EP1412274B1 - Aufzuganlage mit einem messsystem zur ermittlung der absoluten kabinenposition - Google Patents

Aufzuganlage mit einem messsystem zur ermittlung der absoluten kabinenposition Download PDF

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Publication number
EP1412274B1
EP1412274B1 EP02745033A EP02745033A EP1412274B1 EP 1412274 B1 EP1412274 B1 EP 1412274B1 EP 02745033 A EP02745033 A EP 02745033A EP 02745033 A EP02745033 A EP 02745033A EP 1412274 B1 EP1412274 B1 EP 1412274B1
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EP
European Patent Office
Prior art keywords
code
sensors
reading device
code mark
mark pattern
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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
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EP02745033A
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German (de)
English (en)
French (fr)
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EP1412274A1 (de
Inventor
Eric Birrer
Heiko Essinger
Frank Müller
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Inventio AG
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Inventio AG
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Priority to EP02745033A priority Critical patent/EP1412274B1/de
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Publication of EP1412274B1 publication Critical patent/EP1412274B1/de
Priority to CY20111100537T priority patent/CY1112030T1/el
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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

Definitions

  • the invention relates to an elevator installation with a measuring system for determining the absolute cabin position of an elevator car which can be moved along at least one guide rail according to the definition of the patent claims.
  • the position information in coded form is fixedly mounted along the entire travel path of the elevator car and is read by means of a code reading device in coded form and forwarded to an evaluation unit.
  • the evaluation device prepares the read encoded position information in a way that is understandable and derives therefrom information signals that are forwarded as so-called shaft information for the elevator control.
  • a high resolution absolute measuring system for determining the relative position of two relatively movable parts.
  • an absolute code mark pattern in the form of a gapless sequence of identically long code marks of a pseudorandom coding and in a second track parallel thereto an incremental code character pattern are formed there on a first part in a first track. Any n consecutive code marks represent a code word in the absolute code mark pattern. Each of these code words occurs only once in the entire code mark pattern.
  • relatively movable second part of a code reading device is provided, which in the direction of movement n successive Can detect code tags at once while scanning the incremental code character pattern. If the code reading device travels around a code mark position of the absolute code mark pattern along the first part, then a new n-digit binary code word is already read.
  • each code word of the absolute code mark pattern defines a certain relative position of both parts to one another.
  • the length of the individual code marks measured in the direction of movement or reading and the number of maximum possible code words determine the maximum length of the measuring path which can be addressed with codewords.
  • the resolving power with which the relative position expressed in the pseudo-random code, the so-called position code, can be measured depends on the length of each individual code mark. The smaller the length of the code marks, the more accurate positioning can be. However, reading becomes progressively more difficult with decreasing length of the code marks, especially at high relative speeds.
  • Another length measuring systems is from the US-A-5135081 known.
  • the absolute code mark pattern and the incremental code character pattern are to be displayed in their relative position exactly aligned with one another.
  • the code reading device of a two-lane absolute position measuring system builds large, which is undesirable in view of limited available shaft cross-sectional area.
  • the traversing speed is limited in the case of two-lane measuring systems, which is perceived as limiting, in particular, in elevators with large delivery heights.
  • the object of the invention is to provide an elevator described above with a measuring system for determining the absolute position of the elevator car, which allows a high resolution in the position detection with the least possible effort over a long trajectory of the elevator car.
  • an elevator with an absolute position measuring system with the features of claim 1, which is particularly characterized in that the absolute code mark pattern and the incremental code character pattern are shown as a single-track combined code mark pattern of n-digit pseudorandom sequence in Manchester encoding and the code reading device comprises sensors for sampling n + 1 consecutive code marks, each sampling the second code mark of the single-track combined code mark pattern.
  • the essence of the invention consists of a single-lane coding for an absolute length measuring system in which, starting from a binary n-digit pseudo-random sequence, which encodes 2 n -1 different position values, a 0 is inserted behind every 0 and every 1 behind.
