EP3204322B1 - Method for operating a lift system - Google Patents

Method for operating a lift system Download PDF

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Publication number
EP3204322B1
EP3204322B1 EP15775471.4A EP15775471A EP3204322B1 EP 3204322 B1 EP3204322 B1 EP 3204322B1 EP 15775471 A EP15775471 A EP 15775471A EP 3204322 B1 EP3204322 B1 EP 3204322B1
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EP
European Patent Office
Prior art keywords
car
stop
elevator
parameters
travel
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Application number
EP15775471.4A
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German (de)
French (fr)
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EP3204322A1 (en
Inventor
Jörg Müller
Stefan Gerstenmeyer
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TK Elevator Innovation and Operations GmbH
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TK Elevator Innovation and Operations GmbH
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Publication of EP3204322A1 publication Critical patent/EP3204322A1/en
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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
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
    • B66B1/2433—For elevator systems with a single shaft and multiple cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B66B1/302—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor for energy saving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/30—Details of the elevator system configuration

Definitions

  • the present invention relates to a method for operating an elevator system with at least two cars that can be moved independently of one another in at least one elevator shaft, and an elevator system with at least two cars that can be moved independently of one another in at least one elevator shaft.
  • a number of elevator cars or cabins can be moved independently of one another in a common elevator shaft or in a number of elevator shafts.
  • practical safety measures are usually implemented so that there is no collision of cabins.
  • such security measures relate to the case that a first car is to carry out a transport process from a starting stop to a destination stop.
  • this transport process can only be carried out, for example, if there are no other cars in the elevator system in this area between the starting stop and the destination stop is located.
  • this transport process can only be carried out, for example, if there are no other cars in the elevator system in this area between the starting stop and the destination stop is located.
  • EP 1 565 396 B1 for example, on the EP 1 565 396 B1 referred.
  • Such long waiting times are usually perceived as very unpleasant for passengers. Furthermore, such long waiting times can also irritate and unsettle the waiting passengers. In general, such waiting times worsen the driving comfort and impair the well-being of the passengers.
  • the invention proposes a method for operating an elevator system with at least two cars that can be moved independently of one another in at least one common elevator shaft, with a first car of the at least two cars being determined by an elevator controller to carry out a transport process from a starting stop to a destination stop to carry out, by the elevator control a start time of the first car, at which the first car begins the transport process from the starting stop, and travel parameters, according to which the first car the transport process from the starting stop into the destination stop can be determined.
  • the start time and the driving parameters are determined taking into account state parameters of at least one second cabin of the at least two cabins.
  • the invention also proposes a corresponding elevator system with at least two cars that can be moved independently of one another in at least one common elevator shaft, which has an elevator controller that is able to carry out such a method.
  • At least two cars are moved in a common elevator shaft or in several common elevator shafts, in particular independently of one another.
  • at least two cars can be moved independently of one another in each of the elevator shafts.
  • the invention is also suitable for multi-car systems that change shafts, in which cars can change between different elevator shafts. Such an embodiment is therefore also provided as a further aspect of the invention.
  • a first car of these at least two cars is determined by an elevator controller to carry out a transport process from a starting stop to a destination stop, in particular in a specific elevator shaft.
  • the elevator control determines a start time at which the first car begins this transport process from the starting stop, and travel parameters according to which the first car should carry out this transport process from the starting stop to the destination stop. This determination is carried out taking into account status parameters of at least one second car of the at least two cars. In particular, this at least one second car is also arranged in the same specific elevator shaft.
  • the start time and travel parameters are determined in such a way that the first car can start the transport process from the starting stop as quickly as possible and can continue to carry it out as quickly as possible.
  • status parameters of those cars are taken into account for this determination, which are located in the area between the starting stop and the destination stop in the specific elevator shaft at the time of the determination.
  • state parameters describe, in particular, where the corresponding car is currently located in the specific elevator shaft and/or where the corresponding car is currently moving or will soon be moving in the specific elevator shaft.
  • the elevator control determines a travel curve of the respective car, in particular a speed travel curve, from the state parameters.
  • a travel curve is in particular a function of the position of the respective car in the elevator shaft over time or a function of the speed of the respective car in the elevator shaft over time or over the position of the car.
  • the position of the respective car can in particular be extrapolated by such a driving curve.
  • the elevator controller determines, in particular, a travel curve for the first car, according to which the first car carries out the transport process. Accordingly, the elevator control uses the status parameters to determine the travel parameters of the first car and from these in turn in particular the start time and the travel curve of the first car.
  • the method according to the invention is intended in particular for use in a two-car system in which two cars can be moved independently of one another in the shared elevator shaft.
  • Such two-cabin systems are sold by the applicant under the name "TWIN”.
  • the invention is not limited to two-cabin systems and is particularly suitable for multi-cabin systems with an appropriate number of cabins.
  • the elevator control can advantageously be designed as a central control unit.
  • the elevator control can in particular be linked or networked with individual car controls of the individual cars. These individual car controls can transmit data (e.g. position data and speed data of the respective car) to the elevator control, which is taken into account when determining the start time and/or travel parameters.
  • the driving parameters for carrying out the transport process are determined in such a way that the earliest possible start time can be determined, i.e. that the first car begins the transport process as far as possible without waiting for the user.
  • the invention makes it possible for there to be as short a time interval as possible between a boarding time at which a passenger enters the first cabin at the starting stop and the starting time.
  • the shortest possible waiting time between the time of boarding and the time of departure can thus be guaranteed for a passenger. Unpleasant, irritating, worrying, long waiting times are eliminated by the invention avoided. Driving comfort and the well-being of the passengers are increased.
  • the status parameters of the second car it is advantageously made possible for the first car to start the transport process while the second car is still in the area between the starting stop and the destination stop. Since the status parameters advantageously provide information about where the second car is in the elevator shaft and where the second car is moving to, the first car can safely carry out the transport operation without collision between the first and second cars.
  • the first cabin can carry out the transport process with driving parameters which are optimized compared to conventional transport processes.
  • Transport processes of the individual cars of the elevator system are optimally coordinated with one another by the method according to the invention.
  • the energy requirement of the elevator system is optimized by the method according to the invention and reduced compared to known elevator systems.
  • wear and tear on mechanical components of the elevator system is advantageously reduced, for example because an unnecessarily strong acceleration or braking of individual cars can be avoided.
  • the start time and the travel parameters of the first car are preferably determined taking into account the status parameters of the at least one second car if the at least one second car is in an area between the starting stop and the destination stop.
  • the at least one second car is located between the starting stop and the destination stop, at least when a destination call is registered.
  • the first car advantageously starts the transport process using the method according to the invention, taking into account status parameters of the at least one second car even if the at least one second car has not yet left the area between the start and destination stops.
  • the start time and the driving parameters are determined in such a way that a minimum distance or a speed-dependent safety distance between the first car and the at least one second car is not fallen below. In this way, safety regulations are observed and two cabins are prevented from coming too close.
  • An acceleration, a deceleration, a speed, a maximum speed and/or a jerk (as a derivation of the acceleration and/or the deceleration) of the first car are preferably determined as travel parameters. These different driving parameters result in flexible combination options for carrying out the transport process.
  • the jerk describes a change in acceleration or deceleration.
  • a derivation of the jerk ie a change in the jerk, can also be determined as a driving parameter.
  • the transport process can only be carried out at 50% of the maximum speed or only at 50% of the acceleration of a normal journey.
  • the transport process can only be carried out with 25% of the acceleration of a normal trip and/or with 40% of the Maximum speed of a normal trip can be carried out.
  • a normal journey is to be understood as meaning how the transport process is carried out when there are no cabins in the area between the starting stop and the destination stop.
  • the invention is based on the finding that a slow travel of the elevator car is better accepted by a user and is perceived as more pleasant than a longer waiting time between the time of boarding and the start time and a subsequent faster travel of the elevator car, even if the arrival time in both cases would be the same.
  • the driving parameters are thus determined in particular in such a way that the waiting time between the entry time and the start time is as short as possible.
  • Long waiting times at a stop with the doors open are generally perceived by passengers as more unpleasant than the time during the transport process.
  • a journey at half the speed compared to the normal journey (especially for short distances over comparatively few floors) can be perceived as less unpleasant than waiting twice as long at the starting stop before the transport process is started.
  • the driving parameters of the first cabin are preferably displayed inside the first cabin, for example via visual and/or acoustic display means.
  • the driving parameters, in particular the current driving parameters, of the first car can be displayed as absolute values or as a percentage in comparison to corresponding driving parameters of a corresponding normal journey. Furthermore, a waiting time until the start time and/or an arrival time of the first car within the first car can be displayed.
  • a current position and/or a direction of travel of the (at least one) second car, in particular in the specific elevator shaft, are preferably taken into account as status parameters. These are recorded in particular by means of expedient position sensors in the elevator shafts or made available by the corresponding car control. Furthermore, a future position of the second car can also be taken into account as a status parameter. In particular, this future position is extrapolated or calculated in advance.
  • a travel time, travel parameters of the at least one second car and/or a transport process to be carried out by the (at least one) second car are preferably taken into account as status parameters. These driving parameters are, in particular, acceleration, deceleration, jerk, speed and/or maximum speed of the second car. The travel time is in particular an extrapolated travel time that the second car needs to carry out the corresponding transport process.
  • the driving parameters of the transport process of the first cabin can thus be determined in an optimized manner so that the first cabin can start the transport process as early as possible and carry it out safely, in particular without colliding with the second cabin and without falling below the safety distance.
  • the safety distance can vary in particular as a function of the speed of the cabins, preferably in such a way that the safety distance is greater at higher speeds than at low speeds.
  • Stop times during which the second car stops at stops, are advantageously taken into account as status parameters. Be particular stopping times at stops that lie between the start stop and the destination stop of the transport process to be carried out by the first car are taken into account. Based on the extrapolated travel times, it is known when the second car will arrive at these stops.
  • Travel times can be determined deterministically, in particular as a function of the current travel parameters. During the stop times, passengers can exit or enter the second cabin. However, the behavior of passengers cannot be determined deterministically.
  • the stop times are therefore preferably determined by a stochastic evaluation.
  • the stopping times can be determined by empirical values, for example as an average of all stopping times.
  • driving profiles or utilization profiles can be used for the stochastic evaluation.
  • calls can be used to derive how many passengers are leaving or entering the second cabin. For this purpose, information from a destination call controller can preferably be evaluated.
  • the driving parameters of the first car can advantageously be changed while the first car is carrying out the transport process.
  • the elevator controller evaluates or determines whether travel parameters of the first car are changed while the first car is carrying out the transport process.
  • the driving parameters are adjusted accordingly in particular in order to prevent a collision between the first and the second car.
  • a forced stop of the first car may also be necessary.
  • Such a forced stop is carried out in particular at a stop.
  • the doors of the first cabin are opened in order not to alarm the passengers and to avoid a cramped, uncomfortable feeling. If the forced stop occurs between two stops, the passengers can be informed via visual and/or acoustic indicators.
  • the driving parameters can also be adjusted in such a way that the transport process can be carried out more quickly. This can be the case, for example, if the predetermined stop times of the second car are too large, ie if the actual stop time is less than the predetermined stop time.
  • the second car leaves the area between the starting stop and the destination stop within a specific time interval during a transport process to be carried out by the second car is taken into account as a status parameter. If this is not the case, the second car will unnecessarily block the area and the first car cannot begin its transport operation.
  • the elevator control moves the second car to an alternative stop outside the area between the start stop and the destination stop.
  • the elevator controller issues an appropriate command to the second car.
  • the alternate stop is selected in particular in relation to the destination stop of the first car such that the safety distance between the first and second car is not fallen short of when the first car is in the destination stop.
  • the travel parameters of the first car are preferably determined taking into account energy management of the elevator system.
  • the first car can be synchronized with a further car, in particular a car running in the opposite direction.
  • the driving parameters of the first cabin and this further cabin can be determined as a function of one another.
  • cars moving in opposite directions can in particular be matched to one another in such a way that the cars moving in opposite directions essentially start moving at the same time.
  • energy By moving one cabin down, energy can be gained, which is (instantaneously) used for the upward movement of the other cabin.
  • a connection value of the elevator system can be optimized.
  • An energy balance of the elevator system can thus be optimized. Energy demand and energy supply can be optimally balanced and an optimal energy balance can be achieved.
  • the travel parameters of the first car can preferably be determined taking into account energy consumption and/or wear and tear of components of the elevator system.
  • the energy consumption of the elevator system can be optimized and the wear and tear of individual components can be reduced.
  • the acceleration and/or the deceleration of the first car can be reduced instead of reducing the speed or the maximum speed.
  • unnecessarily strong Accelerating or braking can be avoided and the wear of individual components can be reduced.
  • the elevator control evaluates or determines, taking into account the energy management, whether travel parameters of the first car are changed while the first car is carrying out the transport process. This can be the case in particular if there is a failure of the energy supply to the elevator system or a power failure.
  • Such a change in the driving parameters of the first car in the course of a power failure, while the first car is carrying out the transport process can be detected by the elevator control, in particular according to FIG U.S. 7,540,356 B2 described criteria are carried out.
  • FIG U.S. 7,540,356 B2 a possibility for coping with a power failure of an elevator installation is disclosed.
  • travel parameters, in particular the speed, of cars are changed as a function of the energy available in the elevator system and of the energy required to deal with the power failure.
  • FIG 1 a preferred embodiment of an elevator installation according to the invention is shown schematically and is denoted by 100 .
  • the elevator system 100 two cars 110 and 120 can be moved independently of one another in a common elevator shaft 101.
  • the elevator system 100 extends over nine floors, which are identified by the reference symbols H1 to H9.
  • Each of the cars 110 and 120 has an individual car control 111 and 121, respectively.
  • the elevator system 100 also has an elevator controller 130 .
  • the elevator controller 130 and the car controllers 111 and 121 are connected to one another, in particular via a suitable communication bus, for example a field bus.
  • the elevator controller 130 is also set up to carry out a preferred embodiment of a method according to the invention. To this purpose, in particular a preferred embodiment of a computer program according to the invention is executed in the elevator control 130 .
  • a passenger wants to be transported from the third floor H3 to the seventh floor H7.
  • the passenger actuates a corresponding destination selection control in this starting stop H3.
  • the passenger notifies the elevator controller 130 of the destination floor H7.
  • Elevator controller 130 designates car 110 as the first car to perform this transportation operation.
  • the elevator controller 130 issues a command to the car controller 111 of the first car 110 .
  • the car control 111 controls the first car 110 accordingly and the first car 110 is moved to the starting stop H3.
  • the passenger enters the first cabin 110 in the starting stop H3.
  • the elevator controller 130 now determines a start time and travel parameters for the transport process from the start stop H3 to the destination stop H7. This determination is made taking into account state parameters of the second car 120 .
  • the second cabin 120 is located on the fifth floor H5 at the time of boarding.
  • the second car 120 is to carry out a transport process from the fifth floor H5 to the sixth floor H6 and then a further transport process from the sixth floor H6 to the ninth floor H9.
  • These two transport processes, corresponding travel parameters of the second car 120 and stop times of the second car 120 on the fifth floor H5 and on the sixth floor H6 are taken into account as state parameters by the elevator control 130 to determine the transport process of the first car 110.
  • the elevator controller 130 determines an average stop time of the second car 120 by statistically evaluating travel profiles statistically determined stopping time is used as a predetermined stopping time for the fifth and sixth floors H5 and H6.
  • the car control 121 of the second car 120 transmits acceleration, speed and deceleration as travel parameters to the elevator control 130.
  • the second car 120 carries out the two transport processes according to these travel parameters.
  • the elevator controller 130 determines a travel curve for the second car 120. This travel curve corresponds to an extrapolation of the position of the second car 120 in the elevator shaft 101.
  • the elevator controller 130 determines a driving curve for the first car 110.
  • the start time and the driving parameters of the first car 110 are determined in such a way that the first car 110 can start its transport process as quickly as possible (that i.e. there is as short a time interval as possible between the time of boarding and the time of departure) and that the first cabin 110 and the second cabin 120 do not fall below a predetermined minimum distance or a speed-dependent safety distance from one another.
  • the elevator controller 130 determines the acceleration, speed and deceleration of the first car 110 as travel parameters.
  • the elevator controller 130 transmits these travel parameters and the start time to the cabin controller 111.
  • the cabin controller 111 controls the first cabin 110 accordingly so that the transport process from the start stop H3 to the destination stop H7 at the start time with the appropriate Driving parameters is carried out.
  • the boarding time at which the passenger enters the first cabin 110 in the starting stop H3 is identified as t 0 .
  • the driving curve for the second car 120 is marked with 220 , which is extrapolated by the elevator control 130 .
  • Statistical evaluation is used to extrapolate the point in time t 1 at which the second car leaves the fifth floor.
  • the times t 3 and t 4 characterize the statistically determined stopping time for the stop of the second car 120 on the sixth floor H6.
  • the elevator controller 130 further extrapolates that the second car will reach the ninth floor H9 at time t 6 .
  • the elevator controller 130 determines travel curve 210 of the first car 110.
  • t 2 denotes the start time determined by the elevator controller at which the first car 110 begins the transport process
  • t 5 denotes the extrapolated arrival time , to which the first car 110 reaches the destination stop H7.
  • figure 3 are analogous to figure 2 further travel curves shown.
  • figure 3 shows by way of example that the actual stopping time of the second car 120 on the sixth floor is longer than the stopping time extrapolated by the elevator control.
  • the actual travel curve of the second car 120 is shown at 221 .
  • the extrapolated driving curve 220 according to FIG figure 2 is in figure 3 shown as a dashed line in the area in which the extrapolated driving curve 220 differs from the actual driving curve 221 .
  • a passenger enters the second cabin 120 on the sixth floor while the doors are already closing.
  • the doors therefore have to be opened again and the stop is extended.
  • the stopping stop thus does not end at time t 4 , as was extrapolated by the elevator control, but at time t 7 .
  • the safety distance between the first car 110 and the second car 120 would be fallen below due to the long stoppage of the second car 120. So that this safety distance is not fallen short of, the travel parameters of the first car 110 are adjusted by the elevator control 130 at time t 7 . In this example, the speed of the first car 110 is reduced.
  • the actual travel curve of the first car 110 is denoted by 211.
  • the extrapolated driving curve 210 according to FIG figure 2 is in figure 3 shown as a dashed line in the area in which the extrapolated travel curve 210 differs from the actual travel curve 211 .
  • the arrival time of the first car 110 at the destination floor H7 shifts from time t 5 to time t 8 .

