CN1720188A - Position referencing system - Google Patents
Position referencing system Download PDFInfo
- Publication number
- CN1720188A CN1720188A CN02830131.5A CN02830131A CN1720188A CN 1720188 A CN1720188 A CN 1720188A CN 02830131 A CN02830131 A CN 02830131A CN 1720188 A CN1720188 A CN 1720188A
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- China
- Prior art keywords
- color
- color elements
- reference system
- position reference
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a position referencing system and method for horizontal or vertical conveyance, e.g., an elevator. The position referencing system includes a plurality of spaced apart color elements or reflectors (42) attached to a static structure (40), such as a door frame in a hoistway or guideway, a light source (12) for illuminating one of the reflectors, and a sensing device (10, 48, 48') for capturing an image of the illuminated reflector. The image captured by the sensing device is used to determine the position and/or speed of the conveyance, e.g., an elevator car.
Description
Technical field
The present invention relates to a kind of system and method that is used for the low-cost and performance-oriented absolute location benchmark that other (passenger) that elevator and for example horizontal passenger carry carries.
Background technology
Position reference system provide lift car along guiding channel in access to elevators or the parts of the control system of the position measurement fast and accurately in (passenger) compartment.The speed of position reference system is determined by the relevant given control system of the ride quality of guaranteeing specified level with accuracy.An example is 1mm should be carried out and have to position measurement in 10ms postpones a accuracy.Consider that the distance between the docking station that the operating range (reaching 500m) of the broad of elevator and (passenger) carry is longer, these performance requriementss are strict.Except the performance requriements aspect accuracy and the measurement delay, for example the correction operation of the minimum degree that occurs when energising is another important performance requriements.In this article, " minimum degree " is meant the distance less than a first floor or a docking station.
In the following description, elevator can be used as usually and describes level or vertical (passenger) carries illustratively.
Many existing position reference systems of elevator that are used for are based on the coder that is attached to CD-ROM drive motor, controller and independent sheaves.These position reference systems are subjected to the coder reading and by the oblique adverse effect of pendulum of the deviation between skidding in the subsystem, cable extends, mechanical wear causes the actual position and/or building.In order to make these minimum deviations, need be based on some fixing and known reference position calibrate frequently, this reference position has shown the actual position of floor ground and horizontal zone.The sight vane system that comprises sight vane reader and sight vane provides these reference positions and detecting device thereof.Consider the simple functions of this sight vane system, the cost efficiency of this sight vane system is lower, and this is because the material cost of the sight vane of being installed in access to elevators by skilled worker material cost $10, and installing needs 0.5 hour, and each floor needed regulate in about 0.1 hour.In a word, a topmost problem in existing position reference system is relatively poor cost-performance ratio.
Summary of the invention
Therefore, a purpose of the present invention is, the correction operation with accurate accuracy, minimum degree, the position reference system and the method for installing and safeguarding easily easily are provided.
Another object of the present invention is to provide aforesaid position reference system and the method that does not need access to elevators or guiding channel to install.
Realize the above object according to position reference system of the present invention and method.
According to the present invention, provide a kind of position reference system broad sense to comprise: a plurality of separated color elements that are attached on the static structures spare; Be attached on the removable frame spare so that detect the device of a color elements in the separated color elements; And the device that is used for determining the position of removable frame spare by detected color elements.The appreciiable color not only represented in term " color " as used herein, but also represent the sightless color in the electromagnetic spectrum, comprising ultraviolet ray, infrared ray, radio frequency and microwave.Term " removable frame spare " can be the passenger conveying appliance of lift car or level as used herein.
In addition, according to the present invention, provide a kind of position reference method, its broad sense comprises: a plurality of separated color elements are attached on the static structures spare; Detect a color elements in the separated color elements; And the position of determining removable frame spare by detected color elements.
Can understand other details and other the purpose and the advantage of position reference system of the present invention and method better with reference to accompanying drawing and in conjunction with following specific embodiment, the same reference numerals in the accompanying drawing is represented identical parts.
