Elevator control method

Abstract

The invention discloses an elevator control method which comprises the following steps: in a first process that a first elevator moves towards a first floor in a second direction in response to a first call signal, if a second call signal appears in a time period taking a first moment as a starting point and a second moment as an ending point; the elevator control method responds to a second elevator calling signal by controlling a first elevator to cross a first floor and stop at a second floor, and controls the first elevator to operate in a first direction after being started from the second floor and responds to a first elevator calling signal by stopping at the first floor; the first elevator calling signal takes a first floor as a starting floor and takes a first direction as an expected elevator taking direction; the second direction is opposite to the first direction; the second elevator calling signal takes a second floor as a starting floor and takes the first direction as an expected elevator taking direction; the second floor is located forward of the first floor with respect to the second direction. According to the method, the elevator calling signal of the passenger can be responded simply and efficiently under the condition that the passenger is not confused.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elevator technology, and in particular to an elevator control method for controlling an elevator in response to a passenger call. BACKGROUND

[0002] In the use of elevators, a common scenario is that a passenger A enters the 11th floor hall and finds that the elevator is going up to the 8th floor, and then presses the down button in a hurry to register a down signal, but the elevator stops at the 10th floor and then goes down. At this time, passenger A is very confused. The elevator has registered a down signal when it is only at the 10th floor, why does it stop at the 10th floor and then go down after going from the 10th floor to the 1st floor (main floor station) to respond to the passenger's call request? This not only wastes the passenger's waiting time, but also wastes the energy consumption of the elevator. If the elevator first responds to the 11th floor passenger and then responds to the 10th floor passenger, it will be more time-saving and energy-saving. The reason for the above phenomenon is that in the existing elevator control process, when passenger A registers his call request signal, the elevator has already entered the deceleration process for stopping at the 10th floor, and at this time it is in a locked state and will not respond to passenger A's 11th floor call request signal. This processing method of the prior art leads to the confusion of the passengers.

[0003] Another scenario similar to the above scenario is scenario 4 described in the background art of document 1 (CN201910821899.6). The difference between this scenario and the above scenario is that the second call signal is generated during the elevator stopping at the 10th floor, so it can be used to ask the 10th floor passenger whether he agrees to respond to the 11th floor passenger before transporting him to the destination floor, and then transport the 10th floor passenger and the 11th floor passenger to the main floor station (such as the 1st floor hall) together. If the above scenario is still handled by the solution in document 1, i.e., the 11th floor call signal is considered to be generated during the elevator stopping at the 10th floor, and then the 10th floor passenger is asked for his consent and subsequent control. However, this processing method has the disadvantages of low efficiency and complex structure, as it needs to pre-establish a question bank, ask the 10th floor passenger for his consent, and wait for the 10th floor passenger to respond.

[0004] Therefore, how to simply and efficiently respond to the call signal in the above scenario without causing confusion to the passengers has become a technical problem to be solved. SUMMARY

[0005] The technical problem to be solved by the present application is how to simply and efficiently respond to the call signal of the passengers without causing confusion to the passengers.

[0006] To solve the above technical problems, the present invention discloses an elevator control method. When a first elevator is in a first process of moving in a second direction toward a first floor in response to a first elevator call signal, if a second elevator call signal occurs within a time period starting at a first moment and ending at a second moment, the elevator control method controls the first elevator to pass the first floor and stop at the second floor in response to the second elevator call signal. Furthermore, the first elevator is controlled to move in the first direction after starting from the second floor and to stop at the first floor in response to the first elevator call signal.

[0007] The first elevator call signal uses the first floor as the departure floor and the first direction as the desired boarding direction; the second direction is opposite to the first direction; the second elevator call signal uses the second floor as the departure floor and the first direction as the desired boarding direction; the second floor is located ahead of the first floor relative to the second direction;

[0008] The first moment is the moment when the first elevator locks the first direction as the running direction after completing the stop at the first floor and starts; the second moment is the moment when the first elevator stops at the first floor.

[0009] Preferably, the elevator control method determines a deceleration point on the first floor corresponding to the second running direction based on the first floor position and the second running direction, and takes the moment when the first distance between the elevator car and the deceleration point decreases to a first threshold in the first process of the first elevator moving toward the first floor as the first moment, and the deceleration point refers to the point from which the elevator car gradually reduces its speed so as to eventually stop at the corresponding floor to be stopped.

[0010] Preferably, the elevator control method plans a speed graphic instruction for the first elevator to move from the car position and stop at the second floor according to the elevator operation information and the second floor position when the second elevator call signal appears, and controls the first elevator to move according to the speed graphic instruction.

[0011] Preferably, when the first floor is cleared from the floors to be stopped due to completion of locking in the first direction, the elevator control method restores the first floor to the floor to be stopped; or, when the first elevator call signal is cleared from the elevator call signal to be responded to due to completion of locking in the first direction, the elevator control method restores the first elevator call signal to the elevator call signal to be responded to.

