WO2019166524A1

WO2019166524A1 - Elevator car of an elevator system, having a movable load space floor for reducing the effect of horizontal accelerations

Info

Publication number: WO2019166524A1
Application number: PCT/EP2019/054921
Authority: WO
Inventors: Christian Dull; Patrick Schmidt
Original assignee: Thyssenkrupp Elevator Ag; Thyssenkrupp Ag
Priority date: 2018-03-02
Filing date: 2019-02-28
Publication date: 2019-09-06

Abstract

The invention relates to an elevator car (2) having a carriage (4) for moving the elevator car along guide rails (20) of an elevator system, wherein said guide rails are formed as part of a linear motor. A receiving means (6) is arranged on the carriage and carries a load space (8) with a load space floor (10). The elevator car further comprises an acceleration sensor (12) which is designed to determine a horizontal acceleration of the elevator car and to output an acceleration signal (22) as a function of the horizontal acceleration. The elevator car further comprises an inclination sensor (14) which determines an inclination of the load space floor and outputs an inclination signal (24) as a function of the inclination of the load space floor. A control unit (16) can further control an actuating element (18) as a function of the acceleration signal (22) and the inclination signal (24), wherein the actuating element (18) is designed to adjust the inclination of the load space floor (10).

Description

Car of an elevator system with a movable cargo space floor to reduce the effect of horizontal accelerations

description

The present invention relates to a car of an elevator system, in particular an elevator system with a linear motor drive. The car has a movable cargo space floor. Furthermore, the invention relates to an elevator installation with such a car as well as a method for operating such an elevator installation.

Elevator systems with a linear motor drive, wherein the primary part of the linear motor is provided by appropriately designed guide rails of the elevator system and the secondary part of the linear motor is provided by the carriage of the respective car, which includes the rotor of the linear motor, are for example from

DE 10 2010 042 144 A1 or DE 10 2014 017 357 A1.

Cars, also called elevator cars, of elevator systems with linear motor drive, in contrast to cable-bound lifts not only vertically but also horizontally or obliquely, i. along a roadway having both a horizontal and a vertical roadway component. However, as soon as the car travels on a lane with a horizontal lane component, a horizontal acceleration component acts on the car. Accordingly, an acceleration (and thus a force) in the horizontal direction acts on the load in the car. In particular, if the load comprises one or more persons, a horizontal acceleration (or

Lateral acceleration) can quickly be perceived as unpleasant or cause elevator users to get out of whack. As horizontal acceleration or

horizontal acceleration component can be the component of a

Acceleration vectors which are horizontal, i. parallel to the

Earth's surface, runs. For example, a typical limit for horizontal acceleration that is bearable for people is 1 meter per second squared. A horizontal acceleration greater than 1 meter per second squared can be perceived by people as unpleasant.

However, a limitation of the horizontal acceleration to a maximum limit inevitably leads to a reduction of the maximum possible conveying or driving speed of the elevator system. Such a limitation is not desirable. At least it is advantageous to move this limit as far as possible upwards.

It is known for example from US 2017/0355565 A1 for elevator systems in which cars can be moved in horizontal shafts, known to tilt a car in horizontal travel, to the effect of lateral

To reduce acceleration forces on persons in the car.

The object of the present invention is therefore to provide an improved concept for a car of an elevator system, in particular an improved concept for a car of a lift system with a linear drive. In particular, the control for the slope change of the car floor should be improved.

The object is achieved by a car, an elevator system, a method of operating an elevator system and a computer program according to the independent ones

Claims solved. Further advantages and embodiments of the invention are indicated in the dependent claims and the description as well as in the embodiments shown in the figures.

The proposed for solving the present task car has a

Load space, a load space floor, an actuator and a control unit on. The actuating element is designed to adjust an inclination of the cargo space floor. The control unit is designed to generate a control signal for controlling the actuating element. The control signal may in particular be a signal sequence. The actuator adjusts the inclination of the cargo space floor in dependence on the control signal of the control unit. The actuator can be designed as a single actuator or as multiple actuators. The control unit is set up to control the control element by means of the control signal in such a way that the control element loads the load space floor with a horizontal acceleration component acting on the car, in particular during horizontal travel of the car, to reduce the effect of lateral acceleration forces on an elevator user located in the car to tilt, advantageously in the direction of horizontal acceleration. With a strong acceleration of the load space floor is advantageously inclined more than at a low acceleration.

The control unit of the car does not necessarily have to be physically arranged on the car. In particular, the control unit of the car can also in be integrated with the elevator control of the elevator system, the elevator control may be formed centrally or decentralized. In this case, this elevator control or the corresponding part of the elevator control then acts as a control unit of the car. According to an advantageous embodiment, the control unit is physically arranged on the car.