Description of drawings
Fig. 1 is based on the scheme drawing of the baseline system of charge-coupled device (CCD);
Fig. 2 is the scheme drawing that the red, green, blue (RGB) of colored CCD image decomposes;
Fig. 3 A and 3B are the scheme drawings according to position reference system of the present invention; With
Fig. 4 is based on the scheme drawing of the baseline system of color sign indicating number (CiC) CCD.
The specific embodiment
Referring now to accompanying drawing, the relative position baseline system based on charge-coupled device (CCD) 10 that Fig. 1 shows one dimension is how to work.That is to say that parasite 11 is shone by light source or linear irradiation source 12.When light by parasite 11 reflex times, form light image 13.Photographic camera 10 is preferably the CCD sensing device and detects to the light image 13 of small part and with detected light image and be transformed into electric signal, this electric signal be sent to processing unit 14 for example pre-programmed computing machine and be stored in the memory device 16 relevant with this processing unit 14.By using the signal processing algorithm of in processing unit 14, having programmed, can calculate the position of the center 18 of parasite 11 with respect to the center of CCD device 10.This signal processing algorithm can comprise sub-pixel resoluting signal Processing Algorithm and can comprise the known any suitable algorithm that is used for calculating by this way relative position of the prior art.
It is the colored CCD sensing device that CCD device 10 is preferably.Can by colored CCD 10 for example the coloured image of chromophotograph machine testing can resolve into tristimulus image, i.e. red, green, blue (RGB), as shown in Figure 2.Colored CCD now has 12 colour saturation for each three primary colours, this means colored CCD distinguishable 2 in theory
36Plant color.This means in theory and can be undertaken 2 by using by the color of color ccd sensor 10 decodings
36The coding of the information of position.In three primary colours, a kind of color can be used for the location, and can be described as position color.Under the situation of given light source, the brightness of this position color is equal to each other in the ccd image of each parasite, for example 100% brightness, and parasites all on this meaning carry out same colored for this position color.At this, the detent mechanism strictness is same as shown in Figure 1.Other two kinds of primary colours are called encoded colors, and after with respect to this position color normalisation, these two kinds of color combinations comprise certain certain location information.For example, be the blueness identification position color, and redness and green are encoded colors.For the building of 500m, 500 kinds of different colors are enough to be used in position resolution (sensing range of typical C CD device 10 is identified as 1.3m).Therefore be enough for 25 kinds of each encoded colors different color depths.Make R, G, B represent the brightness output of the colored CCD of redness, green and blueness respectively, as shown in Figure 2.In addition, R
BAnd G
BBe defined as:
R
B＝[25×R/B]，G
B＝[25×G/B]
Wherein, [a] equals the maximum integer less than a, and the brightness of this position color is 100%.Notice that at this standardisation process that above equation is represented is required, this is owing to uneven brightness of illumination and for example any additional illumination of sunshine may be with R, G, the B of identical ratio change parasite.Standardisation process described here has been eliminated the possibility that is changed the decoding error that causes by brightness.
Below provided decoding table:
Table 1 decoding table
| G B | |||||
| 0 | 1 | .. | 24 | ||
| 0 | 1 | 2 | .. | 25 | |
| R B | 1 24 | 26 601 | 27 602 | .. .. | 50 625 |
That is, if R
BAnd G
BBe respectively 1 and 24, then decoded number is 50 as seen from Table 1.By this decoded number, can determine the particular color element 42 of irradiated parasite, and can calculate the position that CCD device 10 and attaching have the lift car of this CCD device.In using this scheme, can be chosen to be convenient to guarantee that their decoded positions information is identical under the situation of the expection variation of light-source brightness in the color on the parasite.
Under the too high situation of the cost that uses 500 kinds of different colours parasites, can use different colours array in case location information encode.For example, 4 cell arrays of six kinds of different colours can cover 500 kinds of different colours of setover information.
Referring now to Fig. 3 A and 3B, wherein show structure and operating mechanism according to position reference system 30 of the present invention.In this system 30, on the static structures spare that a plurality of separated parasites or color elements 42 are installed in the access to elevators, for example on doorframe 40 or the wall.The CCD assembly 32 that comprises ccd sensor box 48 is preferably on a side of lift car and is attached on the framework 34, but it can be positioned at other position of car, for example bottom of car.One or more light sources 12 can be arranged on the framework 34 so that be radiated near the parasite 42 of car.
