EP1232988B1 - Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation - Google Patents

Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation Download PDF

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Publication number
EP1232988B1
EP1232988B1 EP02405119A EP02405119A EP1232988B1 EP 1232988 B1 EP1232988 B1 EP 1232988B1 EP 02405119 A EP02405119 A EP 02405119A EP 02405119 A EP02405119 A EP 02405119A EP 1232988 B1 EP1232988 B1 EP 1232988B1
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EP
European Patent Office
Prior art keywords
image
elevator
hoistway
patterns
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP02405119A
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German (de)
English (en)
French (fr)
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EP1232988A1 (de
Inventor
Gert Silberhorn
René Dipl.-Ing. Kunz
Markus Dr. Phys. Schenkel
Anton Prof. Dr. Gunzinger
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Inventio AG
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Inventio AG
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Publication date
Application filed by Inventio AG filed Critical Inventio AG
Priority to DK02405119T priority Critical patent/DK1232988T3/da
Priority to EP02405119A priority patent/EP1232988B1/de
Publication of EP1232988A1 publication Critical patent/EP1232988A1/de
Application granted granted Critical
Publication of EP1232988B1 publication Critical patent/EP1232988B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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

Definitions

  • the invention relates to a method for generating an elevator control serving shaft information a Elevator shaft with one movable in the elevator shaft Elevator car, the shaft information from figuratively recognizable patterns is generated.
  • a device is known from patent specification EP 0 722 903 B1 for generating shaft information of an elevator shaft known.
  • the elevator shaft is in the area Stop a reflector with a code arranged.
  • the Code has two identical tracks.
  • a drive-in area a stop in which the bridging of door contacts is allowed, is half above and below one Level line.
  • the Code of the tracks is made by one at the elevator car arranged 2-channel evaluation device detected and evaluated. Transmitters of the evaluation device illuminate the Traces of a reflector.
  • the illuminated areas of the Traces are on the CCD sensors of the evaluation unit mapped and recorded using a pattern recognition logic.
  • the processing of the images for the elevator control serving information takes place by means of a Computing device.
  • a disadvantage of the known device is that to create a pattern in the elevator shaft arranged code strip is necessary.
  • the code strip must be precise and without overstretching in the elevator shaft to be ordered. Furthermore, it is not guaranteed that the code strip is not completely off the base or partially solves. Improper assembly or an Detaching the code strip has no or wrong patterns Episode.
  • the invention seeks to remedy this.
  • the invention as characterized in claim 1 solves the problem to avoid the disadvantages of the known device and to provide a system and procedure by which the Generation from an elevator control serving Manhole information is guaranteed in every case.
  • the advantages achieved by the invention are in essential to see that no additional Installation in the elevator shaft is necessary.
  • the Installation time of the elevator can be significant be shortened.
  • To generate the shaft information one with sensors arranged on the elevator car is sufficient provided evaluation unit.
  • the shaft information system delivers the as soon as it starts without the Elevator car an absolute position. It can also System floor stop positions manage and so far used shaft switch for example for the Brake insert, for door zones, for emergency stops or others Simulate shaft switch. The system is therefore compatible with existing elevator controls.
  • FIG. 1 shows the system according to the invention for generating Shaft information.
  • the current one Direction of travel of the elevator car is with an arrow P1 designated.
  • the CCD line sensor is P1 in the direction of travel arranged in the elevator car and has, for example, 128 Picture elements.
  • a section for example, the foot 1.1 of the guide rail 1 of For example, measured 2 cm measured in the direction of travel P1 become.
  • the picture shows the Surface structure or the surface pattern of the Guide rail portion.
  • the CCD line sensor can for example with fast-moving elevator cars an image frequency of 1000 Hz, the Picture elements convert the incident light into charges.
  • the charges are evaluated in the CCD line camera 3 and processed to image data that is sent to a computer be transmitted.
  • Illumination 4 radiates the one to be detected Guide rail section, the section reflected light in charges of the image elements of the CCD line sensor is converted.
  • To improve the Image quality can be 4 flashed LEDs or lighting Halogen lamps are used. Furthermore, the Image quality through digital filtering and / or through certain methods of image processing are improved.
  • the surface structure or Surface pattern of the guide rail 1 can for example the surface structure or the Surface pattern of the masonry of the elevator shaft 2 or the surface structure or the surface pattern of Construction parts (steel beams) of the elevator shaft 2 are captured by the CCD line camera 3.
  • Guide rail, Masonry or structural parts serve primarily not the generation of shaft information, but perform their traditional tasks such as leadership and / or Carrying the elevator car and / or counterweight or Carrying parts of buildings.
  • the Drive through elevator shaft 2.
  • the calibration run is carried out with the CCD line camera 3 recorded surface structure or the surface pattern in the Memory of the computer together with a position index stored.
  • the elevator car is moved to the desired height, the position recorded by the system and as a floor setpoint managed.
  • Two redundant systems can be used to increase security be provided.
  • One system records the Surface structure or the surface pattern of one Guide rail, the other system detects the Surface structure or the surface pattern of the others Guide rail.
  • both systems can Surface structure or the surface pattern of the same Detect the guide rail.
