WO2019206625A1 - Système de localisation et procédé permettant de déterminer une position actuelle dans une cage d'ascenseur d'une installation d'ascenseur - Google Patents

Système de localisation et procédé permettant de déterminer une position actuelle dans une cage d'ascenseur d'une installation d'ascenseur Download PDF

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Publication number
WO2019206625A1
WO2019206625A1 PCT/EP2019/059012 EP2019059012W WO2019206625A1 WO 2019206625 A1 WO2019206625 A1 WO 2019206625A1 EP 2019059012 W EP2019059012 W EP 2019059012W WO 2019206625 A1 WO2019206625 A1 WO 2019206625A1
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WO
WIPO (PCT)
Prior art keywords
camera
elevator shaft
localization
reference element
extension direction
Prior art date
Application number
PCT/EP2019/059012
Other languages
German (de)
English (en)
Inventor
Andrea CAMBRUZZI
Erich Bütler
Philipp Zimmerli
Raphael Bitzi
Original Assignee
Inventio Ag
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 Inventio Ag filed Critical Inventio Ag
Publication of WO2019206625A1 publication Critical patent/WO2019206625A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Definitions

  • the invention relates to a localization system for determining a current position in an elevator shaft extending in a main extension direction according to claim 1 and a method for determining a current position of a
  • WO 2018/041815 A1 describes a method for analysis and a measuring system for measuring a hoistway of an elevator installation.
  • the elevator shaft is measured by means of a measuring system which has a camera system and an inertial measuring unit with acceleration and yaw rate sensors.
  • Main extension direction of the hoistway detected and evaluated. Based on the measured data, a digital model of the hoistway is created.
  • the mounting device has an installation component in the form of an industrial robot, which can receive a sensor, by means of which the relative position of an elongated, arranged in the elevator shaft reference element with respect to at least two different sensor positions and thus positions of the
  • Installation component can be determined. From the measurement results of the sensor can be closed to the current position position of the mounting device in the elevator shaft. The approach of the two mentioned sensor positions takes a certain amount of time. In addition, with this locating system, a determination of the position during a displacement of the mounting device in
  • a localization system and a method for determining a current position in a hoistway propose, by means of which a rapid determination of the position is possible and the determination in particular independent of the state of motion of the
  • Localization system can be performed. According to the invention, this object is achieved with a localization system for determining a current position in an elevator shaft extending in a main direction of extension with the features of
  • the localization system according to the invention for determining a current position in an elevator shaft extending in a main extension direction comprises a frame, a first camera system, a second camera system, a first reference element extending mainly in the main extension direction, a second reference element extending mainly in the main extension direction, a measuring system , by means of which a position of the localization system in
  • Main extension direction of the elevator shaft can be determined and a
  • Evaluation unit which receives and evaluates information from the camera systems and the measuring system.
  • the camera systems are fixed to the frame.
  • the frame is as rigid
  • the first camera system detects a first one
  • Reference point and a second reference point on the first reference element and the second camera system detects a third reference point on the second
  • the detection of the reference points by the two camera systems takes place in particular simultaneously. For the detection of the different reference points in no case a shift or change the position of one of the two camera systems or parts thereof is necessary.
  • the evaluation unit is provided to determine from the information of the camera systems an orientation of the localization system relative to the two reference elements. Based on the stated orientation and the determined position of the localization system in
  • Main extension direction determines the evaluation then the current position of the localization system.
  • the evaluation unit can, starting from the information mentioned in particular the relative position to the reference points and thus the reference elements and in the
  • the absolute position of the localization system in the elevator shaft In order to determine the absolute position of the localization system in the elevator shaft, therefore, the absolute position of the localization system in the elevator shaft, for example with a Laserentfemungsmesser and / or a tilt sensor and at the same time the location of the localization system to the reference points, so the so-called starting position determined. Based on this additional information, the absolute position of the localization system in the elevator shaft can be determined.