At work, be radiated near the car the parasite 42 from the light of light source 12.Light by parasite 42 reflection is detected by ccd sensor box 48, and to convert to and represent primary colours be the electric signal of red, green, blue to light in the ccd sensor box.Electric signal sends the treater 14 of pre-programmed to, can determine the position of lift car thus.As mentioned above, primary colours are that a kind of color in the red, green, blue is chosen to be position color.Represent the signal of all the other primary colours to carry out aforesaid normalisation.By standardized signal be stored in the memory device relevant with treater 14 in decoding table, can determine decoded number for detected parasite or color elements 42.Detected parasite or the color elements 42 of this decoded number identification.By use this information with and position in the scope of the ken of ccd sensor box 48, can determine the position of lift car.
If desired, ccd sensor box 48 can also be used for the upper and lower edge of detection of reflected device 42 in its FOV.By using the electric signal of the position of representing this upper and lower edge in the FOV of ccd sensor box 48, can determine the exact location of lift car.
Referring now to Fig. 3 B, wherein show the scheme that is used to solve two problems.Problem is the influence about ambient light.In this scheme, leak free light guide 20 is used to address this problem.In addition, for transparent access to elevators, each light source 12 can be the linear light sorurce of polarization.In addition, if desired, on leak free light guide 20, polarization window 22 can be set.The linear light sorurce 12 of polarization and the setting of polarization window 22 have increased signal to noise ratio for the influence of ambient light.
Another problem that this scheme solves is a smog.Even exist under the situation of smog, linear light sorurce 12 and leak free light guide 20 also can provide enough distinct image, and this is because the propagation path of light can reduce to minimum by using linear light sorurce 12 and leak free light guide 20 in smog.Desirable is that the distance between parasite 42 and the CCD assembly 32 is less than 3.0cm.
For the brightness constancy of realizing the parasite image and with the location independent of parasite 42 with respect to the position of CCD assembly 32, can make linear light sorurce 12 have uneven brightness of illumination characteristic in the space.For example, the brightness of illumination of light source 12 is the highest in two ends of light source, and minimum in the center of light source.
Fig. 4 shows based on the structure of the position reference system of CIC CCD and work.In this accompanying drawing, doorframe 40 is provided with a plurality of color reflectors 42.The CCD assembly 32 that has CCD sensing device 48 and a following CCD sensing device 48 ' be installed in lift car 35 bonded assembly frameworks 34 on.At least one light source 12 is relevant with in last CCD sensing device 48 and the following CCD sensing device 48 ' each.
By using structure shown in Figure 4, can realize following function.Suppose except in the distance between any two adjacent floor ground two floor ground of express zone end in 1.3m adds the scope of car height, can realize being used for the normal position feedback of control system.Two ccd sensors 48 and 48 ' position of pin-point accuracy is provided and in access to elevators in the velocity measurement of any position.In express zone, a plurality of parasites are positioned at each place, end of two ends of express zone.Therefore, before this express zone begins and after this express zone just finished, position reference system of the present invention can provide accurate localization.Can control by open loop in express zone and realize the location, this is because there is not docking station in express zone.Under bigger situation, for example identical method can be used in the hall in hotel at floor gap.
By every 1.3m in the zone of normal terminal landing device (NTSD) and emergency terminal landing device/emergency terminal speed-limit device (ETSD/ETSLD) parasite is installed, each CCD assembly 48 and 48 ' provides speed and location measurement information independently, one of them is used for NTSD, and another is used for ETSD/ETSLD.
As shown in Figure 4, this system also provides feasible correction to move minimized ability.Suppose except in the distance between any two adjacent floor ground two floor ground of express zone end in 1.3m adds the scope of car height, then can realize not having the ability of proofreading and correct operation.In express zone, long parasite can be installed, its cover express zone on/lower part, perhaps with normal floor gap apart from normal parasite is installed.Subsequently, based on the parasite that exists, lift car can be determined the position of the floor nearest apart from this car at least.After electric power recloses, determine that whither mobile promptly moving up or down is unique required function.Should be noted that long band or independent CIC parasite are installed on the access to elevators and can easily realize.Perhaps, after power recovery, elevator can optionally rise or descend up to finding floor ground.This remains the correction operation of carrying out maximum floors.
