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

Abstract

The present invention detects a loaded object in a valid area on the basis of a data acquisition range and distance data sensed by a distance sensor, calculates an occupied region where the loaded object was detected, calculates an invalid region matching a prescribed condition, and calculates the available space in the valid area from the proportions of the occupied region and the invalid region with respect to the valid area.

Description

[Technical field]

[0001] The present invention relates to an empty space detection system, an empty space detection method, and an elevator system that detect the status of empty space inside an elevator car. [Background technology]

[0002] Conventionally, in an elevator control system, a configuration has been disclosed in which the load inside the car is detected by a weight detection unit (load detection device) installed in the car, and the occupancy rate is calculated according to the load (Patent Document 1). In Patent Document 1, the occupancy rate of the car can be displayed in an easy-to-understand manner by gradually changing the lighting state of a display device according to the load of the car.

[0003] Also, Patent Document 2 discloses an invention relating to an elevator system having a group control device for controlling multiple elevators as one group and providing more efficient operation services to users. In Patent Document 2, among multiple elevators, an elevator whose load value detected by a load detection device is equal to or less than a predetermined threshold is determined to have vacant space, and the elevator is designated as a service elevator that stops at the destination floor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-98577 [Patent Document 2] JP 2018-167921 A Summary of the Invention [Problem to be solved by the invention]

[0005] In an elevator system, when a load detection device detects the load of a car and determines whether there is free space in the car based on the detection result, the free space estimated from the load value may differ from the actual free space. For example, when a large and light load occupies the space in the car, it may be determined that there is free space based on the load value, even though there is actually little free space.

[0006] As a result, for example, in an elevator group control system, when the available space is calculated based on the load value, a car that does not actually have available space may be stopped at a specific landing floor. Also, in a configuration that displays the occupancy rate of a car, there are cases where incorrect information is displayed.

[0007] Therefore, an object of the present invention is to provide an empty space detection system, an empty space detection method, and an elevator system that can detect the status of empty space inside a car or the space occupied by passengers or cargo. [Means for solving the problem]

[0008] In order to solve the above problems and achieve the object of the present invention, the free space detection system of the present invention has a distance sensor installed on the ceiling side of a car and capable of measuring the distance to a load in the car. It also has an effective area setting unit that calculates an effective area in the car, and a sensor information extraction unit that calculates a data acquisition range of the distance sensor corresponding to the effective area using the mounting position coordinates of the distance sensor. It also has an occupied area calculation unit that calculates an occupied area in the effective area where the load exists using the distance data and data acquisition range detected by the distance sensor, and a free space detection unit that calculates a non-effective area that is an area that meets a predetermined condition in the area surrounding the occupied area, and calculates the free space in the effective area from the ratio of the occupied area and the non-effective area to the effective area.

[0009] The free space detection method of the present invention calculates the effective area inside a car. The attachment position coordinates of a distance sensor that is installed on the ceiling side inside the car and can measure the distance to a load inside the car are extracted. The data acquisition range of the distance sensor corresponding to the effective area is calculated based on the attachment position coordinates. An occupied area in which a load within the effective area has been detected is calculated based on the distance data detected by the distance sensor and the data acquisition range. Then, a non-effective area, which is an area surrounding the occupied area and meets predetermined conditions, is calculated. The free space within the effective area is calculated from the ratio of the occupied area and non-effective area to the effective area.

[0010] The elevator system of the present invention includes an elevator that moves a car up and down, and the above-mentioned empty space detection system. Effect of the Invention

[0011] According to the present invention, the availability of space inside a car can be detected more accurately. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic configuration diagram of an elevator system 100 according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram of the elevator car 2 as viewed from the inside. [Diagram 3] 2 is a schematic diagram of the elevator car 2 as viewed from above. [Figure 4] 13 is a flow chart showing a method for setting a data acquisition range of a distance sensor 3 installed in a car 2. [Diagram 5] 5 is a flow diagram showing a method for extracting an effective area 40 in step S1 of FIG. [Figure 6] 11 is a flow diagram showing a method for extracting a data acquisition range of the distance sensor 3. [Figure 7] 13 is a flow diagram showing a setting method for acquiring distance data from the distance sensor 3 in the sensor information acquiring unit 24. [Figure 8]13 is a schematic diagram showing a state where the information acquired in steps S33 and S34 is reflected in distance data detected by the distance sensor 3. FIG. [Figure 9] 13 is a flow chart showing a method for calculating an empty space in empty space detection unit 25. [Figure 10] 2 is a schematic diagram showing distance data acquired by a distance sensor 3. FIG. [Figure 11] 13 is a flow diagram showing a method for calculating a degree of ineffectiveness. [Figure 12] 4 is a flow chart showing an elevator allocation calculation processing method according to one embodiment of the present invention. [Figure 13] This flow determines whether the assigned elevator is full, and if it is not available for service, issues a command to pass through. [Figure 14] 13 is a flow chart showing an announcement control method in an announcement unit 27. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an example of an empty space detection system, an empty space detection method, and an elevator system according to an embodiment of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the following example. In each of the drawings described below, the same reference numerals are used to denote common members.

[0014] <1. Elevator system configuration> First, an elevator system according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a schematic configuration diagram of an elevator system 100 according to an embodiment of the present invention (hereinafter, referred to as this embodiment). Note that the elevator system 100 of this embodiment includes an empty space detection system of the present invention, and the elevator system 100 shown in Fig. 1 may be the empty space detection system, or the empty space detection system may be configured in a part of the elevator system 100 shown in Fig. 1.

[0015] As shown in Fig. 1, an 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. Furthermore, the elevator system 100 is composed of a host computer 14, a statistical database (DB) 12, and a maintenance database (DB) 13, which are connected via a communication relay unit 17 and a communication network 16.

[0016] [Elevator] The elevator 1 moves up and down in a hoistway (not shown) formed in a building structure. The elevator 1 includes a car 2 for carrying people and luggage (hereinafter, cargo), a main rope 35, a counterweight 33, and a hoist 34. The hoist 34 is wound around the main rope 35, and raises and lowers the car 2 under the control of a lift control unit 21 of the elevator control unit 10, which will be described later. The car 2 is also connected to the counterweight 33 via the main rope 35, and moves up and down in the hoistway.

[0017] Fig. 2 shows a schematic diagram of the car 2 as viewed from the inside. Fig. 3 shows a schematic diagram of the car 2 as viewed from above. In Fig. 3, passengers P1, P2, and P3 and baggage B are illustrated as an example of cargo. In addition, in the car 2, the depth direction of the car 2 is indicated as the Y direction, the height direction of the car 2 is indicated as the Z direction, and the direction perpendicular to the Y direction and the Z direction is indicated as the X direction.

[0018] As shown in FIG. 2, the car 2 includes a car floor 2a, side walls 2b erected around the car floor 2a, and a ceiling 2c provided at a position facing the car floor 2a with a car chamber interposed therebetween. The space surrounded by the car floor 2a, the side walls 2b, and the ceiling 2c serves as a car chamber for accommodating cargo. A car door 31 is provided within a car-side three-sided frame provided on the side wall 2b on the landing side of the side walls 2b. The car door 31 is provided at a position corresponding to a landing door (not shown) provided on the floor 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 a door opening / closing control unit 22 described later.

[0019] On the side wall 2b near the car door 31, there are provided a destination floor registration button which enables a user to register a destination floor, and an input / output device 28 which displays information on the registered destination floor and the current position of the car 2.

