WO2004058617A1 - Systeme de reperage de position - Google Patents

Systeme de reperage de position Download PDF

Info

Publication number
WO2004058617A1
WO2004058617A1 PCT/US2002/041515 US0241515W WO2004058617A1 WO 2004058617 A1 WO2004058617 A1 WO 2004058617A1 US 0241515 W US0241515 W US 0241515W WO 2004058617 A1 WO2004058617 A1 WO 2004058617A1
Authority
WO
WIPO (PCT)
Prior art keywords
color
referencing system
position referencing
detected
color element
Prior art date
Application number
PCT/US2002/041515
Other languages
English (en)
Other versions
WO2004058617A8 (fr
Inventor
Jae-Hyuk Oh
Pengju Kang
Alan Finn
Pei-Yuan Peng
Original Assignee
Otis Elevator Company
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Otis Elevator Company filed Critical Otis Elevator Company
Priority to DE10297848T priority Critical patent/DE10297848T5/de
Priority to AU2002359863A priority patent/AU2002359863A1/en
Priority to PCT/US2002/041515 priority patent/WO2004058617A1/fr
Priority to JP2004563163A priority patent/JP2006512568A/ja
Priority to CN02830131.5A priority patent/CN1720188A/zh
Priority to US10/541,229 priority patent/US20060232789A1/en
Publication of WO2004058617A1 publication Critical patent/WO2004058617A1/fr
Publication of WO2004058617A8 publication Critical patent/WO2004058617A8/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3492—Position or motion detectors or driving means for the detector