[0012] Preferably, when the marking of the first elevator call signal in the first floor is cancelled due to completion of locking of the first direction, the elevator control method resumes the marking of the first elevator call signal.

[0013] Preferably, during the first process, there are no passengers in the car.

[0014] Preferably, the elevator control method informs the passengers at the first floor of information including the priority response to the second call signal when determining to respond to the second call signal with priority.

[0015] Preferably, the elevator control method controls the call signal indicating device at the first floor to indicate the first call signal in a manner different from the normal indication.

[0016] Preferably, the elevator control method controls the first elevator to stop at the second floor beyond the first floor only when any of the following conditions is met: condition 1, the distance between the first floor and the second floor is less than the second threshold value; condition 2, the distance between the first floor and the destination floor or the home landing of the first call signal is greater than the third threshold value; condition 3, the ratio of the distance between the first floor and the second floor to the distance between the first floor and the destination floor or the home landing of the first call signal is less than the fourth threshold value.

[0017] Preferably, the elevator control method controls the first elevator to stop at the second floor beyond the first floor only when any of the following conditions is met: condition 1, the distance between the first floor and the second floor is less than the second threshold value; condition 2, the distance between the first floor and the destination floor or the home landing of the first call signal is greater than the third threshold value; condition 3, the ratio of the distance between the first floor and the second floor to the distance between the first floor and the destination floor or the home landing of the first call signal is less than the fourth threshold value.

[0018] Step 1, determine the current position of the elevator car;

[0019] Step 2, determine the distance between the current position of the elevator car and the second floor;

[0020] Step 3, determine the current speed and acceleration of the movement of the elevator car (when the acceleration is positive, the speed increases; when the acceleration is negative, the speed decreases; here the elevator car is in the deceleration phase, so the acceleration must be negative) ;

[0021] Step 4, based on the allowed jerk (i.e. the rate of change of acceleration) and the control period T, determine the maximum allowed change Δ of the acceleration in one period, Δ > 0;

[0022] Step 5, assume that it is the kth period;

[0023] Step 6, based on the current acceleration of the movement of the elevator car, increase it by Δ;

[0024] Step 7, determine the speed and acceleration of the movement of the elevator car and the car position in the k+1 period;

[0025] Step 8: Determine whether there is at least one speed curve that satisfies a specific condition, such that when the elevator car moves according to the speed curve, the elevator car can move at the position of the k+1 period and the moving speed is zero when it reaches the second floor. The specific condition is that the absolute value of the derivative of any point on the speed curve does not exceed Δ. If so, let k+1→k, connect the speed value corresponding to k and the speed value corresponding to k+1, and return to step 6; otherwise, proceed to the next step.

[0026] Step 9: Combine the curve obtained by connecting the speed values ​​with the speed curve in the previous cycle (i.e., k cycles), change the combined curve as a speed graph, and output it.

[0027] Beneficial technical effects

[0028] It can respond to passengers' elevator calls simply and efficiently without confusing them. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the embodiments described are only embodiments of a part of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention. It should be noted that the terms "first", "second", etc. in the description and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0030] Example 1

[0031] The elevator control method of this embodiment is aimed at a specific scenario in the background technology.

[0032] This embodiment provides an elevator control method. When a first elevator is moving in a second direction toward a first floor in response to a first elevator call signal, if a second elevator call signal occurs within a time period starting at a first moment and ending at a second moment, the elevator control method controls the first elevator to pass the first floor and stop at the second floor in response to the second elevator call signal. The method also controls the first elevator to move in the first direction after starting from the second floor and stop at the first floor in response to the first elevator call signal.

[0033] The first elevator call signal uses the first floor as the departure floor and the first direction as the desired boarding direction; the second direction is opposite to the first direction; the second elevator call signal uses the second floor as the departure floor and the first direction as the desired boarding direction; the second floor is located ahead of the first floor relative to the second direction;

[0034] The first moment is the moment when the first elevator locks the first direction as the running direction after completing the stop at the first floor and starts; the second moment is the moment when the first elevator stops at the first floor.

[0035] The time when the first elevator locks the first direction as the running direction after it completes the stop at the first floor and starts usually corresponds to the time when the elevator car reaches the deceleration point.

[0036] For example, a deceleration point on the first floor corresponding to the second running direction is determined according to the position of the first floor and the second running direction, and the moment when the first distance between the elevator car and the deceleration point decreases to a first threshold in the first process of the first elevator moving toward the first floor is used as the first moment. The first threshold can be a positive number or a negative number, and its absolute value is usually required not to be too large. The deceleration point refers to the point from which the elevator car gradually reduces its speed so as to eventually stop at the corresponding floor to be stopped.

