WO2004106209A1 - Systeme de determination de la position absolue - Google Patents

Systeme de determination de la position absolue Download PDF

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Publication number
WO2004106209A1
WO2004106209A1 PCT/US2003/015244 US0315244W WO2004106209A1 WO 2004106209 A1 WO2004106209 A1 WO 2004106209A1 US 0315244 W US0315244 W US 0315244W WO 2004106209 A1 WO2004106209 A1 WO 2004106209A1
Authority
WO
WIPO (PCT)
Prior art keywords
code
primary motion
motion coupling
reference system
belt
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/US2003/015244
Other languages
English (en)
Inventor
Alan Finn
Jae-Hyuk Oh
Pei-Yuan Peng
Chris Pietrzykowski
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Otis Elevator Co
Original Assignee
Otis Elevator Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Otis Elevator Co filed Critical Otis Elevator Co
Priority to AU2003245277A priority Critical patent/AU2003245277A1/en
Priority to US10/557,232 priority patent/US7540357B2/en
Priority to PCT/US2003/015244 priority patent/WO2004106209A1/fr
Priority to JP2005500391A priority patent/JP2006525925A/ja
Priority to HK06112433.4A priority patent/HK1091798B/xx
Priority to CN03826457A priority patent/CN100575230C/zh
Priority to EP03738915A priority patent/EP1631517A4/fr
Priority to EP11159848A priority patent/EP2348629A3/fr
Publication of WO2004106209A1 publication Critical patent/WO2004106209A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/06—Arrangements of ropes or cables
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/06—Arrangements of ropes or cables
    • B66B7/062—Belts