  • the double-length sequence thus obtained according to the invention represents a quasi combination of n-digit pseudorandom coding and Manchester coding.
  • n + 1 code marks of the respective second code marks of the combined code mark pattern must be scanned.
  • a twice as long measuring distance can be displayed as that which corresponds to the sum of the lengths ⁇ of all code marks of the n-digit pseudorandom coding from which it is derived.
  • the single-track combined code mark pattern according to the invention only individual code marks with the length ⁇ and code marks of the length occur 2 ⁇ up. Consequently, a code mark change takes place at the longest after the length of 2 ⁇ , which can be detected or scanned by means of the code reading device. From the quasi-equidistant code mark changes a scanning signal is derived, with which the sensors are controlled for detecting the single-track Postionscodes. The reading always takes place when the sensors are completely in coverage of the code marks to be read.
  • the single-lane code mark pattern is slim and therefore requires only a small attachment surface along the travel distance.
  • a single-track code carrier is easy and inexpensive to produce.
  • the code reading device with only n + 1 reading points according to the invention is inexpensive and has a comparatively small size compared to conventional code reading devices for the same travel path and comparable resolution.
  • the sensors are arranged in the direction of movement on a line at a mutual distance of 2 ⁇ , whereby the code reading device builds slim and can be arranged to save space laterally next to the guide rail movable.
  • the suppression of small magnetic poles by adjacent large magnetic poles, the so-called intersymbol interference, is reduced.
  • This has a positive effect on the reading reliability with a greater distance of the code reading device to the code mark pattern.
  • the distance of the code reader to the combined code mark pattern can thus be selected larger in a magnetic measuring system.
  • the measuring system wengier vulnerable to contamination of the code carrier and occurring relative movements of the code reader relative to the code mark pattern in the direction perpendicular to the reading or traversing the car.
  • the uniform Length of the code marks also allows a quick evaluation by inexpensive parallel working components.
  • Hall sensors In a preferred embodiment as a magnetic measuring system, only simple and inexpensive Hall sensors are used to scan the linear position code. Hall sensors also serve for an interpolation device for determining the position of the transition between two different code marks - the zero crossing of the magnetic field - relative to the sensor strip.
  • the interpolation device is arranged in the direction of travel over an area with a length greater than the length of two code marks 2 ⁇ . The distance between these Hall sensors is smaller than the length ⁇ of a code mark.
  • a combined code mark pattern with magnetic code marks outwards forms a magnetic field with a profile which is composed of approximately sinusoidal half-waves. These halfwaves each have the length ⁇ or the length 2 ⁇ of two code marks.
  • a high-resolution position value which is wegproportional each within a pole.
  • a particularly reliable measuring system for determining the absolute cabin position can be obtained by designing the code reading device to scan the position code, including the evaluation unit, in a redundant manner.
  • the second code reading device is basically the same as the first code reading device and differs only by an arrangement of the intermediate reading unit and the fine interpolation in this order in the traversing direction behind the position code reading unit.
  • the sensor pairs of both position code reading devices are in a line parallel to the reading direction, offset by a code mark length from each other and arranged intermeshing.
  • the code reading device is of compact construction and only longer by the interpolation device and the fine interpolation device than in a non-redundant measuring system.
  • Each of the two code reading devices is assigned its own evaluation unit, so that the output signals of the sensors of both code reading devices are evaluated independently of one another and are available for controlling the elevator.
  • the redundant design of the single-track measuring system also meets applicable safety requirements in the elevator industry and thus opens up the possibility to replace the previously mechanically executed safety devices by electrical. Furthermore, she is in common with in each case one floor sensor for each of the two measuring systems, the basis of a comprehensive shaft information system, which is shown schematically in FIG Fig. 7 is shown. Each evaluation unit is assigned to one of the floor sensors. The floor sensors are moved together with the elevator car in the shaft to detect in the shaft at each floor level arranged position markers. These signals are processed together with the output signals of redundant provided safety devices together with the position information and serve to control the elevator system.