According to a particularly advantageous embodiment of the invention, the control unit is further adapted to the control signal depending on a method for the

Carriage to generate predetermined driving curve. The driving curve gives the

Driving parameters of the car, in particular the speed and the

Acceleration of the car. The travel curve can be stored permanently in a memory unit. The travel curve can in particular also be calculated based on calls detected by the elevator installation and on the basis of the detected calls specific travel paths for the car, in particular by the elevator control. The travel curve is advantageously provided to the control unit of the car. The driving curve for the car can advantageously be adapted dynamically. However, the travel curve is advantageously prescribed at least for a predetermined time interval for a car binding and can advantageously only in case of failure, for example by triggering a safety device, be overwritten.

In particular, an advantageous embodiment variant of the invention provides that the control signal depends exclusively on a method of moving the car

given driving curve is generated, that is, it will be at this

Design variant no actual acceleration values recorded.

Advantageously, predetermined horizontal acceleration components are assigned predetermined inclinations of the cargo space floor. These predetermined horizontal acceleration components result advantageously directly from the driving curve. The travel curve thus advantageously predetermines the inclination angle of the cargo space floor. The control unit thus generates the control signal on the basis of the travel curve, wherein the control unit by means of the generated control signal

advantageously controls the actuator. In particular, results from the driving curve, when the car is moved vertically. In that case, the inclination of the

Load space advantageously not, but remains horizontally aligned. On the basis of the driving curve, however, the control unit advantageously also recognizes when a horizontal travel of the car takes place and can adjust the inclination of the cargo space floor of the car accordingly, preferably synchronously with changes in the car

Driving curve. According to a further advantageous embodiment, the cargo space floor of the car is decoupled from the cargo space, wherein the cargo space floor can be advantageously inclined by means of the adjusting element relative to the cargo space.

Further embodiments of the invention show a car with a carriage for moving the car along as part of a linear motor formed

Guide rails of an elevator installation. On the carriage is preferably a

Receiving means arranged carrying a cargo space with a cargo space floor.

According to a further advantageous embodiment of the invention, the car also has an acceleration sensor. The acceleration sensor is advantageously designed to determine a horizontal acceleration component acting on the car and a function dependent on the horizontal acceleration component

Output acceleration signal. The control unit is advantageously further configured to generate the control signal depending on the acceleration signal. That is, the inclination of the cargo space floor is advantageously adjusted in dependence on the detected horizontal acceleration of the car.

The car also has a according to a further advantageous embodiment

Tilt sensor, which determines a slope of the cargo space floor and outputs a tilt signal depending on the inclination of the cargo space floor. Preferably, in this case, the control unit is designed as a control unit, ie as a controller. A

Control unit can control in particular depending on the acceleration signal and the tilt signal, the control element of the car. The adjusting element is formed, the inclination of the cargo space floor according to the specification of

Set or change control unit or the control unit.

The present invention is thus based in particular on the idea of moving the load space floor in such a way that, with horizontal acceleration of the load space (ie the car), a horizontally acting force on the load in the load space is converted into a vertically acting force. For this purpose, a predefined acceleration can in particular be assigned a corresponding inclination of the load space floor, the control unit being realized in particular as a control in the sense of control technology. A further advantageous embodiment, in which the control unit is realized in particular as a controller in the sense of control technology, provides that initially the horizontal acceleration of the car and its (current) inclination or the inclination of the cargo space floor is determined. The control unit as controller advantageously determines from a received acceleration signal and a received tilt signal, the control signal for controlling the

Actuator. With the control signal, the actuator is driven, the

Load space floor brings in the position calculated by the controller and the

Load space floor holds in this position. The position may be the inclination, i. one

Designate inclination angle and / or a direction of inclination of the cargo space floor.

Embodiments show the actuating element, which is designed to perform a tilting movement or partial rotation of the cargo space floor, so that the cargo space floor is inclined, in particular in accordance with a set angle of inclination. The rotation can be done about an axis that is perpendicular to the carriage. By tilting or the tilting / rotational movement of the cargo space floor can be moved relative to the cargo space and / or the carriage or the guide rails. In an alternative approach, an angle between the load space floor and a perpendicular direction is changed starting from the load space floor. As the direction of the solder, the local direction of gravitational acceleration, ie a vector in the direction of

Erdmittelpunktes, in particular a vector almost or approximately in the direction of the center of the earth, are called. The inclination of the cargo space floor can accordingly have the (inclination) angle, starting from a position of the cargo space floor, vertically (or at 90 degrees to the vertical direction).