[0020] In addition, handrails 30 that assist passengers in moving are provided on the side walls 2b of the car 2. The handrails 30 are made of rod-shaped members and are attached at positions away from the side walls 2b so that passengers can hold on to them.

[0021] Furthermore, an in-car camera 4 (FIG. 1) and a distance sensor 3 are provided on the ceiling 2c side of the car of the elevator 1. The in-car camera 4 is used for monitoring purposes, for example, and is composed of an image sensor capable of capturing images of the inside of the car 2. The in-car camera 4 appropriately captures images of the inside of the car 2 under the control of an in-car camera control unit 18, which will be described later.

[0022] As shown in FIG. 2, the distance sensor 3 is provided on the ceiling 2c at a position a predetermined distance away from the side wall 2b, and is installed above the lighting fixtures (not shown) provided on the ceiling 2c in the vertical direction. The distance sensor 3 is a sensor that detects the distance to the loads P1, P2, P3, and B in the elevator car 2. The distance sensor 3 is composed of, for example, a ToF (Time of Flight) sensor or a millimeter wave sensor. The ToF sensor is a sensor that can measure the distance to the load by modulating and emitting light of a specific wavelength, and receiving and processing the light reflected by the load. When the ToF sensor is used as the distance sensor, a separate light is required to irradiate light of a specific wavelength.

[0023] The millimeter wave sensor is a sensor that can measure the distance to a load by modulating and transmitting radio waves of a specific frequency, receiving and processing the reflected waves generated when the transmitted waves collide with the load. In this embodiment, in consideration of the design inside the car, it is preferable that the distance sensor 3 is configured as a millimeter wave sensor that can be processed with a cover based on its operating principle, rather than a configuration in which the lens is exposed to the outside.

[0024] Each of the components constituting the elevator 1 described above is appropriately connected to and controlled by the elevator operation management unit 11, elevator control unit 10, in-car camera control unit 18, and distance sensor control unit 19. Note that while FIG. 1 shows only one elevator 1, the elevator system 100 of this embodiment includes multiple elevators numbered 1 to N, and these elevators 1 are group-managed and controlled by the elevator operation management unit 11. In this case, the elevator control unit 10, in-car camera control unit 18, and distance sensor control unit 19 are provided for each elevator 1 and control each elevator 1. Meanwhile, the elevator operation management unit 11 performs group management of all elevators 1.

[0025] [Elevator control section] The elevator control unit 10 has, for example, a lift control unit 21, a door opening / closing control unit 22, a distance sensor setting unit 23, and an announcement unit 27.

[0026] The lift control unit 21 controls the hoist 34 (main engine) and the like that are responsible for the operation of the car 2. As described above, the car 2 for carrying people and objects is connected to one end of the hoist 34, and a main rope 35 connected to a counterweight 33 is wound around the other end. In this embodiment, under the control of the lift control unit 21, the hoist 34 operates and the car 2 moves up and down in the hoistway. In this way, the elevator system 100 provides services related to the up and down movement of the elevator 1 to people and objects in the car 2.

[0027] When the elevator car 2 arrives at a specified landing floor, the door opening / closing control unit 22 outputs instructions for opening and closing the elevator car door 31 and the landing door (not shown) to a door drive control unit (not shown) that drives and controls the elevator car door 31 of each elevator car 2.

[0028] The distance sensor setting unit 23 sets the timing for acquiring distance data by the distance sensor 3, and transmits the information to the sensor information acquiring unit 24 of the distance sensor control unit 19. The distance sensor setting unit 23 generates the acquisition timing of the distance data of the distance sensor 3 based on preset information such as the timing when the car door 31 closes and when the elevator car 2 starts to ascend or descend. Then, the distance sensor setting unit 23 transmits the generated information on the acquisition timing of the distance data to the sensor information acquiring unit 24. The distance sensor setting unit 23 also holds initial setting values ​​of the data acquisition range and resolution of the distance data in the distance sensor 3. These initial setting values ​​are set by the effective area setting unit 15 described later. The acquisition timing and the like described above may also be set as initial values ​​in advance, and the initial values ​​may be used.

[0029] The announcement unit 27 controls announcements to be made inside the car 2 based on information from the empty space detection unit 25, the lift control unit 21, and the door opening / closing control unit 22. In this embodiment, the announcement unit 27 makes an announcement to encourage passengers in the car 2 to move toward the wall at a predetermined timing. The control method of the announcement unit 27 will be described in detail later.

[0030] [Elevator Operation Management Department] The elevator operation control unit 11 has an allocation calculation processing unit 20. The allocation calculation processing unit 20 judges elevators that can be allocated based on information on the vacant space of the car 2 calculated by the vacant space detection unit 25 described later, and determines the elevator number of the elevator 1 to be stopped at the hall floor for which a hall call request has been made. The allocation method in the allocation calculation processing unit 20 will be described in detail later.

[0031] [In-car camera control unit] The in-car camera control unit 18 drives and controls the in-car camera 4 under the control of the elevator control unit 10. Images captured by the in-car camera 4 are stored, for example, in a memory unit (not shown) provided in the in-car camera control unit 18. Alternatively, images captured by the in-car camera 4 may be stored in the statistical DB 12 and / or the maintenance DB 13 via the communication path 190, the communication relay unit 17, the communication network 16, and the host computer 14. Note that the in-car camera 4 may capture images continuously, or may capture images when it detects loaded objects. The timing of capturing images by the in-car camera 4 can be changed in various ways.

[0032] [Distance sensor control unit] The distance sensor control unit 19 includes a sensor information acquisition unit 24, an occupied area calculation unit 29, and an empty space detection unit 25. The sensor information acquisition unit 24 acquires distance data detected by the distance sensor 3 at a predetermined timing (hereinafter, distance data acquisition timing) transmitted from the distance sensor setting unit 23 described later. The predetermined distance data acquisition timing is, for example, the timing when the car door 31 closes or the timing when the elevator car 2 starts to ascend or descend. The sensor information acquisition unit 24 acquires distance information corresponding to the distance data acquisition timing by receiving a signal related to the distance data acquisition timing from the elevator control unit 10. In the case of the configuration of FIG. 3, the distance sensor control unit 19 processes the distance data acquired by the distance sensor 3 via the communication path 190, but the configuration is not limited to this. For example, the function of the distance sensor control unit 19 may be incorporated into the distance sensor 3, and the processed data may be exchanged with the elevator control unit 10 via the communication path 190.

[0033] The occupied area calculation unit 29 calculates an occupied area occupied by the load in the car 2, based on the distance data acquired by the distance sensor 3 and the sensor information acquired by the sensor information acquisition unit 24 described later. The empty space detection unit 25 calculates the empty space in the car, based on the space between the load and the wall. The method of calculating the occupied area in the occupied area calculation unit 29 and the method of calculating the empty space in the empty space detection unit 25 will be described in detail later.

[0034] [Host Computer] The host computer 14 is a computer connected via a communication path 190 that 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, as well as via a communication relay unit 17 and a communication network 16. The host computer 14 includes an effective area setting unit 15 and a sensor information extraction unit 26.

[0035] The effective area setting unit 15 sets a measurement range (hereinafter, effective area 40) detected by the distance sensor 3 in a space inside the car 2 that can carry people, luggage, and other loads. The effective area setting unit 15 extracts information about the car 2 stored in the maintenance DB 13, and sets the effective area 40 from the information. A method for setting the effective area 40 in the effective area setting unit 15 will be described in detail later.