Description

Die vorliegende Erfindung betrifft ein Verfahren zum Betreiben einer Aufzugsanlage mit wenigstens zwei in wenigstens einem Aufzugschacht unabhängig voneinander verfahrbaren Kabinen sowie eine Aufzugsanlage mit wenigstens zwei in wenigstens einem Aufzugschacht unabhängig voneinander verfahrbaren Kabinen.The present invention relates to a method for operating an elevator system with at least two cars that can be moved independently of one another in at least one elevator shaft, and an elevator system with at least two cars that can be moved independently of one another in at least one elevator shaft.

Stand der TechnikState of the art

In einem Mehrkabinensystem einer Aufzugsanlage sind mehrere Fahrkörbe bzw. Kabinen in einem gemeinsamen Aufzugschacht oder mehreren Aufzugschächten unabhängig voneinander verfahrbar. In derartigen Mehrkabinensystemen werden zumeist zweckmäßige Sicherheitsmaßnahmen durchgeführt, damit es nicht zu einer Kollision von Kabinen kommt.In a multi-cabin system of an elevator installation, a number of elevator cars or cabins can be moved independently of one another in a common elevator shaft or in a number of elevator shafts. In such multi-cabin systems, practical safety measures are usually implemented so that there is no collision of cabins.

Beispielsweise betreffen derartige Sicherheitsmaßnahmen den Fall, dass eine erste Kabine einen Transportvorgang von einer Start-Haltestelle in eine Ziel-Haltestelle durchführen soll. Um eine Kollision dieser ersten Kabine mit einer weiteren Kabine der Aufzugsanlage zu vermeiden und um einen sicheren Transportvorgang der ersten Kabine zu gewährleisten, kann dieser Transportvorgang beispielsweise nur dann durchgeführt werden, wenn sich keine andere Kabine der Aufzugsanlage in diesem Bereich zwischen der Start-Haltestelle und der Ziel-Haltestelle befindet. In diesem Zusammenhang wird beispielsweise auf die EP 1 565 396 B1 verwiesen.For example, such security measures relate to the case that a first car is to carry out a transport process from a starting stop to a destination stop. In order to prevent this first car from colliding with another car in the elevator system and to ensure that the first car is transported safely, this transport process can only be carried out, for example, if there are no other cars in the elevator system in this area between the starting stop and the destination stop is located. In this context, for example, on the EP 1 565 396 B1 referred.