As a tilting movement or rotation, a movement of the cargo space floor can furthermore be designated in such a way that a first partial area of the cargo compartment facing the carriage

Load space floor performs a greater relative movement to the carriage, as a second carriage facing the portion of the cargo space floor. By the tilting movement or rotation of the cargo space floor, it can be aligned in such a way that a resultant force acts on the load in the cargo space (essentially) perpendicular to the cargo space floor. Thus, in a correspondingly fast control unit, in particular a correspondingly sensitive, i. fast control unit, and an actuator which also converts the control unit control signals correspondingly fast (and without too much inertia) gives the impression that no horizontal acceleration is acting on it or that it has a horizontal acceleration which is lower as the horizontal acceleration acting on the car.

In embodiments, the control unit may drive the actuator with a frequency higher than 1 / 100s, higher than 1 / 10s or higher than 1s. In other words, can the control unit outputs more than 100, more than 10 or more than 1 control signal per second to the control unit. The control unit can translate the signals at the same speed and track the load space floor. Thus, also indeterministic (non-deterministic) or unpredictable or stochastic vibrations of the car can be compensated, which can also lead to an undesirable horizontal acceleration.

A further advantageous embodiment of the invention provides that the car comprises a loading sensor or a plurality of loading sensors. It can be

in particular to act a load measuring device, which are used in cars, for example, to detect an overload situation. In particular, a

Load sensor also - at least supportive - be realized by an optical sensor, such as a camera. In particular, the loading sensor is formed, a

Determine loading mass of the car to determine and / or classify a lift user as a person or as cargo and / or determine a height of an elevator user and / or to determine a position of an elevator user within the car and / or to determine a filling state of the car. Furthermore, the loading sensor is designed in particular to output a loading signal, wherein advantageously the

Control unit is designed to generate the control signal for controlling the actuating element depending on the load signal. Is detected by means of the load sensor, for example, that the car is empty, is at a horizontal travel of the

Car apart advantageously from an inclination of the cargo space floor.

The same can be provided if it is determined that no persons are transported as elevator users but only transported goods, such as crates.

In further exemplary embodiments, the control unit may additionally or additionally determine and / or calculate a current horizontal acceleration of the car based on a driving profile of the car, in particular based on a driving curve of the car, and control the actuating element as a function of the estimated horizontal acceleration. The driving profile may include the acceleration, in particular the magnitude and the direction of acceleration, of the car at each position in the elevator system. The acceleration can be different in the driving profile based on different

Scenarios may be stored, the scenarios may differ, for example, in terms of holding positions of the car. Instead of the acceleration, values can also be stored in the travel profile, from which the acceleration can be calculated. These values may include, for example, a speed of the car at various positions in the elevator system and / or a distance between the various, in particular successive positions and / or a period of time required for the car to move from one of the different positions to the subsequent position. Further, for example, at each holding position of the car, a current weight of the car can be determined, in particular using the load sensor to account for inertia of the car. With these predeterminable and thus deterministic acceleration values, the control unit can be controlled simultaneously with reaching the respective position. The control unit may also be based on the measured horizontal acceleration, a fine adjustment of the

Make adjusting and / or use the current acceleration between the respective positions to control the actuator to obtain a more precise control or regulation of the position or deflection of the cargo space floor. The control unit can accordingly determine the acceleration component, which can not be determined in advance, and move the load space floor in accordance with this acceleration component which has not yet been compensated, that is to say in particular in order to compensate for this acceleration component as well. The acceleration component, which can not be determined beforehand, can result from the fact that the car can not exactly follow the driving profile in reality, for example due to external factors, such as friction, loading of the elevator car, etc., or that no or no Acceleration values are only available at long intervals.

In embodiments, the load space floor may be firmly connected to the load space, wherein the actuating element is formed, the load space together with the

Tending cargo floor. An inclination may be a movement of the cargo space floor relative to the carriage. The inclination of the cargo space floor can be done by turning, in particular by tilting or partially rotating, the entire load space. This rotation can be achieved by means of e.g. in the carriage or the receiving means integrated actuator, such as a drive unit, e.g. an (electric) motor, done. The rotation can take place about a (central) axis of the receiving means.

Typically, the carriage and the load space are movably interconnected via the receiving means to allow the carriage to switch from a vertical trip to a horizontal trip without rotating the car. This movable connection can be used to tilt the cargo space with the cargo space floor even during horizontal acceleration, i. to move relative to the carriage.

Additionally or alternatively, the actuator may move the cargo space floor relative to the cargo space to tilt the cargo space floor or relative to the carriage move. For this purpose, the cargo space floor of the actual cabin, so the cargo space, be decoupled. The load space floor can be compensated with the aid of actuators, that is to say of adjusting elements, so that an oblique position converts horizontal forces, which act on the load due to the acceleration of the car, into vertical forces. Thus, vibrations of the load space can be compensated. The vibrations can occur both in horizontal driving and in vertical or diagonal runs, ie a drive with a horizontal component and a vertical component.