  • the camera systems can be used to determine the orientation of the localization system with respect to the two
  • the localization system can be used for a wide variety of purposes. It can be used, for example, to measure an elevator shaft in order, if necessary, subsequently to create a digital model of the elevator shaft. When measuring an elevator shaft, for example by means of a laser scanner, it is necessary that the position of the laser scanner in the elevator shaft is known. It can also be used to determine the position of a mounting device in a hoistway, which can perform installation steps at least partially automated. In addition, the inventive
  • Localization system also be used to mounting positions of
  • Shaft material for example of so-called rail brackets or
  • a rigid body has a freedom of movement in six degrees of freedom. It can translate its position by translation along the three perpendicular axes back / forth (x-axis), left / right (y-axis) and up / down (z-axis) combined with changes the orientation by rotations about the three vertical axes, referred to as rollers (rotation about the longitudinal axis or x-axis), pitch (rotation about the transverse axis or y-axis) and yawing (rotation about the vertical axis or z-axis) , change freely.
  • rollers rotation about the longitudinal axis or x-axis
  • pitch rotation about the transverse axis or y-axis
  • yawing rotation about the vertical axis or z-axis
  • Rotations about the said three axes (x, y and z axis) can be specified.
  • the localization system according to the invention is in particular intended to determine the three positions mentioned and the three rotations.
  • the elevator shaft in particular runs mainly in one
  • the main direction of extension of the hoistway is to be understood here as the direction in which an elevator car of the completely assembled elevator system is moved.
  • the main extension direction thus extends in particular vertically and thus in the z-direction, but it can also be inclined relative to the vertical or horizontal.
  • the main direction of extension does not necessarily have to run along the entire length of the elevator shaft along a single straight line. It is also possible, for example, for the course of the main extension direction to be composed of straight line sections whose transition areas can also be rounded. Under a fixed arrangement of the camera systems on the frame in this
  • Localization system immovably arranged on the frame. Their position on the frame is known and used by the evaluation unit to determine the position of the localization system.
  • the rigid frame need not have any particular shape or structure. It simply has to be executed in such a way that the named
  • the frame may be mainly composed of aluminum profiles.
  • the camera systems each have two digital cameras, which may be embodied as so-called CCD cameras, for example.
  • CCD cameras digital cameras
  • the camera systems transmit information to the evaluation unit, in particular in the form of captured camera images. But it is also possible that a preprocessing takes place in the camera systems and information about said
  • the arranged in the hoistway reference elements are particularly flexible, for example, designed as cords made of plastic or wires of metal. But they can also be rigid, for example, designed as plastic or metal rails.
  • the reference elements in the elevator shaft they are fixed in particular in the elevator shaft.
  • the position of the reference elements with respect to the elevator shaft and thus to walls of the elevator shaft is known. It is thus known, for example, which distance the reference elements have to the different shaft walls of the hoistway. This information may be used in determining the absolute position of the locating system in the hoistway and / or in determining a mounting position of
  • Shaft material for example of so-called rail brackets or
  • Main extension direction of the elevator shaft aligned so they are mainly in the main extension direction and thus in the vertical direction or in the z direction.
  • the reference elements thus run mainly parallel to one another.
  • a first common mounting plate can be fastened in the elevator shaft, to which first ends of the first and second reference elements are fastened. In this way, a defined distance between the two first ends of the reference elements relative to one another can be set and maintained in a particularly simple manner.
  • the two first ends of the reference elements particularly simple in
  • a second common mounting plate is also mounted in the hoistway, to which second ends of the first and second reference elements are attached are.
  • the two reference elements have in particular on both mounting plates the same distance from each other, so that is particularly easy to ensure that both reference elements over their entire length parallel to each other.
  • the first mounting plate can, for example, at the bottom of a lowermost door opening of the
  • Lift shaft and the second mounting plate for example, be attached to the floor or on the ceiling of a top door opening. This can be achieved in a simple manner that the reference elements through the entire for the
  • Elevator shaft has to get in, but the assembly from the bottom of the
  • first and / or second reference element prefferably fixed between its ends in order to reduce vibrations with respect to the elevator shaft.
  • the position of the localization system can be determined very accurately, especially in high elevator shafts. To the position of the localization system in the main direction of extension of the
  • the Localization system on another measurement system.
  • the further measuring system transmits to the evaluation unit information about the position of the localization system in the main extension direction of the hoistway.
  • the position of the localization system in the main extension direction is determined in particular without the use of the reference elements.
  • Main extension direction determined.
  • the measuring system is arranged on the localization system. In the evaluation of information of a magnetic tape, this is performed in particular by the measuring system.