Position reference system of the present invention and method provide a plurality of advantages: (1) split hair caccuracy of any position in access to elevators or guiding channel; (2) higher position renewal rate; (3) installation seldom or that almost do not have access to elevators or guiding channel, lower cost of installation; (4) because simple in structure so maintenance cost is lower, there is not mechanical wear, and maintenance easily; (5) because broad applicability so handling cost are lower; And (6) correction operation minimizes.
Although describe position reference system of the present invention with reference to the elevator position baseline system, identical system can be used for determining the position of horizontal passenger conveyor system.In this system, static structures spare can be the doorframe in carrying guiding channel, and movably framing member can be to be used for approximate horizontal or with respect to passenger carriage or the device of horizontal axis with an angle conveying people.One or more light sources and sensing device can be fixed on the removable frame spare.
Although position reference system of the present invention is to be described with reference to the sensing device that is used to detect the red, green, blue look, but this sensing device also can detect the invisible color that has unique wavelength in magnetic spectrum, it includes but not limited to, ultraviolet ray, infrared ray, radio frequency and microwave.In this respect, but the unique wavelength of each color elements 42 reflected electromagnetic spectrum.
Be apparent that position reference system of the present invention can be completely achieved above-mentioned purpose, device and advantage.Although position reference system of the present invention is described with reference to its specific embodiment, those of ordinary skill in the art is reading alternative form, change and the modification that can understand other on the basis described above.Therefore, these alternative forms, change and modification drop in the scope of accompanying Claim.
Claims (23)
1. position reference system, it comprises:
A plurality of separated color elements that are attached on the static structures spare;
Be attached on the removable frame spare so that detect the device of a color elements in the described separated color elements; And
Be used for determining the device of the position of described removable frame spare by described detected color elements.
2. position reference system as claimed in claim 1 is characterized in that this static structures spare is an access to elevators, and this removable frame spare is a lift car.
3. position reference system as claimed in claim 2 is characterized in that this detecting device comprises at least one photographic camera, upper limb and feather edge that it is used for determining the color of described detected color elements and detects described detected color elements.
4. position reference system as claimed in claim 3 is characterized in that, the unique wavelength of each described color elements reflected electromagnetic spectrum.
5. position reference system as claimed in claim 3, it is characterized in that, described at least one photographic camera is installed on the side of this lift car, this static structures spare is the doorframe in this access to elevators, and described a plurality of separated color elements comprises the painted element of a plurality of differences that is attached on this doorframe.
6. position reference system as claimed in claim 3, it is characterized in that, this detecting device detects a plurality of unique color parts of described detected color elements, and should determine that device selected in described a plurality of unique color part one as position color, and make all the other colors parts in the described a plurality of unique color part with respect to this position color normalisation, and partly determine decoded number, and discern this detected color elements by this decoded number for this detected color elements by the described standardized color of described a plurality of unique color part.
7. position reference system as claimed in claim 3 is characterized in that, this detecting device also comprises the linear irradiation source and the camera apparatus of a detected color elements that is used for shining described color elements.
8. position reference system as claimed in claim 7 is characterized in that, this camera apparatus comprises CCD (charge-coupled device) photographic camera.
9. position reference system as claimed in claim 8 is characterized in that, this CCD photographic camera comprises ccd sensor, lens and light guide.
10. position reference system as claimed in claim 3, it is characterized in that, this detecting device comprises first camera apparatus in the first that is attached to this lift car and is attached to second camera apparatus on the second portion of this lift car that this first and second camera apparatus is worked independently so that extra speed and location information is provided.
11. position reference system as claimed in claim 1 is characterized in that, this static structures spare is to carry guiding channel, and this removable frame spare is a passenger carriage.
12. position reference system as claimed in claim 11 is characterized in that, this detecting device comprises at least one photographic camera, upper limb and feather edge that it is used for determining the color of described detected color elements and detects described detected color elements.