Embodiments show the acceleration sensor which measures an amount of

Determine horizontal acceleration and output this in the acceleration signal. The control unit may further drive the actuator such that an inclination angle of the inclination of the cargo space floor is adjusted depending on the amount of horizontal acceleration. In other words, the inclination angle of the cargo space floor can be adjusted depending on the amount of horizontal acceleration (with the actuator).

Further embodiments show the control unit, in particular as

Control unit formed control unit which determines the adjustment to be set inclination or the inclination angle of the cargo space floor from a trigonometric relationship of the horizontal acceleration to a normal acceleration and controls the actuator such that the inclination of the cargo space floor is set according to the determined inclination to be set. The normal acceleration may be a vertical acceleration (acceleration component) or an acceleration in the direction of the perpendicular, for example the gravitational acceleration. The trigonometric relationship may be the arctangent, the inverse of the tangent, of the horizontally acting acceleration components divided by the vertically acting acceleration components and force components, respectively. In the special case of an exclusively horizontally oriented acceleration (horizontal acceleration), this may be the arctangent of the external force (acceleration force, magnitude equal to the inertial force) or the horizontal acceleration divided by gravity or gravitational acceleration. Expressed in formulas: arctan (

where β is the inclination or inclination angle, m the mass, a the (horizontal)

Acceleration and g represents the acceleration of gravity. Thus, one can Horizontal acceleration of 1- compensate, a slope or inclination angle ß of the cargo space floor of 5.8 degrees are set. The inclination can be measured starting from a rest position of the cargo space floor. The rest position may be when the cargo space floor is parallel to the earth's surface or when an angle between the cargo space floor and a perpendicular direction is 90 degrees. Whether β indicates the inclination or the inclination angle may depend on whether the acceleration is used in terms of magnitude or vectorially, ie with an acceleration direction. If only the amount is used, only the inclination angle results. In a vectorial view, β also indicates the direction of the inclination. As a vector, a scalar with a negative sign can already be regarded as also this deviates from a positive acceleration indicates a negative acceleration, each having a different (rotated by 180 °) direction of acceleration.

According to further embodiments, the acceleration sensor may further determine a direction of the horizontal acceleration and output in the acceleration signal. The control unit may drive the actuator such that a direction of inclination of the cargo space floor relative to the carriage is adjusted depending on the direction of the horizontal acceleration. In order to move one direction not only e.g. can be determined based on the movement profile, the information about the direction of movement can be measured by the motion sensor and transmitted, for example, with the motion signal to the control unit. Also, by measuring the direction of acceleration reliably between a (positive)

Acceleration and negative acceleration (deceleration). Furthermore, accelerations in any direction of a horizontally extending plane can thus additionally be measured and compensated. Tending the

Load space floor can be in the opposite direction to the acceleration, i. the side of the cargo space floor pointing in the acceleration direction is lowered, or the side of the cargo space floor facing the direction of acceleration is raised. Depending on the position of the axis of rotation, both sides of the cargo space floor can be moved accordingly. In other words, the

Control unit, the control element to control such that the load space floor is raised in the opposite direction of the horizontal acceleration and / or lowered in the direction of the horizontal acceleration.

Embodiments show that the actuator is adjustable in at least one of the following ways: mechanically adjustable, hydraulically adjustable, pneumatically adjustable, electrically adjustable, electromechanically adjustable. In particular, an elevator system with a shaft system and a plurality of cars is proposed to solve the above-mentioned object, wherein the cars in the shaft system vertically and laterally, in particular horizontally, can be moved. At least one elevator car of the elevator installation, in particular all the elevator cars of the elevator installation, is designed according to one or more of the described embodiments or exemplary embodiments. In particular, the

Elevator installation a lift system operated by linear motor drive. In particular, it is provided that the elevator installation comprises an elevator control, wherein the

Elevator control with the control of the car of the elevator system in

Communication connection is.

Further, a method for operating an elevator system with a described, inventively designed car is proposed to solve the above problem. In this case, the method provides that the control unit of the car generates a control signal given predetermined horizontal acceleration components acting on the car. By means of the control signal, the control unit controls the control element of the car in such a way that the control element the load space floor to

Reducing the effect of lateral acceleration forces on an elevator user located in the car tends. The horizontal acting on the car

Acceleration components are the control unit in particular by a travel curve for the car, in particular one by a lift control

given travel curve, given. Alternatively or additionally, it is provided according to an advantageous embodiment that the horizontal acting on the car

Acceleration components of the control unit by one or more

Acceleration sensors are specified, in particular as an acceleration signal.