  • the magnetic tape advantageously prevents rotation of the localization system about the main extension direction or the z-direction.
  • the localization system can use, for example, a measuring system, with the help of which in the fully installed state, the position of an elevator car in
  • Main extension direction can be determined. It is also possible that a distance to an end of the elevator shaft or to a door opening in the elevator shaft is determined by means of a suitable distance measuring device, for example based on an ultrasound or laser measuring method. It is also possible that the measuring system markings in the elevator shaft or at one or both
  • the markers may, for example, contain information about an absolute position or be arranged at a fixed and known distance from one another.
  • the aforementioned markings can also be detected, for example, by one or both camera systems and the information for this purpose can be evaluated by the evaluation unit.
  • the first camera system detects a first reference point and a second one
  • Main extension direction are arranged spaced from each other.
  • Camera system can also detect more than two reference points, but in particular only two reference points are evaluated.
  • the position, in particular the distance between the two reference points to each other need not be known.
  • Reference points are projected onto the first reference element, in particular during the determination of the position of the location system. However, they can also be fixedly arranged on the first reference element, for example in the form of markings.
  • the first camera system at least two arbitrary points on the first reference element as reference points and thus determines the direction in which the first reference element extends. Furthermore, it is possible that the first reference point is projected onto the first reference element or is fixedly arranged on the first reference element and the first camera system as a second reference point has an arbitrary point deviating from the first reference point on the first reference element
  • the first camera system determines the direction in which the first reference element runs.
  • the second camera system detects at least a third reference point on the second reference element. It can also have more than one, especially two
  • Capture reference points on the second reference element With respect to the reference point or points on the second reference element, the same applies as for the
  • the evaluation unit Based on the information of the camera systems on the location of the three reference points relative to the respective camera system and the knowledge of the arrangement of the camera systems on the frame, the evaluation unit, the orientation, ie the displacement in the x and y direction relative to the reference elements, and the
  • the localization system may additionally include a tilt sensor.
  • the inclination sensor can measure the inclination or rotation with respect to the vertical axis or z-axis given by gravity. Tilt sensors are well known and available in various designs on the market.
  • the localization system may in particular comprise a tilt sensor, by means of which the rotation about a horizontally extending first axis, for example, the x-axis and a horizontally extending, perpendicular to the first axis, the second axis for example, the y-axis can be measured. This information may be provided by the evaluation unit in addition to determining the current position of the
  • Localization system can be used in the elevator shaft. This allows a particularly accurate determination of the position.
  • the localization system may additionally comprise an illumination system which illuminates the reference points on the reference elements and thus enables a good and accurate detection of the reference points.
  • the first camera system to a first camera and a second camera, which are arranged at a right angle to each other.
  • the second camera system has a third camera and a fourth camera, which are also arranged at a right angle to each other. From the camera image of each camera can be easily determined a shift of a reference point perpendicular to its main detection direction. In particular, the cameras are calibrated accordingly. This allows the displacement or offset of each
  • Reference point can be determined in two vertical axes relative to the localization system. This can in a very simple way the orientation of the
  • the main detection direction of a camera in particular of a digital camera, is to be understood as the direction which is aligned perpendicular to a detection plane of the camera, that is, for example, perpendicular to the CCD chip of the camera.
  • the main detection directions of the cameras are arranged at a right angle to each other, so include an angle of 90 °.
  • the localization device is arranged in particular such that the two
  • the cameras are oriented mainly perpendicular to the main extension direction of the elevator shaft.
  • the cameras may be arranged so that the
  • the first and third camera can very easily determine a shift or an offset of the respective reference point in the y direction and the second and fourth camera very simply a shift or an offset of the respective reference point in the x direction.
  • the localization system has at least one, in particular fixed to the frame, projection device, which is designed and arranged so that it projects the reference points on the reference elements.
  • the reference elements can be made particularly simple and inexpensive, since the reference points do not have to be permanently arranged on them.
  • the localization system has, in particular, two projection devices, wherein each projection element is assigned a projection device.
  • the projection device then projects the first and second reference points onto the first reference element and the second projection device projects the third reference point onto the second reference element.
  • the projection device is designed in particular as a line laser, ie as a laser, which can project a line onto a surface with a laser beam.