Gegebenenfalls wird dabei solange gewartet, d.h. die erste Kabine verbleibt solange in der Start-Haltestelle, bis sämtliche anderen Kabinen im Zuge entsprechender Transportvorgänge aus diesem Bereich hinaus bewegt werden oder gar komplett aus diesem Bereich hinaus bewegt wurden. Dies kann unter Umständen zu langen Wartezeiten für Passagiere der ersten Kabine in der Start-Haltestelle führen, bevor die erste Kabine den Transportvorgang beginnt.If necessary, there is a wait, i.e. the first cabin remains in the starting stop until all other cabins are moved out of this area in the course of corresponding transport processes or have even been completely moved out of this area. Under certain circumstances, this can lead to long waiting times for passengers in the first cabin at the starting stop before the first cabin begins the transport process.

Derartige lange Wartezeiten werden für Passagiere zumeist als sehr unangenehm empfunden. Weiterhin können derartige lange Wartezeiten die wartenden Passagiere auch irritieren und beunruhigen. Im Allgemeinen verschlechtern derartige Wartezeiten den Fahrkomfort und beeinträchtigen das Wohlempfinden der Passagiere.Such long waiting times are usually perceived as very unpleasant for passengers. Furthermore, such long waiting times can also irritate and unsettle the waiting passengers. In general, such waiting times worsen the driving comfort and impair the well-being of the passengers.

Es ist daher wünschenswert, derartige Wartezeiten in einer Aufzugsanlage mit mehreren Kabinen in einem Aufzugschacht zu verringern.It is therefore desirable to reduce such waiting times in an elevator system with a number of cars in an elevator shaft.

Die folgenden Veröffentlichungen beschreiben einzelne Aspekte im Zusammenhang mit dem Betreiben mehrerer Kabinen: EP 1 565 396 B1 , US 2010/065387 A1 , EP 2 238 064 A1 , US 2012/118672 A1 , WO 2017/005864 A1 , JP 5 224737 B2 .The following publications describe individual aspects related to the operation of multiple cabins: EP 1 565 396 B1 , U.S. 2010/065387 A1 , EP 2 238 064 A1 , U.S. 2012/118672 A1 , WO 2017/005864 A1 , JP 5 224737 B2 .

Offenbarung der ErfindungDisclosure of Invention

Die Erfindung schlägt vor ein Verfahren zum Betreiben einer Aufzugsanlage mit wenigstens zwei in wenigstens einem gemeinsamen Aufzugschacht unabhängig voneinander verfahrbaren Kabinen, wobei eine erste Kabine der wenigstens zwei Kabinen von einer Aufzugsteuerung dazu bestimmt wird, einen Transportvorgang von einer Start-Haltestelle in eine Ziel-Haltestelle durchzuführen, wobei durch die Aufzugsteuerung ein Start-Zeitpunkt der ersten Kabine, zu welchem die erste Kabine den Transportvorgang von der Start-Haltestelle aus beginnt, und Fahrparameter, gemäß welchen die erste Kabine den Transportvorgang von der Start-Haltestelle in die Ziel-Haltestelle durchführt, bestimmt werden. Der Start-Zeitpunkt und die Fahrparameter werden unter Berücksichtigung von Zustandsparametern von wenigstens einer zweiten Kabine der wenigstens zwei Kabinen bestimmt.The invention proposes a method for operating an elevator system with at least two cars that can be moved independently of one another in at least one common elevator shaft, with a first car of the at least two cars being determined by an elevator controller to carry out a transport process from a starting stop to a destination stop to carry out, by the elevator control a start time of the first car, at which the first car begins the transport process from the starting stop, and travel parameters, according to which the first car the transport process from the starting stop into the destination stop can be determined. The start time and the driving parameters are determined taking into account state parameters of at least one second cabin of the at least two cabins.

Die Erfindung schlägt ferner eine entsprechende Aufzugsanlage mit wenigstens zwei in wenigstens einem gemeinsamen Aufzugsschacht unabhängig voneinander verfahrbaren Kabinen, welche eine Aufzugssteuerung aufweist, die in der Lage ist, ein derartiges Verfahren durchzuführen.The invention also proposes a corresponding elevator system with at least two cars that can be moved independently of one another in at least one common elevator shaft, which has an elevator controller that is able to carry out such a method.

In der erfindungsgemäßen Aufzugsanlage werden wenigstens zwei Kabinen in einem gemeinsamen Aufzugschacht oder in mehreren gemeinsamen Aufzugschächten verfahren, insbesondere unabhängig voneinander. In jedem der Aufzugschächte sind insbesondere jeweils wenigstens zwei Kabinen unabhängig voneinander verfahrbar. Die Erfindung eignet sich auch für schachtwechselnde Mehrkabinensysteme, in welchen Kabinen zwischen unterschiedlichen Aufzugschächten wechseln können. Daher ist eine solche Ausgestaltung als weiterer Aspekt der Erfindung ebenfalls vorgesehen.In the elevator system according to the invention, at least two cars are moved in a common elevator shaft or in several common elevator shafts, in particular independently of one another. In particular, at least two cars can be moved independently of one another in each of the elevator shafts. The invention is also suitable for multi-car systems that change shafts, in which cars can change between different elevator shafts. Such an embodiment is therefore also provided as a further aspect of the invention.

Eine erste Kabine dieser wenigstens zwei Kabinen wird von einer Aufzugsteuerung dazu bestimmt, einen Transportvorgang von einer Start-Haltestelle in eine Ziel-Haltestelle durchzuführen, insbesondere in einem spezifischen Aufzugschacht.A first car of these at least two cars is determined by an elevator controller to carry out a transport process from a starting stop to a destination stop, in particular in a specific elevator shaft.

Erfindungsgemäß bestimmt die Aufzugsteuerung einen Start-Zeitpunkt, zu welchem die erste Kabine diesen Transportvorgang von der Start-Haltestelle aus beginnt, und Fahrparameter, gemäß welchen die erste Kabine diesen Transportvorgang von der Start-Haltestelle in die Ziel-Haltestelle durchführen soll. Diese Bestimmung wird unter Berücksichtigung von Zustandsparametern von wenigstens einer zweiten Kabine der wenigstens zwei Kabinen durchgeführt. Insbesondere ist diese wenigstens eine zweite Kabine ebenfalls in demselben spezifischen Aufzugschacht angeordnet.According to the invention, the elevator control determines a start time at which the first car begins this transport process from the starting stop, and travel parameters according to which the first car should carry out this transport process from the starting stop to the destination stop. This determination is carried out taking into account status parameters of at least one second car of the at least two cars. In particular, this at least one second car is also arranged in the same specific elevator shaft.

Erfindungsgemäß werden somit, bevor die erste Kabine den Transportvorgang beginnt, Start-Zeitpunkt und Fahrparameter derart bestimmt, dass die erste Kabine den Transportvorgang von der Start-Haltestelle insbesondere so schnell wie möglich beginnen kann und weiter insbesondere so schnell wie möglich durchführen kann.According to the invention, before the first car begins the transport process, the start time and travel parameters are determined in such a way that the first car can start the transport process from the starting stop as quickly as possible and can continue to carry it out as quickly as possible.

Insbesondere werden für diese Bestimmung Zustandsparameter derjenigen Kabinen berücksichtigt, welche sich zum Zeitpunkt der Bestimmung in dem Bereich zwischen der Start-Haltestelle und der Ziel-Haltestelle in dem spezifischen Aufzugschacht befinden. Diese Zustandsparameter beschreiben insbesondere, wo sich die entsprechende Kabine aktuell in dem spezifischen Aufzugschacht befindet und/oder wo sich die entsprechende Kabine in dem spezifischen Aufzugschacht aktuell hin bewegt bzw. demnächst hinbewegen wird.In particular, status parameters of those cars are taken into account for this determination, which are located in the area between the starting stop and the destination stop in the specific elevator shaft at the time of the determination. These state parameters describe, in particular, where the corresponding car is currently located in the specific elevator shaft and/or where the corresponding car is currently moving or will soon be moving in the specific elevator shaft.

Insbesondere bestimmt die Aufzugsteuerung aus den Zustandsparametern jeweils eine Fahrkurve der jeweiligen Kabine, insbesondere eine Geschwindigkeitsfahrkurve. Eine derartige Fahrkurve ist insbesondere eine Funktion der Position der jeweiligen Kabine im Aufzugschacht über die Zeit oder eine Funktion der Geschwindigkeit der jeweiligen Kabine im Aufzugschacht über die Zeit oder über die Position der Kabine. Durch eine derartige Fahrkurve kann die Position der jeweiligen Kabine insbesondere extrapoliert werden. Unter Berücksichtigung dieser Fahrkurve bestimmt die Aufzugsteuerung insbesondere eine Fahrkurve für die erste Kabine, gemäß welcher die erste Kabine den Transportvorgang durchführt. Demgemäß bestimmt die Aufzugsteuerung anhand der Zustandsparameter die Fahrparameter der ersten Kabine und aus diesen wiederum insbesondere den Start-Zeitpunkt und die Fahrkurve der ersten Kabine.In particular, the elevator control determines a travel curve of the respective car, in particular a speed travel curve, from the state parameters. Such a travel curve is in particular a function of the position of the respective car in the elevator shaft over time or a function of the speed of the respective car in the elevator shaft over time or over the position of the car. The position of the respective car can in particular be extrapolated by such a driving curve. Taking this travel curve into account, the elevator controller determines, in particular, a travel curve for the first car, according to which the first car carries out the transport process. Accordingly, the elevator control uses the status parameters to determine the travel parameters of the first car and from these in turn in particular the start time and the travel curve of the first car.

