WO2020193278A1 - Dispositif de détermination de position d'une cabine d'ascenseur dans une gaine d'ascenseur ainsi que système équipé d'un tel dispositif - Google Patents

Dispositif de détermination de position d'une cabine d'ascenseur dans une gaine d'ascenseur ainsi que système équipé d'un tel dispositif Download PDF

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Publication number
WO2020193278A1
WO2020193278A1 PCT/EP2020/057243 EP2020057243W WO2020193278A1 WO 2020193278 A1 WO2020193278 A1 WO 2020193278A1 EP 2020057243 W EP2020057243 W EP 2020057243W WO 2020193278 A1 WO2020193278 A1 WO 2020193278A1
Authority
WO
WIPO (PCT)
Prior art keywords
elevator car
elevator
processing unit
image
camera unit
Prior art date
Application number
PCT/EP2020/057243
Other languages
German (de)
English (en)
Inventor
Magnus Christian Proebster
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2020193278A1 publication Critical patent/WO2020193278A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3492—Position or motion detectors or driving means for the detector

Definitions

  • the invention is based on a device for determining the position of an elevator car in an elevator shaft, the device being a
  • Processing unit is set up to record an image by means of the camera unit and to determine a position of the elevator car as a function of the recorded image, and wherein the device can be arranged in such a mechanically fixed manner on the elevator car that the image has a section of the elevator shaft.
  • Such a device is disclosed, for example, in the patent EP 2083209 B1.
  • a system with a first object and a second object is disclosed, wherein by means of a camera unit arranged on the first object, a path or a path covered by the first object
  • Speed of the first object is determined based on the second object.
  • the invention is based on a device for determining the position of an elevator car in an elevator shaft, the device being a
  • Processing unit is set up to take an image by means of the camera unit and to determine a position of the elevator car as a function of the recorded image, and wherein the device can be arranged in such a mechanically fixed manner on the elevator car that the image has a section of the elevator shaft.
  • One aspect of the invention is that the device has a
  • Acceleration sensor wherein the processing unit is set up to detect an acceleration signal by means of the acceleration sensor and to activate the camera unit and record the image as a function of the detected acceleration signal.
  • the position of the elevator car with respect to a floor can be determined by means of the device according to the invention.
  • the position can be determined by machine and does not have to be done by hand, which means that costs can be reduced.
  • the device can be attached to any elevator car regardless of the model or manufacturer. It can also be attached if the elevator is already installed in a building.
  • the device can be constructed with inexpensive components, in contrast to, for example, a device which determines the position of the elevator car by laser measurement.
  • An elevator is to be understood as a means for transporting people and / or objects, which includes, among other things, an elevator car and an elevator shaft.
  • the elevator car is arranged in the elevator shaft and can be moved up and down in this.
  • the elevator car is typically moved via a machine-driven cable to which the elevator car is attached.
  • Position determination is to be understood here as meaning that the position of the elevator car with respect to the elevator shaft or with respect to a corresponding floor of a building in which the elevator is installed can be determined. If the floor of the elevator car has the same height as the floor of a floor, they have the same position. However, if the floor of the elevator car is at a certain distance above or below the floor, it can be referred to as an offset. An absolute position determination is consequently possible by means of the device. Based on the position determination, a control of the elevator car can then be adapted, for example to correct a detected offset.
  • the camera unit can, for example, have an optoelectrical sensor for recording an image, an objective and a lighting element such as an LED flash.
  • Activating the camera unit and taking an image is understood here to mean that the processing unit controls the camera unit in such a way that it is triggered and consequently can deliver a corresponding photograph to the processing unit.
  • the lighting element is used to illuminate the section of the elevator shaft that is to be recorded by the camera unit. This is necessary because the elevator shaft is usually not illuminated.
  • the acceleration sensor is at least a uniaxial one
  • the acceleration sensor is arranged in such a way that its measuring axis is parallel to the movement axis of the
  • Elevator car passes.
  • the acceleration sensor can also be multi-axis
  • the multi-axis acceleration sensor can also be made up of a plurality of single-axis acceleration sensors.
  • the associated acceleration signal which is recorded parallel to this axis of movement, can easily be carried out with the three-axis
  • Accelerometer can be determined.
  • An acceleration signal can be understood to mean a large number of acceleration values recorded one after the other over a predetermined period of time.
  • Elevator cabin can be arranged so that an image of a section of the elevator shaft can be captured by means of the camera unit.
  • This section can include, for example, a wall of the elevator shaft.
  • the elevator can accelerate along its
  • Axis of movement are detected by means of the acceleration sensor.
  • Mechanically fixed is to be understood here as meaning that the device is no longer inadvertently movable relative to this elevator car after it has been attached to the elevator car.
  • One embodiment of the invention provides that the processing unit is set up to determine a standstill of the elevator car as a function of the detected acceleration signal and to activate the camera unit and record the image in the event of a standstill.
