. First, the distance data in the predetermined unit area 41 is extracted from the distance data detected by the distance sensor 3 (step S42).

[0098] Next, the occupied area calculation unit 29 determines whether the distance data in the unit area 41 is greater than a threshold (step S43). The threshold in step S43 is, for example, a value determined based on the intensity of the reflected light detected by the distance sensor 3. If the intensity of the reflected light is greater than the threshold, it is determined that there is a carrier; if it is less than the threshold, it is determined that there is no carrier.

[0099] Figure 10 This is a simplified structural diagram showing the status of distance data acquired by distance sensor 3. Distance sensor 3 acquires data along the X, Y, and Z axes. The presence of a vehicle is determined based on the values ​​detected along the X and Y axes, and the height of the vehicle is detected based on the value detected along the Z axis.

[0100] like Figure 10As shown, within each unit area 41, the portion or all of the transports P1, P2, P3, and B that are present is represented as occupied areas D1, D2, and D3, respectively. Furthermore, in the following description, the unit area 41 where transports are detected is referred to as an "occupied area," and the unit area 41 where no transports are detected is referred to as an "unoccupied area." Additionally, without distinguishing between occupied areas D1, D2, and D3, it is simply represented as occupied area D.

[0101] The occupied areas D1, D2, and D3 are the unit areas 41 determined to contain the transport object during the processing in step S43. Furthermore, in this embodiment, by determining whether the acquired distance data exceeds a predetermined threshold, false detection by the distance sensor 3 can be prevented.

[0102] If the determination in step S43 is "yes," that is, if it is determined that there is a carrier in unit area 41, the detection point is incremented by 1 (step S45). In step S45, the occupied area calculation unit 29 calculates the sum of the unit areas 41 (occupied areas) determined to contain carriers as "detection points." That is, in step S45, the number of unit areas 41 determined to contain carriers is accumulated.

[0103] If the determination in step S43 is "no", that is, if it is determined that there is no carrier in the unit area 41, the detection points are not accumulated. The processing in steps S42 to S44 is performed on all unit areas 41 of the effective range 40. After the determination of whether there is a carrier has been completed in all unit areas 41 of the effective range 40, the resolution loop ends (step S45).

[0104] Next, the vacant space detection unit 25 detects unit areas 41 (unoccupied areas) that are determined to be devoid of transport and cannot carry passengers, and classifies them as ineffective areas. The number of ineffective areas is then used to calculate ineffective points (step S46). The calculation method for ineffective areas and ineffective points in the vacant space detection unit 25 will be described in detail later.

[0105] Next, the free space detection unit 25 calculates the occupancy rate based on the accumulated detected points and invalid points (step S47). The free space detection unit 25 calculates the occupancy rate (%) by calculating the ratio of detected points and invalid points to the total number of points within the valid range 40, that is, the total number of unit areas 41 within the valid range 40.

[0106] Next, the free space detection unit 25 calculates the free space (step S48). The free space detection unit 25 can calculate the free space (%) by calculating 100 (%) - occupancy (%).

[0107] Furthermore, while the free space calculated in this embodiment is a proportion, the area can also be calculated. In this case, the area of ​​the free space can be calculated based on the proportion of the free space to the area of ​​the effective range 40.

[0108] Using the above Figure 9 The described method for detecting vacant space can detect the vacant space of the cars in all individual elevators 1 that are managed by the elevator operation management department 11 at any time.

[0109] [Methods for calculating inefficient points and inefficient degrees]

[0110] Here, for Figure 9 The method for calculating inefficient points and inefficiency in step S46 will be explained. Figure 11 This is a flowchart representing the calculation method for invalidity. In this embodiment, as... Figure 10 As shown, based on the relationship between the occupied areas D1 to D4 and the sidewalls 2b (2b-1, 2b-2, 2b-3, 2b-4), the first ineffective regions Nw1, Nw2, Nw3, Nw4 and the second ineffective regions Nc1, Nc2, Nc4 are calculated. In the following explanation, the first ineffective regions Nw1, Nw2, Nw3, and Nw4 are referred to as the first ineffective region Nw. Similarly, the second ineffective regions Nc1, Nc2, and Nc4 are referred to as the second ineffective region Nc.

[0111] The free space detection unit 25 starts the "resolution loop" (step S461), during which... Figure 9 In the process, each unit region 41 that is judged to occupy region D is determined to have a first non-valid region Nw based on its occupied region D.