Das erfindungsgemäße Verfahren ist insbesondere zur Anwendung für ein Zwei-Kabinen-System vorgesehen, in welchem zwei Kabinen in dem gemeinsamen Aufzugschacht unabhängig voneinander verfahrbar sind. Derartige Zwei-Kabinen-Systeme werden von der Anmelderin unter der Bezeichnung "TWIN" vertrieben. Die Erfindung ist nicht auf Zwei-Kabinen-Systeme beschränkt und eignet sich insbesondere auch für Mehrkabinensysteme mit einer zweckmäßigen Anzahl von Kabinen.The method according to the invention is intended in particular for use in a two-car system in which two cars can be moved independently of one another in the shared elevator shaft. Such two-cabin systems are sold by the applicant under the name "TWIN". The invention is not limited to two-cabin systems and is particularly suitable for multi-cabin systems with an appropriate number of cabins.

Der Einfachheit halber ist die nachfolgende Beschreibung auf "eine zweite Kabine" bzw. "die zweite Kabine" gerichtet. Ohne Beschränkung der Allgemeinheit sollen die nachfolgenden Ausführungen in analoger Weise für "mehrere zweite Kabinen" bzw. mehrere Kabinen gelten.For the sake of simplicity, the following description is directed to "a second cabin" or "the second cabin". Without restricting the generality, the following explanations should apply in an analogous manner to "several second cabins" or several cabins.

Die Aufzugsteuerung kann dabei vorteilhafterweise als eine zentrale Steuereinheit ausgebildet sein. Die Aufzugsteuerung kann insbesondere mit einzelnen Kabinensteuerungen der einzelnen Kabinen verknüpft bzw. vernetzt sein. Diese einzelnen Kabinensteuerungen können Daten (z.B. Positionsdaten und Geschwindigkeitsdaten der jeweiligen Kabine) an die Aufzugsteuerung übermitteln, welche bei der Bestimmung von Start-Zeitpunkt und/oder Fahrparametern berücksichtigt werden.The elevator control can advantageously be designed as a central control unit. The elevator control can in particular be linked or networked with individual car controls of the individual cars. These individual car controls can transmit data (e.g. position data and speed data of the respective car) to the elevator control, which is taken into account when determining the start time and/or travel parameters.

Vorteile der ErfindungAdvantages of the Invention

Insbesondere werden die Fahrparameter zum Durchführen des Transportvorgangs derart bestimmt, dass ein frühestmöglicher Start-Zeitpunkt bestimmt werden kann, d.h. dass die erste Kabine den Transportvorgang möglichst ohne Wartezeigen für den Nutzer beginnt. Durch die Erfindung wird es ermöglicht, dass zwischen einem Einstiegs-Zeitpunkt, zu welchem ein Passagier die erste Kabine in der Start-Haltestelle betritt, und dem Start-Zeitpunkt ein möglichst geringes Zeitintervall liegt.In particular, the driving parameters for carrying out the transport process are determined in such a way that the earliest possible start time can be determined, i.e. that the first car begins the transport process as far as possible without waiting for the user. The invention makes it possible for there to be as short a time interval as possible between a boarding time at which a passenger enters the first cabin at the starting stop and the starting time.

Für einen Passagier kann somit eine möglichst geringe Wartezeit zwischen Einstiegs-Zeitpunkt und Start-Zeitpunkt gewährleistet werden. Unangenehme, irritierende, beunruhige, lange Wartezeiten werden durch die Erfindung vermieden. Ein Fahrkomfort und das Wohlempfinden der Passagiere werden erhöht.The shortest possible waiting time between the time of boarding and the time of departure can thus be guaranteed for a passenger. Unpleasant, irritating, worrying, long waiting times are eliminated by the invention avoided. Driving comfort and the well-being of the passengers are increased.

Durch die Erfindung ist es nicht notwendig, dass die erste Kabine so lange warten muss, den Transportvorgang zu beginnen, und solange in der Start-Haltestelle verbleit, bis die zweite Kabine aus dem Bereich zwischen der Start-Haltestelle und der Ziel-Haltestelle hinaus bewegt wird bzw. wurde.With the invention, it is not necessary for the first car to have to wait so long to start the transport process and remain in the starting stop until the second car moves out of the area between the starting stop and the destination stop will or became.

Durch Berücksichtigung der Zustandsparameter der zweiten Kabine wird es vorteilhafterweise ermöglicht, dass die erste Kabine den Transportvorgang beginnen kann, während sich die zweite Kabine noch in dem Bereich zwischen der Start-Haltestelle und der Ziel-Haltestelle befindet. Da die Zustandsparameter vorteilhafterweise Auskunft darüber geben, wo sich die zweite Kabine in dem Aufzugschacht befindet und wo sich die zweite Kabine hin bewegt, kann die erste Kabine den Transportvorgang sicher durchführen, ohne dass es zu einer Kollision zwischen der ersten und der zweiten Kabine kommt.By taking into account the status parameters of the second car, it is advantageously made possible for the first car to start the transport process while the second car is still in the area between the starting stop and the destination stop. Since the status parameters advantageously provide information about where the second car is in the elevator shaft and where the second car is moving to, the first car can safely carry out the transport operation without collision between the first and second cars.

Durch die Erfindung kann die erste Kabine den Transportvorgang mit gegenüber herkömmlichen Transportvorgängen optimierten Fahrparametern durchführen. Transportvorgänge der einzelnen Kabinen der Aufzugsanlange werden durch das erfindungsgemäße Verfahren optimal aufeinander abgestimmt. Der Energiebedarf der Aufzugsanlage wird durch das erfindungsgemäße Verfahren optimiert und gegenüber bekannten Aufzugsanlagen verringert. Weiterhin wird ein Verschleiß von mechanischen Bauteilen der Aufzugsanlage vorteilhafterweise reduziert, beispielsweise weil ein unnötig starkes Beschleunigen bzw. Abbremsen einzelner Kabinen vermieden werden kann.As a result of the invention, the first cabin can carry out the transport process with driving parameters which are optimized compared to conventional transport processes. Transport processes of the individual cars of the elevator system are optimally coordinated with one another by the method according to the invention. The energy requirement of the elevator system is optimized by the method according to the invention and reduced compared to known elevator systems. Furthermore, wear and tear on mechanical components of the elevator system is advantageously reduced, for example because an unnecessarily strong acceleration or braking of individual cars can be avoided.

Vorzugsweise werden der Start-Zeitpunkt und die Fahrparameter der ersten Kabine unter Berücksichtigung der Zustandsparameter der wenigstens einen zweiten Kabine bestimmt, wenn sich die wenigstens eine zweite Kabine in einem Bereich zwischen der Start-Haltestelle und der Ziel-Haltestelle befindet.The start time and the travel parameters of the first car are preferably determined taking into account the status parameters of the at least one second car if the at least one second car is in an area between the starting stop and the destination stop.

Insbesondere befindet sich die wenigstens eine zweite Kabine zumindest bei Registrierung eines Zielrufs zwischen der Start-Haltestelle und der Ziel-Haltestelle. Vorteilhafterweise startet die erste Kabine mittels des erfindungsgemäßen Verfahrens den Transportvorgang unter Berücksichtigung von Zustandsparametern der wenigstens einen zweiten Kabine auch dann, wenn die wenigstens eine zweite Kabine den Bereich zwischen Start- und Zielhaltestelle noch nicht verlassen hat.In particular, the at least one second car is located between the starting stop and the destination stop, at least when a destination call is registered. The first car advantageously starts the transport process using the method according to the invention, taking into account status parameters of the at least one second car even if the at least one second car has not yet left the area between the start and destination stops.

Vorteilhafterweise werden der Start-Zeitpunkt und die Fahrparameter derart bestimmt, dass ein Mindestabstand bzw. ein geschwindigkeitsabhängiger Sicherheitsabstand zwischen der ersten Kabine und der wenigstens einen zweiten Kabine nicht unterschritten wird. Somit werden Sicherheitsbestimmungen eingehalten und verhindert, dass sich zwei Kabinen zu nahe kommen.Advantageously, the start time and the driving parameters are determined in such a way that a minimum distance or a speed-dependent safety distance between the first car and the at least one second car is not fallen below. In this way, safety regulations are observed and two cabins are prevented from coming too close.

Vorzugsweise werden eine Beschleunigung, eine Abbremsung, eine Geschwindigkeit, eine Maximalgeschwindigkeit und/oder ein Ruck (als Ableitung der Beschleunigung und/oder der Abbremsung) der ersten Kabine als Fahrparameter bestimmt. Durch diese unterschiedlichen Fahrparameter ergeben sich flexible Kombinationsmöglichkeiten, um den Transportvorgang durchzuführen. Der Ruck beschreibt eine Änderung der Beschleunigung bzw. der Abbremsung. Weiterhin kann auch eine Ableitung des Rucks, also eine Änderung des Rucks, als Fahrparameter bestimmt werden.An acceleration, a deceleration, a speed, a maximum speed and/or a jerk (as a derivation of the acceleration and/or the deceleration) of the first car are preferably determined as travel parameters. These different driving parameters result in flexible combination options for carrying out the transport process. The jerk describes a change in acceleration or deceleration. Furthermore, a derivation of the jerk, ie a change in the jerk, can also be determined as a driving parameter.

Befindet sich die zweite Kabine noch in dem Bereich zwischen Start-Haltestelle und Ziel-Haltestelle und ist dabei, diesen zu verlassen, kann der Transportvorgang beispielsweise nur mit 50% der Maximalgeschwindigkeit oder nur mit 50% der Beschleunigung einer Normalfahrt durchgeführt werden.If the second car is still in the area between the starting stop and the destination stop and is about to leave it, the transport process can only be carried out at 50% of the maximum speed or only at 50% of the acceleration of a normal journey.

In anderen Fällen, wenn es beispielsweise noch länger dauert, bis die zweite Kabine den Bereich verlässt, kann der Transportvorgang beispielsweise nur mit 25% der der Beschleunigung einer Normalfahrt und/oder mit 40% der Maximalgeschwindigkeit einer Normalfahrt durchgeführt werden. Unter einer Normalfahrt ist dabei zu verstehen, wie der Transportvorgang durchgeführt wird, wenn sich keine Kabinen in dem Bereich zwischen Start-Haltestelle und der Ziel-Haltestelle befinden.In other cases, for example if it takes even longer for the second car to leave the area, the transport process can only be carried out with 25% of the acceleration of a normal trip and/or with 40% of the Maximum speed of a normal trip can be carried out. A normal journey is to be understood as meaning how the transport process is carried out when there are no cabins in the area between the starting stop and the destination stop.