Definitions

  • the present invention relates generally to elevators and more specifically to a device for determining the position of an elevator car.
  • U.S. Patent No. 5,023,434 relates to a position indicating apparatus particularly for overhead transport systems.
  • the position indicating apparatus includes an elongated code carrier carrying multi-value code marks along its length.
  • a code reading device secured on a transport carrier, such as a trolley, crane, or other traveling mechanism, reads the code marks on the code carrier.
  • the code marks are arranged on the code carrier, one next to another in a single row or track, and formed such that "m" of the code marks provides one code word, the code words being positioned one next to each other and appear only once, or are unique along the entire code carrier.
  • the code reader has a reading station, for each bit, with three sets of reading heads per station which are equidistantly distributed by a distance corresponding at least to the number of digits of a code word to provide, upon processing of outputs from all three reading heads, an unambiguous position indication.
  • U.S. Patent No. 5,138,560 to Lanfer et al illustrates a position indicating apparatus which includes a code carrier which carries multi -value code marks in one track along its length.
  • the code marks are combined into blocks with which a block identification is associated.
  • Cooperating with the code carrier and the block identification are a code reader and an auxiliary reader, respectively.
  • the code carrier and the code reader are disposed counter to one another.
  • a block identification is associated with the blocks. From the block identification, an auxiliary reader can recognize whether the code reader is reading only code marks from one block. In this way, the travel path can be divided into important zones, in which the accurate position of the vehicle must be known, and to which blocks must therefore be assigned, and unimportant zones, which are merely gaps between blocks that connect the important zones to one another.
  • U.S. Patent No. 5,821,477 to Gerstenkorn illustrates a reflector mounted in an elevator shaft and having coded symbols in two tracks in the region of a stopping floor. Detectors on a car read the coded symbols for bridging door contacts when the car is in the arrival region and the resetting region of the stopping floor. The symbols are detected and evaluated by a two- channel evaluating circuit having optical transmitters for illuminating the tracks and charge-coupled device sensors for detecting the reflected images. A pattern recognition logic system and computers for each channel recognize patterns in the images for generating car position and speed information and for actuating relays to bridge the door contacts.
  • U.S. Patent No. 6,435,315 to Zaharia relates to an apparatus for determining the position of an elevator car within a hoistway that includes a code rail containing optically readable indicia that is being mounted within the hoistway adjacent to the path of travel of the car. At least one camera is mounted upon the car for movement therewith for scanning the code rail indicia and providing data indicative of the car's position to the car controllers.
  • PCT Publication WO 01/83352 to Wegener et al relates to a device for determining the position of an elevator car during evacuation which includes an endless cable that is connected to the elevator car and provided with marks. A unit for detecting the marks is provided.
  • a position reference system for providing information about the position of a conveyance, such as an elevator, is provided.
  • the position reference system includes a code affixed to or embedded within a suspension device or primary motion coupling such as a rope or a coated steel belt.
  • the position reference system further includes a reader in a fixed location for reading the code and determining the position of the conveyance.
  • a method for determining stretch in a primary motion coupling for an elevator car comprises the steps of providing the primary motion coupling with a code, measuring an actual length for each indicia forming the code, detecting changes in the actual length resulting from stretching of the primary motion coupling, and determining the stretch from the detected changes in actual length.
  • a method for determining slip of an elevator car broadly comprises the steps of generating drive commands to a primary motion actuator, measuring position of the elevator car after the drive commands using a position reference system including a code on a primary motion coupling attached to the elevator car and a reader for reading the code, and comparing change in position according to the position reference system to change in position according to the drive commands .
  • FIG. 1 is a schematic representation of an elevator system including the position reference system of the present invention.
  • FIG. 2 is a schematic representation of a primary motion coupling used in the position reference system of the present invention.
  • an elevator system 10 comprises an elevator car 12 which moves vertically within a hoistway 14 in a building structure.
  • a primary motion coupling 16 extends from a termination point 18, through idler sheaves 20 attached to the car 12, over a drive sheave 22, to a counterweight 24.
  • the drive sheave 22 may be driven using any suitable means known in the art to move the elevator car 12 vertically in the hoistway between a series of landings (not shown) .
  • the primary motion coupling 16 is used to suspend the car 12 and may be a rope, a plurality of ropes, or a coated steel belt (CSB) , such as that shown in FIG. 2.
  • the primary motion coupling 16 may include a plurality of cables 40 and/or a coating 42.
  • the position reference system of the present invention includes a code 26, as shown in FIG. 2, which is affixed or embedded in the primary motion coupling 16.
  • the elevator positioning system further includes a reader 28 at a fixed location.
  • the reader 28 is used to read the code 26 and compute the absolute position, velocity, acceleration, and jerk of the car 12.
  • the reader 28 may comprise any suitable reader known in the art.
  • the type of reader 28 which will be used will be a function of the nature of the code 26.
  • the code 26 and the reader 28 may also be used to directly measure the stretch or slip of the primary motion coupling 16 of the elevator car 12. Stretch may be measured by direct measurement of the code. The code, when applied to a new primary motion coupling, will be of known length. Should the primary motion coupling stretch due to load or wear, the code indicia will stretch similarly. High resolution signal processing algorithms as well known in the art may be applied to measure the actual length of the code indicia and thereby directly measure stretch. Slip may be measured by comparison of the measured position to the drive commands.
  • the controller of a conveyance uses feedback from a position reference system to generate drive commands to the primary motion actuator to affect position control of the conveyance. Ideally, the drive commands correspond exactly to a change in position.
  • any slippage between the drive actuator and primary motion coupling results in a discrepancy between the change in position according to the position reference system and the change in position according to the drive commands, provided that the position reference system is independent of slippage.
  • This discrepancy is a direct measure of slippage and slippage corresponds to wear on the primary motion actuator and primary motion coupling.
  • the reader 28 is positioned along the primary motion coupling 16 at a fixed location between the drive sheave 22 and the termination point 18. In this way, drive sheave slip is immaterial to the position measurement. Therefore, from the difference between the absolute position measurement and the drive commands, slip and corresponding wear may be calculated. This calculation may be through a look-up table, its equivalent functional representation, or by any of a variety of means well known in the art.
  • Compensation for stretch of the primary motion coupling 16 may be directly measured from the code 26 or may be estimated by an empirical function of load and temperature based on primary motion coupling tests. Depending on the accuracy of this estimation, a separate sill sensor (not shown) may be needed. If so, then that information could be used in the estimation algorithm to improve position accuracy.
  • the code 26 may be embedded in the primary motion coupling 16, such as a coated steel belt, in a variety of different ways.
  • the code 26 may be physical, optical, or magnetic marks or materials on the surface of the primary motion coupling 16. It might be advantageous to have the marks along the edge of the primary motion coupling 16 since the edge is not in contact with either the drive sheave 22 or the idler sheaves 20, thus minimizing wear.
  • Physical marks, such as grooves are not preferred on the surface of the primary motion coupling 16 due to possible induced noise. However, grooves of a given location, distribution, shape, etc., might be designed to an acceptable noise level, e.g. less than 48dB, and therefore permit their use as the codes for a position reference system.
  • the code 26 may be physical, optical, or magnetic marks or materials embedded in the coating 42 of a primary motion coupling 16 such as the coated belt shown in FIG. 2. This means the primary motion coupling 16 may have to be slightly wider with no cables under a section of the coating, preferably in the middle.
  • the embedded code 26 may be holes cut through the primary motion coupling 16.
  • the primary motion coupling 16, such as the belt shown in FIG. 2 may be fabricated in a laminated manner with one layer containing the code 26.
  • the code 26 may also be an additional cable or cord in the primary motion coupling 16, such as the belt shown in FIG. 2, with material properties that may be sensed through a coating, such as the belt coating 42.
  • the code 26 may also be changes or enhancements to one or more of the cables 40 within the primary motion coupling 16, such as the cables 40 within the belt shown in FIG. 2, with material properties that may be sensed through a coating, such as belt coating 42.
  • the most preferred embodiment of the code 26 comprises magnetic materials embedded in a coating on a primary motion coupling 16, such as the belt coating 42. If these materials are sensitive to imposed magnetic fields, e.g. ferric oxide, then the entire primary motion coupling 16 such as a coated steel belt, becomes a magnetic tape. In this case, the reader 26 might also write, rewrite, or otherwise encode information on the belt.
  • the preferred embodiment uses an encoding on a suspension means between a moving cab and a fixed drive system, the invention will work equally well for a drive system attached to the moving car 12 with suspension means attached to a fixed location.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
  • Navigation (AREA)
  • Control Of Conveyors (AREA)