[0112] First, the vacant space detection unit 25 determines whether the distance between the X coordinate of the occupied area D and either one side wall 2b-1 or the other side wall 2b-2 in the X direction is greater than a threshold Xw. Furthermore, in this embodiment, a handrail 30 is installed on the other side wall 2b-2. While the example used here is calculating the distance between the X coordinate of the occupied area and the side wall 2b-2, the portion where the handrail 30 is installed cannot actually carry passengers. Therefore, the location of the handrail 30 can also be considered as a side wall, and the distance between the location of the handrail 30 and the X coordinate of the occupied area D can be calculated.

[0113] The threshold Xw used in step S462 is a value derived from an average personal model. For example, based on a personal model with a width of 800mm in the X direction and a width of 400mm in the Y direction, the threshold Xw is set to 800mm. That is, in this case, in step S462, it is determined whether the distance between the X coordinate of the occupied area D and the sidewalls 2b-1 and 2b-2 in the X direction is greater than 800mm.

[0114] If the judgment in step S462 is "yes", that is, if the distance between the X coordinate of the occupied area D and the side wall 2b-1 or side wall 2b-2 in the X direction is greater than the threshold Xw, proceed to step S465 as described later.

[0115] On the other hand, if the judgment in step S462 is "no", that is, if the distance between the X coordinate of the occupied area D and the side wall 2b-1 or side wall 2b-2 in the X direction is less than the threshold Xw, proceed to step S463.

[0116] In step S463, the free space detection unit 25 sets the unit region 41 of the unoccupied region between the occupied region D and the sidewall 2b whose distance from the occupied region D is less than or equal to a threshold Xw as the first ineffective region Nw. Furthermore, unit regions 41 that have already been set as the first ineffective region Nw based on the relationship between other occupied regions D and the sidewall 2b are not re-evaluated as the first ineffective region Nw here.

[0117] Thus, in step S463, if there is no space available for passengers to ride in the unoccupied area between the occupied area D and its side wall 2b in the X direction, the unoccupied area is designated as the first ineffective area Nw. For example, Figure 10 In the example, the unit area 41 between cargo B and side wall 2b-1 is detected as the first invalid area Nw1. Additionally, the unit area 41 between passenger P2 and side wall 2b-1 is detected as the first invalid area Nw2. Furthermore, the unit area 41 between passenger P3 and side wall 2b-2 is detected as the first invalid area Nw3. Additionally, the unit area 41 between passenger P2 and side wall 2b-2 is detected as the first invalid area Nw4.

[0118] Then, add the number (points) of the unit region 41 that was judged as the first invalid region Nw in step S463 to the invalid points (step S464).

[0119] Next, the vacant space detection unit 25 determines whether the distance between the Y coordinate of the occupied area and the side wall 2b-3 on one side or the side wall 2b-4 on the other side in the Y direction is greater than the threshold Yw (step S465). In addition, in this embodiment, the car door 31 is provided on the other side wall 2b-4, but here the car door 31 is also regarded as the side wall 2b-4, and the distance between it and the Y coordinate is calculated.

[0120] The threshold Yw used in step S465 is a value derived from the average personal model. For example, based on a personal model with a width of 800mm in the X direction and a width of 400mm in the Y direction, the threshold Yw is set to 800mm. That is, in this case, in step S465, it is determined whether the distance between the Y coordinate of the occupied area D and the sidewall 2b-3 or 2b-4 in the Y direction is greater than 400mm.

[0121] If the determination in step S465 is "yes", that is, if the distance between the Y coordinate of the occupied area and the side wall 2b-3 or 2b-4 in the Y direction is greater than the threshold Yw, proceed to step S468 as described later.

[0122] On the other hand, if the judgment in step S465 is "no", that is, if the distance between the Y coordinate of the occupied area and the side wall 2b-3 or 2b-4 in the Y direction is less than the threshold Yw, proceed to step S466.

[0123] In step S466, the free space detection unit 25 sets the unit region 41 of the unoccupied region between the occupied region D and the sidewall 2b whose distance from the occupied region D is less than or equal to a threshold Yw as the first ineffective region Nw. Furthermore, unit regions 41 that have already been set as the first ineffective region Nw based on the relationship between other occupied regions D and the sidewall 2b are not re-evaluated as ineffective regions Nw here.

