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EP3224175B1 - Method for operating an elevator system and elevator system designed for performing the method - Google Patents

Method for operating an elevator system and elevator system designed for performing the method Download PDF

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Publication number
EP3224175B1
EP3224175B1 EP15791306.2A EP15791306A EP3224175B1 EP 3224175 B1 EP3224175 B1 EP 3224175B1 EP 15791306 A EP15791306 A EP 15791306A EP 3224175 B1 EP3224175 B1 EP 3224175B1
Authority
EP
European Patent Office
Prior art keywords
car
cars
stop
travel
stop point
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.)
Active
Application number
EP15791306.2A
Other languages
German (de)
French (fr)
Other versions
EP3224175A1 (en
Inventor
Eduard STEINHAUER
Matthias Glück
Bankole ADJIBADJI
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.)
TK Elevator Innovation and Operations GmbH
Original Assignee
ThyssenKrupp AG
ThyssenKrupp Elevator 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 ThyssenKrupp AG, ThyssenKrupp Elevator AG filed Critical ThyssenKrupp AG
Publication of EP3224175A1 publication Critical patent/EP3224175A1/en
Application granted granted Critical
Publication of EP3224175B1 publication Critical patent/EP3224175B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
    • B66B1/2466—For elevator systems with multiple shafts and multiple cars per shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
    • 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
    • B66B1/3415—Control system configuration and the data transmission or communication within the control system
    • 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
    • B66B1/3415—Control system configuration and the data transmission or communication within the control system
    • B66B1/3446—Data transmission or communication within the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
    • B66B9/003—Kinds or types of lifts in, or associated with, buildings or other structures for lateral transfer of car or frame, e.g. between vertical hoistways or to/from a parking position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
    • B66B9/10—Kinds or types of lifts in, or associated with, buildings or other structures paternoster type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/30—Details of the elevator system configuration

Definitions

  • the invention relates to a method for operating an elevator system comprising a shaft system and at least three cars, which is designed for separate movement of the cars at least in a first direction of travel and in a second direction of travel.
  • the at least three cars are each moved separately in a subsequent operation.
  • a stop point at which the car can stop if necessary is continuously predicted for each car, at least for one direction of travel.
  • Such an elevator system is, in particular, an elevator system which comprises a shaft in which several cars can be moved separately. In particular, at least one other car can be moved above and below at least one car.
  • this method of several cars essentially independent of one another in a shaft is a follow-up operation in the sense of the present invention.
  • such an elevator system is, for example, from the document EP 1 562 848 B1 known.
  • an elevator system mentioned at the outset is, in particular, an elevator system with a shaft system comprising a plurality of shafts, wherein the elevators can be operated as a subsequent operation, in particular in a circulating mode.
  • the method in a subsequent operation is carried out in such a way that several cars are moved upwards together in at least one shaft of the shaft system, are moved from this shaft into at least one further shaft and are moved downwards together in this at least one further shaft.
  • Such an elevator system is in the prior art, for example, from the publication EP 0 769 469 B1 known.
  • the US 2013/0299282 A1 discloses an elevator system with two cars, which are moved in a common shaft. To prevent a collision between the two cars, a stop position between the two cars is determined for each car. A stop position represents the position in the shaft at which the car comes to a stop if braking is initiated. If the two cars move towards each other, the closest stop positions of the cars must always be at a positive distance from each other.
  • each car also have its own safety module in addition to its own drive.
  • This safety module can trigger braking processes both in the corresponding associated car and in adjacent cars.
  • the safety module calculates the necessary braking behavior of the cars from the current driving data of all the cars in the elevator system.
  • EP 0 769 469 B1 proposes to work with a dynamic elevator model.
  • the present invention to improve a method for operating an elevator system comprising a shaft system and at least three cars, in particular to the extent that possible collisions of cars can be detected at an early stage, the detection advantageously being able to be implemented by means of a decentrally designed safety system should be.
  • the data volume to be transmitted should preferably be as small as possible.
  • the method should be easily transferable to elevator systems of different designs.
  • a method for operating an elevator system comprising a shaft system and at least three cars, which is designed for separate movement of the cars at least in a first direction of travel and in a second direction of travel, the at least three cars in each case moving separately in a subsequent operation and a stop point at which the car can stop if necessary is continuously predicted for each car, at least for one direction of travel.
  • the distance between the predicted stop points of adjacent cars to one another is determined continuously, the elevator system being switched to a safety mode when a negative distance between the stop points is determined.
  • the elevator system comprises at least one linear motor as the drive system, which enables the cars to be moved separately.
  • the cars can be moved largely independently of one another in the shaft system, taking into account the other cars.
  • the cars can be moved up and down and are thus designed to move in at least a first direction of travel and in a second direction of travel.