In the method, it is provided, in particular, that a car of the elevator installation is moved along guide rails of the elevator installation. Advantageously, a horizontal acceleration of the car is determined. Next advantageous is a

Acceleration signal output depending on the horizontal acceleration of the car. Further advantageously, an inclination of the cargo space floor of the car is determined. Advantageously, an inclination signal is dependent on the inclination of the

Load space floor spent. Advantageously, the actuator of the car is driven depending on the acceleration signal and the tilt signal to adjust the inclination of the cargo space floor. Further embodiments relate to a computer program with a

Program code for carrying out the aforementioned method, when the computer program runs on a computing device, in particular a microcontroller.

The present invention will now be described with reference to the accompanying drawings

Drawings explained with reference to advantageous embodiments. Show it:

1 shows a schematic block diagram of a car;

2 shows a schematic block diagram of the car according to a

Embodiment;

3 shows a schematic block diagram of the car according to another

Embodiment; and

4 shows a schematic block diagram of a cargo space floor with an actuating element for tilting the cargo space floor, with FIGS. 4a and 4b showing two possible

Embodiments show.

Before embodiments of the present invention are explained in more detail below with reference to the drawings, it is pointed out that identical,

functionally identical or equivalent elements, objects and / or structures in the different figures are provided with the same reference numerals, so that the description of these elements shown in different embodiments is interchangeable or can be applied to each other. It should also be noted that an inclination may include an inclination angle and / or an inclination direction.

Fig. 1 shows a schematic block diagram of a car 2. The car 2 has a carriage 4, a receiving means 6 and a cargo space 8 with a

Load space floor 10 on. Further, the car 2 comprises an acceleration sensor 12, a tilt sensor 14, a control unit 16 and an actuator 18. The carriage 4 may be configured to move the car 2 along guide rails 20

Elevator system to proceed. The guide rails 20 may be formed as part of a linear motor. Thus, in the guide rails 20, a three-phase current can be impressed, which drives the carriage 4. On the carriage 4, the receiving means 6 is arranged. The receiving means 6 in turn carries the load space 8 with the cargo space floor 10. Das Receiving means 6 can connect the cargo space 8 movable with the carriage 4. The receiving means 6 is for example a (via a rolling bearing) mounted in the carriage 4 axis. The receiving means 6 may allow the carriage 4 to move both horizontally and vertically or diagonally extending guide rails 20. For this purpose, in a rotary platform, the carriage can be rotated starting from a first position (eg on horizontally extending guide rails 20) into a second position (eg on vertically extending guide rails 20) without the car 2 moving or rotating with it. Alternatively, the guide rails 20 may also be part of another

Drive system, such as a gear drive, be. So can the

Guide rails 20 are arranged next to the lateral arrangement in the figures on the floor, so that the car 2 stands on these guide rails. Likewise, the guide rails can also be arranged above the car, so that the car hangs on the guide rails.

The acceleration sensor 12 may determine a (linearly directed) horizontal acceleration of the car 2 and a function of the horizontal acceleration

Output acceleration signal 22. The horizontal acceleration may refer to acceleration in the horizontal direction. The horizontal acceleration may also refer to an acceleration at which a component of the acceleration, i. an acceleration vector, extending in a horizontal direction. The component of the acceleration can be obtained by component decomposition of the acceleration vector into a Cartesian coordinate system. As a horizontal direction, any vector lying in a plane whose normal vector is in the perpendicular direction can be considered.

The tilt sensor 24 may determine an inclination of the cargo space floor 10 and output a tilt signal 24 depending on the inclination of the cargo space floor 10. The tilt signal 24 may be a deflection of the cargo space floor 10 from its

Rest position have. The rest position can be the position of the load space floor, in which the normal of the load space floor, ie a vector of perpendicular to the

Load space floor 10 is in the vertical direction shows.

The control unit 16 can control an actuating element 18 as a function of the acceleration signal 22 and the tilt signal 24. The actuator 18 may adjust the inclination of the cargo space floor 10. The actuating element 18 can be controlled by means of a control signal 26. The control signal 26 may be referred to as a manipulated variable. The slope signal 24 may be referred to as a feedback signal or feedback. The Acceleration signal 22 may be referred to as a reference variable. The load space floor 10 may represent a controlled system. The inclination of the

Load space floor 10 may be referred to as a controlled variable. Thus, the

Control unit 16 both determine the inclination of the cargo space floor 10 to be set from the acceleration signal 22 and calculate the control signal 26 based on the inclination to be set and the current inclination of the cargo space floor 10 present in the inclination signal 24. To calculate the control signal 26, the control unit 16 may have a continuous controller, for example a controller with P, PI, PD or PID behavior, or a discontinuous controller. The control signal 26 may be calculated more frequently than 100 times per second, more often than 10 times per second, or more often than once per second. Thus, depending on the requirements of the car 2 or the elevator system, in which the car is integrated, very fast acceleration changes in the control signal 26 can be displayed. The actuator 18 should also be chosen so that an inertia of the cargo space floor 10 and the actuator 18 when tracking the (current or real) inclination in accordance with the control signal 26 the

Tracking the cargo space floor 10 does not restrict.