[0124] Thus, in step S463, if there is no space available for passengers to ride in the unoccupied area between the occupied area D and its side wall 2b in the Y direction, the unoccupied area is designated as the first ineffective area Nw. For example, Figure 10 In the example, the unit area 41 between passenger P1 and side wall 2b-3 is detected as the first invalid area Nw1. Additionally, the unit area 41 between passenger P2 and side wall 2b-4 is detected as the first invalid area Nw2. Furthermore, the unit area 41 between passenger P2 and side wall 2b-23 is detected as the first invalid area Nw4.

[0125] Then, add the number (points) of the unit region 41 that was judged as the first invalid region Nw in step S466 to the invalid points (step S467).

[0126] After all occupied areas D are completed in steps S462 to S467, the resolution loop ends (S468).

[0127] Next, the vacant space detection unit 25 determines whether at least one of the four corners (four corners) in the car 2 is surrounded by the first ineffective area Nw (step S469). Here, for example, it can determine whether each unit area 41a, 41b, 41c, 41d located at the four corners in the unit area 41 of the effective range 40 is surrounded by the first ineffective area Nw.

[0128] If the determination in step S469 is "no", that is, if the unit regions 41a, 41b, 41c, and 41d located at the four corners are not surrounded by the first invalid region Nw, proceed to step S472.

[0129] On the other hand, if the determination in step S469 is "yes", that is, if it is determined that any one of the unit regions 41a, 41b, 41c, and 41d located in the four corners is surrounded by the first invalid region Nw, then proceed to step S470.

[0130] In step S470, the second ineffective region Nc is determined based on the relationship between the sidewall 2b and the first ineffective region Nw. Here, firstly, in step S470, the free space detection unit 25 determines whether there is a corner-side free space of a predetermined area in the corner surrounded by the first ineffective region Nw. Here, the predetermined area is the same as in steps S462 and S465, for example, set based on a personal model with a width of 800mm in the X direction and a width of 400mm in the Y direction. If the corner-side free space is greater than or equal to the predetermined area, the unit region 41 surrounded by the first ineffective region Nw is not determined as the second ineffective region Nc. That is, as... Figure 10 As shown, for example, a unit region 41 in a corner that is not surrounded by the first invalid region Nw1 is judged as the second invalid region Nc.

[0131] On the other hand, if the corner side free space is determined to be less than the specified area, the unit region 41 surrounded by the first ineffective region Nw is determined to be the second ineffective region Nc. That is, as Figure 10 As shown, for example, the corner unit region 41 surrounded by the first invalid region Nw2 and the corner unit region 41 surrounded by the first invalid region Nw4 are respectively judged as the second invalid regions Nc2 and Nc4.

[0132] Next, add the points of the second invalid region Nc (the number of unit regions 41) to the invalid points (step S471). Through the process of steps S462 to S471, Figure 10The number of unit areas 41 (points) of the first invalid areas Nw1, Nw2, Nw3, Nw4 and the second invalid areas Nc1, Nc2, Nc4 shown are designated as invalid points. Thus, in this embodiment, areas where no vehicle is detected but where it is impossible to ride a vehicle of a size based on a personal model are defined as invalid areas.

[0133] Next, the free space detection unit 25 calculates the invalidity rate (%) based on the ratio of invalid points to the total number of points within the valid range 40 calculated in step S471 (step S472). Furthermore, the calculated invalidity rate (%) is sent to the notification unit 27 for notification control.

[0134] As described above, in this embodiment, the calculation of ineffective points and ineffectiveness percentage (%) is performed in the free space detection unit 25. The calculation of ineffective points and ineffectiveness percentage (%) is... Figure 9 Step S46 is performed at the appropriate time.

[0135] [Elevator allocation calculation method]

[0136] In the elevator system of this embodiment, allocation calculation processing is performed based on the free space calculated as described above. In this embodiment, in the allocation calculation processing unit 20, based on... Figure 9 The obtained free space is used to calculate which of the multiple single elevators 1 should be stopped (assigned) at the floor that issued the floor call request. Figure 12 This describes the flow chart of the elevator allocation calculation processing method in this embodiment.