  • FIG. 1 schematically shown elevator with a shaft 1, an elevator car 2 and a counterweight 3 are suspended on a plurality of support cables, of which here a representative support cable 4 is shown.
  • the support cables 4 run over a deflection roller 5 and are guided by a driven traction sheave 6.
  • the traction sheave 6 transmits the driving forces of a drive motor, not shown here, to the supporting cables 4 driven by it for lifting and lowering the counterweight 3 and the elevator car 2 along a guide rail 7.
  • Guiding shoes 9 fixedly connected to the elevator car 2 in the travel direction 8 serve to guide the elevator car 2 in the direction perpendicular to the direction of travel 8 on the guide rail 7.
  • the magnetic tape 10 serves as a carrier for a single-track combined code mark pattern according to the invention, which represents the numerical code of absolute positions of the elevator car 2 in the shaft 1 relative to a zero point.
  • a code reading device 12 is fixedly mounted on the elevator car 2 in the direction of travel 8. It consists essentially of a code reading sensor 11 carrying sensor block 13 which is supported by a holder 14 perpendicular to the direction of travel 8 Agebar. A roller guide 15 guides the sensor block 13 on the guide rail 7 when the code reader 12 is in common is moved with the elevator car 2. The same arrangement is also possible laterally or at the bottom of the elevator car 2.
  • the code reading device 12 transfers the read coded information via connecting lines 16 to an evaluation unit 17.
  • the evaluation unit 17 translates the read coded information into a binary expressed absolute position information understandable to the elevator control 18 before being transmitted via a suspension cable 19 to the elevator control 18, for example for positioning the elevator car 2 is forwarded.
  • Fig. 2 schematically shows a first embodiment of the invention with a magnetic measuring system.
  • a magnetic tape 10 having a single-track combined code mark pattern 20 is mounted on a portion of the guide rail 7.
  • the individual north poles 22 and south poles 23 form correspondingly oriented magnetic fields to the outside.
  • Each two adjacent code marks 12 define a so-called bit of coding.
  • the arrangement order of the individual bits in the combined code mark pattern 20 is in Figure 3 shown. There, too, the individual pole transitions 24 are replaced by the respectively corresponding bits of the coding.
  • the coding according to the invention is made up of a per se known binary pseudorandom sequence 25, which is combined with its inverted counterpart 26.
  • a pseudorandom sequence consists of bit sequences with n binary digits arranged consecutively. Each time you move back by one bit in the binary pseudo-random sequence, then, as is well known, a new n-digit binary bit sequence arises in each case. Such a sequence n consecutive bits is hereinafter referred to as code word.
  • the code words of a binary pseudorandom coding can be generated with the aid of a linear feedback shift register. The number of digits of the shift register corresponds to the number of digits of the binary bit sequence or of the code word.
  • n xexp (m)
  • x the valency of the codeword digit
  • m the number of digits or bits of the codeword.
  • N x exp (m) -1. The larger the number of bits, the more code words can be distinguished from each other.
  • the described pseudorandom sequence 25 is in the direction of travel 8 after each bit Valence "0" is a bit of significance "1" and after each "1" bit a "0" bit of the inverse pseudorandom sequence 26 is inserted. Consequently, in the single-lane combined code mark pattern 20, a bit change takes place at the latest after two bits. On the magnetic tape 10, this is shown according to Fig.
  • the combination according to the invention also yields a code digit gain. With simultaneous sampling of eighteen consecutive of the respective second bits of the combined code mark pattern 20, therefore, a unique 18-digit reading pattern 33 is read out without repetition of code words ( Fig. 2 ).
  • an eighteen position code reader 28 is provided Sensor pairs 29, which are in Fig. 4 geauer is shown.
  • All eighteen first sensors 31 are in a first group and all eighteen second sensors 31 'are combined into a second sensor group.