  • a standstill can be determined, for example, by integrating the acceleration signal. For this it is only necessary to know a corresponding parameter, for example that the elevator car was also at a standstill at the beginning of the acquisition of the acceleration signal. Subsequently can start an approach based on the acceleration signal
  • Braking and consequently also a standstill of the elevator car can be determined. Furthermore, a standstill can be detected, for example, by comparing the vertical acceleration signal with the acceleration due to gravity. If the acceleration signal is similar to the acceleration due to gravity within a defined tolerance and time period, there is a standstill.
  • a standstill can be detected, for example, by considering the derivative of the acceleration signal, which corresponds to the speed. During the journey of the elevator, vibrations prevail in all spatial directions due to the design, which did not occur until it came to a standstill. Accordingly, a standstill can also be detected by falling below a tolerance limit for the speed for a defined period of time.
  • acceleration signals that are caused, for example, by movements of passengers in the elevator or external influences.
  • Activating the camera unit at a standstill is understood to mean that as soon as it is recognized that the elevator car is not moving, the camera is activated and an image is recorded. This happens during the standstill.
  • Processing unit is set up to additionally determine the position of the elevator car as a function of the detected acceleration signal.
  • Accelerometer certain position this can give an indication of a possible defect in the device, whereby a recalibration of the device or the elevator car may be necessary.
  • the position can be determined as a function of the acceleration signal, for example, by integrating this acceleration signal several times, in which case at least one parameter should again be known, For example, that the elevator car was on a certain floor when the acceleration signal was started.
  • Processing unit is set up to compare the recorded image with at least one reference image of a section of the elevator shaft and, depending on the comparison, the position of the
  • the advantage here is that this is a simple way of determining the position of the elevator car.
  • the reference image is an image previously recorded by means of the device, in which the elevator car is correctly aligned with respect to the respective floor and thus has no offset.
  • the respective reference image is typically recorded during a first calibration run of the elevator car for each floor.
  • the section can be recorded as a reference image for each standstill position of the elevator within the elevator shaft to be determined.
  • the comparison can be used to check whether the recorded image correlates with a reference image. If the recorded image and the reference image agree to a certain percentage, it can be assumed that the elevator car is located on the floor associated with the reference image. Furthermore, a corresponding vertical shift between the recorded image and the reference image can be used to deduce an offset of the elevator car with respect to the floor.
  • markings for example lines, a pattern, a QR code or the like.
  • the processing unit is set up to determine the position of the elevator car depending on an opening angle of the camera unit and / or an image resolution of the camera unit and / or a distance of the camera unit to a wall of the elevator shaft. It is advantageous here that the corresponding factors can also flow into the position determination in order to achieve the most precise possible
  • the position determination can thereby achieve an accuracy of less than one millimeter.
  • the vertical offset between the recorded image and the reference image is typically determined in image pixels.
  • Elevator cabin can be determined from the floor.
  • the device has an air pressure sensor, the processing unit being set up to detect an air pressure signal by means of the air pressure sensor and to determine a standstill of the elevator cabin and / or the position of the vehicle cabin as a function of the air pressure signal.
  • Determination of the position of the elevator car can be carried out.
  • the air pressure sensor can be designed as a barometer, for example.
  • the device has a communication unit, wherein the
  • Processing unit is set up to send out a signal as a function of the determined position of the elevator car by means of the communication unit.
  • the signal can either contain the information about the specific position and, for example, be transmitted after each position determination when the elevator car is at a standstill on a respective floor.
  • the signal can only be sent out if there is an offset between the elevator car and the respective floor and thus represent an alarm signal to signal that there is a corresponding defect in the system.
  • the signal is sent out here if the determined offset is greater than a predetermined threshold value.
  • the signal can be received by an external unit, for example a central maintenance facility.
  • Maintenance facility can then, for example, by means of the received signal check whether the positioning accuracy of the elevator car still meets the relevant specifications. Alternatively, the maintenance facility can already be informed by the signal that the elevator car is offset from the respective floor.
  • the signal can in particular be transmitted wirelessly, for example via WLAN, Bluetooth or also a cellular network. Alternatively or additionally, the signal can also be transmitted via a
  • Communication interface of the elevator for example transmitted via Ethernet or various field buses.
  • the device can also have a memory unit, the processing unit being set up to store the signal in the memory unit.
  • the device has an energy supply unit, wherein the
  • Energy supply unit has an energy store and / or an element for receiving electrical energy from an external energy source. It is advantageous here that the device can either work self-sufficient in energy or can also be supplied with electrical energy externally. As a result of the power-saving design of the position determination, especially when using an internal energy source, a long operating time of the device can be made possible and at the same time the maintenance effort for the device can be kept low.