Definitions

  • the present invention relates to a system and a method for low-cost and high-performance absolute position referencing for elevators and other (passenger) conveyances such as horizontal passenger conveyances.
  • a position referencing system is a component of a control system that provides fast and accurate position measurement of an elevator car in a hoistway or a (passenger) cab along a guideway.
  • the speed and accuracy of a position referencing system is determined from a given control system in the way of guaranteeing a certain level of ride quality.
  • position measurement should be performed within 10ms lag and 1mm accuracy.
  • a minimized correction run occurring for instance at power-on, is the other important performance requirement.
  • minimized means less than one-floor or one-stop in distance.
  • the vane system is quite cost inefficient since a vane which is installed by a mechanic in the hoistway, costs $10 for material, 0.5 hours for installation, and about 0.1 hour for adjustment for every floor. Overall, one of the most significant problems in the existing position referencing systems is the poor performance to cost ratio.
  • a position referencing system broadly comprises a plurality of spaced apart color elements attached to a static structure, means attached to a movable structure for detecting one of the spaced apart color elements, and means for determining a position of the movable structure from the detected color element.
  • color designates not only visible colors but also invisible colors in the electromagnetic spectrum including ultraviolet, infrared, radio frequency, and microwave.
  • movable structure may be an elevator car or a horizontal passenger conveyance.
  • a position referencing method broadly comprises the steps of attaching a plurality of spaced apart color elements to a static structure, detecting one of the spaced apart color elements, and determining a position of a movable structure from the detected color element.
  • FIG. 1 is a schematic representation of a charge coupled device (CCD) based positioning system
  • FIG. 2 is a schematic representation of a red, green, blue (RGB) decomposition of a color CCD image
  • FIGS. 3A and 3B are a schematic representation of a position referencing system in accordance with the present invention.
  • FIG. 4 is a schematic representation of a code in color (CiC) CCD based position referencing system.
  • FIG. 1 illustrates how a one- dimensional charge coupled device (CCD) 10 based relative positioning system works. That is, a reflector 11 is illuminated by a light source or a linear radiation source 12. A light image 13 is created as light is reflected by the reflector 11. A camera 10, preferably a CCD sensing device, detects at least part of the light image 13 and converts the detected image to electrical signals, which are transmitted to a processing unit 14, such as a pre-programmed computer, and saved in a memory 16 associated with the processing unit 14. Using a signal processing algorithm programmed in the processing unit 14, the position of the center
  • the signal processing algorithm may include a sub-pixel resolution signal processing algorithm and may include any suitable algorithm known in the art for computing relative distances in this manner.
  • the CCD camera 10 preferably comprises a CCD sensor, lens and light guide.
  • the CCD device 10 is preferably a color CCD sensing device.
  • a color image thus detected by a color CCD 10, such as a color camera may be decomposed into three primary color images - namely Red, Green, and Blue, as shown in FIG. 2.
  • Modern color CCD's have a 12-bit color depth for each of these three colors, which means that, ideally, a color CCD can differentiate 2 36 colors. This implies that, ideally, one can encode 2 36 bits of information by using colors which can be decoded by using a color CCD sensor 10.
  • one color may be used for positioning, and may be called the position color.
  • R, G, and B denote the intensity outputs of a color CCD standing for red, green, and blue colors, respectively, as shown in FIG. 2. Also, define R B and G B as follows:
  • a decoding table can be given as follows:
  • the decoded number is 50. From the decoded number, the specific color element of reflector 42 being illuminated can be determined and the position of the CCD device 10 and the elevator car to which it is attached can be calculated. In using this scheme, the colors on the reflectors may be chosen to guarantee their decoded position information is identical under expected variations in intensity of the light source.
  • a 4 cell array of a six- different-color reflector can cover more than 500 different conditions of position information.
  • FIGS. 3A and 3B the configuration and operating mechanism of a position referencing system 30 in accordance with the present invention is depicted.
  • a plurality of spaced apart reflectors or color elements 42 are mounted on a static structure, such as a door frame 40 or a wall, in a hoistway 41.
  • a CCD assembly 32 including a CCD sensor box 48 is preferably attached to the frame 34 on a side of an elevator car, although it could be positioned elsewhere on the car such as the bottom of the car.
  • One or more light sources 12 are provided on the frame 34 to illuminate a reflector 42 in the vicinity of the car.
  • a reflector 42 In operation, light from the light source (s) 12 shine on a reflector 42 in the vicinity of the car. Light reflected by the reflector 42 is detected by the CCD sensor box 48 where it is converted into electrical signals representative of the primary colors - red, blue and green. The electrical signals are transmitted to a pre-programmed processor 14 so that the position of the elevator car can be determined. As described hereinabove, one of the primary colors - red, green, and blue is selected as the positioning color. The signals representative of the remaining primary colors are normalized as discussed above. From the normalized signals and a decode table stored in the memory associated with the processor 14, a decoded number for the detected reflector or color element 42 is determined. The decoded number identifies the detected reflector or color element 42. Using this information, and its location in the field of view of the CCD sensor box 48, the position of the elevator car can be determined.