Der Erfindung liegt dabei die Erkenntnis zugrunde, dass eine langsame Fahrt der Aufzugskabine von einem Nutzer besser akzeptiert und als angenehmer empfunden wird als eine längere Wartezeit zwischen Einstiegs-Zeitpunkt und Start-Zeitpunkt und eine anschließende schnellere Fahrt der Aufzugskabine, selbst wenn die Ankunftszeit in beiden Fällen dieselbe wäre.The invention is based on the finding that a slow travel of the elevator car is better accepted by a user and is perceived as more pleasant than a longer waiting time between the time of boarding and the start time and a subsequent faster travel of the elevator car, even if the arrival time in both cases would be the same.

Die Fahrparameter werden somit insbesondere derart bestimmt, dass die Wartezeit zwischen Einstiegs-Zeitpunkt und Start-Zeitpunkt möglichst gering ist. Lange Wartezeiten in einer Haltestelle bei geöffneten Türen werden von Passagieren im Allgemeinen als unangenehmer empfunden als die Zeit während des Transportvorgangs. Eine Fahrt mit halber Geschwindigkeit im Vergleich zu der Normalfahrt (insbesondere bei kurzen Strecken über vergleichsweise wenige Stockwerke) kann insbesondere als weniger unangenehm empfunden werden, als eine doppelt so lange Wartezeit in der Start-Haltestelle, bevor der Transportvorgang begonnen wird.The driving parameters are thus determined in particular in such a way that the waiting time between the entry time and the start time is as short as possible. Long waiting times at a stop with the doors open are generally perceived by passengers as more unpleasant than the time during the transport process. A journey at half the speed compared to the normal journey (especially for short distances over comparatively few floors) can be perceived as less unpleasant than waiting twice as long at the starting stop before the transport process is started.

Vorzugsweise werden die Fahrparameter der ersten Kabine, insbesondere die aktuellen Fahrparameter des Transportvorgangs der ersten Kabine, innerhalb der ersten Kabine angezeigt, beispielsweise über visuelle und/oder akustische Anzeigemittel. Die Fahrparameter, insbesondere die aktuellen Fahrparameter, der ersten Kabine können als Absolutwerte oder prozentual im Vergleich zu entsprechenden Fahrparametern einer entsprechenden Normalfahrt angezeigt werden. Weiterhin können eine Wartezeit bis zum Start-Zeitpunkt und/oder eine Ankunftszeit der ersten Kabine innerhalb der ersten Kabine angezeigt werden.The driving parameters of the first cabin, in particular the current driving parameters of the transport process of the first cabin, are preferably displayed inside the first cabin, for example via visual and/or acoustic display means. The driving parameters, in particular the current driving parameters, of the first car can be displayed as absolute values or as a percentage in comparison to corresponding driving parameters of a corresponding normal journey. Furthermore, a waiting time until the start time and/or an arrival time of the first car within the first car can be displayed.

Bevorzugt werden eine aktuelle Position und/oder eine Fahrtrichtung der (wenigstens einen) zweiten Kabine, insbesondere in dem spezifischen Aufzugschacht, als Zustandsparameter berücksichtigt. Diese werden insbesondere mittels zweckmäßiger Positionssensoren in den Aufzugschächten erfasst bzw. von der entsprechenden Kabinensteuerung bereitgestellt. Weiterhin kann auch eine zukünftige Position der zweiten Kabine als Zustandsparameter berücksichtigt werden. Diese zukünftige Position wird insbesondere extrapoliert bzw. voraus berechnet. Alternativ oder zusätzlich werden bevorzugt eine Fahrzeit, Fahrparameter der wenigstens einen zweiten Kabine und/oder ein durch die (wenigstens eine) zweite Kabine durchzuführender Transportvorgang als Zustandsparameter berücksichtigt. Auch diese Fahrparameter sind insbesondere Beschleunigung, Abbremsung, Ruck, Geschwindigkeit und/oder Maximalgeschwindigkeit der zweiten Kabine. Die Fahrzeit ist dabei insbesondere eine extrapolierte Fahrzeit, welche die zweite Kabine zum Durchführen des entsprechenden Transportvorgangs benötigt.A current position and/or a direction of travel of the (at least one) second car, in particular in the specific elevator shaft, are preferably taken into account as status parameters. These are recorded in particular by means of expedient position sensors in the elevator shafts or made available by the corresponding car control. Furthermore, a future position of the second car can also be taken into account as a status parameter. In particular, this future position is extrapolated or calculated in advance. Alternatively or additionally, a travel time, travel parameters of the at least one second car and/or a transport process to be carried out by the (at least one) second car are preferably taken into account as status parameters. These driving parameters are, in particular, acceleration, deceleration, jerk, speed and/or maximum speed of the second car. The travel time is in particular an extrapolated travel time that the second car needs to carry out the corresponding transport process.

Diese Zustandsparameter geben vorteilhafterweise durch entsprechende Auswertung seitens der Aufzugsteuerung Auskunft darüber, wann sich die zweite Kabine in dem Bereich zwischen Start-Haltestelle und Ziel-Haltestelle befindet, wann sie diesen Bereich verlässt und wie lange die zweite Kabine braucht, um diesen Bereich zu verlassen. Die Fahrparameter des Transportvorgangs der ersten Kabine können somit optimiert bestimmt werden, damit die erste Kabine den Transportvorgang so früh wie möglich beginnen kann und sicher durchführen kann, insbesondere ohne dass es zu einer Kollision mit der zweiten Kabine kommt und ohne dass der Sicherheitsabstand unterschritten wird. Der Sicherheitsabstand kann dabei insbesondere in Abhängigkeit von der Geschwindigkeit der Kabinen variieren, vorzugsweise derart, dass der Sicherheitsabstand bei höheren Geschwindigkeiten größer ist, als bei niedrigen Geschwindigkeiten.These state parameters advantageously provide information, through appropriate evaluation by the elevator control, as to when the second car is in the area between the start stop and destination stop, when it leaves this area and how long the second car needs to leave this area. The driving parameters of the transport process of the first cabin can thus be determined in an optimized manner so that the first cabin can start the transport process as early as possible and carry it out safely, in particular without colliding with the second cabin and without falling below the safety distance. The safety distance can vary in particular as a function of the speed of the cabins, preferably in such a way that the safety distance is greater at higher speeds than at low speeds.

Vorteilhafterweise werden Stopp-Zeiten, in welchen die zweite Kabine in Haltestellen hält, als Zustandsparameter berücksichtigt. Insbesondere werden dabei Stopp-Zeiten an Haltestellen berücksichtigt, die zwischen der Start-Haltestelle und der Ziel-Haltestelle des von der ersten Kabine durchzuführenden Transportvorgangs liegen. Aufgrund der extrapolierten Fahrzeiten ist bekannt, wann die zweite Kabine an diesen Haltestellen ankommt.Stop times, during which the second car stops at stops, are advantageously taken into account as status parameters. Be particular stopping times at stops that lie between the start stop and the destination stop of the transport process to be carried out by the first car are taken into account. Based on the extrapolated travel times, it is known when the second car will arrive at these stops.

Im Gegensatz zu Fahrzeiten sind derartige Stopp-Zeiten in der Regel nicht deterministisch bestimmbar. Fahrzeiten können insbesondere in Abhängigkeit der aktuellen Fahrparameter deterministisch bestimmt werden. Während der Stopp-Zeiten können Passagiere die zweite Kabine verlassen oder diese betreten. Das Verhalten von Passagieren ist jedoch deterministisch nicht bestimmbar.In contrast to driving times, such stopping times cannot usually be determined deterministically. Travel times can be determined deterministically, in particular as a function of the current travel parameters. During the stop times, passengers can exit or enter the second cabin. However, the behavior of passengers cannot be determined deterministically.

Daher werden die Stopp-Zeiten bevorzugt durch eine stochastische Auswertung bestimmt. Beispielsweise können die Stopp-Zeiten durch Erfahrungswerte bestimmt werden, beispielsweise als ein Mittelwert sämtlicher Stopp-Zeiten. Weiterhin können Fahrprofile bzw. Auslastungsprofile für die stochastische Auswertung verwendet werden. Weiterhin kann aufgrund von Rufen abgeleitet werden, wie viele Passagiere die zweite Kabine verlassen bzw. betreten. Zu diesem Zweck können bevorzugt Informationen einer Zielrufsteuerung ausgewertet werden.The stop times are therefore preferably determined by a stochastic evaluation. For example, the stopping times can be determined by empirical values, for example as an average of all stopping times. Furthermore, driving profiles or utilization profiles can be used for the stochastic evaluation. Furthermore, calls can be used to derive how many passengers are leaving or entering the second cabin. For this purpose, information from a destination call controller can preferably be evaluated.

Um diese vorbestimmten Stopp-Zeiten einhalten zu können, ist erfindungsgemäß vorgesehen, in der zweiten Kabine entsprechende Maßnahmen durchzuführen. Beispielsweise kann nach Ablauf der vorbestimmten Stopp-Zeiten ein Befehl ausgegeben werden, um die Türen der zweiten Kabine zu schließen. Somit wird vorteilhafterweise verhindert, dass die zweite Kabine "in Verzug" kommt und/oder dass sich die erste und die zweite Kabine zu nahe kommen und/oder dass der Sicherheitsabstand unterschritten wird.In order to be able to comply with these predetermined stopping times, it is provided according to the invention to carry out appropriate measures in the second car. For example, after the predetermined stop times have elapsed, a command can be issued to close the doors of the second car. It is thus advantageously prevented that the second car is “delayed” and/or that the first and the second car come too close to each other and/or that the safety distance is fallen below.

Wenn die Stopp-Zeiten nicht wie vorbestimmt eingehalten werden können, beispielsweise weil ein Passagier die zweite Kabine betritt, während sich die Türen bereits schließen und diese nochmals geöffnet werden müssen, sind vorteilhafterweise entsprechende Maßnahmen vorgesehen, um eine Kollision der ersten und der zweiten Kabine zu vermeiden.If the stopping times cannot be adhered to as planned, for example because a passenger enters the second cabin while the doors are already closing and have to be opened again appropriate measures are advantageously provided in order to avoid a collision of the first and the second car.