[0037] In the prior art, to ensure smooth landing at the first floor, a deceleration point is determined based on the rated deceleration during movement in the second direction toward the first floor. This deceleration point is located between the current position of the elevator car and the first floor. The elevator controller pre-programs a speed profile with the starting point corresponding to the deceleration point and the end point corresponding to the first floor. The deceleration of this speed profile is typically the rated deceleration (of course, it can be any value not exceeding the rated deceleration). After the elevator reaches the deceleration point, the controller controls the movement speed of the elevator car according to the speed profile, so that the elevator car gradually decreases from the deceleration point, and when the speed drops to zero, the elevator car has just reached the first floor. If, according to the prior art control method, the elevator reaches the deceleration point at a first moment, and if all elevator call signals before the first moment indicate the direction of travel in the second direction, the controller determines that the elevator has landed at the first floor and, upon restart, will operate in the first direction, i.e., the direction of travel after restart will be locked to the first direction, even after passing the deceleration point. If a call signal requiring the elevator to continue traveling in the second direction appears, the elevator will not continue traveling in the second direction to respond to a call signal ahead of the second direction. That is, the scenario described in the background technology occurs, and since passengers do not understand this control method of the elevator, they are confused.

[0038] In this embodiment, in order to enable the elevator to respond to the second elevator call signal from the second direction when the above situation occurs, a speed pattern instruction (a curve with time or car position as the horizontal axis) for the first elevator to move from the car position to the second floor is planned based on the elevator operation information (including the car position and movement speed, or acceleration) and the second floor position at the time the second elevator call signal is issued. The first elevator is then controlled to move according to the speed pattern instruction. In other words, a new speed pattern instruction is planned so that the first elevator moves according to the new speed pattern instruction, rather than according to the original speed pattern for stopping at the first floor.

[0039] The steps of planning a speed graphic instruction for the first elevator to move from the car position to the second floor according to the elevator operation information and the second floor position when the second elevator call signal appears are as follows:

[0040] Step 1: Determine the current position of the elevator car;

[0041] Step 2: Determine the distance between the current position of the elevator car and the second floor;

[0042] Step 3: Determine the current speed and acceleration of the elevator car (when the acceleration is positive, the speed increases; when the acceleration is negative, the speed decreases; here the elevator car is in the deceleration stage, so the acceleration must be negative);

[0043] Step 4: Determine the maximum allowable change Δ of acceleration within one cycle based on the allowable jerk (i.e., the rate of change of acceleration) and the control cycle T, where Δ>0;

[0044] Step 5: Assume that the current period is the kth period;

[0045] Step 6: Add a Δ to the current acceleration of the elevator car.

[0046] Step 7: Determine the moving speed and acceleration of the elevator car and the car position in the k+1 period;

[0047] Step 8: Determine whether there is at least one speed curve that meets specific conditions (here, the curve is required to meet: Condition 1: the maximum value does not exceed the rated speed of the elevator; Condition 2: it must be continuous and smooth, which has the same meaning as the continuous smoothness of a limited function in mathematics), so that when the elevator car moves according to the speed curve, it can move at the position of the k+1 period and the moving speed is zero when it reaches the second floor. The specific condition is that the absolute value of the derivative of any point on the speed curve does not exceed Δ. If so, let k+1→k, connect the speed value corresponding to k and the speed value corresponding to k+1, and return to step 6; otherwise, go to the next step;

[0048] Step 9, the curve obtained by connecting the speed values is combined with the speed curve in the last cycle (i.e., k cycle), and the combined curve is changed as a speed pattern and output.

[0049] Embodiment 2

[0050] This embodiment is further defined and illustrated on the basis of Embodiment 1.

[0051] When the first floor is removed from the floors to be stopped at because of the lock completion in the first direction, the elevator control method restores the first floor to the floors to be stopped at.

[0052] Or, when the first call signal is removed from the call signals to be responded because of the lock completion in the first direction, the elevator control method restores the first call signal to the call signals to be responded.

[0053] When the indication (such as the display of the call registration signal) of the first call signal in the first floor is cancelled because of the lock completion in the first direction, the elevator control method restores the indication of the first call signal.

[0054] Embodiment 3

[0055] This embodiment is further defined and illustrated on the basis of Embodiment 1.

[0056] The first elevator does not have passengers in the car during the movement in the second direction.

[0057] The elevator control method informs the waiting passengers in the first floor of the information containing the priority response to the second call signal when determining to respond to the second call signal with priority.

[0058] The elevator control method controls the call signal indication device in the first floor to indicate the first call signal in a manner different from the normal indication; of course, the informing can also be performed in the manner such as voice reminding.

[0059] Embodiment 4

[0060] This embodiment is further defined and illustrated on the basis of any of the preceding embodiments.