[0137] First, the allocation and processing unit 20 determines whether a landing call request has been issued on the landing floor (step S51). The landing call request is a request generated by a passenger located on the landing floor operating an operation unit (not shown) installed on the landing floor.

[0138] If the determination in step S51 is "no", that is, if it is determined that there is no floor station call request, the processing in the allocation calculation processing unit 20 ends.

[0139] On the other hand, if the determination in step S is "yes", that is, if it is determined that there is a floor call request, the allocation calculation processing unit 20 starts "elevator single machine number cycle" (step S52), in which allocation determination is performed for each single machine of elevator 1.

[0140] The allocation calculation processing unit 20 determines whether elevator 1, which is the object of judgment, can be allocated based on the available space calculated by the available space detection unit 25. For example, the judgment method in step S53 is that if the elevator is malfunctioning or under maintenance, it cannot be allocated, and the judgment is "No". In addition, for elevators that are not scheduled to stop at the requested floor, cannot predict that someone will get off en route, and are judged to be full, the judgment is "No". Specifically, if the requested floor is 3 and the elevator is going upwards, and there is an elevator starting from floor 1 with its destination floor registered as floor 5, it cannot predict that someone will get off at the 2nd floor. Therefore, for this elevator, if it has already been loaded to the point of being judged to be full, it is judged to remain full upon reaching floor 3. Furthermore, this full-occupancy judgment can be based on the occupancy determination method described later, judging full-occupancy based on load, or using any of the judgment methods.

[0141] If the result in step S53 is "no", that is, if it is determined that it cannot be assigned, the assignment judgment for elevator 1 ends and the cycle returns to the assignment judgment of the next single elevator.

[0142] On the other hand, if the determination in step S53 is "yes", that is, if it is determined that allocation is possible, an evaluation is performed on the time (waiting time) required for elevator 1 to reach the floor where the floor call request was issued (step S54). In the waiting time evaluation in step S54, the allocation priority of elevator 1 is evaluated accordingly based on the waiting time.

[0143] Then, after the allocation and judgment of all elevators 1 in the group management by the elevator operation management department 11 is completed, the "elevator single machine number cycle" ends (step S55).

[0144] Next, the allocation calculation processing unit 20 performs a comprehensive evaluation based on the judgment results calculated by the allocation judgment loop, and decides which elevator 1 to allocate (step S56). Here, the elevator 1 that is judged to be allocated, has the shortest waiting time in the waiting time evaluation, and has the highest priority is selected as the elevator to be allocated.

[0145] Then, the allocation calculation processing unit 20 sends a response command for the floor call to the corresponding elevator control unit 10 of the elevator 1 that was the allocation target calculated in step S56 (step S57). As a result, the elevator 1, which is the allocation target, is controlled by the corresponding elevator control unit 10 and stops at the floor where the floor call request was issued.

[0146] Figure 13 It is a process that determines whether the assigned elevator is full and issues a non-stop command if it cannot provide service.

[0147] First, the allocation processing unit 20 determines, for the elevator 1 (the object of the judgment), whether there is a call request at the next stopping floor (step S61). If the determination in step S61 is "no," meaning there is no call request at the next stopping floor, since there are no people or objects intending to use the elevator 1, the available space will not decrease. In this case, the elevator 1 remains in the "available for service" state in the allocation evaluation value, and the processing ends. In this case, Figure 12 In step S53, a "yes" judgment is made.

[0148] On the other hand, if the determination in step S61 is "yes," that is, if it is determined that there is a floor call request at the next stopping floor, the allocation calculation processing unit 20 determines whether the load of the elevator 1 meets the "full" criterion (step S62). The load value determination used in step S62 is based on the load value detected by the load detection device (not shown) installed in the car 2. If the load value detected in the car 2 is above the specified weight, it is determined to be "full"; if it is below the specified weight, it is determined to be "not full".

[0149] If the determination in step S62 is "no", that is, if the load value determines that the elevator is "not full", then it is determined whether the free space in the elevator 1 is less than 20% (step S63). In addition, this embodiment example describes an example of setting the free space ratio to 20%, but it is not limited to this, and the threshold of free space ratio such as less than 15% or less than 30% can be arbitrarily set.

[0150] If the determination in step S63 is "No," that is, if the available space is more than 20%, the elevator 1 is maintained in the "Able to Serve" state in its allocation evaluation value, and the process ends. In this case, Figure 12 In step S53, a "yes" judgment is made.