Abstract

L'invention a trait à un système de détermination de position destiné à être utilisé avec un moyen de transport, tel qu'un ascenseur (12). Le système comprend un code, qui est soit appliqué à un dispositif de suspension ou à un dispositif de couplage à mouvement primaire comme un câble ou une courroie en acier revêtu (16), soit inclus dans ces derniers. Un lecteur (28) situé à un emplacement fixe détermine la position du moyen de transport.
PCT/US2003/015244 2003-05-15 2003-05-15 Systeme de determination de la position absolue Ceased WO2004106209A1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
AU2003245277A AU2003245277A1 (en) 2003-05-15 2003-05-15 Absolute position reference system
US10/557,232 US7540357B2 (en) 2003-05-15 2003-05-15 Position reference system for elevators
PCT/US2003/015244 WO2004106209A1 (fr) 2003-05-15 2003-05-15 Systeme de determination de la position absolue
JP2005500391A JP2006525925A (ja) 2003-05-15 2003-05-15 絶対位置照会システム
HK06112433.4A HK1091798B (en) 2003-05-15 Absolute position reference system
CN03826457A CN100575230C (zh) 2003-05-15 2003-05-15 绝对位置参照系统
EP03738915A EP1631517A4 (fr) 2003-05-15 2003-05-15 Systeme de determination de la position absolue
EP11159848A EP2348629A3 (fr) 2003-05-15 2003-05-15 Systeme de determination de la position absolue