[0061] The elevator control method controls the first elevator to stop at the second floor by passing the first floor only when any of the following conditions is met:

[0062] Condition 1, the distance between the first floor and the second floor is less than a second threshold value;

[0063] Condition 2, the distance between the first floor and the destination floor or the main landing of the first call signal is greater than a third threshold value;

[0064] Condition 3: The ratio of the distance between the first floor and the second floor to the distance between the first floor and the destination floor or the main landing of the first elevator call signal is less than a fourth threshold.

[0065] The purpose of the above conditions is to ensure that significant results are achieved after implementing the control method of this application.

Claims

1. An elevator control method, characterized in that: When a first elevator is in a first process of moving in a second direction toward a first floor in response to a first elevator call signal, if a second elevator call signal occurs within a time period starting at a first moment and ending at a second moment, the elevator control method controls the first elevator to respond to the second elevator call signal by controlling the first elevator to pass the first floor and stop at the second floor, and controls the first elevator to respond to the first elevator call signal by stopping at the first floor after starting from the second floor. The first elevator call signal uses the first floor as the departure floor and the first direction as the desired boarding direction; the second direction is opposite to the first direction; the second elevator call signal uses the second floor as the departure floor and the first direction as the desired boarding direction; the second floor is located ahead of the first floor relative to the second direction; The first moment is the moment when the first elevator locks the first direction as the running direction after completing the stop at the first floor and starts; the second moment is the moment when the first elevator stops at the first floor.

2. The elevator control method according to claim 1, characterized in that: The elevator control method determines a deceleration point on the first floor corresponding to the second running direction based on the first floor position and the second running direction, and takes the moment when the first distance between the elevator car and the deceleration point decreases to a first threshold in the first process of the first elevator moving toward the first floor as the first moment. The deceleration point refers to the point from which the elevator car gradually reduces its speed so as to eventually stop at the corresponding to-be-stopped floor.

3. The elevator control method according to claim 1, characterized in that: The elevator control method plans a speed graphic instruction for the first elevator to move from the car position and stop at the second floor according to the elevator operation information when the second elevator call signal appears and the second floor position, and controls the first elevator to move according to the speed graphic instruction.

4. The elevator control method according to claim 1, wherein: When the first floor is cleared from the floors to be stopped due to completion of locking in the first direction, the elevator control method restores the first floor as the floor to be stopped; or When the first call signal is cleared from the waiting call signal due to completion of locking of the first direction, the elevator control method restores the first call signal to the waiting call signal.

5. The elevator control method according to claim 1, wherein: When marking of the first call signal in the first floor is cancelled due to completion of locking of the first direction, the elevator control method resumes marking of the first call signal.

6. The elevator control method according to claim 1, characterized in that: During the first process, there are no passengers in the car.

7. The elevator control method according to claim 1, characterized in that: When determining to give priority to the second elevator call signal, the elevator control method notifies the waiting passengers on the first floor of information including the priority to give priority to the second elevator call signal.

8. The elevator control method according to claim 7, characterized in that: The elevator control method controls the elevator call signal marking device on the first floor to mark the first elevator call signal in a manner different from the normal marking.

9. The elevator control method according to claim 1, characterized in that: The elevator control method controls the first elevator to pass the first floor and stop at the second floor only when any of the following conditions is met: Condition 1: The distance between the first floor and the second floor is less than the second threshold; Condition 2: The distance between the first floor and the destination floor or main landing of the first elevator call signal is greater than the third threshold; Condition 3: The ratio of the distance between the first floor and the second floor to the distance between the first floor and the destination floor or the main landing of the first elevator call signal is less than a fourth threshold.

10. The elevator control method according to claim 3, characterized in that: The step of planning the speed pattern instruction in the elevator control method includes: Step 1: Determine the current position of the elevator car; Step 2: Determine the distance between the current position of the elevator car and the second floor; Step 3: Determine the current speed and acceleration of the elevator car; Step 4: Determine the maximum allowable change Δ of acceleration within one cycle based on the allowable jerk and the control cycle T, where Δ>0; Step 5: Assume that the current period is the kth period; Step 6: Add a Δ to the current acceleration of the elevator car. Step 7: Determine the moving speed and acceleration of the elevator car and the car position in the k+1 period; Step 8: Determine whether there is at least one speed curve that satisfies a specific condition, such that when the elevator car moves according to the speed curve, the elevator car can move at the position of the k+1 period and the moving speed is zero when it reaches the second floor. The specific condition is that the absolute value of the derivative of any point on the speed curve does not exceed Δ. If so, let k+1→k, connect the speed value corresponding to k and the speed value corresponding to k+1, and return to step 6; otherwise, proceed to the next step. Step 9: Combine the curve obtained by connecting the speed values ​​with the speed curve in the previous cycle, change the combined curve as a speed graph and output it.