  • the energy store can be, for example, a battery or a capacity for receiving electrical energy.
  • the element for receiving electrical energy can, for example, be a cable connection or also be designed as an inductive receiver.
  • the energy supply unit accordingly supplies electrical energy to the various electronic components of the device, for example to the processing unit, to the camera unit or also to the
  • the invention also relates to a system comprising an elevator shaft, an elevator car arranged within the elevator shaft and a device according to the invention, the device being mechanically fixed to the elevator car in such a way that an image recorded by the camera unit of the device has a section of the elevator shaft. This means that the device directly or via a
  • Bracket is connected to the elevator car.
  • the device is arranged on the elevator car in such a way that an acceleration signal parallel to the axis of movement of the elevator car can be detected by means of the acceleration sensor of the device.
  • Fig. 1 shows an embodiment of a device according to the invention for determining the position of an elevator car in an elevator shaft.
  • Fig. 2 shows an embodiment of a system according to the invention having an elevator shaft, an elevator car arranged in the elevator shaft and a device.
  • Fig. 1 shows an embodiment of a device according to the invention for determining the position of an elevator car in an elevator shaft.
  • a device 10 which is attached to an elevator car 105 is shown.
  • the device 10 can for example be connected to the
  • Elevator car 105 glued.
  • the device 10 is screwed tightly or magnetically or mechanically firmly connected to the elevator car 105 via a holder (not shown).
  • the device 10 has a processing unit 20 and a camera unit 30.
  • the camera unit 30 can have, for example, an optoelectrical sensor for recording an image, an objective and a lighting element.
  • the device 10 has an acceleration sensor 40 which is designed, for example, as a three-axis acceleration sensor, in particular as a piezo element.
  • the processing unit 20 is connected to the camera unit 30 and the acceleration sensor 40 in such a way that the processing unit 20 can record an image using the camera unit 30 and can acquire an acceleration signal 41 using the acceleration sensor 40.
  • the processing unit 20 can be a microcontroller, for example.
  • the processing unit 20 is also set up to determine a position of the elevator car 105 in an elevator shaft 110 as a function of the recorded image.
  • the processing unit 20 is also set up to determine a position of the elevator car 105 in an elevator shaft 110 as a function of the recorded image.
  • Processing unit can be set up to compare the recorded image with at least one reference image of a section of the elevator shaft 110 and, depending on the comparison, the position of the
  • Image resolution of the camera unit 30 and / or a distance between the camera unit 30 and a wall 112 of the elevator shaft 110 are identical to Image resolution of the camera unit 30 and / or a distance between the camera unit 30 and a wall 112 of the elevator shaft 110.
  • the processing unit 20 is set up to activate the camera unit 30 and record the image as a function of the detected acceleration signal 41.
  • the processing unit 20 is set up to determine a standstill of the elevator car 105 as a function of the detected acceleration signal 41 and to activate the camera unit 30 in the event of a standstill and record the image.
  • the processing unit 20 can be set up to additionally determine the position of the elevator car 105 as a function of the detected acceleration signal 41.
  • the device 10 can optionally have an air pressure sensor 50, the processing unit 20 being set up to include a
  • the device 10 can optionally also have a communication unit 60, the processing unit 20 being set up to transmit a signal 61 as a function of the determined position of the elevator car 105 by means of the communication unit 60.
  • the processing unit 20 being set up to transmit a signal 61 as a function of the determined position of the elevator car 105 by means of the communication unit 60.
  • Communication unit 60 designed wirelessly and for example a WLAN and / or Bluetooth and / or cellular module.
  • the processing unit 20 is connected to the communication unit 60 in such a way that the
  • Processing unit 20 can send out the signal 61 by means of the communication unit 60, which in turn can be received by an external unit.
  • the external unit can be, for example, a mobile device of a maintenance employee or a server, which can be accessed, for example, by a maintenance company.
  • the device can also have a memory unit, not shown, which is connected to the processing unit 20, the processing unit 20 being set up to store the determined position of the elevator car 105 or also the signal 61 in the memory unit.
  • the determined position of the elevator car 105 or also the signal 61 can be stored in an internal memory, not shown, of the processing unit 20.
  • the device 10 can have an energy supply unit 70, the energy supply unit 70 having an energy store and / or an element for receiving electrical energy from an external one
  • Fig. 2 shows an embodiment of a system according to the invention having an elevator shaft, an elevator car arranged in the elevator shaft and a device.
  • a system 100 which has an elevator shaft 110 and an elevator car arranged in the elevator shaft.
  • the elevator car can here be moved along the arrow 106 in the elevator shaft.
  • the system has a device 10 according to the invention, which
  • the device 10 is designed for example according to FIG.
  • the device 10 is arranged in such a mechanically fixed manner on the elevator car 105 that the camera unit 30 can record an image which comprises a section of the elevator shaft 110, in particular an area of a wall 112 of the elevator shaft. Furthermore, the device 10 is also arranged in such a way that a measurement axis of the acceleration sensor