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2003/015244 WO2004106209A1 (fr) 2003-05-15 2003-05-15 Systeme de determination de la position absolue

Publications (1)

Publication Number Publication Date
WO2004106209A1 true WO2004106209A1 (fr) 2004-12-09

Family

ID=33488760

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2003/015244 Ceased WO2004106209A1 (fr) 2003-05-15 2003-05-15 Systeme de determination de la position absolue

Country Status (5)

Country Link
EP (2) EP2348629A3 (fr)
JP (1) JP2006525925A (fr)
CN (1) CN100575230C (fr)
AU (1) AU2003245277A1 (fr)
WO (1) WO2004106209A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006099770A1 (fr) * 2005-03-22 2006-09-28 Inventio Ag Procede de detection de l'etat d'une cabine d'ascenseur et systeme d'ascenseur dans lequel ce procede est mis en oeuvre
EP1911713A1 (fr) * 2006-10-12 2008-04-16 Inventio Ag Système et procédé destinés à la détermination de la position d'une cabine d'ascenseur
CN101161580B (zh) * 2006-10-12 2010-09-29 因温特奥股份公司 用于检测电梯轿厢位置的系统和方法
EP2322463A1 (fr) * 2009-11-12 2011-05-18 Inventio AG Installation d'ascenseur
EP2546181A1 (fr) * 2011-07-13 2013-01-16 Inventio AG Installation d'ascenseur et méthode pour détecter la position de la cabine d'ascenseur.
EP3085653A1 (fr) * 2015-04-24 2016-10-26 Kone Corporation Élévateur
CN107399650A (zh) * 2017-08-17 2017-11-28 卢卫民 一种电梯轿厢位置检测装置

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI118382B (fi) * 2006-06-13 2007-10-31 Kone Corp Hissijärjestelmä
CN104016201A (zh) * 2014-05-30 2014-09-03 日立电梯（中国）有限公司 电梯轿厢绝对位置检测装置
CN104071665B (zh) * 2014-07-07 2017-09-15 日立电梯（中国）有限公司 电梯轿厢位置检测装置及方法
JP6399404B2 (ja) 2015-03-20 2018-10-03 フジテック株式会社 エレベータ用のかご横揺れ抑制装置及びかご横揺れ抑制方法

Citations (4)

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Publication number Priority date Publication date Assignee Title
US4735295A (en) * 1985-04-03 1988-04-05 Inventio Ag Apparatus for generating hoistway data in an elevator
US5798490A (en) * 1993-12-28 1998-08-25 Kone Oy Procedure and apparatus for determining the position of an elevator car
US5925859A (en) * 1997-08-06 1999-07-20 Interface Products Co., Inc. Landing control system
US20020112926A1 (en) * 2001-02-20 2002-08-22 Gert Siberhorn Method of generating hoistway information to serve an elvator control