[0151] On the other hand, if the judgment in step S62 is "yes" (i.e., the situation is "full"), and if the judgment in step S63 is "yes" (i.e., the free space is less than 20%), proceed to step S64.

[0152] In step S64, the allocation processing unit 20 sends a landing call non-stop instruction to the elevator control unit 10 of the elevator 1 (step S64). The landing call non-stop instruction is an instruction that causes the elevator 1 to pass directly without stopping in response to the landing call in step S51.

[0153] Subsequently, if the allocation processing unit 20 determines that the available space is less than 20%, and the elevator scheduled to provide service is "unavailable" due to being full, it needs to re-evaluate the call request for that floor, and therefore performs a new allocation evaluation. In this case, Figure 12 In step S53, a "no" judgment is made.

[0154] pass Figure 13 The process involves determining whether elevator 1, the single machine being judged, can be assigned or not. As mentioned above, in... Figure 12 In step S53, the judgment result is determined according to whether the allocation evaluation is "able to allocate" or "cannot allocate".

[0155] According to this embodiment, even if the load value detected by the load detection device of the elevator car 2 is determined to be non-full, the elevator will not stop at the floor where a floor call request has been issued, provided that the free space is at a predetermined percentage (20% or less in this embodiment). Therefore, unnecessary stops caused solely by load value determination can be prevented, and the elevator 1, with its more suitable single unit, can stop at the floor where a floor call request has been issued.

[0156] In this embodiment, step S63 uses an example of determining whether the space can be allocated based on the available space, but it is also possible to determine whether the space can be allocated based on the proportion of the occupied area.

[0157] [Notification Control Methods]

[0158] In addition, in this embodiment, in Figure 11 In the process, spaces that, although no cargo is detected, cannot carry passengers and are therefore classified as ineffective areas Nw and Nc, and free space is calculated. In this case, for example, there may be situations where more free space can be secured by having passengers move towards side wall 2b. In the examples described below, when a certain level of ineffectiveness (ineffective area) is detected, a notification is issued to remind passengers in car 2 to move.

[0159] Figure 14 This describes the flow of the notification control method in the notification unit 27. First, the notification unit 27 determines whether the free space is below a threshold (set to 20% in this embodiment) based on the information sent from the free space detection unit 25 (step S71). If the determination in step S71 is "no", that is, if the free space is more than 20%, proceed to step S76. Step S76 will be described in detail later.

[0160] On the other hand, if the determination in step S71 is "yes," that is, if the free space is determined to be less than 20%, then proceed to step S72. In step S72, the notification unit 27 determines whether the sum of the free space (%) and the ineffectiveness (%) is greater than or equal to a predetermined threshold (20% in this embodiment) (step S72). If the determination in step S72 is "no," that is, if the sum of the free space (%) and the ineffectiveness (%) is less than 20%, then proceed to step S76. Step S76 will be described in detail later.

[0161] On the other hand, if the determination in step S72 is "no", that is, if the sum of free space (%) and ineffectiveness (%) is 20% or more, then proceed to step S73.

[0162] In step S73, it is determined whether there is no notification history in a single run. If the determination in step S73 is "no," that is, if there is a notification history in a single run, proceed to step S76. Step S76 will be described in detail later.

[0163] If the determination in step S73 is "yes," meaning there is no notification history in a single run, proceed to step S74. In step S74, the notification unit 27 sends a notification to make room. By sending a notification from the notification unit 27, passengers in the car 31 are notified and reminded to move towards the wall.

[0164] Next, notification unit 27 stores the history of notifications sent in step S74 in storage unit (not shown) (step S75). Then, proceed to step S76.

[0165] In step S76, the notification unit 27 determines whether the elevator 1 is in an open state or whether the lifting direction is directional based on the information from the lifting control unit 21 and the door opening and closing control unit 22.

[0166] If the determination in step S76 is "no", that is, if it is determined that elevator 1 is not in the open state and the direction of rise and fall is not directionless, the processing ends while maintaining the notification history.

[0167] On the other hand, if the determination in step S76 is "yes," that is, if elevator 1 is in the open state or the direction of ascent and descent is unknown, the notification unit 27 clears the notification history stored in the storage unit (step S77). Through the above, the processing of the notification unit 27 ends. Furthermore, Figure 14 The process shown has been carried out Figure 9 The calculation of the free space shown is performed during the calculation.