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)

Abstract

La présente invention concerne un dispositif (10) permettant de déterminer la position d'une cabine d'ascenseur (105) dans une gaine d'ascenseur (110). Le dispositif (10) comprend une unité de traitement (20) et une unité de caméra (30), l'unité de traitement (20) étant conçue pour prendre une image au moyen de l'unité de caméra (30) et pour déterminer, en fonction de l'image prise, une position de la cabine d'ascenseur (105). Le dispositif (10) peut être disposé mécaniquement à demeure au niveau de la cabine d'ascenseur (105) de manière que l'image comprend un extrait de la gaine d'ascenseur (110).De plus, le dispositif (10) comprend un capteur d'accélération (40), l'unité de traitement (20) étant conçue pour détecter un signal d'accélération (41) au moyen du capteur d'accélération (40), pour activer l'unité de caméra (30) en fonction du signal d'accélération détecté (41) et pour prendre l'image. La présente invention concerne en plus un système (100) comprenant une gaine d'ascenseur (110), une cabine d'ascenseur (105) disposée à l'intérieur de la gaine d'ascenseur (110) et un dispositif selon la présente invention (10).
PCT/EP2020/057243 2019-03-28 2020-03-17 Dispositif de détermination de position d'une cabine d'ascenseur dans une gaine d'ascenseur ainsi que système équipé d'un tel dispositif WO2020193278A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019204363.1 2019-03-28
DE102019204363.1A DE102019204363A1 (de) 2019-03-28 2019-03-28 Vorrichtung zur Positionsbestimmung einer Fahrstuhlkabine in einem Fahrstuhlschacht sowie ein System mit solch einer Vorrichtung

Publications (1)

Publication Number Publication Date
WO2020193278A1 true WO2020193278A1 (fr) 2020-10-01

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PCT/EP2020/057243 WO2020193278A1 (fr) 2019-03-28 2020-03-17 Dispositif de détermination de position d'une cabine d'ascenseur dans une gaine d'ascenseur ainsi que système équipé d'un tel dispositif

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DE (1) DE102019204363A1 (fr)
WO (1) WO2020193278A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023222422A1 (fr) * 2022-05-16 2023-11-23 Inventio Ag Procédé de suivi d'une cabine d'ascenseur dans une cage d'ascenseur et système de sécurité pour suivre une cabine d'ascenseur dans une cage d'ascenseur

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008009703A1 (fr) * 2006-07-18 2008-01-24 Fraba Ag Dispositif et procédé de détermination de positions verticales
EP2083209B1 (fr) 2008-01-28 2012-10-17 Sick Ag Système de sécurité destiné à la mesure sans contact de voies et/ou de vitesses
WO2013098486A1 (fr) * 2011-12-30 2013-07-04 Rdnet Oy Procédé et système de détermination de l'emplacement et/ou de la vitesse d'un objet en mouvement et utilisation du système
WO2016087528A1 (fr) * 2014-12-02 2016-06-09 Inventio Ag Procédé et système de détermination de la position d'une cabine d'ascenseur

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008009703A1 (fr) * 2006-07-18 2008-01-24 Fraba Ag Dispositif et procédé de détermination de positions verticales
EP2083209B1 (fr) 2008-01-28 2012-10-17 Sick Ag Système de sécurité destiné à la mesure sans contact de voies et/ou de vitesses
WO2013098486A1 (fr) * 2011-12-30 2013-07-04 Rdnet Oy Procédé et système de détermination de l'emplacement et/ou de la vitesse d'un objet en mouvement et utilisation du système
WO2016087528A1 (fr) * 2014-12-02 2016-06-09 Inventio Ag Procédé et système de détermination de la position d'une cabine d'ascenseur

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023222422A1 (fr) * 2022-05-16 2023-11-23 Inventio Ag Procédé de suivi d'une cabine d'ascenseur dans une cage d'ascenseur et système de sécurité pour suivre une cabine d'ascenseur dans une cage d'ascenseur

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Publication number Publication date
DE102019204363A1 (de) 2020-10-01

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