In embodiments, the acceleration sensor 12 may include an amount of

Determine horizontal acceleration and output in the acceleration signal 22. In this case, it is possible that the acceleration signal 22 is not a direction of

Has acceleration. The acceleration can be a scalar. In this

Embodiment, however, it is advantageous if the direction of the acceleration is already known, for example from a driving profile of the car. The driving profile may have a direction of movement of the car at a current position of the car. The control unit 16 may control the actuator 18 such that an angle of inclination of the cargo space floor 10 is adjusted depending on the amount of horizontal acceleration. So can with a larger horizontal acceleration a larger

Tilt angles are set as at a smaller horizontal acceleration. In other words, the inclination to the horizontal acceleration may be in a (strictly) monotonically increasing functional relationship. Is according to the previous one

Embodiment, the direction of the acceleration (for example, from the driving profile) known, the control unit can also adjust the direction of the inclination accordingly. This can be done analogously to the following embodiments, in the same direction of the acceleration, however, is determined with the acceleration sensor 12.

Further exemplary embodiments show the acceleration sensor 12, which determine a direction of the horizontal acceleration and, for example, in the acceleration signal 12 can spend. The control unit 16 may further drive the actuator 18 such that a direction of inclination of the cargo space floor 10 is adjusted depending on the direction of the horizontal acceleration. The direction of inclination may be the direction in which the load space floor is raised starting from an axis of rotation in the load space floor. In other words, the direction of inclination may be the direction in which the cargo space floor 10 rises. For example, the control unit 16 may be the

Actuate control element 18 such that the cargo space floor 10 is raised in an opposite direction of the horizontal acceleration and / or in a direction of

Horizontal acceleration is lowered. It is possible for the control unit to estimate the inclination of the load space floor from a trigonometric relationship of the load space floor

Determines horizontal acceleration to a normal acceleration and the actuator controls such that the inclination of the cargo space floor is set according to the determined inclination.

Fig. 2 shows the representation of the car of Fig. 1 according to an embodiment. In this embodiment, the load space floor 10 is fixedly connected to the load space 8. The actuator 18 may change the inclination of the cargo space 8 together with the cargo space floor 10. For this purpose, the receiving means 6 connect the cargo space 8 movable with the carriage 4. This movable connection can be designed such that the receiving means can perform a rotational movement. In other words, the receiving means 6 may have a rotor which is fixed to the

Load space 8 is connected. Furthermore, the receiving means 6 may comprise a frame which is fixedly connected to the carriage 4. The rotor may be rotatory, i. e.g. via a ball bearing, be stored in the frame and coupled for example with an (electric) motor. The (electric) motor can perform the rotational movement. In one embodiment, the receiving means 6 itself may be a motor, for example an electric motor. The (electric) motor can in both embodiments, the

Be actuator 18. Depending on the acceleration, only the car can perform a (partial) rotational movement (relative to the carriage) by means of the receiving means, while the carriage is fixed. The load space floor 10 is thus by means of

Rotational movement inclined.

A direction of movement of the rotational movement is shown by the arrows 28. A connecting line 30 shows a (mechanical) (active) connection between the

Control element and the receiving means 6. The actuator 18 may move the rotor or the rotor may be a part of the actuating element 18, for example, when an (electric) motor comprises the receiving means 6. Fig. 3 shows the representation of the car of Fig. 1 according to a further embodiment. The actuator 18 may move the cargo space floor 10 relative to the cargo space 8 to alter the incline of the cargo space floor 10. For this purpose, the cargo space floor 10 can be decoupled from the actual cargo space 8 (cab) and always balanced with the aid of one or more actuators (eg actuators, servomotors) that an inclination (ie, an inclination) of the cargo space floor 10 horizontal forces in vertical Forces are transformed. Furthermore, occurring vibrations of the car can be compensated (compensated) by means of the decoupled cargo space floor. The inclination or the vibration of the cargo space floor 10 can be measured by means of the inclination sensor, for example a (3D) gyroscope. The output signal of the gyroscope may be an input signal of the control unit 8, which then controls the control element 18. With a horizontal acceleration of 1 m / s ² , the (inclination) angle corresponds to about 5.8 °. This concept can be used both for horizontally moving elevator systems, for example with linear drive, and for elevator systems with a slightly sloping roadway. Also can be increased through this active control of the bottom plate of ride comfort in normal systems, ie, for example, lifts with counterweight, by balancing vibration and bumps.