  • Line laser is arranged in particular so that the lines generated are perpendicular to the main extension direction of the elevator shaft. Line lasers are available in the market in a wide range and at low prices. Due to the
  • the alignment of the line laser for the projection of the reference points on the reference elements is particularly simple.
  • the localization system can be carried out particularly inexpensively.
  • reference points which are projected onto a reference element by means of a laser beam have a particularly high brightness and are thus particularly well detectable by a camera. In this way, their position in a camera image can be recognized and evaluated particularly well.
  • the projection device is specifically designed as a line laser which can generate at least two parallel lines. Such line lasers are also available in the market in a large selection and at low prices. It is also thus only one projection device necessary to produce two reference points, which allows a cost-effective localization system.
  • the localization system has a first line laser, which can generate at least two parallel lines and is oriented so that it projects two reference points onto the first reference element.
  • the location system has a second line laser which can generate at least two parallel lines and is oriented to project two reference points onto the second reference element. This can be easily and inexpensively on each
  • Reference element two reference points are projected.
  • the determination of the position of the localization system can thus be carried out particularly accurately.
  • a determination of the position is still possible if a reference point, for example due to contamination of the reference element, can not be detected correctly by a camera.
  • the locating system according to the invention can be used particularly advantageously in a manhole measuring system, which additionally has a
  • Entfemungsmesssystem features In particular, the distances to the shaft walls bordering the elevator shaft can be measured with the distance measuring system. Thus, an inner contour of the elevator shaft incl. Possibly already mounted components, so-called shaft material, can be determined.
  • the manhole measuring system can be displaced in the hoistway so that the entire hoistway can be measured. From the measurement data obtained in this way, a digital model of the elevator shaft can be generated.
  • the removal measurement system is designed in particular as a 2D laser removal measurement system. This is to be understood as meaning a laser removal measuring system which can determine distances in two, in particular vertical directions. This can be advantageously measured very easily with a Entfemungsmesssystem the inner contour of the elevator shaft in the area where the
  • the above technical object is also a method for determining a current position of a localization system in a in a Solved main direction extending elevator shaft, the
  • Localization system one frame, a first camera system, a second
  • Camera system a first, mainly in the main extension direction extending reference element, a second, mainly in the main extension direction extending reference element, a measuring system by means of which a position of the
  • Localization system in the main direction of the elevator shaft can be determined and an evaluation, which receives information from the camera systems and the measuring system and evaluates includes.
  • the camera systems are fixed to the frame.
  • the first camera system detects a first reference point and a second reference point on the first reference element and the second one
  • Camera system detects a third reference point on the second reference element. From the information from the camera systems, the evaluation unit determines an orientation of the localization system relative to the two reference elements and, based on the stated orientation and the determined position of the localization system in the main extension direction, the current position of the location system.
  • the method according to the invention can be used particularly advantageously in a method for measuring a hoistway with a shaft measuring system, which has a distance measuring system and a localization system.
  • a shaft measuring system which has a distance measuring system and a localization system.
  • an inner contour of the elevator shaft is detected with the Entfemungsmesssystem.
  • Elevator shaft shifted in the main direction of extension in the elevator shaft.
  • Fig. 2 the localization system of Fig. 1 in a plan view
  • FIGS. 1 and 2 show an orthogonal coordinate system with an x, y and z axis, which are each perpendicular to one another.
  • the x and y axes are horizontal and the z axis is vertical.
  • a localization system 30 has a position for determining a current position in an elevator shaft 3 delimited by shaft walls 5
  • Elevator system via a mainly cuboid base body 32, which is aligned in the x direction.
  • a mainly cuboid base body 32 which is aligned in the x direction.
  • FIGS. 1 and 2 projecting to the right, first Auslieger 34 and in Figs. 1 and 2 projecting to the left, second Auslieger 36 arranged.
  • the Auslieger 34, 36 extend in the y direction and are thus arranged in each case at a right angle to the base body 32.
  • the main body 32, the first Auslieger 34 and the second Auslieger 36 form a rigid frame 31 of the localization system 30.
  • At one of the main body 32 opposite end of the first Ausliegers 34 is a first
  • the first camera system 38 also has a second camera 39, which is fixedly arranged on the base body 32 such that detection areas of the two cameras 38, 39 overlap and a main detection direction 51 of the first camera 37 and a main detection direction 52 of the second camera 39 form a right angle form.