  • the reading pattern 33 of the position code reading device 28 Fig. 2 Thus, it is composed of eighteen simultaneously read bits, but only every other bit of the combined code mark pattern 20 is read.
  • the eighteen bits of a reading pattern 33 simultaneously read by the position code reading device 28 in the manner described are interpreted jointly by the evaluation unit 17 as an eighteen-digit code word.
  • the resolution of the position code reading device 28 here is 4 mm, which corresponds to the length ⁇ of a code mark 21.
  • the interpolation reading 36 detects the present invention created quasi-equidistant pole transitions 24 and zero crossings of the magnetic field between two successive north poles 22nd or South Poland 23.
  • FIG. 5 is an example of the output voltage of the six Hall sensors S0 to S5 of the interpolation device 36 over the path in the direction of travel 8 millimeter intervals shown.
  • Well-known comparator circuits perform the following comparisons of the voltages of individual sensors S0 to S5, which are evaluated as indicated: U s ⁇ 0 > 0 - > 0 U s ⁇ 0 + 1 / 3 * U s ⁇ 1 > 0 - > 0 U s ⁇ 0 + U s ⁇ 1 > 0 - > 1 1 / 3 * U s ⁇ 0 + U s ⁇ 1 > 0 - > 1 U s ⁇ 1 > 0 - > 1 etc to: U s ⁇ 4 + 1 / 3 * U s ⁇ 5 - > 1
  • the generated number sequence is decoded via a table stored, for example, in an EPROM into a three-digit binary number sequence which contains an interpolation value 46 (FIG. Fig.2 ) with - in the example 3mm represents.
  • This is periodic with the code mark length ⁇ and indicates the polarity of the band from the location of the first Hall sensor S0, calculated stepwise in, for example, 0.5 mm steps.
  • the most significant bit 24 of this interpolation value 46 inverts at a distance of 2 mm and takes over as the scanning signal for the described switching between the sensors 31 and 31 'of the position code reading device 28th
  • the three bits 24 of the interpolation value 46 are additionally included in the overall position information 53.
  • the voltages of the Hall sensors S0-S5 now only have to be compared with the threshold for 0mT, for which purpose a comparator is provided for each of the six Hall sensors S0-S5 of the position code reading device 28.
  • the correct bits 24 are selected via a number of 2 to 1 multiplexers which are controlled by the 2mm bit 24 of the interpolator 36. All that is needed is a synchronous clock, which can amount to several 100kHz. After one clock cycle ( ⁇ 10ns), the position value is updated.
  • the single-track measuring system described so far can be constructed with very inexpensive components. It enables high travel speeds of more than 16m / s. The measuring rate is practically only dependent on the speed of the interface.
  • the system resolution of this absolute single-track system is 0.5 mm, but can be significantly increased by the additional use of a Feininterpolations issued 47.
  • Fig. 6 shows the course of the output signal 48 of the MR angle sensor 49 used here with the designation LK28 from IMO when scanning the half-waves of the combined code mark pattern 20 along the path in the travel direction 8 plotted.
  • the sinusoidal and cosinusoidal output voltages of the MR sensor 49 are already interpolated in the p-controller by means of an interpolator chip or by software (not shown) and are normalized such that the minimum values 50 are 0 mm and the maximum values 51 are 4 mm.
  • the course of the output signal 48 of the MR angle sensor 49 can be seen that it is in the range 54 between 0mm and 8mm to a 8mm magnetic pole and 55 in the range between 8mm and 12mm to a 4mm magnetic pole.
  • This high-resolution position information is processed as follows:
  • the information as to whether the MR angle sensor 49 is above a four-pole or above an eight-mm magnetic pole can be stored in the decoding table.
  • the code word 33 is first determined by the position code reading device 28, and both the absolute position 35 and the arrangement of the magnetic poles under the current position of the MR angle sensor 49 are read out via the address of the decoding table indicated by the code word 33.