Zu diesem Zweck können die Fahrparameter der ersten Kabine vorteilhafterweise verändert werden, während die erste Kabine den Transportvorgang durchführt. Die Aufzugsteuerung bewertet bzw. bestimmt unter Berücksichtigung der Zustandsparameter der zweiten Kabine, ob Fahrparameter der ersten Kabine verändert werden, während die erste Kabine den Transportvorgang durchführt. Die Fahrparameter werden dabei insbesondere entsprechend angepasst, um eine Kollision zwischen der ersten und der zweiten Kabine zu verhindern. Gegebenenfalls kann auch ein Zwangs-Stopp der ersten Kabine nötig sein. Ein derartiger Zwangs-Stopp wird insbesondere in einer Haltestelle durchgeführt. Dabei werden insbesondere die Türen der ersten Kabine geöffnet, um die Passagiere nicht zu beunruhigen und um ein beengendes, unangenehmes Empfinden zu vermeiden. Erfolgt der Zwangs-Stopp zwischen zwei Haltestellen, können die Passagiere über visuelle und/oder akustische Anzeigemittel informiert werden.For this purpose, the driving parameters of the first car can advantageously be changed while the first car is carrying out the transport process. Taking into account the state parameters of the second car, the elevator controller evaluates or determines whether travel parameters of the first car are changed while the first car is carrying out the transport process. The driving parameters are adjusted accordingly in particular in order to prevent a collision between the first and the second car. If necessary, a forced stop of the first car may also be necessary. Such a forced stop is carried out in particular at a stop. In particular, the doors of the first cabin are opened in order not to alarm the passengers and to avoid a cramped, uncomfortable feeling. If the forced stop occurs between two stops, the passengers can be informed via visual and/or acoustic indicators.

Weiter insbesondere können die Fahrparameter auch derart angepasst werden, um den Transportvorgang schneller durchführen zu können. Dies kann beispielsweise der Fall sein, wenn Stopp-Zeiten der zweiten Kabine zu groß vorbestimmt wurden, wenn die tatsächliche Stopp-Zeit also geringer ist als die vorbestimmte Stopp-Zeit.Furthermore, in particular, the driving parameters can also be adjusted in such a way that the transport process can be carried out more quickly. This can be the case, for example, if the predetermined stop times of the second car are too large, ie if the actual stop time is less than the predetermined stop time.

Erfindungsgemäßwird als Zustandsparameter berücksichtigt, ob die zweite Kabine den Bereich zwischen Start-Haltestelle und Ziel-Haltestelle im Zuge eines durch die zweite Kabine durchzuführenden Transportvorgangs innerhalb eines bestimmten Zeitintervalls verlässt. Ist dies nicht der Fall, blockiert die zweite Kabine den Bereich unnötigerweise und die erste Kabine kann ihren Transportvorgang nicht beginnen.According to the invention, whether the second car leaves the area between the starting stop and the destination stop within a specific time interval during a transport process to be carried out by the second car is taken into account as a status parameter. If this is not the case, the second car will unnecessarily block the area and the first car cannot begin its transport operation.

In diesem Fall bewegt die Aufzugsteuerung die zweite Kabine erfindungsgemäßin eine Ausweich-Haltestelle außerhalb des Bereichs zwischen Start-Haltestelle und Ziel-Haltestelle. Die Aufzugsteuerung gibt insbesondere einen zweckmäßigen Befehl an die zweite Kabine aus. Die Ausweich-Haltestelle wird insbesondere derart in Bezug zur Ziel-Halstestelle der ersten Kabine gewählt, dass der Sicherheitsabstand zwischen der ersten und der zweiten Kabine nicht unterschritten wird, wenn sich die erste Kabine in der Ziel-Haltestelle befindet.In this case, according to the invention, the elevator control moves the second car to an alternative stop outside the area between the start stop and the destination stop. Specifically, the elevator controller issues an appropriate command to the second car. The alternate stop is selected in particular in relation to the destination stop of the first car such that the safety distance between the first and second car is not fallen short of when the first car is in the destination stop.

Vorzugsweise werden die Fahrparameter der ersten Kabine unter Berücksichtigung eines Energiemanagements der Aufzugsanlage bestimmt. Insbesondere kann die erste Kabine mit einer weiteren, insbesondere gegenläufigen Kabine synchronisiert werden. Die Fahrparameter der ersten Kabine und dieser weiteren Kabine können in Abhängigkeit voneinander bestimmt werden. Im Zuge einer derartigen Synchronisation können gegenläufig fahrende Kabinen insbesondere derart aufeinander abgestimmt werden, dass sich die gegenläufige bewegenden Kabinen im Wesentlichen gleichzeitig in Bewegung setzen. Durch die Abwärtsbewegung der einen Kabine kann Energie gewonnen werden, welche (instantan) für die Aufwärtsbewegung der anderen Kabine genutzt wird. Somit kann insbesondere ein Anschlusswert des Aufzugsystems optimiert werden. Eine Energiebilanz der Aufzugsanlage kann somit optimiert werden. Energiebedarf und Energieangebot können optimal ausbalanciert werden und eine optimale Energiebilanz kann erreicht werden.The travel parameters of the first car are preferably determined taking into account energy management of the elevator system. In particular, the first car can be synchronized with a further car, in particular a car running in the opposite direction. The driving parameters of the first cabin and this further cabin can be determined as a function of one another. In the course of such a synchronization, cars moving in opposite directions can in particular be matched to one another in such a way that the cars moving in opposite directions essentially start moving at the same time. By moving one cabin down, energy can be gained, which is (instantaneously) used for the upward movement of the other cabin. In this way, in particular, a connection value of the elevator system can be optimized. An energy balance of the elevator system can thus be optimized. Energy demand and energy supply can be optimally balanced and an optimal energy balance can be achieved.

Weiterhin können die Fahrparameter der ersten Kabine vorzugsweise unter Berücksichtigung eines Energieverbrauchs und/oder eines Verschleißes von Bauteilen der Aufzugsanlage bestimmt werden. Der Energieverbrauch der Aufzugsanlage kann optimiert werden bzw. der Verschleiß einzelner Bauteile kann reduziert werden. Beispielsweise können die Beschleunigung und/oder die Abbremsung der ersten Kabine verringert werden, anstatt die Geschwindigkeit oder die Maximalgeschwindigkeit zu reduzieren. Somit kann unnötig starkes Beschleunigen bzw. Abbremsen vermieden werden und der Verschleiß einzelner Bauteile kann verringert werden.Furthermore, the travel parameters of the first car can preferably be determined taking into account energy consumption and/or wear and tear of components of the elevator system. The energy consumption of the elevator system can be optimized and the wear and tear of individual components can be reduced. For example, the acceleration and/or the deceleration of the first car can be reduced instead of reducing the speed or the maximum speed. Thus, unnecessarily strong Accelerating or braking can be avoided and the wear of individual components can be reduced.

Insbesondere bewertet bzw. bestimmt die Aufzugsteuerung unter Berücksichtigung des Energiemanagements, ob Fahrparameter der ersten Kabine verändert werden, während die erste Kabine den Transportvorgang durchführt. Dies kann insbesondere der Fall sein, wenn es zu einem Ausfall der Energiezufuhr der Aufzugsanlage bzw. zu einem Stromausfall kommt. Eine derartige Veränderung der Fahrparameter der ersten Kabine im Zuge eines Stromausfalls, während die erste Kabine den Transportvorgang ausführt, kann von der Aufzugsteuerung insbesondere gemäß in der US 7 540 356 B2 beschriebenen Kriterien durchgeführt werden. In der US 7 540 356 B2 wird eine Möglichkeit zum Bewältigen eines Stromausfalls einer Aufzugsanlage offenbart. Im Fall eines Stromausfalls werden in Abhängigkeit von einer in der Aufzugsanlage vorhandenen Energie und von einer zum Bewältigen des Stromausfalls notwendigen Energie Fahrparameter, insbesondere die Geschwindigkeit, von Kabinen verändert.In particular, the elevator control evaluates or determines, taking into account the energy management, whether travel parameters of the first car are changed while the first car is carrying out the transport process. This can be the case in particular if there is a failure of the energy supply to the elevator system or a power failure. Such a change in the driving parameters of the first car in the course of a power failure, while the first car is carrying out the transport process, can be detected by the elevator control, in particular according to FIG U.S. 7,540,356 B2 described criteria are carried out. In the U.S. 7,540,356 B2 a possibility for coping with a power failure of an elevator installation is disclosed. In the event of a power failure, travel parameters, in particular the speed, of cars are changed as a function of the energy available in the elevator system and of the energy required to deal with the power failure.

Weitere Vorteile und Ausgestaltungen der Erfindung ergeben sich aus der Beschreibung und der beiliegenden Zeichnung.Further advantages and refinements of the invention result from the description and the attached drawing.

Es versteht sich, dass die vorstehend genannten und die nachstehend noch zu erläuternden Merkmale nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Kombinationen oder in Alleinstellung verwendbar sind, ohne den Rahmen der vorliegenden Erfindung zu verlassen.It goes without saying that the features mentioned above and those still to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

Die Erfindung ist anhand von Ausführungsbeispielen in der Zeichnung schematisch dargestellt, welche im Folgenden unter Bezugnahme auf die Zeichnungen beschrieben werden.The invention is illustrated schematically in the drawing using exemplary embodiments, which are described below with reference to the drawings.