The direction of movement of the cargo space floor 10 is shown by the arrows 28. The connecting line 30 shows a (mechanical) (active) connection between the

Adjustment element and the load space floor 10. The actuator 18 may be adjustable at least one of the following ways: mechanically adjustable, hydraulically adjustable, pneumatically adjustable, electrically adjustable, electromechanically adjustable.

Fig. 3 also shows a section A, which is shown in more detail in Figs. 4a and 4b. Hereinafter, two embodiments will be described, which are essentially the

Design of the control element 18 at a relative to the cargo space 8 movable cargo space floor 10 show.

FIG. 4a shows a schematic representation of the detail A from FIG. 3. The load space floor 10 is shown in the load space 8. On one side, the load space floor 10 can be connected to the load space 8 by means of a hinge 32. On another side of the load space floor 10 may be connected by means of the adjusting element 18 with the cargo space. In Fig. 4a (and in Fig. 4b), the cargo space floor 10 may be shown in the rest position. The actuator 18 can now with a corresponding control with the Control signal 26 cause the cargo space floor 10 is inclined by the inclination angle ß 34. The load space floor 10 moves from its rest position (or first position) to a second position. The load space floor at the second position is shown by the reference numeral 10 '. The arrows 28 show the direction of movement of

Cargo space 10 at.

4b shows a schematic representation of the detail A from FIG. 3 according to an exemplary embodiment. The illustration of FIG. 4b differs from the representation of FIG. 4a in that the hinge 32 of FIG. 4a is replaced by a further adjusting element 18a. This results in a further degree of freedom in the movement or inclination of the cargo space floor 10. An axis of rotation of the cargo space floor 10 no longer lies only in the hinge 32 but rather can be displaced over the entire cargo space floor 10. Thus, assuming that the actuators are the same, twice as fast an inclination of the load space floor 10 as compared to a

Embodiment with only one actuator on one side of the cargo space floor 10 possible. The further degree of freedom, i. the movement along the further actuating element 18a is symbolized by the further arrows 28a.

Although some aspects have been described in the context of a device, it should be understood that these aspects are also a description of the corresponding device

Represent method, so that a block or a component of a device is to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device.

Depending on particular implementation requirements, embodiments of the invention may be implemented in hardware or in software. The implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetic disk or optical memory are stored on the electronically readable control signals, which can cooperate with a programmable computer system or cooperate, that the respective method is performed. Therefore, the digital storage medium can be computer readable. Some embodiments according to the invention thus comprise a data carrier having electronically readable control signals, which are capable of using a programmable computer system like this

cooperate to perform any of the methods described herein.

In general, embodiments of the present invention as

Computer program product with a program code implemented, the program code is effective. perform one of the procedures when the computer program product runs on a computer. The program code can also be stored, for example, on a machine-readable carrier. Other

Embodiments include the computer program for performing any of the methods described herein, wherein the computer program is stored on a machine-readable medium.

In other words, an embodiment of the method according to the invention is thus a computer program which has a program code for performing one of the methods described herein when the computer program runs on a computer. A further embodiment of the inventive method is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program is recorded for carrying out one of the methods described herein.

Another embodiment of the method according to the invention is thus a

A data stream or sequence of signals representing the computer program for performing any of the methods described herein. The data stream or the sequence of signals may be configured, for example, to be transferred via a data communication connection, for example via the Internet.

Another embodiment includes a processing device, such as a computer or a programmable logic device, that is configured or adapted to perform one of the methods described herein.

Another embodiment includes a computer on which the computer program is installed to perform one of the methods described herein.

In some embodiments, a programmable logic device

(For example, a field programmable gate array, an FPGA) may be used to perform some or all of the functionality of the methods described herein. at In some embodiments, a field programmable gate array may cooperate with a microprocessor to perform any of the methods described herein. In general, in some embodiments, the methods are performed by any hardware device. This may be a universal hardware such as a computer processor (CPU) or hardware specific to the process, such as an ASIC.

The embodiments described above are merely illustrative of the principles of the present invention. It will be understood that modifications and variations of the arrangements and details described herein will be apparent to others of ordinary skill in the art. Therefore, it is intended that the invention be limited only by the scope of the appended claims and not by the specific details presented in the description and explanation of the embodiments herein.