13. position reference system as claimed in claim 12 is characterized in that, the unique wavelength of each described color elements reflected electromagnetic spectrum.
14. position reference system as claimed in claim 12, it is characterized in that, described at least one photographic camera is installed on the side of this passenger carriage, this static structures spare is the doorframe in this conveying guiding channel, and described a plurality of separated color elements comprises the painted element of a plurality of differences that is attached on this doorframe.
15. position reference system as claimed in claim 12, it is characterized in that, this detecting device detects a plurality of unique color parts of described detected color elements, and should determine that device selected in described a plurality of unique color part one as position color, and make all the other colors parts in the described a plurality of unique color part with respect to this position color normalisation, and partly determine decoded number, and discern this detected color elements by this decoded number for this detected color elements by the described standardized color of described a plurality of unique color part.
16. position reference system as claimed in claim 12 is characterized in that, this detecting device also comprises the linear irradiation source and the camera apparatus of a detected color elements that is used for shining described color elements.
17. position reference system as claimed in claim 16 is characterized in that, this camera apparatus comprises CCD (charge-coupled device) photographic camera.
18. position reference system as claimed in claim 17 is characterized in that, this CCD photographic camera comprises ccd sensor, lens and light guide.
19. position reference system as claimed in claim 12, it is characterized in that, this detecting device comprises first camera apparatus in the first that is attached to this passenger carriage and is attached to second camera apparatus on the second portion of this passenger carriage that this first and second camera apparatus is worked independently so that extra speed and location information is provided.
20. a method that is used for the position of definite removable frame spare, it may further comprise the steps:
A plurality of separated color elements are attached on the static structures spare;
Use is attached to detecting device on this removable frame spare and detects a color elements in the described separated color elements; And
Determine the position of described removable frame spare by described detected color elements.
21. method as claimed in claim 20 is characterized in that, this detection step comprises with irradiation source shines described color elements and obtains the image that is reflected with sensing device.
22. method as claimed in claim 20, it is characterized in that, this detection step comprises obtains the colorama image that is reflected that comprises a plurality of primary colours, and this determining step comprises that primary colours selecting in the described primary colours are as position color and make all the other colors with respect to this position color normalisation.
23. method as claimed in claim 22 is characterized in that, this position determining step comprises to be determined to discern described color elements and determine this movably position of framing member for the decoded number of described color elements and by described decoded number.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/US2002/041515 WO2004058617A1 (en) | 2002-12-30 | 2002-12-30 | Position referencing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1720188A true CN1720188A (en) | 2006-01-11 |
Family
ID=32679956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN02830131.5A Pending CN1720188A (en) | 2002-12-30 | 2002-12-30 | Position referencing system |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP2006512568A (en) |
| CN (1) | CN1720188A (en) |
| AU (1) | AU2002359863A1 (en) |
| DE (1) | DE10297848T5 (en) |
| WO (1) | WO2004058617A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101062743B (en) * | 2006-04-28 | 2010-12-08 | 因温特奥股份公司 | Elevator comprising an elevator cage, and method for guidance of persons in an elevator |
| CN102301212B (en) * | 2009-01-30 | 2013-08-14 | 西门子公司 | Measurement of vibration characteristics of object |