  • first camera 37 and the second camera 39 are arranged at a right angle to each other.
  • a third camera 40 of a second camera system 41 fixedly arranged.
  • Camera system 41 also has a fourth camera 42, which is so firmly arranged on the base body 32 that overlap coverage areas of the two cameras 40, 42 and form a main detection direction 53 of the third camera 40 and a main detection direction 54 of the fourth camera 42 a right angle.
  • the described arrangement of the third camera 40 and the fourth camera 42, these are arranged at a right angle to each other.
  • a first projection device in the form of a first line laser 20 is arranged, which can produce a total of seven lines.
  • the first line laser 20 is aligned at an angle of about 45 ° relative to the first Auslieger 34 and thus also relative to the base body 32. He can thus generate lines in an overlapping region of the two detection areas of the first and second camera 37, 39.
  • a second projection device in the form of a second, identical line laser 21 is arranged on the second Auslieger 36, the lines in an overlap region of the two detection areas of the third and fourth camera 40, 42 can generate.
  • the line lasers 20, 21 are aligned so that the lines generated by them are mainly horizontal and spaced apart in the vertical, ie in the z-direction.
  • the line lasers could also produce fewer than seven lines. It would be sufficient if one line laser could produce two and the other one line.
  • a first elongate reference element 10 and a second elongate reference element 11 are arranged in the form of strings.
  • Reference elements 10, 11 extend vertically in the elevator shaft 3 and thus in a main direction of extension 8 and in the z-direction.
  • the first reference element 10 extends in the overlapping region of the two
  • Detection areas of the first and second camera 37, 39 Detection areas of the first and second camera 37, 39.
  • the lines generated by the first line laser 20 intersect the first reference element 10, which is shown in Fig. 3.
  • Fig. 3 shows in the right part of a section of the first
  • Reference element 10 and the seven lines 22, which are generated by the first line laser 20 which are generated by the first line laser 20.
  • the intersections of the lines 22 with the reference element 10 are shown as bright, especially red dots visible.
  • the top intersection is considered a first
  • the second reference element 11 extends in the overlapping region of the two detection regions of the third and fourth camera 40, 42.
  • the lines generated by the second line laser 21 intersect the second reference element 11, which is also shown in FIG. FIG. 3 shows in the left part a section of the second reference element 11 and the seven lines 26 which are generated by the second line laser 21.
  • the intersections of the lines 26 with the reference element 10 are visible as bright, in particular red dots.
  • the uppermost intersection is considered to be a third reference point 27 on the second reference element 11 and the lowest intersection is considered to be a fourth reference point 28 on the second reference element 11.
  • the remaining intersections are not taken into account. Since three reference points are sufficient for the position determination, only one reference point could be taken into account on the second reference element.
  • the localization system 30 also has an evaluation unit 43, which is arranged on the base body 32.
  • the evaluation unit 43 simultaneously receives information in the form of the camera images of the four cameras 37, 39, 40 and 42 and evaluates them.
  • the evaluation unit 43 detects the reference points 23, 25, 27, 28 in the individual
  • the cameras 37, 39, 40, 42 are calibrated such that the evaluation unit 43, based on the position of an object, for example a reference point in a camera image, on the actual displacement of the object perpendicular to the main detection direction 51, 52, 53, 54 of the respective camera 37 , 39, 40, 42 can close.
  • the evaluation unit 43 determines
  • the offset dy in the y direction of the first reference point 23 with respect to the first camera 37 and the offset dx in the x direction of the first reference point 23 with respect to the second camera 39 in FIG. 1 are shown.
  • the evaluation unit 43 determines the orientation of the localization system 30 with respect to the reference points 23, 25, 27, 28 and thus with respect to the reference elements 10, 11. Since the position of the reference elements 10, 11 are known in the elevator shaft 3, so it can the x and y position of the
  • Main extension direction 8 of the elevator shaft 3 is arranged in the elevator shaft 3 extending in the z direction magnetic tape 46.
  • the magnetic tape 46 contains in coded form a height information, that is, information about the position in the z direction.