[0168] In this embodiment, the system detects the load inside the elevator car and identifies spaces that cannot actually accommodate passengers (or goods) due to the presence of loads as ineffective areas, thereby enabling a more accurate calculation of available space. Furthermore, in this embodiment, if the ineffective area exceeds a specified size, a notification can be sent to passengers inside the elevator car to remind them to move. This maximizes the number of passengers who can use the elevator.

[0169] Furthermore, in this embodiment, by pre-excluding obstacles such as handrails that are always installed inside the car 2 from the effective range 40, it is not necessary to calculate the area where obstacles exist, thus improving efficiency, for example. Figure 9 The processing speed in the system. For example, after elevator 1 is installed, if there are always obstacles such as foliage plants and small chairs in the car 2, the processing speed can be improved by... Figure 9 The processing will always detect these obstacles. In this case, the area detected as containing a vehicle can also be excluded from the effective range 40.

[0170] In addition, this embodiment uses an example in which the main computer 14 has an effective range setting unit 15 and a sensor information extraction unit 26, but it is also possible to use an example in which these structures are set on the side of the elevator control unit 10 or the distance sensor control unit 19.

[0171] Furthermore, in this embodiment, the data obtained from the distance sensor control unit 19 is processed in the same way as image data, but it is not limited thereto. The present invention can apply processing of distance data on all planar coordinates.

[0172] Furthermore, in this embodiment, the object of ineffective area is the space between a wall and a person. Areas below any threshold (specifically, a model is defined, and the area or size of that model is below the threshold) are considered ineffective areas. However, ineffective areas can also be defined between people. In this case, the above embodiment example can be handled with one resolution loop, but two resolution loops can also be considered: one for processing the detected entities, and the next for calculating the ineffective area. Alternatively, when calculating the ineffective area, the X and Y axes can be processed separately, and the judgment can be based on the length of the free space on the straight line. Alternatively, a fixed model (a model with fixed lengths on the X and Y axes; the simplest model is a rectangle) can be used for scanning, and areas without stored distance data can be considered as free space. In cases of local overlap of distance data, the entire scanned model range outside the coordinates containing stored distance data is considered as ineffective area.

[0173] Furthermore, by defining non-effective areas between people, it is possible to define personal space between them. For example, the minimum distance between people over a typical day can be averaged using a moving average, and personal space can be calculated as non-effective area. Specifically, if the measured values ​​on the X-axis are 500mm, 400mm, and 550mm, the distances to the walls are 50mm and 30mm respectively, and the distances between people are 150mm and 120mm respectively, then the personal space on the X-axis is 120mm. Similarly, if the measured values ​​on the Y-axis are 300mm, 330mm, 280mm, and 260mm, the distances to the walls are 10mm and 40mm respectively, and the distances between people are 200mm, 180mm, and 200mm respectively, then the personal space on the Y-axis is 180mm.

[0174] Regarding personal space, one approach is to calculate it directly based on the linear distance described above. Another approach involves calculating the minimum sum of available space and ineffectiveness over one day, and then determining the available space per person based on the number of people at which this minimum value is reached. Specifically, assuming 12 people have 20% available space and 10% ineffectiveness, and the effective range of the elevator car is 1800mm on both the X and Y axes, the calculated personal space, assuming 30% availability and based on the number of people, is 45mm. Alternatively, a general human model can be used to calculate the personal space dimensions based on the ratio of the X and Y axes.

[0175] The number of people used in the above calculation of personal space can be obtained in the following ways: for example, by dividing the measured load inside the car by the weight of a typical person (e.g., 65 kg); by dividing the detection data obtained from the distance sensor 3 by the area of ​​a typical person (e.g., 300 mm × 500 mm); by analyzing the measured distance data and calculating the concavity and convexity of the person to calculate the number of heads corresponding to the obtained head, etc.

[0176] Alternatively, a distance sensor identical to the aforementioned distance sensor 3 (hereinafter referred to as a landing-side distance sensor) can also be installed at the landing. When using a landing-side distance sensor, the effective range setting can be appropriately determined by considering the landing area and the waiting positions of elevator users. The effective range setting unit calculates the landing-side effective range in the landing, and the sensor information extraction unit extracts the installation position coordinates of the landing-side distance sensor. Based on the installation position coordinates, the landing-side data acquisition range of the landing-side distance sensor corresponding to the landing-side effective range is calculated. Furthermore, in the vacant space detection unit, based on the landing-side distance data detected by the landing-side distance sensor and the landing-side data acquisition range, the landing-side occupied area of ​​the detected transported object within the landing-side effective range can be calculated.