LIST OF REFERENCE NUMBERS

Car 2

Sled 4

Receiving means 6

Load space 8

Load space floor 10 Acceleration sensor 12 Inclination sensor 14 Control unit 16 Control element 18, 18a Guide rails 20 Acceleration signal 22 Inclination signal 24

Control signal 26

Direction of movement 28, 28a connecting line 30 hinge 32nd

Inclination angle ß 34

Claims

claims

1. car (2) for transporting an elevator user comprising a load space (8), a load space floor (10), an actuating element (18) and a control unit (16), which is designed to generate a control signal for actuating the control element (18) serving control signal , wherein by means of the adjusting element (18) an inclination of the cargo space floor (10) can be adjusted,

characterized in that

the control unit (16) is set up to control the control element (18) by means of the control signal in such a way that the control element (18) controls the load space floor (10) during a horizontal acceleration component acting on the car (2), in particular during a horizontal travel of the car ( 2), to reduce the effect of lateral acceleration forces on one located in the car

Elevator users to tilt.

2. car (2) according to claim 1, characterized in that the control unit (16) is further adapted to generate the control signal depending on a for driving the car (2) predetermined travel curve, the travel curve in particular a current horizontal acceleration of the car ( 2) pretends.

3. car (2) according to any one of the preceding claims, characterized in that the load space floor (10) of the load space (8) is decoupled, wherein the load space floor (10) by means of the adjusting element (18) relative to the load space (8) inclined can be.

4. car (2) according to any one of the preceding claims, characterized by a carriage (4) for moving the car (2) along formed as part of a linear motor guide rails (20) of an elevator installation and on the carriage (4) receiving means arranged ( 6), wherein the load space (8) of the

Receiving means (6) is worn.

5. car (2) according to any one of the preceding claims, characterized by a tilt sensor (14) which is adapted to determine an inclination of the cargo space floor (10) and depending on the inclination of the cargo space floor (10)

Output slope signal (24),

wherein the control unit (16) is further configured to generate the control signal in dependence on the tilt signal (24).

6. car (2) according to any one of the preceding claims, characterized by an acceleration sensor (12) which is adapted to determine a on the car (2) acting horizontal acceleration component and output a dependent of the horizontal acceleration component acceleration signal (22),

wherein the control unit (16) is further configured to generate the control signal in dependence on the acceleration signal (22).

7. car (2) according to claim 6, characterized in that the

Acceleration sensor (12) is formed, an amount of

Determine horizontal acceleration and output in the acceleration signal (22),

wherein the control unit (16) is further configured to generate the control signal depending on the amount of horizontal acceleration.

8. car (2) according to claim 6 or claim 7, characterized in that the acceleration sensor (12) is formed, a direction of

Determine horizontal acceleration and output in the acceleration signal (22);

wherein the control unit (16) is further configured to generate the control signal depending on the direction of the horizontal acceleration.

9. car (2) according to any one of the preceding claims, characterized by a loading sensor, which is adapted to output a loading signal;

wherein the control unit (16) is further configured to generate the control signal in dependence on the load signal.

10. car (2) according to claim 9, characterized in that the loading sensor is designed to determine a loading mass of the car (2) and / or to classify a lift user as a person or as cargo and / or determine a height of an elevator user and / or to determine a position of an elevator user within the car (2) and / or to determine a filling state of the car (2).

1 1. car (2) according to one of the preceding claims, characterized in that the control unit (16) is formed, a desired inclination of Load space floor (10) from a trigonometric relationship of

Determine horizontal acceleration to a normal acceleration and the actuator (18) to control such that an actual inclination of the cargo space floor (10) is set according to the determined target inclination.

12. car (2) according to one of the preceding claims, characterized in that the control unit (16) is adapted to control the actuating element (18) such that the cargo space floor (10) in the direction of the horizontal

Acceleration component is raised and / or lowered in an opposite direction.

13. Elevator installation with a shaft system and a plurality of cars (2), wherein the cars (2) in the shaft system can be moved vertically and laterally, characterized by one or more cars according to one of claims 1 to 12.

14. A method for operating an elevator installation with a car (2) according to one of claims 1 to 12, wherein the control unit (16) of the car (2) at predetermined, on the car (2) acting horizontal

Acceleration components generates a control signal and by means of

Control signal controls the actuator (18) of the car (2) such that the

Control element (18) the load space floor (10) for reducing the effect of lateral acceleration forces on one in the car (2) located

Elevator users tends, with the car (2) acting horizontal

Acceleration components in particular by a travel curve and / or an acceleration sensor (12) of the control unit (16) can be specified.

15. A computer program with a program code for carrying out the method according to claim 14, when the computer program runs on a computing device.