  • the CCD sensor box 48 may also be used to detect the upper and lower edges of the reflector 42 in its field of view. Using electrical signals representative of the location of the upper and lower edges in the field of view of the CCD sensor box 48, a fine elevator car position can be determined.
  • each light source 12 may be a polarized, linear light source.
  • a polarized window 22 may be provided on the sealed light guide 20. The provision of the polarized, linear light source (s) 12 and the polarized window 22 increases the signal to noise ratio against interfering ambient light.
  • the other problem, which this configuration addresses, is smoke.
  • the linear light source 12 and the sealed light guide 20 provide a sufficiently clear image even in smoke conditions because the flight path of light in the smoke is minimized by using the linear light source 12 and the sealed light guide 20.
  • the distance between the reflector 42 and the CCD assembly 32 can be less than 3.0 cm.
  • the linear light source 12 For purposes of achieving a constant intensity of the reflector image regardless of the position of the reflector 42 with respect to the location of the CCD assembly 32, one can make the linear light source 12 have a non-uniform illumination intensity profile in space.
  • the illumination intensity of the light source 12 may be highest at both ends of the light source while it is lowest at the center of the light source.
  • FIG. 4 shows the configuration and operation of a CIC CCD based position referencing system.
  • a door frame 40 is provided with a plurality of color reflectors 42.
  • a CCD assembly 32 is mounted to a frame 34 attached to an elevator car 35 with a CCD assembly 32 with an upper CCD sensing device 48 and a lower CCD sensing device 48'.
  • At least one light source 12 is associated with each of the upper and lower sensing devices 48 and 48' .
  • One can achieve normal position feedback for the control system assuming the distance between any two adjacent floors, except for the two floors at the ends of an express zone, is within 1.3m plus the height of the car.
  • the two CCD sensors 48 and 48' provide high accuracy position as well as speed measurement at any point in the hoistway.
  • an express zone there are a few reflectors at each of both ends of the express zone.
  • the position referencing system of the present invention can provide precise positioning until the starting of the express zone and just after the ending of the express zone.
  • the positioning in the express zone can be done by an open loop control since there is no stopping in an express zone. The same approach may be used for the case of large inter-floor distance such as the lobby of a hotel.
  • each CCD assembly 48 and 48' provides speed and position measurement information independently, one for NTSD and the other for ETSD/ETSLD.
  • the system shown in FIG. 4 also provides the capability of minimized correction run. Assuming the distance between any two adjacent floors, except for two floors at the ends of an express zone, is within 1.3m plus the height of the car, then the capability of no correction run can be achieved.
  • an express zone one can attach a long reflector, which covers the upper/lower half of the express zone, or normal reflectors at normal inter-floor spacing. Then, based on the existence of the reflectors, the elevator car can decide at least where the closest floor to the car is. Deciding which way to move, up or down, may be the only function required after power comes back on. Note that attaching a long tape or individual CIC reflectors onto the hoistway can be done easily. Alternately, after the restoration of power, the elevator can arbitrarily creep up or down until a floor is found. This is still at most a one floor correction run.
  • the position referencing system and method of the present invention provides numerous advantages: (1) higher accuracy everywhere in the hoistway or guideway; (2) higher position update rate; (3) lower installation cost with little or no hoistway or guideway installation; (4) lower maintenance cost due to simple structure, no mechanical wear, and easy maintenance; (5) lower management cost due to global applicability; and (6) minimized correction run.
  • the static structure would be a door frame in a transport guideway and the movable structure would be a device or passenger cab for conveying people substantially horizontally or at an angle with respect to a horizontal axis.
  • One or more light sources and a sensing device may be fixed to the movable structure.
  • each color element 42 could reflect a unique wavelength of the electromagnetic spectrum.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un système de repérage de position et un procédé de transport horizontal ou vertical, par exemple d'un ascenseur. Le système de repérage de position comprend plusieurs éléments colorés ou réflecteurs (42) espacés, fixés à une structure statique (40), telle qu'un encadrement de porte de type baie d'accès ou de type cabine guidée; une source lumineuse (12) pour éclairer un des réflecteurs; et un détecteur (10, 48, 48') pour saisir une image du réflecteur éclairé. L'image saisie par le détecteur est utilisée pour déterminer la position et/ou la vitesse de course, par exemple, d'une cabine d'ascenseur.
PCT/US2002/041515 2002-12-30 2002-12-30 Systeme de reperage de position WO2004058617A1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE10297848T DE10297848T5 (de) 2002-12-30 2002-12-30 Positionsreferenzierungssystem
AU2002359863A AU2002359863A1 (en) 2002-12-30 2002-12-30 Position referencing system
PCT/US2002/041515 WO2004058617A1 (fr) 2002-12-30 2002-12-30 Systeme de reperage de position
JP2004563163A JP2006512568A (ja) 2002-12-30 2002-12-30 位置参照システム
CN02830131.5A CN1720188A (zh) 2002-12-30 2002-12-30 位置基准系统
US10/541,229 US20060232789A1 (en) 2002-12-30 2002-12-30 Position referencing system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2002/041515 WO2004058617A1 (fr) 2002-12-30 2002-12-30 Systeme de reperage de position