[0036] The sensor information extraction unit 26 extracts the resolution of the distance sensor 3 from the information of the distance sensor 3 stored in the maintenance DB 13. The sensor information extraction unit 26 also extracts the data acquisition range of the distance sensor 3 from the information of the mounting position coordinates of the distance sensor 3 and the information of the effective area 40 set by the effective area setting unit 15. The method of extracting the data acquisition range of the distance sensor 3 will be described in detail later.

[0037] [Maintenance DB] The maintenance DB 13 is a database that stores information on the identification numbers, models, and specifications of the constituent devices of all elevators 1 that are maintenance targets. In this embodiment, of the information stored in the maintenance DB 13, the drawings of the car 2 and their 3D information, the resolution of the distance sensor 3 installed in the car 2, and the information on the mounting position coordinates of the distance sensor 3 are used.

[0038] [Statistics DB] The statistical DB 12 accumulates various statistical information such as statistics on the number of passengers in all elevators 1 that are maintenance targets, statistics on floors they stop at, statistics on details of malfunctions, etc. In this embodiment, the statistics on the available space calculated by the available space detection unit 25 are updated and stored as needed.

[0039] <2. Elevator system control method> A method for controlling an elevator system including a method for detecting an empty space in this embodiment will be described below.

[0040] [How to set the data acquisition range] First, in order to detect an empty space in the car 2, a detection range (hereinafter, data acquisition range) of the distance sensor 3 installed in the car 2 is set. FIG. 4 is a flow showing a method for setting the data acquisition range of the distance sensor 3 installed in the car 2.

[0041] First, in the host computer 14, the drawing of the car 2 stored in the maintenance DB 13 and its 3D information are input to the effective area setting unit 15 (step S1). The effective area setting unit 15 uses the input 3D drawing information to extract the effective area 40 of the car 2 and the area of ​​the effective area 40 (hereinafter, effective area) (step S2). As shown in FIG. 3, the effective area 40 is set to a range that is a predetermined distance away from the side wall 2b and the car door 31 and excludes obstacles such as the handrail 30 that are installed in advance in the car 2. That is, the effective area 40 is set to a range in the car 2 where the load is expected to be actually loaded. Details of the method for setting the effective area 40 and the effective area will be described later. In this embodiment, the drawing and its 3D information are used as input information, but the input information may be obtained by linking with digitalized data of design information.

[0042] Next, the sensor information extraction unit 26 extracts a data acquisition range corresponding to the effective area 40 from information on the effective area 40 set by the effective area setting unit 15 and the mounting position coordinates of the distance sensor 3 received from the maintenance DB 13 (step S3). The data acquisition range is the data acquisition range of the distance sensor 3 corresponding to the effective area 40 set based on the mounting position coordinates of the distance sensor 3. By extracting the data acquisition range, the data acquisition range by the distance sensor 3 can be linked to the effective area 40. A method for extracting the data acquisition range will be described in detail later.

[0043] In step S3, the sensor information extraction unit 26 also extracts information relating to the resolution of the distance sensor 3 from the maintenance DB 13.

[0044] Then, the information on the effective area 40, the data acquisition range, and the resolution extracted in the processes of steps S2 and S3 is fed back to the maintenance DB 13, and the setting information of the distance sensor 3 is updated in the maintenance DB 13.

[0045] The extraction of the effective area 40, the data acquisition range and the resolution of the distance sensor 3 shown in the flow of Fig. 4 can be performed in the host computer 14 based on the information stored in the maintenance DB 13. Therefore, this information can be extracted in advance before the elevator 1 is shipped. The extraction of the effective area 40, the data acquisition range and the resolution may be performed automatically at the time when the information of the car 2 is stored in the maintenance DB 13. Also, although the present embodiment is configured to utilize the maintenance DB, it may also be configured to link with a design DB that stores drawings.

[0046] In addition, the information regarding the effective area 40, the data acquisition range, and the resolution is updated at any time when the specifications of the car 2 of the elevator 1 are changed, when the mounting position coordinates of the distance sensor 3 are changed, etc.

[0047] [How to extract effective areas] Fig. 5 is a flow showing a method for extracting the effective area 40 in step S1 of Fig. 4. First, the effective area setting unit 15 sets a threshold value from the side wall 2b including the car door 31 to the acquisition start position of the distance data in the distance sensor 3 in the X direction, which is the horizontal direction of the car 2, and in the Y direction. The threshold value from the side wall 2b to the acquisition start position of the distance data is a value set so that the distance sensor 3 does not detect the side wall 2b as a load, and is determined assuming a position where the load is actually loaded. These threshold values ​​are determined in advance and stored in the maintenance DB 13. The effective area setting unit 15 extracts information on the threshold values ​​in the X direction and the Y direction from the maintenance DB 13.

[0048] Next, the effective area setting unit 15 extracts obstacles 30, such as handrails, that exist inside the side wall 2b from the drawing information stored in the maintenance DB 13 (step S12).

[0049] Then, the effective area setting unit 15 extracts the effective dimension Xed in the X direction, the effective dimension Yed in the Y direction, and the effective area 40 from the threshold value from the side wall 2b to the distance data acquisition start position set in step S11 and the obstacle information extracted in step S12 (step S13). In step S13, the effective area of ​​the effective area 40 is also calculated from the values ​​of the effective dimensions Xed and Yed. In this manner, the effective area 40 and the effective area of ​​the effective area 40 are extracted.

[0050] [How to extract data range] Next, the extraction of the data acquisition range of the distance sensor 3 (corresponding to step S3 in FIG. 4) will be described with reference to FIG. 6. FIG. 6 is a flow showing a method of extracting the data acquisition range of the distance sensor 3.

[0051] First, the sensor information extraction unit 26 extracts the mounting position coordinates (Xs, Ys) of the distance sensor 3 on the XY plane from the information stored in the maintenance DB 13 (step S21). The mounting position coordinates of the distance sensor 3 are the coordinates of the center position of the distance sensor 3 mounted on the ceiling 2c of the car 2 displayed on the XY plane.

[0052] Next, the sensor information extraction unit 26 compares the mounting position coordinates (Xs, Ys) of the distance sensor 3 with the effective area 40, and extracts the data acquisition range of the distance data acquired by the distance sensor 3 based on the mounting coordinate position (Xs, Ys) of the distance sensor 3 (step S22). When the mounting coordinate position of the distance sensor 3 is (Xs, Ys)=(0, 0), the data acquisition range in the X direction is set to the range from -X1 (mm) to +X2 (mm) shown in Fig. 3. Also, the data acquisition range in the Y direction is set to the range from -Y1 (mm) to +Y2 (mm) shown in Fig. 3.

[0053] Next, the sensor information extraction unit 26 extracts the mounting position height Zs of the distance sensor 3 in the Z direction from the information stored in the maintenance DB 13 (step S23). The mounting position 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.

[0054] Next, the sensor information extraction unit 26 sets a threshold value in the height direction in the Z direction from the information accumulated in the maintenance DB 13. The threshold value in the Z direction is a value set to determine the effective dimension in the Z direction, and is set on the ceiling 2c side and the floor 2a side in the Z direction. The threshold value set on the ceiling 2c side is a value set so that the distance sensor 3 does not detect a lighting board installed below the distance sensor 3 in the vertical direction. In addition, the threshold value set on the floor 2a side is a value set so that the distance sensor 3 does not detect a load that does not affect the occupancy level, such as a low platform installed so that passengers can stand on it. By setting the threshold value, the dimension from a position that is the threshold distance from the floor 2a to a position that is the threshold distance from the lighting board becomes the effective dimension Zed in the Z direction.