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US4085823A (en) * 1975-11-03 1978-04-25 Westinghouse Electric Corporation Elevator system
US4218671A (en) * 1977-10-10 1980-08-19 Coal Industry (Patents) Limited Mine cage position describer
WO1981002288A1 (fr) * 1980-02-08 1981-08-20 R Payne Controle et commande des positions d'un ascenseur
JPS5931274A (ja) * 1982-08-09 1984-02-20 株式会社東芝 エレベ−タ乗かご位置検出装置
JPS59102780A (ja) * 1982-12-01 1984-06-13 三菱電機株式会社 エレベ−タ装置
DE3825097A1 (de) 1988-07-23 1990-02-08 Stahl R Foerdertech Gmbh Vorrichtung zur positionsmessung bei kran- und elektrohaengebahnen
DE3910873A1 (de) 1989-04-04 1990-10-18 Stahl R Foerdertech Gmbh Positionsmessvorrichtung fuer kran- und elektrohaengebahnen
CA2165247C (fr) 1995-01-20 2006-05-23 Bernhard Gerstenkorn Methode et appareil de mesure pour puits d'ascenseur
US5747755A (en) * 1995-12-22 1998-05-05 Otis Elevator Company Elevator position compensation system
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JPH10318741A (ja) * 1997-05-16 1998-12-04 Kobe Steel Ltd ワイヤーロープの伸び測定方法及び伸び測定装置
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BR0110440B1 (pt) * 2000-05-01 2011-06-14 dispositivo para detecÇço da posiÇço de uma cabina de elevador.
DE10041035A1 (de) * 2000-08-22 2002-03-07 Heinrich Bader Vorrichtung und Verfahren zum Mechanisieren von Seil- und Prospektzügen, insbesondere im Bühnenbereich
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US4735295A (en) * 1985-04-03 1988-04-05 Inventio Ag Apparatus for generating hoistway data in an elevator
US5798490A (en) * 1993-12-28 1998-08-25 Kone Oy Procedure and apparatus for determining the position of an elevator car
US5925859A (en) * 1997-08-06 1999-07-20 Interface Products Co., Inc. Landing control system
US20020112926A1 (en) * 2001-02-20 2002-08-22 Gert Siberhorn Method of generating hoistway information to serve an elvator control

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See also references of EP1631517A4 *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2006227082B2 (en) * 2005-03-22 2011-07-21 Inventio Ag Method for detecting the state of a lift cage and lift system wherein the method is used
US7938233B2 (en) 2005-03-22 2011-05-10 Inventio Ag System and method for detecting the state of an elevator cage
WO2006099770A1 (fr) * 2005-03-22 2006-09-28 Inventio Ag Procede de detection de l'etat d'une cabine d'ascenseur et systeme d'ascenseur dans lequel ce procede est mis en oeuvre
EP1911713A1 (fr) * 2006-10-12 2008-04-16 Inventio Ag Système et procédé destinés à la détermination de la position d'une cabine d'ascenseur
CN101161580B (zh) * 2006-10-12 2010-09-29 因温特奥股份公司 用于检测电梯轿厢位置的系统和方法
US7857106B2 (en) 2006-10-12 2010-12-28 Inventio Ag Vertical position detection of a suspended elevator car
CN102695663A (zh) * 2009-11-12 2012-09-26 因温特奥股份公司 升降机系统
WO2011057890A1 (fr) * 2009-11-12 2011-05-19 Inventio Ag Installation d'ascenseur
EP2322463A1 (fr) * 2009-11-12 2011-05-18 Inventio AG Installation d'ascenseur
CN102695663B (zh) * 2009-11-12 2014-08-27 因温特奥股份公司 升降机系统及其操作方法以及其控制器的初始化方法
US9266699B2 (en) 2009-11-12 2016-02-23 Inventio Ag Elevator system and operation thereof
EP2546181A1 (fr) * 2011-07-13 2013-01-16 Inventio AG Installation d'ascenseur et méthode pour détecter la position de la cabine d'ascenseur.
WO2013007680A1 (fr) * 2011-07-13 2013-01-17 Inventio Ag Ascenseur
EP3085653A1 (fr) * 2015-04-24 2016-10-26 Kone Corporation Élévateur
US10329119B2 (en) 2015-04-24 2019-06-25 Kone Corporation Elevator with code pattern to determine car position
CN107399650A (zh) * 2017-08-17 2017-11-28 卢卫民 一种电梯轿厢位置检测装置

Also Published As

Publication number Publication date
AU2003245277A1 (en) 2005-01-21
EP1631517A4 (fr) 2009-01-07
EP1631517A1 (fr) 2006-03-08
HK1091798A1 (zh) 2007-01-26
CN1771182A (zh) 2006-05-10
EP2348629A2 (fr) 2011-07-27
EP2348629A3 (fr) 2011-09-07
JP2006525925A (ja) 2006-11-16
CN100575230C (zh) 2009-12-30

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