  • the hoistway system of the elevator installation comprises a plurality of manholes, the cars being able to be moved between the manholes via connecting manholes, lateral directions of travel in particular are provided as further directions of travel.
  • the method has the particular advantage that the stop point is calculated continuously, that is essentially continuously, for each car for the at least one direction of travel.
  • This stopping point provides information, in particular, about where this car would come to a stop or stop when braking, in particular emergency braking.
  • Operating parameters of the other cars, in particular driving parameters of the other cars advantageously need not be taken into account when determining the stop points.
  • a risk of collision can advantageously be reliably identified.
  • advantageously only stop points are transmitted and in particular no further car-related operating parameters, so that the amount of data to be transmitted is advantageously small. Since it is provided in particular that only the stop points of adjacent cars are compared with one another, the amount of data to be transmitted is advantageously further reduced.
  • a current stop point for a direction of travel of a car is, in particular, the distance that the car needs to stop in this direction of travel, in particular the predicted braking distance.
  • the distance is preferably a safety distance, preferably a fixed one Safety distance, so that the stopping point is further away from the car.
  • the distance between the car and the stop point also changes for each direction of travel. In particular, the speed at which a car is moved also increases the distance from the corresponding stop point to the car.
  • the minimum distance between two adjacent cars can depend on several operating parameters, in particular the current position of the cars in the shaft system, the speeds of the cars, the accelerations of the cars, the payloads of the cars and / or the states of the brakes cars.
  • these operating parameters are advantageously only recorded individually for each car, in order to determine the respective stop point for each car for the at least one direction of travel from these operating parameters.
  • the elevator system is advantageously switched to a safety mode, in particular in the corresponding one neighboring cars, the stopping points of which are at a negative distance, are braked and thus brought to a stop, in particular by triggering safety devices in these cars.
  • negative distance denotes the case that the stopping point of a car in question is further away from the car in question than the stopping point of an adjacent car, in particular a preceding or following car. Whether the distance is actually negative in the sense of a negative number depends on the reference system used. For example, a "negative distance" in a corresponding reference system can also be expressed by a positive number.
  • the method can advantageously be used in particular for both horizontal and vertical movements of the cars.
  • the proposed method also provides for rapid detection of possible collisions between adjacent cars.
  • the stopping point of each car is predicted, assuming that at least one safety device of the elevator installation intervenes at the latest.
  • the method is thus advantageously designed to be conservative.
  • the distance between adjacent cars is sometimes greater than is absolutely necessary, but a collision between adjacent cars is reliably prevented.
  • Safety devices of the elevator system are, in particular, braking devices, such as safety devices for the cars and / or braking devices provided by the drive system. If the drive system of the elevator installation comprises at least one linear drive, the section-by-section shutdown of a line of the linear drive is also provided as intervention by at least one safety device.
  • a further advantageous embodiment of the method according to the invention provides that the stop points are each predicted on the assumption of a worst-case scenario in order to reliably prevent a collision between adjacent cars in any case.
  • the stopping point is predicted by each car on the additional assumption that the respective car is accelerated with the maximum possible acceleration on the part of the elevator system before the at least one safety device of the elevator system intervenes.
  • the stopping point in the direction of travel "up” is thus more advantageously predicted on the assumption that the car is first accelerated in the direction of travel "up” and then by a Intervention of at least one safety device is brought to a stop.
  • the stop point in the direction of travel "below” is advantageously predicted on the assumption that the car is first accelerated to a maximum in the direction of travel “below” and is then brought to a stop by intervention of at least one safety device. Due to the gravity acting on the car, which is advantageously taken into account in the prediction of the stop points, the distance of the stop point in the direction of travel "up” to the upper end of the car is less than the distance of the stop point in the direction of travel "down” to the lower end of the car.
  • a first stop point is predicted for each car for the first direction of travel and a second stop point is predicted for each car for the second direction of travel, so that two stop points are continuously predicted for each car.
  • at least one upper stop point for the “upward” direction of travel and one lower stop point for the “downward” direction of travel are predicted for each car.
  • the distance from the first stop point of this car is advantageously increased determined the second stop point of the first car, in particular in order to be able to determine a risk of collision of this car with the first car.
  • the distance from the second stop point of this car to the first stop point of the second car is advantageously determined, in particular in order to be able to determine a risk of collision of this car with the second car.
  • an upper stop point and a lower stop point are continuously predicted for each car in a vertical shaft of the shaft system of the elevator system, in which at least three cars are moved.
  • all of the cars thus have an upper adjacent car and a lower adjacent car.
  • the distance between the upper stop point of one car and the lower stop point of the upper adjacent car is determined.
  • the distance between the lower stop point of a car and the upper stop point of the lower adjacent car is also advantageously determined.
  • the stop points are advantageously defined using a grid that is permanently assigned to the shaft system. A grid which is fundamentally suitable for this is, for example, from the publication EP 1 719 727 B1 known.