[0177] When using a landing-side distance sensor, the number of passengers at each landing can be calculated based on the occupied area at the landing or the number of passengers obtained through the aforementioned methods. Based on the detected number of passengers at each landing and the availability of space within the car, an elevator capable of accommodating that number of passengers can be determined.

[0178] Specifically, let's take the cases where 30% and 50% of the car's space is available as examples. If there are 5 users on any floor, and these users occupy about 20% of the car's space, then 30% of the car cannot meet the threshold of 20% available space when 5 users are using it. Therefore, we consider excluding that car from the allocation list.

[0179] Furthermore, when elevator operation is based on the occupied area of ​​a floor obtained from a distance sensor or the number of passengers obtained through the aforementioned method, allocation can also be made considering the aforementioned personal space. For example, if there are 5 users on a certain floor, occupying approximately 20% of the car space, and if the personal space is 2.5% per person, then 5 people * 2.5% = 12.5% ​​is personal space. Alternatively, overlap between people (overlap of personal spaces) can be considered. Assuming the overlap is 0.5%, then the number of passengers * 0.5% must be subtracted. In this case, it's 12.5% ​​- 2.5% = 10%. Therefore, the occupied area of ​​the floor is 30%. In this example, even considering personal space, for a car with 50% vacancy, there is still 20% vacancy with 5 users, which is below the threshold, so operation can proceed without problems.

[0180] Based on the above, operation that ensures ease of use for users and reduces unnecessary stops can help further improve elevator operation.

[0181] The above-described embodiments are provided for ease of understanding and illustration of the present invention, and are not limited to having all the structures described. For example, a part of the structure of the embodiments can be replaced with other structures, and other structures can be added to the structure of the embodiments. In addition, for a part of the structure of the embodiments, other structures can be added, deleted, or replaced.

[0182] Explanation of reference numerals in the attached figures

[0183] 100……Elevator system, 1……Elevator, 3……Distance sensor, 2……Car, 3……Distance sensor, 4……Car camera, 10……Elevator control unit, 11……Elevator operation management unit, 12……Statistical database, 13……Maintenance database, 14……Main computer, 15……Effective range setting unit, 16……Communication network, 17……Communication relay unit, 18……Car camera control unit, 19……Distance sensor control unit, 20……Distribution calculation and processing unit, 21……Lifting control unit, 22……Door opening and closing control unit, 23……Distance sensor setting unit, 24……Sensor information acquisition unit, 25……Free space detection unit, 26……Sensor information extraction unit, 27……Notification unit, 28……Input / output device, 30……Obstacle, 31……Car door, 33……Counterweight, 34……Traction machine, 35……Main sling, 40……Effective range, 41……Unit area, 50……Distance sensor.

Claims

1. A system for detecting vacant space inside an elevator car, characterized in that, include: A distance sensor, installed on the ceiling side inside the car, is capable of measuring the distance to the cargo inside the car; The effective range setting unit calculates the effective range inside the car. The sensor information extraction unit uses the installation location coordinates of the distance sensor to calculate the data acquisition range of the distance sensor corresponding to the effective range; The occupancy area calculation unit uses distance data detected by the distance sensor and the data acquisition range to calculate the occupancy area of ​​the vehicle within the effective range; and The vacant space detection unit calculates ineffective areas that meet predetermined conditions in the area surrounding the occupied area, and calculates the vacant space within the effective range based on the ratio of the occupied area and the ineffective area to the effective range. The effective range is set at a predetermined distance from the side wall of the car.

2. The free space detection system as described in claim 1, characterized in that: When the distance and / or area between the occupied area and the side wall and / or other occupied areas of the car is below a predetermined threshold, the vacant space detection unit detects the area between the occupied area and the side wall and / or other occupied areas of the car as a first invalid area. The invalid region includes the first invalid region.

3. The free space detection system as described in claim 2, characterized in that: If the area of ​​the region surrounded by the first ineffective region at one of the four corners of the car is below a predetermined threshold, the vacant space detection unit will detect the region surrounded by the first ineffective region as a second ineffective region. The invalid region includes the second invalid region.