  • the calculation of the high-resolution total position 53 of the elevator car 2 consisting of a total of twenty-four bits 24 can be carried out very quickly since only a few simple operations, such as e.g. Comparisons, bit shifts, additions and subtractions are necessary.
  • Fig. 7 an embodiment of the invention is shown in which the code reading sensor 11 is redundant.
  • the second code reading sensor 11 ' has basically the same structure as the code reading sensor 11 in the first exemplary embodiment described above Fig. 4 , In difference
  • the interpolation device 36' and the fine interpolation device 47 ' are arranged in this direction in the direction of travel 8 in front of the position code reading device 28.
  • the eighteen sensor pairs 29 'of the second position code reading device 28 detect a reading pattern 33 of eighteen of the respective first bits of the combined code mark pattern 20.
  • each of the two code reading sensors 11, 11 ' is assigned its own evaluation unit 17, 17', so that the output signals of the sensors of both code reading sensors 11, 11 'are evaluated independently of one another and two independently determined high-resolution values of the overall position 53, 53 as a binary number are available with twenty-four locations to control the elevator.
  • Examples of such functions of a shaft information system which are based on the determination of the absolute cabin position are: the end-of-travel delay, end-of-shaft limitation, floor detection, level compensation, door bridging, as well as a wide variety of cruise controls, etc.
  • Fig. 7 a redundant design of the single-track measuring system as the basis of a shaft information system.
  • the redundant design of the single-track measuring system is, together with one floor sensor 41, 41 'in each case, the basis of a comprehensive shaft information system, which is shown schematically in FIG Fig. 7 is shown.
  • Each evaluation unit 17, 17 ' is assigned to one of the floor sensors 41, 41'.
  • the floor sensors 41, 41 ' are moved together with the elevator car 2 in the shaft 1 in order to detect position markings 42, 42' arranged in the shaft 1 at each floor level.
  • These signals of the floor sensors 41,41 ' are processed together with the output signals of also redundantly provided safety devices 43,43' together with the position information 53 and serve to control the elevator.
  • the Operatingncodemarkenmuster 20 of the magnetic tape 10 is shown in this embodiment by different pole magnetized sections and is read by magnetic field-sensitive sensors 31,31 ', S0-S6 of the code reader 12.
  • the code marks can also have different dielectric constants, which are read by sensors detecting capacitive effects.
  • a reflective code mark pattern is possible, in which, depending on the value of the individual code mark, more or less light is reflected by an illumination device to reflex light barriers than sensors.
  • the invention enables the use of inexpensive Hall sensors for reading the Postionscodes. Basically, an implementation but also with costly induction generator, so-called GMR sensors or magnetic field detecting magnetoresitive sensors, so-called MR sensors possible. Of each of these sensors, either a plurality of individual and / or a group of different sensors can be combined with one another on a code reading device.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Optical Transform (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