  • the stop points can be represented in particular as coordinates (x, y) or (x, y, z). Only the corresponding coordinate is preferably taken into account for a current direction of travel, for example only the coordinate x for direction of travel x. Particularly in the areas in which the direction of travel changes, for example from the direction of travel x to the direction of travel y, provision is advantageously made for more than one coordinate to be taken into account here for a corresponding section comprising the transition area, i.e. in relation to the example given above Coordinates (x, y).
  • the elevator system is switched to a safety mode, in particular by stopping at least one of the two cars. The same applies accordingly if the lower stop point of a car is smaller than the upper stop point of the car traveling below this car.
  • Possible collision risks of a car with an upper adjacent car and / or a lower adjacent car are thus reliably identified, namely by checking whether a determined distance is negative, that is to say the stop points compared with one another have an overlap area. If a negative distance is determined, the elevator system is advantageously switched from normal operation to a safety mode, in particular by stopping the cars concerned.
  • the other cars are advantageously moved further in restricted operation, the stopped cars defining a restricted area to which the cars still operating may only approach up to a predefined distance.
  • the cars stopped during the transfer of the elevator system to a safety mode are preferably assigned fixed stop points, so that in particular a collision of cars with the stopped cars is further prevented using the same method.
  • the cars each have their own control unit
  • the control unit of a car of the elevator system predicts the stop point for the at least one direction of travel and the stop points predicted for a car to the control units of the latter Car adjacent car are transmitted
  • the control unit of a car determines the distance between the stop points predicted for this car to the stop points transmitted to this control unit.
  • stop points can be calculated simultaneously by a plurality of control units, which are advantageously arranged on the cars. This advantageously reduces the technical requirements for the computing capacities of the safety system of the elevator system.
  • the control units each assigned to a car and preferably arranged on the car, advantageously detect all the operating parameters required for predicting the stopping points by means of corresponding sensors arranged on the car. These include in particular the current position of the car, the speed of the car, the acceleration of the car, the load of the car and / or the state of the brake in the car. These operating parameters and the stop points predicted from them are preferably determined in predefined discrete time intervals of, for example, 5 ms to 50 ms (ms: milliseconds). In this way, a continuous prediction of the stop points is made possible.
  • Each control unit assigned to a car advantageously calculates the stop points for the at least one direction of travel of this car, in particular an upper and a lower stop point, and exchanges them with those of the control units of the adjacent cars. Instead of calculating the distances between adjacent cars, the stop points are advantageously compared with one another, as already explained above. As long as the stop points do not overlap, i.e. no negative distance is determined, there is no risk of collision.
  • the control unit of a car preferably triggers a securing device for this car when a negative distance between the stopping points is determined, it being provided in particular that triggering the securing device causes the car to stop.
  • the actuation of a brake of the car is provided as the triggering of a safety device of the car.
  • the control device assigned to one car is only responsible for the safety device of this car with regard to the triggering of safety devices and advantageously does not also have to brake other cars. As a result, the amount of data to be transmitted is advantageously further reduced.
  • the stop points are predicted from current operating parameters of the respective car. According to an advantageous embodiment variant, it is provided that stop points are predefined for all quantized combinations of operating parameters. According to an advantageous embodiment, the stop points are assigned to such a combination of operating parameters via a lookup table. In particular, according to a further advantageous embodiment variant, such an assignment is provided as a plausibility check of stop points predicted by real-time calculations. When a predefined deviation from assigned stop points and predicted stop points is ascertained, the elevator system is also advantageously switched to a safety mode.
  • the elevator installation comprises a decentralized safety system with a plurality of control units, the plurality of control units comprising the control units of the elevator cars, and the control units each exchanging data to determine an operating mode that differs from the normal operation of the elevator installation ,
  • an elevator system designed to carry out a method according to the invention is also proposed.
  • an elevator system with a shaft system comprising at least one shaft and at least three elevator cars, which can be moved together in the at least one shaft of the shaft system is proposed, the elevator cars each advantageously have its own control unit, and the elevator installation is designed to carry out a method according to the invention.
  • control units of the cars are connected to one another via an interface for transmitting data.
  • a communication bus is provided as the interface.
  • the data is transmitted wirelessly, in particular via an air interface, for example by means of WLAN (WLAN: Wireless Local Area Network).
  • WLAN Wireless Local Area Network
  • Each control unit of a car is advantageously designed to determine the stop points for this car and to compare them with the transmitted stop points of adjacent cars.
  • each car advantageously has sensors for recording operating parameters, such as, in particular, speed, acceleration, payload, state of the safety devices of the car, in particular state of the brakes as safety device of the car, and position of the car. The recorded operating parameters are transmitted to the control unit and evaluated by the control unit to predict the stop points.