  • a measuring system 48 is arranged on the base body 32, through which the magnetic tape 46 is passed. The measuring system 48 thus determines the position of the main body 32 and thus of the localization system 30 in the main extension direction 8 of the elevator shaft 3 and forwards this information to the evaluation unit 43.
  • the evaluation unit 43 determines from the information from the cameras 37, 39, 40, 42 and the measuring system 48 the x, y and z positions, as well as the rotations about the x, y and z axes of the localization system 30.
  • On the main body 32 is also a distance measuring system in the form of a 2D
  • Laserentfemungsmesssystems 44 arranged so that it can measure the distance in a horizontal plane to each point on the shaft walls 5.
  • an inner contour of the elevator shaft 3 at the current z-position of the 2D laser removal measuring system 44 can be determined.
  • the location system 30 and the 2D laser removal measurement system 44 together form one
  • the shaft measuring system 50 is displaced in the entire elevator shaft 3 by means of a suspension element 45 fixed to the base body 32. During the relocation, the location system 30 continually determines the
  • the 2D laser removal measurement system 44 permanently scans the inner contour of the elevator shaft 3. From the position data of the localization system 30 and the removal data of the 2D laser removal measurement system 44, a digital model of the elevator shaft 3 can be created in a phase downstream of the measurement become.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système de localisation et un procédé pour déterminer une position actuelle dans une cage d'ascenseur d'une installation d'ascenseur. Le système de localisation (30) comprend un cadre (31), un premier système de caméra (38), un second système de caméra (41), un premier élément de référence (10), un second élément de référence (11), un système de mesure (48), permettant d'établir une position du système de localisation (30) dans la direction d'étendue principale de la cage d'ascenseur (3), et une unité d'évaluation (43), laquelle reçoit et évalue des informations depuis les systèmes de caméra (38, 41) et le système de mesure (48). Selon l'invention, les systèmes de caméra (38, 41) sont agencés sur le cadre (31) de manière fixe. Le premier système de caméra (38) acquiert un premier point de référence (23) et un second point de référence sur le premier élément de référence (10), et le deuxième système de caméra (41) acquiert un troisième point de référence (27) sur le deuxième élément de référence (11). L'unité d'évaluation (43) est conçue pour déterminer une orientation du système de localisation (30) par rapport aux deux éléments de référence (10, 11) à partir des informations des systèmes de caméra (38, 41). L'unité d'évaluation (43) détermine alors la position actuelle du système de localisation (30) sur la base de l'orientation mentionnée et de la position établie du système de localisation (30) dans la direction d'étendue principale.
PCT/EP2019/059012 2018-04-26 2019-04-10 Système de localisation et procédé permettant de déterminer une position actuelle dans une cage d'ascenseur d'une installation d'ascenseur WO2019206625A1 (fr)

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EP18169450 2018-04-26
EP18169450.6 2018-04-26

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4030136A1 (fr) * 2021-01-19 2022-07-20 Kleemann Hellas SA Système pour la mesure des dimensions d'une cage d'ascenceur

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04213580A (ja) * 1990-12-12 1992-08-04 Toshiba Corp エレベータ塔内機器据付装置
WO2017167719A1 (fr) 2016-03-31 2017-10-05 Inventio Ag Procédé et dispositif de montage pour mettre en oeuvre un processus d'installation dans une cage d'ascenseur d'une installation d'ascenseur
WO2018041815A1 (fr) 2016-08-30 2018-03-08 Inventio Ag Procédé d'analyse et système de mesure servant à mesurer une cage d'ascenseur d'un système d'ascenseur

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04213580A (ja) * 1990-12-12 1992-08-04 Toshiba Corp エレベータ塔内機器据付装置
WO2017167719A1 (fr) 2016-03-31 2017-10-05 Inventio Ag Procédé et dispositif de montage pour mettre en oeuvre un processus d'installation dans une cage d'ascenseur d'une installation d'ascenseur
WO2018041815A1 (fr) 2016-08-30 2018-03-08 Inventio Ag Procédé d'analyse et système de mesure servant à mesurer une cage d'ascenseur d'un système d'ascenseur

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4030136A1 (fr) * 2021-01-19 2022-07-20 Kleemann Hellas SA Système pour la mesure des dimensions d'une cage d'ascenceur

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