Figurenbeschreibungcharacter description

Figur 1figure 1
zeigt schematisch eine bevorzugte Ausgestaltung einer erfindungsgemäßen Aufzugsanlage, die dazu eingerichtet ist, gemäß einer bevorzugten Ausführungsform eines erfindungsgemäßen Verfahrens betrieben zu werden.shows schematically a preferred embodiment of an elevator system according to the invention, which is set up to be operated according to a preferred embodiment of a method according to the invention.
Figur 2figure 2
zeigt schematisch Fahrkurven von Kabinen einer bevorzugten Ausgestaltung einer erfindungsgemäßen Aufzugsanlage, die im Zuge einer bevorzugten Ausführungsform eines erfindungsgemäßen Verfahrens bestimmt werden können.shows schematically driving curves of cars of a preferred embodiment of an elevator system according to the invention, which can be determined in the course of a preferred embodiment of a method according to the invention.
Figur 3figure 3
zeigt schematisch Fahrkurven, die im Zuge einer weiteren bevorzugten Ausführungsform eines erfindungsgemäßen Verfahrens bestimmt werden können.shows schematically driving curves that can be determined in the course of a further preferred embodiment of a method according to the invention.
Ausführungsform(en) der Erfindungembodiment(s) of the invention

In Figur 1 ist eine bevorzugte Ausgestaltung einer erfindungsgemäßen Aufzugsanlage schematisch dargestellt und mit 100 bezeichnet. In der Aufzugsanlage 100 sind zwei Kabinen 110 und 120 in einem gemeinsamen Aufzugschacht 101 unabhängig voneinander verfahrbar. Die Aufzugsanlage 100 erstreckt sich in diesem speziellen Beispiel über neun Stockwerke, die mit den Bezugszeichen H1 bis H9 bezeichnet sind.In figure 1 a preferred embodiment of an elevator installation according to the invention is shown schematically and is denoted by 100 . In the elevator system 100, two cars 110 and 120 can be moved independently of one another in a common elevator shaft 101. In this specific example, the elevator system 100 extends over nine floors, which are identified by the reference symbols H1 to H9.

Jede der Kabinen 110 und 120 weist eine individuelle Kabinensteuerung 111 bzw. 121 auf. Die Aufzugsanlage 100 weist weiterhin eine Aufzugsteuerung 130 auf. Die Aufzugsteuerung 130 und die Kabinensteuerungen 111 und 121 stehen miteinander in Verbindung, insbesondere über einen geeigneten Kommunikationsbus, beispielsweise einen Feldbus.Each of the cars 110 and 120 has an individual car control 111 and 121, respectively. The elevator system 100 also has an elevator controller 130 . The elevator controller 130 and the car controllers 111 and 121 are connected to one another, in particular via a suitable communication bus, for example a field bus.

Die Aufzugsteuerung 130 ist weiterhin dazu eingerichtet, eine bevorzugte Ausführungsform eines erfindungsgemäßen Verfahrens durchzuführen. Zu diesem Zweck wird in der Aufzugsteuerung 130 insbesondere eine bevorzugte Ausgestaltung eines erfindungsgemäßen Computerprogramms ausgeführt.The elevator controller 130 is also set up to carry out a preferred embodiment of a method according to the invention. To this For this purpose, in particular a preferred embodiment of a computer program according to the invention is executed in the elevator control 130 .

Beispielsweise will ein Passagier von dem dritten Stockwerk H3 in das siebte Stockwerk H7 transportiert werden. Zu diesem Zweck betätigt der Passagier in dieser Start-Haltestelle H3 eine entsprechende Zielauswahlsteuerung. Der Passagier teilt der Aufzugsteuerung 130 auf diese Weise das Ziel-Stockwerk H7 mit. Die Aufzugsteuerung 130 bestimmt Kabine 110 als erste Kabine, um diesen Transportvorgang durchzuführen. Die Aufzugsteuerung 130 gibt einen Befehl an die Kabinensteuerung 111 der ersten Kabine 110 aus. Die Kabinensteuerung 111 steuert die erste Kabine 110 entsprechend an und die erste Kabine 110 wird in die Start-Haltestelle H3 bewegt. Zu einem Einstiegs-Zeitpunkt betritt der Passagier die erste Kabine 110 in der Start-Haltestelle H3.For example, a passenger wants to be transported from the third floor H3 to the seventh floor H7. For this purpose, the passenger actuates a corresponding destination selection control in this starting stop H3. In this way, the passenger notifies the elevator controller 130 of the destination floor H7. Elevator controller 130 designates car 110 as the first car to perform this transportation operation. The elevator controller 130 issues a command to the car controller 111 of the first car 110 . The car control 111 controls the first car 110 accordingly and the first car 110 is moved to the starting stop H3. At a boarding time, the passenger enters the first cabin 110 in the starting stop H3.

Die Aufzugsteuerung 130 bestimmt nun einen Start-Zeitpunkt und Fahrparameter für den Transportvorgang von der Start-Haltestelle H3 in die Ziel-Haltestelle H7. Diese Bestimmung wird unter Berücksichtigung von Zustandsparameter der zweiten Kabine 120 durchgeführt.The elevator controller 130 now determines a start time and travel parameters for the transport process from the start stop H3 to the destination stop H7. This determination is made taking into account state parameters of the second car 120 .

Die zweite Kabine 120 befindet sich zu dem Einstiegs-Zeitpunkt in dem fünften Stockwerk H5. Die zweite Kabine 120 soll einen Transportvorgang von dem fünften Stockwerk H5 in das sechste Stockwerk H6 und anschließend einen weiteren Transportvorgang von dem sechsten Stockwerk H6 in das neunte Stockwerk H9 durchführen. Diese beiden Transportvorgänge, entsprechende Fahrparameter der zweiten Kabine 120 sowie Stopp-Zeiten der zweiten Kabine 120 in dem fünften Stockwerk H5 und in dem sechsten Stockwerk H6 werden als Zustandsparameter von der Aufzugsteuerung 130 zur Bestimmung des Transportvorgangs der ersten Kabine 110 berücksichtigt.The second cabin 120 is located on the fifth floor H5 at the time of boarding. The second car 120 is to carry out a transport process from the fifth floor H5 to the sixth floor H6 and then a further transport process from the sixth floor H6 to the ninth floor H9. These two transport processes, corresponding travel parameters of the second car 120 and stop times of the second car 120 on the fifth floor H5 and on the sixth floor H6 are taken into account as state parameters by the elevator control 130 to determine the transport process of the first car 110.

Die Aufzugsteuerung 130 bestimmt durch eine statistische Auswertung von Fahrprofilen eine durchschnittliche Stopp-Zeit der zweiten Kabine 120. Diese statistisch bestimmte Stopp-Zeit wird als vorbestimmte Stopp-Zeit für das fünfte und sechste Stockwerk H5 und H6 verwendet.The elevator controller 130 determines an average stop time of the second car 120 by statistically evaluating travel profiles statistically determined stopping time is used as a predetermined stopping time for the fifth and sixth floors H5 and H6.

Die Kabinensteuerung 121 der zweiten Kabine 120 übermittelt Beschleunigung, Geschwindigkeit und Abbremsung als Fahrparameter, an die Aufzugsteuerung 130. Gemäß diesen Fahrparametern führt die zweite Kabine 120 die beiden Transportvorgänge durch.The car control 121 of the second car 120 transmits acceleration, speed and deceleration as travel parameters to the elevator control 130. The second car 120 carries out the two transport processes according to these travel parameters.

In Abhängigkeit von diesen Fahrparametern und von diesen Stopp-Zeiten der zweiten Kabine 120 bestimmt die Aufzugsteuerung 130 eine Fahrkurve der zweiten Kabine 120. Diese Fahrkurve entspricht einer Extrapolation der Position der zweiten Kabine 120 in dem Aufzugschacht 101.Depending on these travel parameters and these stop times of the second car 120, the elevator controller 130 determines a travel curve for the second car 120. This travel curve corresponds to an extrapolation of the position of the second car 120 in the elevator shaft 101.

Unter Berücksichtigung dieser Fahrkurve der zweiten Kabine 120 bestimmt die Aufzugsteuerung 130 eine Fahrkurve der ersten Kabine 110. Für diese Fahrkurve werden der Start-Zeitpunkt und die Fahrparameter der ersten Kabine 110 derart bestimmt, dass die erste Kabine 110 möglichst schnell ihren Transportvorgang beginnen kann (dass also zwischen Einstiegs-Zeitpunkt und Start-Zeitpunkt ein möglichst geringes Zeitintervall liegt) und dass die erste Kabine 110 und die zweite Kabine 120 einen vorgegebenen Mindestabstand bzw. einen geschwindigkeitsabhängigen Sicherheitsabstand zueinander nicht unterschreiten.Taking this driving curve of the second car 120 into account, the elevator controller 130 determines a driving curve for the first car 110. For this driving curve, the start time and the driving parameters of the first car 110 are determined in such a way that the first car 110 can start its transport process as quickly as possible (that i.e. there is as short a time interval as possible between the time of boarding and the time of departure) and that the first cabin 110 and the second cabin 120 do not fall below a predetermined minimum distance or a speed-dependent safety distance from one another.

Die Aufzugsteuerung 130 bestimmt Beschleunigung, Geschwindigkeit und Abbremsung der ersten Kabine 110 als Fahrparameter. Die Aufzugsteuerung 130 übermittelt diese Fahrparameter und den Start-Zeitpunkt an die Kabinensteuerung 111. Die Kabinensteuerung 111 steuert die erste Kabine 110 entsprechend an, damit der Transportvorgang von der Start-Haltestelle H3 in die Ziel-Haltestelle H7 zu dem Start-Zeitpunkt mit den entsprechenden Fahrparametern durchgeführt wird.The elevator controller 130 determines the acceleration, speed and deceleration of the first car 110 as travel parameters. The elevator controller 130 transmits these travel parameters and the start time to the cabin controller 111. The cabin controller 111 controls the first cabin 110 accordingly so that the transport process from the start stop H3 to the destination stop H7 at the start time with the appropriate Driving parameters is carried out.

In Figur 2 sind diese von der Aufzugsteuerung 130 bestimmten Fahrkurven in einem Diagramm der Kabinenposition x im Aufzugschacht 101 aufgetragen gegen die Zeit t schematisch dargestellt.In figure 2 these travel curves determined by the elevator controller 130 are shown schematically in a diagram of the car position x in the elevator shaft 101 plotted against time t.