4. The free space detection system as described in claim 1, characterized in that: The sensor information extraction unit extracts the resolution of the distance sensor. The occupancy area calculation unit divides the effective range according to the resolution. For each segmented unit region, it determines whether the distance data of the unit region is above a predetermined threshold. Unit regions with distance data above the predetermined threshold are set as the occupancy area. When the distance between the occupied area and the side wall of the car is less than a specified distance, the vacant space detection unit sets the unit area between the occupied area and the side wall of the car as an invalid area.

5. The free space detection system as described in claim 1, characterized in that: The effective range setting unit is connected to a database storing design data, and sets the effective range based on the dimensions inside the car obtained from the design data in the database and the installation position coordinates of the distance sensor.

6. The free space detection system as described in claim 1, characterized in that: The effective range setting unit is connected to a database storing design data, and removes obstacles set inside the car from the effective range by obtaining the design data from the database.

7. The free space detection system as described in claim 2, characterized in that: If the area of ​​the region surrounded by any one of the occupied area, the first ineffective area, and the side wall of the car is below a predetermined threshold, the vacant space detection unit will detect the region surrounded by any one of the occupied area, the first ineffective area, and the side wall of the car as a second ineffective area. The invalid region includes the second invalid region.

8. The free space detection system as described in claim 1, characterized in that: The free space detection unit has the function of calculating each person's personal space based on the relationship between the occupied area, the ineffective area, and the free space.

9. A method for detecting vacant space inside a car, characterized in that: Calculate the effective range inside the car. Extract the installation coordinates of the distance sensor installed on the ceiling side inside the car, which is capable of measuring the distance between itself and the object being transported inside the car. Using these installation coordinates as a reference, calculate the data acquisition range of the distance sensor corresponding to the effective range. Based on the distance data detected by the distance sensor and the data acquisition range, the occupied area of ​​the detected vehicle within the effective range is calculated. In the area surrounding the occupied area, invalid areas that meet the specified conditions are calculated. The free space within the effective range is calculated based on the ratio of the occupied area and the ineffective area to the effective range. The effective range is set at a predetermined distance from the side wall of the car.

10. An elevator system for controlling the operation of an elevator, characterized in that, include: An elevator is an instrument that moves a car up and down. A distance sensor, installed on the ceiling side inside the car, is capable of measuring the distance to the cargo inside the car; The effective range setting unit calculates the effective range inside the car. The sensor information extraction unit uses the installation location coordinates of the distance sensor to calculate the data acquisition range of the distance sensor corresponding to the effective range; The occupancy area calculation unit uses distance data detected by the distance sensor and the data acquisition range to calculate the occupancy area of ​​the vehicle within the effective range; and The vacant space detection unit calculates ineffective areas that meet predetermined conditions in the area surrounding the occupied area, and calculates the vacant space within the effective range based on the ratio of the occupied area and the ineffective area to the effective range. The effective range is set at a predetermined distance from the side wall of the car.

11. The elevator system as described in claim 10, characterized in that: It has an allocation calculation processing unit that, based on the detection results detected by the free space detection unit, assigns elevators that are determined to be available for allocation to the floors where there are floor call requests.

12. The elevator system as described in claim 10, characterized in that: The system includes a notification unit that determines whether to issue a notification to remind passengers in the car to move based on the ineffective areas detected by the vacant space detection unit.

13. The elevator system as described in claim 11, characterized in that: This includes a landing-side distance sensor, which is installed at the elevator landing and is capable of measuring the distance between the sensor and the object being transported at the landing. The effective range setting unit calculates the effective range on the floor side of the floor station. The sensor information extraction unit extracts the installation location coordinates of the landing-side distance sensor, and uses these coordinates as a reference to calculate the landing-side data acquisition range of the landing-side distance sensor corresponding to the effective range of the landing-side distance sensor. The occupancy area calculation unit calculates the occupancy area of ​​the detected transport vehicle within the effective range of the landing side based on the distance data detected by the landing side distance sensor and the data acquisition range of the landing side. The allocation calculation processing unit determines which elevators can be allocated based on the occupied area and the occupied area on the floor side, and allocates the elevators that are determined to be available for allocation to the floors where there are floor call requests.

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