[0055] Next, the sensor information extraction unit 26 compares the mounting position coordinate Zs in the Z direction of the distance sensor 3 with the effective dimension Zed, and extracts the data acquisition range in the Z direction based on the mounting coordinate position Zs in the height direction of the distance sensor 3. When the mounting position coordinate Zs in the height direction of the distance sensor 3 is set to 0, the data acquisition range in the Z direction of the distance sensor 3 is the range from MAX+Z1 (mm) to MIN+Z2 (mm) shown in FIG. 3.

[0056] In this manner, the data acquisition range corresponding to the effective area 40 of the distance sensor 3 is extracted in the X, Y, and Z directions. The effective area 40 may be set by connecting to the maintenance DB 13 at the time of product shipment, or may be set when the sensor is installed on-site. Furthermore, by linking with the maintenance DB 13, even if the installation position is corrected, the effective area can be automatically set by reflecting the design data of the shipping source. In the above-mentioned ToF sensor and millimeter wave sensor, it is important to suppress the emission of beams and electromagnetic waves to unnecessary locations and to set the threshold value of the area taking reflection into consideration. Furthermore, it is important to set the effective area in advance and perform processing according to the area, rather than setting the area using data obtained from the sensor.

[0057] [How to set sensor information] Next, a description will be given of a sensor information setting method in the sensor information acquisition unit 24 of the distance sensor control unit 19. Fig. 7 is a flow chart showing a setting method related to acquisition of distance data from the distance sensor 3 in the sensor information acquisition unit 24.

[0058] First, the sensor information acquiring unit 24 judges whether or not information (data) regarding the setting of the distance sensor 3 has been normally received from the sensor information extracting unit 26 (step S31). Here, the data transmitted from the sensor information extracting unit 26 to the sensor information acquiring unit 24 is the data acquisition range in the X-direction, Y-direction, and Z-direction, and the resolution of the distance sensor 3 in the XY plane.

[0059] If the result of step S31 is "NO", that is, if it is determined that the data has not been received normally, the initial setting values ​​for the distance sensor 3 stored in advance in the distance sensor setting unit 23 of the elevator control unit 10 are extracted (step S32). The initial setting values ​​are the initial value of the data acquisition range of the distance sensor 3 and the initial value of the resolution, which are obtained in the same manner as in FIG. 6.

[0060] On the other hand, if the result of the determination in step S31 is "YES", that is, if it is determined that the data has been normally received, the sensor information acquisition unit 24 sets the data acquisition ranges (X direction, Y direction, Z direction) of the distance data detected by the distance sensor 3. The data acquisition ranges of the distance data are -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.

[0061] Next, the sensor information acquisition unit 24 acquires the resolution of the distance sensor 3 extracted by the sensor information extraction unit 26 (step S34). Fig. 8 shows a schematic diagram when the information acquired in steps S33 and S34 is reflected in the distance data detected by the distance sensor 3. In Fig. 8, parts corresponding to Fig. 3 are given the same reference numerals and duplicated explanations will be omitted.

[0062] 8, the data acquisition range of the distance sensor 3 acquired by the sensor information acquisition unit 24 is the same range as the effective area 40. Furthermore, by setting the resolution, the distance data within the effective area 40 on the XY plane is divided into predetermined unit areas 41. In this embodiment, the presence or absence of a load is determined for each unit area 41 divided within the effective area 40, and the free space is calculated. A method for calculating the free space will be described below.

[0063] [How to calculate occupied space, how to detect free space] 9 is a flow chart showing an occupied area calculation method in the occupied area calculation unit 29 and an empty space detection method in the empty space detection unit 25. After the distance sensor 3 acquires distance data at a predetermined timing, the occupied area calculation unit 29 starts a "resolution loop" (step S41) for determining the presence or absence of a load for each unit area 41 obtained by dividing the effective area 40 by the resolution of the distance sensor 3. First, distance data for the predetermined unit area 41 is extracted from the distance data detected by the distance sensor 3 (step S42).

[0064] Next, the occupancy area calculation unit 29 judges whether the distance data in the unit area 41 is greater than a threshold value (step S43). The threshold value in step S43 is a value determined by, for example, the intensity of reflected light detected by the distance sensor 3. If the intensity of the reflected light is greater than the threshold value, it is judged that there is a load, and if it is less than the threshold value, it is judged that there is no load.

[0065] 10 is a schematic diagram showing distance data acquired by the distance sensor 3. The distance sensor 3 acquires data on the X, Y, and Z axes. The presence or absence of a load is determined from the values ​​detected in the X and Y directions, and the height of the load is detected from the value detected in the Z direction.

[0066] 10, the portions of each unit area 41 in which a part or all of the cargo P1, P2, P3, B is present are indicated as occupied areas D1, D2, D3. In the following description, a unit area 41 in which a cargo is detected is referred to as an "occupied area," and a unit area 41 in which a cargo is not detected is referred to as a "non-occupied area." When no distinction is made between the occupied areas D1, D2, D3, they are simply referred to as occupied area D.

[0067] The occupied areas D1, D2, and D3 are unit areas 41 in which it is determined in the process of step S43 that a load is present. In this embodiment, it is possible to prevent erroneous detection by the distance sensor 3 by determining whether the acquired distance data is greater than a predetermined threshold value.

[0068] In step S43, if the answer is "YES", that is, if it is determined that a load is present in the 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) in which it is determined that a load is present as the "detection point". In other words, in step S45, the number of unit areas 41 in which it is determined that a load is present is accumulated.

[0069] If the result of step S43 is "NO", that is, if it is determined that there is no load in the unit area 41, the detection points are not accumulated. The processes of steps S42 to S44 are performed for all unit areas 41 in the effective area 40, and when the determination of the presence or absence of a load in all unit areas 41 in the effective area 40 has been completed, the resolution loop is ended (step S45).

[0070] Next, the empty space detection unit 25 detects the unit areas 41 that cannot carry people as ineffective areas among the unit areas 41 (unoccupied areas) that are determined to have no cargo, and calculates the ineffective points from the number of ineffective areas (step S46). The method of calculating the ineffective areas and the ineffective points in the empty space detection unit 25 will be described in detail later.

[0071] Next, the free space detection unit 25 obtains the occupancy rate from the accumulated detection points and ineffective points (step S47). The free space detection unit 25 calculates the occupancy rate (%) by calculating the ratio of the detection points and ineffective points to the total number of points in the effective area 40, i.e., the total number of unit areas 41 in the effective area 40.

[0072] 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 subtracting occupancy (%) from 100 (%).

[0073] In this embodiment, the free space is calculated as a ratio, but it may be calculated as an area. In this case, the area of ​​the free space can be calculated from the ratio of the free space to the area of ​​the effective area 40.

[0074] As described above, by the vacant space detection method described with reference to FIG. 9, vacant spaces in the cars of all the elevators 1 that are group-managed by the elevator operation control unit 11 are detected at any time.

[0075] [Non-effective points and method of calculating the degree of non-effectiveness] Here, the calculation method of the non-valid points and the non-validity in step S46 in Fig. 9 will be described. Fig. 11 is a flow showing the calculation method of the non-validity. In this embodiment, as shown in Fig. 10, the first non-valid areas Nw1, Nw2, Nw3, Nw4 and the second non-valid areas Nc1, Nc2, Nc4 are calculated from the relationship between the occupied areas D1 to D4 and the side walls 2b (2b-1, 2b-2, 2b-3, 2b-4). In the following description, when the first non-valid areas Nw1, Nw2, Nw3, Nw4 are not distinguished, they are referred to as the first non-valid areas Nw. When the second non-valid areas Nc1, Nc2, Nc4 are not distinguished, they are referred to as the second non-valid areas Nc.