  • the output signals of one Systems can act as a training signal for the other system and vice versa. If since Calibration of the surface structure or that Surface pattern that has changed a guide rail, can the new surface structure or the new Surface pattern with the position data of the other Systems are provided.
  • Fig. 1 is the image of the surface structure or Surface pattern of the guide rail section of the Position i shown with a solid line, the Image already captured and the associated absolute position has been determined.
  • Fig. 1 shows the method for Determination of the image of the surface structure or Surface pattern of the guide rail section of the Position i + 1.
  • the new picture with the position i + 1 is with dashed line and is with the image of Position i overlapping.
  • the image data are not on the Transfer shown computer with memory.
  • a first one software-implemented correlator I of the computer calculated from the image of position i and the new image position i + 1 is an incremental or relative position and from this using the absolute position i an estimated position.
  • the estimated position of the Image with the position i + 1 becomes a second Correlator II of the computer implemented in software fed that with the estimated position the relevant Localized database section in which the at Calibration filed image lies. As explained above, is add a position index to the stored image.
  • the Correlator II compares the new image of position i + 1 with the stored image and determined based on the Position indexes the absolute position i + 1 that corresponds to the Elevator control is forwarded.
  • a CCD line camera 3 with a Optics and provided with a CCD line sensor instead of the line sensor can also be a two-dimensional one Area sensor may be provided.
  • the picture elements of the Direction of travel are perpendicular dimension averaged, creating a one-dimensional brightness profile arises.
  • the speed v of the elevator car can be determined from the difference between position p1 at time t1 and position p2 at time t2.
  • v (p2-p1) / (t2-t1)
  • a double sensor system can also be used are used with two LEDs as light sources and two photo resistors as brightness detectors.
  • at moving elevator car corresponds to the one signal delayed mapping of the other signal.
  • the two Signals can be compared using correlation methods and the speed of the elevator car can be adjusted by means of the Time delay and the distance between the sensors determined become.
  • the position can be achieved by integrating the Speed and on the other hand by comparison with the saved during calibration and running later corrected data can be determined.
  • the correlation (correlator I or Correlator II) a current image with a reference image correlated.
  • a correlation window is extracted and then pixel by pixel over the reference image pushed.
  • the difference of the Pixel gray values determined and then their squares summed up. This calculation method determines the Length of the difference vector between two image vectors, the correspond to the one-dimensional images.
  • the pixel-by-pixel calculation of correlation values also enables a reliability value to be derived.
  • the correlation values are at a minimum because two quasi-identical images are approximately zero apart.
  • the absolute minimum aM, the second best minimum zM and the standard deviation S over the entire correlation length are used to calculate a reliability value ZW.
  • ZW (zM-aM) / S
  • Fig. 2 shows the procedure for determining an incremental or relative position of a captured section for example the guide rail.
  • the first Correlator I of the computer implemented in software calculated from the image of position i and the new image position i + 1 is an incremental or relative position.
  • the image data of the CCD line camera 3 a one-dimensional image with pixels or pixels are extracted or generated. That also image vector or image called brightness vector is then in the Step S2 via a high pass and low pass filter stage directed.
  • step S3 becomes the processed image vector or brightness vector position i + 1 a correlation window or a Correlation vector with defined length taken, where the correlation window in step S4 pixel by pixel over the Image vector of the previous image i is pushed.
  • Step S5 becomes the distance between pixels i + 1 per pixel and pixel i calculated.
  • step S6 Ralative shift between the image of position i and the image of position i + 1 determined. 1 is the Relative position called incremental position.
  • step S7 becomes the relative position to the previous one Absolute position i added.
  • the new in Fig. 1 as estimated position is the designated absolute position decisive for the localization of the relevant Database cutout. According to step S7 for example three of the new absolute position nearest image vectors are read from the image database and fed to the sequence according to FIG. 3.
  • Fig. 3 shows the procedure for determining an absolute Position of a captured section, for example the Guide rail.
  • the second implemented in software Correlator II of the computer calculated from the image of the Position i and the new image of position i + 1 one absolute position.
  • a tenth step S10 is off the image data of the CCD line camera 3 a one-dimensional Image extracted or generated with pixels.
  • the image also called image vector or brightness vector is then in step S11 via a high pass and Low pass filter stage directed.
  • step S12 becomes the processed image vector or brightness vector position i + 1 a correlation window or a Correlation vector with defined length taken, where the correlation window in step S13 pixel by pixel over the image vectors taken from the image database in step S7 is pushed.
  • step S14 the distance per pixel between pixels i + 1 and pixels of the extracted image vectors calculated.
  • step S15 the pixel becomes i + 1 with the smallest distance determines what the results in current absolute position.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
EP02405119A 2001-02-20 2002-02-18 Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation Expired - Lifetime EP1232988B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DK02405119T DK1232988T3 (da) 2001-02-20 2002-02-18 Fremgangsmåde til opnåelse af en elevatorstyring tjenende skaktinformation
EP02405119A EP1232988B1 (de) 2001-02-20 2002-02-18 Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP01810174 2001-02-20
EP01810174 2001-02-20
EP02405119A EP1232988B1 (de) 2001-02-20 2002-02-18 Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation

Publications (2)

Publication Number Publication Date
EP1232988A1 EP1232988A1 (de) 2002-08-21
EP1232988B1 true EP1232988B1 (de) 2004-07-21

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EP02405119A Expired - Lifetime EP1232988B1 (de) 2001-02-20 2002-02-18 Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation

Country Status (18)

Country Link
US (1) US6612403B2 (ja)
EP (1) EP1232988B1 (ja)
JP (1) JP4283479B2 (ja)
CN (1) CN1178838C (ja)
AR (1) AR032717A1 (ja)
AT (1) ATE271511T1 (ja)
AU (1) AU783425B2 (ja)
BR (1) BR0200457A (ja)
CA (1) CA2370883C (ja)
DE (1) DE50200642D1 (ja)
DK (1) DK1232988T3 (ja)
ES (1) ES2225748T3 (ja)
HK (1) HK1049141A1 (ja)
MX (1) MXPA02001741A (ja)
MY (1) MY127975A (ja)
NO (1) NO321417B1 (ja)
SG (1) SG96681A1 (ja)
ZA (1) ZA200201079B (ja)

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TWI673229B (zh) * 2014-12-02 2019-10-01 瑞士商伊文修股份有限公司 用於判定電梯車廂位置的方法和系統以及電梯系統
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Also Published As

Publication number Publication date
MXPA02001741A (es) 2003-08-20
JP4283479B2 (ja) 2009-06-24
AR032717A1 (es) 2003-11-19
ES2225748T3 (es) 2005-03-16
BR0200457A (pt) 2002-10-29
DE50200642D1 (de) 2004-08-26
CA2370883C (en) 2009-07-28
ATE271511T1 (de) 2004-08-15
US6612403B2 (en) 2003-09-02
NO20020817L (no) 2002-08-21
US20020112926A1 (en) 2002-08-22
HK1049141A1 (en) 2003-05-02
SG96681A1 (en) 2003-06-16
AU783425B2 (en) 2005-10-27
DK1232988T3 (da) 2004-11-01
NO321417B1 (no) 2006-05-08
ZA200201079B (en) 2002-08-21
NO20020817D0 (no) 2002-02-19
JP2002274765A (ja) 2002-09-25
CN1371857A (zh) 2002-10-02
CA2370883A1 (en) 2002-08-20
EP1232988A1 (de) 2002-08-21
MY127975A (en) 2007-01-31
AU1568002A (en) 2002-08-22
CN1178838C (zh) 2004-12-08

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