Mit t0 ist der Einstiegs-Zeitpunkt gekennzeichnet, zu welchem der Passagier die erste Kabine 110 in der Start-Haltestelle H3 betritt. Mit 220 ist die Fahrkurve für die zweite Kabine 120 gekennzeichnet, welche von der Aufzugsteuerung 130 extrapoliert wird. Durch statistische Auswertung wird der Zeitpunkt t1 extrapoliert, zu welchem die zweite Kabine das fünfte Stockwerk verlässt. Die Zeitpunkte t3 und t4 charakterisieren die statistisch bestimmte Stopp-Zeit für den Stopp der zweiten Kabine 120 in dem sechsten Stockwerk H6. Die Aufzugsteuerung 130 extrapoliert weiterhin, dass die zweite Kabine zu dem Zeitpunkt t6 das neunte Stockwerk H9 erreicht.The boarding time at which the passenger enters the first cabin 110 in the starting stop H3 is identified as t 0 . The driving curve for the second car 120 is marked with 220 , which is extrapolated by the elevator control 130 . Statistical evaluation is used to extrapolate the point in time t 1 at which the second car leaves the fifth floor. The times t 3 and t 4 characterize the statistically determined stopping time for the stop of the second car 120 on the sixth floor H6. The elevator controller 130 further extrapolates that the second car will reach the ninth floor H9 at time t 6 .

Unter Berücksichtigung dieser Fahrkurve 220 der zweiten Kabine 120 bestimmt die Aufzugsteuerung 130 Fahrkurve 210 der ersten Kabine 110. Mit t2 ist der von der Aufzugsteuerung bestimmte Start-Zeitpunkt bezeichnet, zu welchem die erste Kabine 110 den Transportvorgang beginnt, t5 bezeichnet die extrapolierte Ankunftszeit, zu welchem die erste Kabine 110 die Ziel-Haltestelle H7 erreicht.Taking into account this travel curve 220 of the second car 120, the elevator controller 130 determines travel curve 210 of the first car 110. t 2 denotes the start time determined by the elevator controller at which the first car 110 begins the transport process, t 5 denotes the extrapolated arrival time , to which the first car 110 reaches the destination stop H7.

In Figur 3 sind analog zu Figur 2 weitere Fahrkurven dargestellt. In Figur 3 ist beispielhaft dargestellt, dass die tatsächliche Stopp-Zeit der zweiten Kabine 120 in dem sechsten Stockwerk länger ist als die von der Aufzugsteuerung extrapolierte Stopp-Zeit.In figure 3 are analogous to figure 2 further travel curves shown. In figure 3 shows by way of example that the actual stopping time of the second car 120 on the sixth floor is longer than the stopping time extrapolated by the elevator control.

Mit 221 ist die tatsächliche Fahrkurve der zweiten Kabine 120 dargestellt. Die extrapolierte Fahrkurve 220 gemäß Figur 2 ist in Figur 3 in dem Bereich gestrichelt dargestellt, in welchem sich die extrapolierte Fahrkurve 220 von der tatsächlichen Fahrkurve 221 unterscheidet.The actual travel curve of the second car 120 is shown at 221 . The extrapolated driving curve 220 according to FIG figure 2 is in figure 3 shown as a dashed line in the area in which the extrapolated driving curve 220 differs from the actual driving curve 221 .

Beispielsweise betritt ein Passagier die zweite Kabine 120 in dem sechsten Stockwerk, während sich die Türen bereits schließen. Die Türen müssen somit nochmals geöffnet werden und der Haltestopp verlängert sich. Der Haltestopp endet somit nicht zum Zeitpunkt t4, wie es von der Aufzugsteuerung extrapoliert wurde, sondern zum Zeitpunkt t7.For example, a passenger enters the second cabin 120 on the sixth floor while the doors are already closing. The doors therefore have to be opened again and the stop is extended. The stopping stop thus does not end at time t 4 , as was extrapolated by the elevator control, but at time t 7 .

Wenn die erste Kabine 110 den Transportvorgang gemäß der extrapolierten Fahrkurve 210 fortsetzen würde, würde aufgrund des langen Haltestopps der zweiten Kabine 120 der Sicherheitsabstand zwischen der ersten Kabine 110 und der zweiten Kabine 120 unterschritten werden. Damit dieser Sicherheitsabstand nicht unterschritten wird, werden zum Zeitpunkt t7 die Fahrparameter der ersten Kabine 110 von der Aufzugsteuerung 130 angepasst. In diesem Beispiel wird die Geschwindigkeit der ersten Kabine 110 reduziert.If the first car 110 were to continue the transport process according to the extrapolated driving curve 210, the safety distance between the first car 110 and the second car 120 would be fallen below due to the long stoppage of the second car 120. So that this safety distance is not fallen short of, the travel parameters of the first car 110 are adjusted by the elevator control 130 at time t 7 . In this example, the speed of the first car 110 is reduced.

In Figur 3 ist die tatsächliche Fahrkurve der ersten Kabine 110 mit 211 bezeichnet. Die extrapolierte Fahrkurve 210 gemäß Figur 2 ist in Figur 3 in dem Bereich gestrichelt dargestellt, in welchem sich die extrapolierte Fahrkurve 210 von der tatsächlichen Fahrkurve 211 unterscheidet.In figure 3 the actual travel curve of the first car 110 is denoted by 211. The extrapolated driving curve 210 according to FIG figure 2 is in figure 3 shown as a dashed line in the area in which the extrapolated travel curve 210 differs from the actual travel curve 211 .

Durch die Verringerung der Geschwindigkeit der ersten Kabine 110 verschiebt sich die Ankunftszeit der ersten Kabine 110 in dem Ziel-Stockwerk H7 von dem Zeitpunkt t5 auf den Zeitpunkt t8.Due to the reduction in the speed of the first car 110, the arrival time of the first car 110 at the destination floor H7 shifts from time t 5 to time t 8 .

Claims (12)

  1. Method for operating an elevator system (100) comprising at least two cars (110, 120) which can be moved independently of one another in at least one common elevator shaft (101),
    wherein a first car (110) of the at least two cars (110, 120) is determined by an elevator controller (130) to perform a transport operation from a departure stop (H3) to a destination stop (H7),
    wherein the elevator controller (130) determines a start time of the first car (110) at which the first car (110) starts the transport operation from the departure stop (H3) and determines travel parameters, according to which the first car (110) carries out the transport operation from the departure stop (H3) to the destination stop (H7),
    wherein the start time and the travel parameters are determined by taking into account state parameters of at least one second car (120) of the at least two cars (110, 120), and
    wherein the start time and the travel parameters of the first car (110) are determined by taking into account the state parameters of the at least one second car (120) when the at least one second car (120) is located in an area between the departure stop (H3) and the destination stop (H7),
    wherein it is taken into account as a state parameter whether the at least one second car (120) leaves an area between the departure stop (H3) and the destination stop (H7) in the course of a transport operation to be carried out by the at least one second car (120) within a specified time interval,
    wherein the elevator controller (130) moves the at least one second car (110) to an avoidance stop outside the area between the departure stop (H3) and the destination stop (H7) when the at least one second car (110) does not leave the area between the departure stop (H3) and the destination stop (H7) in the course of a transport operation to be carried out by the at least one second car (110) within the specified time interval.
  2. Method according to claim 1, wherein the start time and the travel parameters are determined by taking into account the state parameters in such a way that a minimum distance between the first car (110) and the at least one second car (120) and/or a speed-dependent safety distance are not undershot.
  3. Method according to any one of the preceding claims, wherein an acceleration, a deceleration, a speed, a maximum speed and/or a jolt of the first car (110) are determined as travel parameters.
  4. Method according to any one of the preceding claims, wherein a current position of the at least one second car (120), a direction of travel, a travel time, travel parameters of the at least one second car (120) and/or a transport operation to be carried out by the at least one second car (120) are taken into account as state parameters.
  5. Method according to any one of the preceding claims, wherein stop times in which the at least one second car (120) stops at stops (H5, H6) are taken into account as state parameters.
  6. Method according to claim 5, wherein the stop times are determined by a stochastic evaluation and/or by evaluation of a destination call control.
  7. Method according to any one of the preceding claims, wherein while the first car (110) carries out the transport operation, it is determined by taking into account the state parameters of the at least one second car (120), whether travel parameters of the first car (110) are changed.
  8. Method according to any one of the preceding claims, wherein the travel parameters of the first car (110) are determined by taking into account an energy management of the elevator system (100), an energy consumption and/or a wear of components of the elevator system (100).
  9. Method according to any one of the preceding claims, wherein the travel parameters of the first car (110) and/or a waiting time until the start time and/or an arrival time of the first car (110) are displayed within the first car (100).
  10. Elevator system (100) comprising at least two cars (110) adapted to travel in at least one common elevator shaft (101) independently of one another, and comprising an elevator controller (130) configured to carry out a method according to any one of the preceding claims.
  11. Computer program which causes an elevator controller (130) to carry out a method according to any one of claims 1 to 9, when implemented in the elevator controller (130) of the elevator system (100) according to claim 10.
  12. Machine-readable storage medium having stored thereon a computer program according to claim 11.
EP15775471.4A 2014-10-10 2015-10-09 Method for operating a lift system Active EP3204322B1 (en)

Applications Claiming Priority (2)

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DE102014220629.4A DE102014220629A1 (en) 2014-10-10 2014-10-10 Method for operating an elevator installation
PCT/EP2015/073436 WO2016055630A1 (en) 2014-10-10 2015-10-09 Method for operating a lift system

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EP3204322A1 EP3204322A1 (en) 2017-08-16
EP3204322B1 true EP3204322B1 (en) 2023-06-07

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US (1) US10676317B2 (en)
EP (1) EP3204322B1 (en)
CN (2) CN114620565A (en)
DE (1) DE102014220629A1 (en)
FI (1) FI3204322T3 (en)
WO (1) WO2016055630A1 (en)

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DE102018213575B4 (en) * 2018-08-13 2020-03-19 Thyssenkrupp Ag Method for operating an elevator system with specification of a predetermined route as well as elevator system and elevator control for executing such a method
KR102194964B1 (en) * 2018-12-20 2020-12-24 현대엘리베이터주식회사 Variable Speed Elevator System
US20220048728A1 (en) * 2020-08-12 2022-02-17 Otis Elevator Company Intercar coordination in multicar hoistways
JP7004055B1 (en) * 2020-12-17 2022-01-21 三菱電機株式会社 Elevator system

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Also Published As

Publication number Publication date
WO2016055630A1 (en) 2016-04-14
FI3204322T3 (en) 2023-09-11
EP3204322A1 (en) 2017-08-16
US20170297858A1 (en) 2017-10-19
US10676317B2 (en) 2020-06-09
CN114620565A (en) 2022-06-14
DE102014220629A1 (en) 2016-04-14
CN106794959A (en) 2017-05-31

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