[0076] The free space detection unit 25 starts a "resolution loop" for determining, for each unit area 41 determined to be an occupied area D in the flow shown in FIG. 9, whether or not there is a first non-valid area Nw based on the occupied area D (step S461).

[0077] First, the empty space detection unit 25 judges whether the distance between the X coordinate of the occupied area D and one side wall 2b-1 or the other side wall 2b-2 in the X direction is greater than the threshold value Xw. In this embodiment, a handrail 30 is provided on the other side wall 2b-2. Here, an example is given in which the distance between the X coordinate of the occupied area and the side wall 2b-2 is calculated. However, since it is actually impossible to get on the part where the handrail 30 is provided, the position where the handrail 30 is provided may be regarded as the side wall, and the distance between the position where the handrail 30 is provided and the X coordinate of the occupied area D may be calculated.

[0078] The threshold value Xw used in step S462 is a value derived from an average personal model. For example, when a personal model with an X-direction width of 800 mm and a Y-direction width of 400 mm is used as a reference, the threshold value Xw is set to 800 mm. 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 side walls 2b-1 and 2b-2 in the X-direction is greater than 800 mm.

[0079] If the result of 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 the side wall 2b-2 in the X direction is determined to be greater than the threshold value Xw, the process proceeds to step S465, which will be described later.

[0080] On the other hand, if the result of 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 the side wall 2b-2 in the X direction is determined to be equal to or less than the threshold value Xw, the process proceeds to step S463.

[0081] In step S463, the empty space detection unit 25 determines, as a first non-valid area Nw, a unit area 41 that is an unoccupied area among the unit areas 41 between the occupied area D and the side wall 2b whose distance from the occupied area D is equal to or smaller than the threshold value Xw. Note that, in the relationship between another occupied area D and the side wall 2b, a unit area 41 that has already been determined as a first non-valid area Nw is not determined again as a first non-valid area Nw.

[0082] In this manner, in step S463, when there is no space for a passenger in the non-occupied area between the occupied area D and the side wall 2b in the X direction, the non-occupied area is determined to be the first non-valid area Nw. For example, in the example of FIG. 10, the unit area 41 between the baggage B and the side wall 2b-1 is detected as the first non-valid area Nw1. The unit area 41 between the passenger P2 and the side wall 2b-1 is detected as the first non-valid area Nw2. The unit area 41 between the passenger P3 and the side wall 2b-2 is detected as the first non-valid area Nw3. The unit area 41 between the passenger P2 and the side wall 2b-2 is detected as the first non-valid area Nw4.

[0083] Thereafter, the number (points) of unit areas 41 determined to be the first non-valid areas Nw in step S463 is added to the non-valid points (step S464).

[0084] Next, the free space detection unit 25 determines whether the distance between the Y coordinate of the occupied area and the side wall 2b-3 located on one side in the Y direction or the side wall 2b-4 located on the other side is greater than a threshold value Yw (step S465). In this embodiment, the other side wall 2b-4 is provided with a car door 31, but here, the car door 31 is also regarded as the side wall 2b-4 and the distance from the Y coordinate is calculated.

[0085] The threshold value Yw used in step S465 is a value derived from an average personal model. For example, when a personal model with an X-direction width of 800 mm and a Y-direction width of 400 mm is used as a reference, the threshold value Yw is set to 800 mm. In other words, in this case, in step S465, it is determined whether the distance between the Y coordinate of the occupied area D and the side wall 2b-3 or 2b-4 in the Y direction is greater than 400 mm.

[0086] If the result of 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 determined to be greater than the threshold value Yw, the process proceeds to step S468, which will be described later.

[0087] On the other hand, if the result of 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 determined to be less than or equal to the threshold value Yw, the process proceeds to step S466.

[0088] In step S466, the empty space detection unit 25 determines, as a first non-valid area Nw, a unit area 41 that is an unoccupied area among the unit areas 41 between the occupied area D and the side wall 2b whose distance from the occupied area D is equal to or smaller than the threshold value Yw. Note that, in the relationship between another occupied area D and the side wall 2b, the unit area 41 that has already been determined as the first non-valid area Nw is not determined again as a new non-valid area Nw.

[0089] In this way, in step S463, when there is no space for a passenger in a non-occupied area between the occupied area D and the side wall 2b in the Y direction, the non-occupied area is determined to be a first non-valid area Nw. For example, in the example of FIG. 10, the unit area 41 between the passenger P1 and the side wall 2b-3 is detected as the first non-valid area Nw1. Also, the unit area 41 between the passenger P2 and the side wall 2b-4 is detected as the first non-valid area Nw2. Also, the unit area 41 between the passenger P2 and the side wall 2b-23 is detected as the first non-valid area Nw4.

[0090] Thereafter, the number (points) of unit areas 41 determined to be the first non-valid areas Nw in step S466 is added to the non-valid points (step S467).

[0091] When the flow of steps S462 to S467 is completed for all occupation areas D, the resolution loop ends (S468).

[0092] Next, the empty space detection unit 25 judges whether or not at least one of the four corners (four corners) of the car 2 is surrounded by the first non-valid area Nw (step S469). Here, for example, in the unit area 41 of the valid area 40, it can be judged whether or not each of the unit areas 41a, 41b, 41c, and 41d arranged at the four corners is surrounded by the first non-valid area Nw.

[0093] If the result of step S469 is "NO", that is, if it is determined that none of the unit areas 41a, 41b, 41c, and 41d at the four corners are surrounded by the first non-valid area Nw, the process proceeds to step S472.

[0094] On the other hand, if the result of step S469 is "YES", that is, if it is determined that any of the unit areas 41a, 41b, 41c, and 41d at the four corners is surrounded by the first non-valid area Nw, the process proceeds to step S470.

[0095] In step S470, the second non-valid area Nc is determined based on the relationship between the side wall 2b and the first non-valid area Nw. First, in step S470, the free space detection unit 25 determines whether or not there is a corner free space of a predetermined area in the corner surrounded by the first non-valid area Nw. Here, the predetermined area is set based on a personal model having an X-direction width of 800 mm and a Y-direction width of 400 mm, for example, as in steps S462 and S465. If the corner free space is equal to or larger than the predetermined area, the unit area 41 surrounded by the first non-valid area Nw is not determined to be the second non-valid area Nc. That is, as shown in FIG. 10, for example, the unit area 41 in the corner surrounded by the first non-valid area Nw1 is not determined to be the second non-valid area Nc.

[0096] On the other hand, if it is determined that the corner empty space is smaller than the predetermined area, the unit area 41 surrounded by the first non-valid area Nw is determined to be the second non-valid area Nc. That is, as shown in Fig. 10, for example, the unit area 41 in the corner surrounded by the first non-valid area Nw2 and the unit area 41 in the corner surrounded by the first non-valid area Nw4 are determined to be the second non-valid areas Nc2 and Nc4, respectively.

[0097] Thereafter, the points of the second non-valid area Nc (the number of unit areas 41) are added to the non-valid points (step S471). Through the flow of steps S462 to S471, the number (points) of unit areas 41 that have become the first non-valid areas Nw1, Nw2, Nw3, and Nw4 and the second non-valid areas Nc1, Nc2, and Nc4 shown in Fig. 10 become non-valid points. In this manner, in this embodiment, an area in which no cargo has been detected but in which a cargo of a size based on the personal model cannot be carried is set as a non-valid area.