| CN103391894A (en) * | 2011-03-16 | 2013-11-13 | 三菱电机株式会社 | Elevator control device |
| CN105293237A (en) * | 2010-07-12 | 2016-02-03 | 奥的斯电梯公司 | Speed and position detection system |
| CN106470928A (en) * | 2014-03-26 | 2017-03-01 | 通力股份公司 | The method and apparatus driving configuration for automatic elevator |
| CN110027947A (en) * | 2018-01-11 | 2019-07-19 | 奥的斯电梯公司 | Elevator device and the method that lift car is positioned with high accuracy |
| CN110054049A (en) * | 2019-04-26 | 2019-07-26 | 上海木木聚枞机器人科技有限公司 | A kind of detection method and system of elevator operation |
| TWI675792B (en) * | 2014-12-16 | 2019-11-01 | 瑞士商伊文修股份有限公司 | Position-determination system for an elevator and elevator with a position-determination system |
| CN110612264A (en) * | 2017-05-18 | 2019-12-24 | 因温特奥股份公司 | System and method for determining the position of an elevator car of an elevator installation |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4599427B2 (en) * | 2008-04-11 | 2010-12-15 | 株式会社日立製作所 | Elevator position detection device and elevator device |
| KR101456112B1 (en) * | 2010-07-12 | 2014-11-04 | 오티스 엘리베이터 컴파니 | Speed and position detection system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4019606A (en) * | 1975-03-21 | 1977-04-26 | Westinghouse Electric Corporation | Elevator system |
| US5004076A (en) * | 1989-04-18 | 1991-04-02 | Chen Hai C | Apparatus for controlling an electric elevator |
| JPH11314868A (en) * | 1998-04-28 | 1999-11-16 | Toshiba Elevator Co Ltd | Car load detecting device of elevator |
| SG100645A1 (en) * | 2000-03-31 | 2003-12-26 | Inventio Ag | Auxiliary device for displacing a payload receptacle of a lift and device for monitoring the position and the movement of a cage in a shaft of a lift |
-
2002
- 2002-12-30 WO PCT/US2002/041515 patent/WO2004058617A1/en active Application Filing
- 2002-12-30 AU AU2002359863A patent/AU2002359863A1/en not_active Abandoned
- 2002-12-30 JP JP2004563163A patent/JP2006512568A/en active Pending
- 2002-12-30 DE DE10297848T patent/DE10297848T5/en not_active Withdrawn
- 2002-12-30 CN CN02830131.5A patent/CN1720188A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101062743B (en) * | 2006-04-28 | 2010-12-08 | 因温特奥股份公司 | Elevator comprising an elevator cage, and method for guidance of persons in an elevator |
| CN102301212B (en) * | 2009-01-30 | 2013-08-14 | 西门子公司 | Measurement of vibration characteristics of object |
| CN105293237A (en) * | 2010-07-12 | 2016-02-03 | 奥的斯电梯公司 | Speed and position detection system |
| CN105293237B (en) * | 2010-07-12 | 2018-06-01 | 奥的斯电梯公司 | Speed and position detecting system |
| CN103391894B (en) * | 2011-03-16 | 2015-08-19 | 三菱电机株式会社 | Elevator control gear |
| CN103391894A (en) * | 2011-03-16 | 2013-11-13 | 三菱电机株式会社 | Elevator control device |
| CN106470928A (en) * | 2014-03-26 | 2017-03-01 | 通力股份公司 | The method and apparatus driving configuration for automatic elevator |
| CN106470928B (en) * | 2014-03-26 | 2019-03-08 | 通力股份公司 | Method and apparatus for automatic elevator driving configuration |
| TWI675792B (en) * | 2014-12-16 | 2019-11-01 | 瑞士商伊文修股份有限公司 | Position-determination system for an elevator and elevator with a position-determination system |
| US10577220B2 (en) | 2014-12-16 | 2020-03-03 | Inventio Ag | Position-determination system for an elevator |
| CN110612264A (en) * | 2017-05-18 | 2019-12-24 | 因温特奥股份公司 | System and method for determining the position of an elevator car of an elevator installation |
| US11130654B2 (en) | 2017-05-18 | 2021-09-28 | Inventio Ag | System and method for determining the position of an elevator car of an elevator installation |
| CN110612264B (en) * | 2017-05-18 | 2021-11-09 | 因温特奥股份公司 | System and method for determining the position of an elevator car of an elevator installation |
| CN110027947A (en) * | 2018-01-11 | 2019-07-19 | 奥的斯电梯公司 | Elevator device and the method that lift car is positioned with high accuracy |
| CN110054049A (en) * | 2019-04-26 | 2019-07-26 | 上海木木聚枞机器人科技有限公司 | A kind of detection method and system of elevator operation |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2006512568A (en) | 2006-04-13 |
| WO2004058617A1 (en) | 2004-07-15 |
| WO2004058617A8 (en) | 2005-09-29 |
| DE10297848T5 (en) | 2005-10-27 |
| AU2002359863A1 (en) | 2004-07-22 |
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