EP02745033A 2001-07-31 2002-07-22 Aufzuganlage mit einem messsystem zur ermittlung der absoluten kabinenposition Expired - Lifetime EP1412274B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP02745033A EP1412274B1 (de) 2001-07-31 2002-07-22 Aufzuganlage mit einem messsystem zur ermittlung der absoluten kabinenposition
CY20111100537T CY1112030T1 (el) 2001-07-31 2011-06-03 Εγκατασταση ανελκυστηρα με συστημα μετρησης για τον υπολογισμο της απολυτης θεσης του θαλαμου

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP01810750 2001-07-31
EP01810750 2001-07-31
PCT/CH2002/000406 WO2003011733A1 (de) 2001-07-31 2002-07-22 Aufzuganlage mit einem messsystem zur ermittlung der absoluten kabinenposition
EP02745033A EP1412274B1 (de) 2001-07-31 2002-07-22 Aufzuganlage mit einem messsystem zur ermittlung der absoluten kabinenposition

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EP1412274A1 EP1412274A1 (de) 2004-04-28
EP1412274B1 true EP1412274B1 (de) 2011-03-09

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US (1) US6874244B2 (ja)
EP (1) EP1412274B1 (ja)
JP (2) JP4397689B2 (ja)
CN (1) CN1310818C (ja)
AT (1) ATE501079T1 (ja)
BR (1) BRPI0211549B1 (ja)
CA (1) CA2452661C (ja)
CY (1) CY1112030T1 (ja)
DE (1) DE50214946D1 (ja)
DK (1) DK1412274T3 (ja)
ES (1) ES2362417T3 (ja)
HK (1) HK1065016A1 (ja)
MX (1) MXPA04000910A (ja)
MY (1) MY131881A (ja)
NO (1) NO20040401L (ja)
NZ (1) NZ530532A (ja)
PL (1) PL368311A1 (ja)
PT (1) PT1412274E (ja)
TW (1) TW575518B (ja)
WO (1) WO2003011733A1 (ja)
ZA (1) ZA200400035B (ja)

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WO2019141726A1 (de) 2018-01-18 2019-07-25 Inventio Ag Messbandanordnung für einen einsatz in einem aufzug zum bestimmen einer absolutposition einer aufzugkabine entlang eines verfahrwegs
WO2019206644A1 (de) * 2018-04-24 2019-10-31 Inventio Ag Positionsbestimmungssystem und verfahren zur ermittlung einer kabinenposition einer aufzugkabine
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CN107148392B (zh) 2014-10-21 2020-09-11 因温特奥股份公司 具有非中心的电子安全系统的电梯
JP6211209B2 (ja) 2014-10-29 2017-10-11 三菱電機株式会社 かご位置検出装置
CN104515534B (zh) * 2014-12-17 2017-01-04 中国科学院长春光学精密机械与物理研究所 绝对位置测量方法
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BR112017028193B1 (pt) 2015-07-30 2023-01-24 Inventio Ag Sistema de travamento para travamento e destravamento de uma porta de cabine de uma cabine de elevador e instalação de elevador
CN105384037B (zh) * 2015-12-03 2017-07-28 中国矿业大学 电梯轿厢编码定位系统及控制方法
WO2017158736A1 (ja) 2016-03-15 2017-09-21 三菱電機株式会社 かご位置検出装置
CN107804764A (zh) 2016-09-09 2018-03-16 奥的斯电梯公司 电梯系统的位置识别和位置恢复
EP3434634B1 (en) 2017-07-25 2021-01-06 Otis Elevator Company Elevator safety device
JP7073396B2 (ja) * 2018-03-09 2022-05-23 日立電梯（中國）有限公司 かご絶対位置の検出システム、及びそのセルフチェック方法
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EP3587323A1 (en) * 2018-06-22 2020-01-01 Otis Elevator Company Elevator system
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ZA200400035B (en) 2005-10-26
US20040216320A1 (en) 2004-11-04
CA2452661C (en) 2010-10-19
NO20040401L (no) 2004-03-31
MXPA04000910A (es) 2004-04-02
CN1537072A (zh) 2004-10-13
ATE501079T1 (de) 2011-03-15
JP2004536001A (ja) 2004-12-02
NZ530532A (en) 2005-01-28
CY1112030T1 (el) 2015-11-04
CA2452661A1 (en) 2003-02-13
JP2009184835A (ja) 2009-08-20
PT1412274E (pt) 2011-06-06
TW575518B (en) 2004-02-11
HK1065016A1 (en) 2005-02-08
CN1310818C (zh) 2007-04-18
BRPI0211549B1 (pt) 2017-05-02
PL368311A1 (en) 2005-03-21
JP4397689B2 (ja) 2010-01-13
BR0211549A (pt) 2004-07-13
MY131881A (en) 2007-09-28
DE50214946D1 (de) 2011-04-21
WO2003011733A1 (de) 2003-02-13
DK1412274T3 (da) 2011-06-14
EP1412274A1 (de) 2004-04-28
ES2362417T3 (es) 2011-07-05

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