[0098] Next, the empty space detection unit 25 calculates the ineffectiveness (%) from the ratio of the ineffective points calculated in step S471 to the total points in the effective area 40 (step S472). The information on the ineffectiveness (%) calculated here is transmitted to the announcing unit 27 and used for announcement control in the announcing unit 27.

[0099] In this manner, in this embodiment, the ineffective points and the ineffectiveness (%) are calculated in the free space detection unit 25. The ineffective points and the ineffectiveness (%) are calculated at the timing of step S46 in FIG.

[0100] [Elevator allocation calculation method] In the elevator system of this embodiment, allocation calculation processing is performed based on the available space calculated as described above. In this embodiment, the allocation calculation processing unit 20 performs calculation processing to determine which elevator 1 out of multiple elevators 1 should be stopped (allocated) at the hall floor for which there is a hall call request, based on the available space determined in Fig. 9. Fig. 12 is a flow chart showing an elevator allocation calculation processing method in this embodiment.

[0101] First, at the landing floor, the allocation calculation processing unit 20 judges whether or not there is a landing call request (step S51). A landing call request is a request generated by a passenger at the landing floor operating an operation unit (not shown) installed at the landing floor.

[0102] If the result of the determination in step S51 is "NO", that is, if it is determined that there is no hall call request, the processing in the allocation calculation processing unit 20 ends.

[0103] On the other hand, if the result of step S is "YES", that is, if it is determined that there is a hall call request, the allocation calculation processing unit 20 starts an "elevator number loop" in which it makes an allocation determination for each elevator number of elevator 1 (step S52).

[0104] The allocation calculation processing unit 20 judges whether or not the elevator 1 to be judged can be assigned based on the vacant space calculated by the vacant space detection unit 25. For example, when the elevator is out of order or undergoing maintenance and inspection, the judgment in step S53 is "NO" because the elevator is not assignable. In addition, the judgment is "NO" for an elevator that is scheduled to pass the requested landing floor and is judged to be full when no passengers are expected to disembark on the way. Specifically, when the requested landing floor is the 3rd floor in the UP direction, if there is an elevator with the destination floor registered as the 5th floor from the 1st floor, it is not predicted that passengers will disembark at the 2nd floor on the way. Therefore, when there are enough passengers in the elevator to judge that it is full, it is judged that it will continue to be full when it arrives at the 3rd floor. The fullness judgment may be made by using the occupancy degree method described later, the fullness judgment based on the load, or any of the judgment means.

[0105] If the determination in step S53 is "NO", that is, if it is determined that allocation is not possible, the allocation determination for that elevator 1 is terminated, and the process returns to the allocation determination loop for the next elevator.

[0106] On the other hand, if the answer is "YES" in step S53, that is, if the elevator is determined to be assignable, the time (waiting time) required for the elevator 1 to reach the landing floor for which the landing call request is made is evaluated (step S54). In the waiting time evaluation in step S54, the priority of the allocation of the elevator 1 is evaluated according to the waiting time.

[0107] Then, when the allocation determination for all elevators 1 of all elevator numbers group-managed by the elevator operation management unit 11 is completed, the "elevator number loop" is ended (step S55).

[0108] Next, the allocation calculation processing unit 20 performs a comprehensive evaluation based on the judgment results calculated in the allocation judgment loop, and determines the elevator 1 number to be allocated (step S56). Here, among the elevators 1 judged as available for allocation, the elevator 1 number that has the shortest waiting time and is evaluated as having the highest priority in the waiting time evaluation is determined to be the elevator number to be allocated.

[0109] Then, the allocation calculation processing unit 20 transmits a response command for the hall call to the elevator control unit 10 corresponding to the elevator 1 of the allocation target calculated in step S56 (step S57). As a result, the elevator 1 of the allocation target is controlled by the corresponding elevator control unit 10 so as to stop at the hall floor for which there is a hall call request.

[0110] FIG. 13 shows a flow for determining whether an assigned elevator is full or not, and issuing a command to pass if the elevator is not available for service.

[0111] First, the allocation calculation processing unit 20 judges whether there is a hall call request at the next stop floor for the elevator 1 of the judgment target (step S61). If the judgment in step S61 is "NO", that is, if it is judged that there is no hall call request at the next stop floor, there is no person or object getting on the elevator 1, so the vacant space does not decrease. In this case, the processing is ended in the state where the allocation evaluation value for the elevator 1 is maintained as "service available". In this case, the judgment in step S53 of FIG. 12 is "YES".

[0112] On the other hand, if the answer is "YES" in step S61, that is, if it is determined that there is a hall call request at the next stop floor, the allocation calculation processing unit 20 determines whether the load of the elevator 1 satisfies the "full" criterion (step S62). The load value determination used in step S62 is a determination made based on a load value detected by a load detection device (not shown) provided in the car 2. If the load value detected in the car 2 is equal to or greater than a specified weight, it is determined to be "full," and if it is less than the specified weight, it is determined to be "not full."

[0113] If the result of step S62 is "NO," that is, if the load value is determined to be "not full," it is determined whether the vacant space in the elevator 1 is 20% or less (step S63). Note that, in this embodiment, an example in which the vacant space ratio is set to 20% has been described, but this is not limiting, and the threshold value for the vacant space ratio can be set arbitrarily, such as 15% or less, 30% or less, etc.

[0114] If the determination in step S63 is "NO," i.e., if it is determined that the available space is more than 20%, the process ends with the allocation evaluation value of the elevator 1 maintained as "service available." In this case, the determination in step S53 in FIG. 12 is "YES."

[0115] On the other hand, if the answer in step S62 is "YES", i.e., if it is determined that the vehicle is "full", and if the answer in step S63 is "YES", i.e., if there is 20% or less free space, the process proceeds to step S64.

[0116] In step S64, the allocation calculation processing unit 20 transmits a hall call passing command to the elevator control unit 10 of the elevator 1 (step S64). The hall call passing command is a command to allow the elevator 1 to pass the hall call of step S51 without stopping.

[0117] After that, when the allocation calculation processing unit 20 judges that the vacant space is 20% or less, the elevator scheduled for service is full and "unavailable for service", so that the hall call request needs to be reevaluated, and therefore performs reallocation evaluation. In this case, the determination in step S53 in FIG. 12 is "NO".

[0118] According to the flow in Fig. 13, it is determined whether the elevator 1 of the target elevator can be assigned or not. In this manner, in step S53 in Fig. 12, the determination result is determined depending on whether the assignment evaluation is "assignable" or "not assignable".

[0119] According to this embodiment, even if the judgment based on the load value detected by the load detection device of the car 2 of the elevator 1 indicates that the elevator is not full, if the available space is a specified ratio (20% or less in this embodiment), the elevator will not stop at the hall floor for which there is a hall call request. This makes it possible to prevent unnecessary stops based only on the load value judgment, and allows a more appropriate elevator 1 to stop at the hall floor for which there is a hall call request.

[0120] In this embodiment, in step S63, whether or not allocation is possible is determined based on the free space, but it may be configured to determine whether or not allocation is possible based on the ratio of occupancy (area).

[0121] [Announcement control method] In this embodiment, in the flow of Fig. 11, although no cargo is detected, spaces where people cannot ride are detected as ineffective areas Nw, Nc, and the available space is calculated. In this case, for example, passengers may be able to secure more available space by moving toward the side wall 2b. Below, an example will be described in which an announcement is made to encourage passengers in the car 2 to move when a certain level of ineffectiveness (ineffective area) is detected.