Publications (2)

Publication Number Publication Date
WO2004058617A1 true WO2004058617A1 (fr) 2004-07-15
WO2004058617A8 WO2004058617A8 (fr) 2005-09-29

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/041515 WO2004058617A1 (fr) 2002-12-30 2002-12-30 Systeme de reperage de position

Country Status (5)

Country Link
JP (1) JP2006512568A (fr)
CN (1) CN1720188A (fr)
AU (1) AU2002359863A1 (fr)
DE (1) DE10297848T5 (fr)
WO (1) WO2004058617A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2923986A1 (fr) * 2014-03-26 2015-09-30 Kone Corporation Procédé et appareil de configuration de commande automatique d'ascenseur
EP2593389A4 (fr) * 2010-07-12 2016-11-23 Otis Elevator Co Système de détection de vitesse et de position

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
MY143338A (en) * 2006-04-28 2011-04-29 Inventio Ag Elevator car lighting equipment for guidance of persons
JP4599427B2 (ja) * 2008-04-11 2010-12-15 株式会社日立製作所 エレベータの位置検出装置及びエレベータ装置
JP5368583B2 (ja) * 2009-01-30 2013-12-18 シーメンス アクティエンゲゼルシャフト 物体の振動特性の測定
CN105293237B (zh) * 2010-07-12 2018-06-01 奥的斯电梯公司 速度和位置检测系统
KR101502264B1 (ko) * 2011-03-16 2015-03-12 미쓰비시덴키 가부시키가이샤 엘리베이터의 제어 장치
TWI675792B (zh) 2014-12-16 2019-11-01 瑞士商伊文修股份有限公司 用於電梯的位置判定系統及具有位置判定系統的電梯
TWI763829B (zh) * 2017-05-18 2022-05-11 瑞士商伊文修股份有限公司 用於判定電梯系統的電梯車廂之位置的系統及方法
EP3511278A1 (fr) * 2018-01-11 2019-07-17 Otis Elevator Company Système d'ascenseur et procédé de positionnement d'une cabine d'ascenseur avec une précision élevée
CN110054049B (zh) * 2019-04-26 2020-08-04 上海木木聚枞机器人科技有限公司 一种电梯运行状态的检测方法和系统

Citations (4)

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Publication number Priority date Publication date Assignee Title
US4019606A (en) * 1975-03-21 1977-04-26 Westinghouse Electric Corporation Elevator system
US5004076A (en) * 1989-04-18 1991-04-02 Chen Hai C Apparatus for controlling an electric elevator
US20010025746A1 (en) * 2000-03-31 2001-10-04 Inventio Ag Auxiliary device for displacing a payload receptacle of an elevator and device for monitoring the position and the movement of a cage in a shaft of an elevator
US6305503B1 (en) * 1998-04-28 2001-10-23 Kabushiki Kaisha Toshiba Load detector for elevator cage

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4019606A (en) * 1975-03-21 1977-04-26 Westinghouse Electric Corporation Elevator system
US5004076A (en) * 1989-04-18 1991-04-02 Chen Hai C Apparatus for controlling an electric elevator
US6305503B1 (en) * 1998-04-28 2001-10-23 Kabushiki Kaisha Toshiba Load detector for elevator cage
US20010025746A1 (en) * 2000-03-31 2001-10-04 Inventio Ag Auxiliary device for displacing a payload receptacle of an elevator and device for monitoring the position and the movement of a cage in a shaft of an elevator
US6427809B2 (en) * 2000-03-31 2002-08-06 Inventio Ag Auxiliary device for displacing a payload receptacle of an elevator and device for monitoring the position and the movement of a cage in a shaft of an elevator

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2593389A4 (fr) * 2010-07-12 2016-11-23 Otis Elevator Co Système de détection de vitesse et de position
EP2923986A1 (fr) * 2014-03-26 2015-09-30 Kone Corporation Procédé et appareil de configuration de commande automatique d'ascenseur
US10472203B2 (en) 2014-03-26 2019-11-12 Kone Corporation Method and apparatus for automatic determination of elevator drive configuration

Also Published As

Publication number Publication date
AU2002359863A1 (en) 2004-07-22
DE10297848T5 (de) 2005-10-27
JP2006512568A (ja) 2006-04-13
CN1720188A (zh) 2006-01-11
WO2004058617A8 (fr) 2005-09-29

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