[0122] 14 is a flow chart showing an announcement control method in the announcing unit 27. First, the announcing unit 27 judges whether the free space is equal to or less than a threshold (20% in this embodiment) based on information transmitted from the free space detecting unit 25 (step S71). If the result of the judgment in step S71 is "NO", that is, if the free space is more than 20%, the process proceeds to step S76. Step S76 will be described in detail later.

[0123] On the other hand, if the result of the determination in step S71 is "YES", that is, if the free space is determined to be 20% or less, the process proceeds to step S72. In step S72, the announcement unit 27 determines whether the sum of the free space (%) and the ineffectiveness (%) is equal to or greater than a predetermined threshold (20% in this embodiment) (step S72). If the result of the determination in step S72 is "NO", that is, if the sum of the free space (%) and the ineffectiveness (%) is lower than 20%, the process proceeds to step S76. Step S76 will be described in detail later.

[0124] On the other hand, if it is determined in step S72 that the result is "NO", that is, if it is determined that the sum of the free space (%) and the ineffectiveness (%) is 20% or more, then the process proceeds to step S73.

[0125] In step S73, it is determined whether there is no announcement history during one drive. If it is determined "NO" in step S73, that is, if there is an announcement history during one drive, the process proceeds to step S76. Step S76 will be described in detail later.

[0126] In step S73, if the answer is "YES", that is, if there is no announcement history during one trip, the process proceeds to step S74. In step S74, the announcement unit 27 issues an announcement that a space will be provided. The announcement from the announcement unit 27 urges passengers in the car 31 to move toward the wall.

[0127] Next, the announcing unit 27 records the history of the announcement made in step S74 in a storage unit (not shown) (step S75), and then the process proceeds to step S76.

[0128] In step S76, the announcement unit 27 determines, based on the information of the lift control unit 21 and the door opening / closing control unit 22, whether the elevator 1 is in a door-open state or whether the lift direction is in no direction.

[0129] If the answer is "NO" in step S76, that is, if it is determined that the elevator 1 is not in the door open state and the elevator is not moving in a neutral direction, the processing ends with the announcement history maintained.

[0130] On the other hand, if the answer is "YES" in step S76, that is, if the elevator 1 has its doors open or is not moving in any direction, the announcement unit 27 erases the announcement history stored in the memory unit (step S77). This ends the processing of the announcement unit 27. The flow shown in FIG. 14 is executed when the free space is calculated as shown in FIG. 9.

[0131] As described above, in this embodiment, the load in the elevator car is detected, and the space that cannot actually be boarded due to the load is detected as an ineffective area, so that the available space can be calculated more accurately. Furthermore, in this embodiment, when the ineffective area is equal to or larger than a predetermined area, an announcement can be made to the passengers in the elevator car to encourage them to move. This makes it possible to increase the number of passengers that can be accommodated as much as possible.

[0132] In addition, in this embodiment, by removing obstacles such as handrails that are always installed inside the car 2 from the effective area 40 in advance, there is no need to calculate the area where the obstacles exist, so that it is possible to improve the calculation speed in Fig. 9, for example. For example, if obstacles that are always installed such as potted plants or small chairs are installed inside the car 2 after the elevator 1 is installed, these obstacles will always be detected by the calculation process in Fig. 9. In this case, the area detected as having a load may be removed from the effective area 40.

[0133] In addition, in this embodiment, the effective area setting unit 15 and the sensor information extraction unit 26 are provided in the host computer 14, but these configurations may also be provided in the elevator control unit 10 or the distance sensor control unit 19.

[0134] In this embodiment, the data obtained from the distance sensor control unit 19 is treated as image data, but this is not limiting. The present method can be used for anything that handles distance data on a plane coordinate system.

[0135] Furthermore, in this embodiment, the non-effective area is set as the area between the wall and the person below an arbitrary threshold (specifically, a model is established and the area or dimensions of the model are below), but the non-effective area may be set between people. In this case, in the above embodiment, the resolution loop is run once, but it is also possible to run the resolution loop twice, once to organize the detection of the entity, and then to calculate the non-effective area. Alternatively, when calculating the non-effective area, a method may be used in which processing is performed on the X-axis and Y-axis, respectively, and the non-effective area is determined based on the length of the empty area on the straight line. Alternatively, a method may be used in which a scan is performed using a fixed model (a model with fixed lengths on the X-axis and Y-axis, respectively. The simplest model is a rectangular model), and the area in which distance data is not stored is set as an empty space, and when distance data is partially overlapped, the entire model range during scanning other than the coordinates in which distance data is stored is set as the non-effective area.

[0136] Furthermore, in a method that adopts the setting of a non-effective area between people, it is possible to define the personal space between people. For example, it is better to treat the minimum value of the distance between people on a weekday as a moving average and calculate the personal space as a non-effective area. Specifically, if the detection values ​​on the straight line of the X-axis are 500mm, 400mm, and 550mm, the distances to the wall are 50mm and 30mm, respectively, and the human distances are 150mm and 120mm, respectively, the personal space on the X-axis is 120mm. Also, if the detection values ​​on the straight line of the Y-axis are 300mm, 330mm, 280mm, and 260mm, the distances to the wall are 10mm and 40mm, respectively, and the human distances are 200mm, 180mm, and 200mm, respectively, the personal space on the Y-axis is 180mm.

[0137] The personal space may be calculated directly from the linear distance as described above, or may be calculated by calculating the minimum value of the sum of the free space and the ineffectiveness in a day, and calculating the free space per unit number of people from the number of people at the time when the minimum value was detected. Specifically, assume that the number of people is 12 when the free space is 20% and the ineffectiveness is 10%. In this case, if the effective area of ​​the car is 1800 mm on both the X and Y axes, the personal space is calculated as 30% free and 45 mm for each when calculated based on the ratio of the number of people. Alternatively, a model of a general person may be established and the dimensions of the personal space may be calculated from the ratio of the X and Y axes.

[0138] The number of people used to calculate the personal space mentioned above can be calculated by dividing the obtained load inside the cage by the weight of an average person (e.g. 65 kg), by dividing the detection data obtained from the distance sensor 3 by the area of ​​an average person (e.g. 300 mm x 500 mm), or by analyzing the measured distance data, calculating the bumps on the person, and calculating the number of people that hit the head.

[0139] A distance sensor similar to the above-mentioned distance sensor 3 (hereinafter, referred to as a platform-side distance sensor) may also be installed at the landing. When the platform-side distance sensor is applied, the setting of the effective area can be appropriately determined assuming the area of ​​the landing and the position where elevator users wait. Then, the effective area setting unit calculates the platform-side effective area at the landing, and the sensor information extraction unit extracts the mounting position coordinates of the platform-side distance sensor and calculates the platform-side data acquisition range of the platform-side distance sensor corresponding to the platform-side effective area based on the mounting position coordinates. Also, the empty space detection unit can calculate the platform-side occupied area where the load is detected within the platform-side effective area based on the platform-side distance data detected by the platform-side distance sensor and the platform-side data acquisition range.

[0140] When a hall-side distance sensor is used, the number of people at the hall can be calculated according to the occupied area at the hall or the number of people obtained by the above-mentioned method. When a hall-side distance sensor is used, it is possible to determine an elevator that can accommodate a certain number of people based on the detected number of people at the hall and the amount of free space in the car.

[0141] Here, let us take as an example a case where there are cars with 30% vacant space and cars with 50% vacant space. If there are five users at a boarding area on a certain floor, and they occupy 20% of the space in the car, the 30% car will not achieve the threshold of 20% vacant space when five users board, so we consider operating the car without allocating it.

[0142] In addition, when operating elevators according to the occupied area of ​​the landing measured by the landing distance sensor or the number of people obtained by the above-mentioned method, it is also possible to allocate the elevators while considering the personal space. In this case, as an example, if there are five people at a landing on a certain floor, occupying about 20%, and the personal space is 2.5% per person, then 5 people x 2.5% will be 12.5% ​​of the elevator space. Also, considering the overlap between people, it is possible to deduct the number of people x 0.5% by assuming that the overlap is 0.5%. In that case, 12.5% ​​- 2.5% = 10%. Therefore, the occupied area of ​​the landing by the number of people is 30%. In this case, even when the personal space is considered, a car that is 50% empty will be 20% empty when five users get on, which is below the threshold and can be operated without any problems.

[0143] As a result, it will be possible to operate trains in a way that is convenient for users, reducing unnecessary stops and contributing to further improvements in operations.

[0144] The above-mentioned embodiment has been described in detail to clearly explain the present invention, and is not necessarily limited to having all of the configurations described. For example, it is possible to replace a part of the configuration of the embodiment with another configuration, and it is also possible to add another configuration to the configuration of the embodiment. Also, it is possible to add, delete, or replace a part of the configuration of the embodiment with another configuration. [Explanation of symbols]

[0145] 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... host computer, 15... effective area setting unit, 16... communication network, 17... communication relay unit, 18... car camera control unit, 19... distance sensor control unit, 20... allocation calculation processing unit, 21... lift control unit, 22... door opening / closing control unit, 23... distance sensor setting unit, 24... sensor information acquisition unit, 25... empty space detection unit, 26... sensor information extraction unit, 27... announcement unit, 28... input / output device, 30... obstacle, 31... car door, 33... counterweight, 34... hoisting machine, 35... main rope, 40... effective area, 41... unit area, 50... distance sensor

Claims

1. In a vacant space detection system for detecting vacant space in a car, A distance sensor provided on a ceiling side in a car and capable of measuring a distance to a load in the car; an effective area setting unit for calculating an effective area in the elevator; a sensor information extraction unit that calculates a data acquisition range of the distance sensor corresponding to the effective area by using the mounting position coordinates of the distance sensor; an occupancy area calculation unit that calculates an occupancy area in which a load exists within the effective area by using distance data detected by the distance sensor and the data acquisition range; a free space detection unit that calculates a non-effective area that meets a predetermined condition in an area surrounding the occupied area, and calculates a free space in the effective area from a ratio of the occupied area and the non-effective area to the effective area; Equipped with The effective area is set at a position a predetermined distance away from the side wall of the car. Free space detection system.

2. The free space detection unit When a distance and / or an area between the occupied area and a side wall of the car and / or another occupied area is equal to or less than a predetermined threshold, the area between the occupied area and the side wall of the car and / or another occupied area is detected as a first non-effective area; The non-effective area includes the first non-effective area.

2. The free space detection system of claim 1.

3. When an area of ​​a region surrounded by the first non-valid region at each of the four corners of the car is equal to or smaller than a predetermined threshold, the empty space detection unit detects the region surrounded by the first non-valid region as a second non-valid region, The non-effective area includes the second non-effective area.

3. The free space detection system of claim 2.

4. The sensor information extraction unit extracts a resolution of the distance sensor, the occupancy area calculation unit divides the effective area by the resolution, and for each of the divided unit areas, determines whether distance data of the unit area is equal to or greater than a predetermined threshold, and determines the unit area for which the distance data is equal to or greater than the predetermined threshold as the occupancy area; The empty space detection unit determines a unit area between the occupied area and the side wall of the car as a non-effective area when the distance between the occupied area and the side wall of the car is equal to or less than a predetermined distance.

2. The free space detection system of claim 1.

5. The effective area setting unit is connected to a database in which design data is stored, and sets an effective area based on the dimensions of the inside of the car and the mounting position coordinates of the distance sensor, which are acquired from the design data in the database.

2. The free space detection system of claim 1.

6. The effective area setting unit is connected to a database in which design data is stored, and is characterized in that obstacles to be installed in the elevator car, which are acquired from the design data in the database, are excluded from the effective area.

2. The free space detection system of claim 1.

7. When an area of ​​a region surrounded by any of the occupied region, the first non-valid region, and the side wall of the car is equal to or less than a predetermined threshold, the empty space detection unit detects the region surrounded by any of the occupied region, the first non-valid region, and the side wall of the car as a second non-valid region, The non-effective area includes the second non-effective area.

3. The free space detection system of claim 2.

8. The free space detection unit calculates a personal space per person based on a relationship between the occupied area, the non-usable area, and the free space.

2. The free space detection system of claim 1.

9. A method for detecting an empty space in a car, comprising: Calculate the effective area inside the car, extracting mounting position coordinates of a distance sensor that is provided on the ceiling side of a car and is capable of measuring a distance to a load in the car, and calculating a data acquisition range of the distance sensor that corresponds to the effective area based on the mounting position coordinates; Calculating an occupied area in which a load is detected within the effective area based on the distance data detected by the distance sensor and the data acquisition range; Calculating a non-valid area that satisfies a predetermined condition in an area surrounding the occupied area; calculating an empty space in the effective area from a ratio of the occupied area and the non-effective area to the effective area; The effective area is set at a position a predetermined distance away from the side wall of the car. Free space detection method.

10. In an elevator system that controls elevator operation, An elevator that moves the car up and down; A distance sensor provided on a ceiling side in a car and capable of measuring a distance to a load in the car; an effective area setting unit for calculating an effective area in the elevator; a sensor information extraction unit that calculates a data acquisition range of the distance sensor corresponding to the effective area by using the mounting position coordinates of the distance sensor; an occupancy area calculation unit that calculates an occupancy area in which a load exists within the effective area by using distance data detected by the distance sensor and the data acquisition range; a free space detection unit that calculates a non-effective area that meets a predetermined condition in an area surrounding the occupied area, and calculates a free space in the effective area from a ratio of the occupied area and the non-effective area to the effective area; Equipped with The effective area is set at a position a predetermined distance away from the side wall of the car. Elevator system.

11. and an allocation calculation processing unit that allocates an elevator that is determined to be allocatable based on the detection result detected by the vacant space detection unit to a hall floor for which a hall call request is received.

11. The elevator system of claim 10.

12. An announcement unit that determines whether or not to make an announcement encouraging passengers in the elevator to move according to the non-effective area detected by the empty space detection unit.

11. The elevator system of claim 10.

13. A hall-side distance sensor is provided at the hall of the elevator and is capable of measuring a distance to a load present at the hall, The effective area setting unit calculates a hall-side effective area at the hall, the sensor information extraction unit extracts mounting position coordinates of the landing-side distance sensor, and calculates a landing-side data acquisition range of the landing-side distance sensor corresponding to the landing-side effective area based on the mounting position coordinates; the occupied area calculation unit calculates a platform-side occupied area in which a loaded object is detected within the platform-side effective area based on the distance data detected by the platform-side distance sensor and the platform-side data acquisition range, The allocation calculation processing unit determines an elevator that can be allocated based on the occupied area and the hall-side occupied area, and allocates the elevator that has been determined to be allocatable to a hall floor for which a hall call request is received.

12. The elevator system of claim 11.

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