  • the elevator system 1 shown which is not shown to scale for reasons of a better overview, comprises a shaft system 2 with two vertical shafts 12 and two connecting shafts 13. Furthermore, the elevator system 1 comprises a plurality of elevator cars 3 (in Fig. 1 Eight cars, for example), which can be moved separately in the shaft system 2 in a subsequent operation, that is to say that several cars 3 can be moved in a shaft 12 or a shaft 13.
  • the cars 3 can be moved upwards in the shafts 12 in a first direction of travel 4 (in Fig. 1 symbolically represented by arrow 4) and moved downwards in a second direction of travel 5 (in Fig. 1 symbolically by arrow 5 ) Shown.
  • the cars are also laterally in a third direction of travel 10 (in Fig. 1 symbolically represented by arrow 10) and in a fourth direction of travel 11 (in Fig. 1 symbolically represented by arrow 11).
  • the elevator installation comprises at least one linear motor as the drive system (in Fig. 1 not explicitly shown), by means of which the cars 3 are moved within the shaft system 2.
  • a first stop point 6 is continuously predicted for each car 3 for the first possible direction of travel and a second stop point 7 for the second possible direction of travel.
  • a stop point is thus continuously predicted for each car 3, at least for one direction of travel.
  • an upper stop point is predicted as the first stop point 6
  • a lower stop point is predicted as the second stop point 7.
  • a stop point located in the direction of travel of the respective car 3 is predicted as the stop point 6 ′ and a second stop point located opposite the direction of travel of the respective car 3 is predicted as the stop point 7 ′.
  • the stop points can in particular be defined via coordinates (x, y), lateral stop points being defined via the x coordinates and stop points lying vertically via the y coordinates.
  • the point A in Fig. 1 For example, the coordinate (0, 0) can be assigned.
  • the two stop points 6, 7 and 6 ', 7' respectively indicate the point at which the car 3 assumes a worst-case scenario for each of the possible directions of travel 4, 5 or 10, 11. Case scenarios can stop at the latest.
  • an upper stop point 6 is predicted, that is to say it is predetermined where the car 3 'would stop if the car 3' maximally in the direction of travel would accelerate and then slow down.
  • the worst-case assumption predicts that the lower stop point 7 of the car 3 'is that the drive fails, the car 3' sags as a result, and the car 3 'would then only be braked.
  • the cages 3 advantageously have a control unit, for example a microcontroller circuit designed as a control unit (in Fig. 1 not explicitly shown).
  • the distance from the first stop point 6 of this car to the second stop point 7 of the second car is determined.
  • the distance from the second stop point 7 of this car to the first stop point 6 of the second car is determined.
  • the distance 8 from the upper stop point 6 of the car 3' to the lower stop point 7 of the car 3 '' is determined.
  • the lower stop point 7 of the car 3 " is advantageously sent to a control unit (in Fig. 1 not explicitly shown) of the car 3 '.
  • the determined distance 8 is positive in this example. There is therefore no risk of collision with respect to the cars 3 'and 3 ".
  • the car 3 ' also has an adjacent car 3''in the further direction of travel 5. Therefore, the distance 9 from the lower stop point 7 of the car 3' to the upper stop point 6 of the car 3 '' is also determined for the car 3 ' ,
  • the upper stop point 6 of the car 3 "' is advantageously sent to a control unit (in Fig. 1 not explicitly shown) of the car 3 '.
  • the determined distance 9 is negative in this example, that is to say the upper stop point 6 of the car 3 "'lies above the lower stop point 7 of the car 3'. There is therefore a risk of collision with respect to the cars 3 'and 3"'.
  • the elevator system is switched to a safety mode, in particular by activating brakes on these cars on the car side, preferably triggered by the respective cars 3 'and 3 "'assigned control units.
  • Fig. 2 Referred.
  • a car 3 with a total car height 17 and an entry threshold 20 is shown.
  • Movable car 3 shows a predicted stop point 6, 7 for each direction of travel 4, 5.
  • the upper stop point 6 is shown for the direction of travel 4 and the lower stop point 7 for the direction of travel 5.
  • the upper stop point 6 indicates the point where the car 3 with the upper car end 21 can stop at the latest in the direction of travel 4 based on current operating parameters and assuming a worst-case scenario.
  • the distance between the stop point 6 and the upper end 21 of the car results in the exemplary embodiment shown from the sum of an optionally definable minimum distance 15 from the car 3, which must not be undercut, and one from the current driving parameters assuming a worst-case scenario.
  • Scenarios calculated braking distance 18.
  • the stopping points are calculated, for example, using an appropriately configured predictor model.
  • the lower stop point 7 indicates the point where the car 3 with the lower car end 22 can stop at the latest in the direction of travel 5 based on current operating parameters and assuming a worst-case scenario.
  • the distance between the stop point 7 and the lower car end 22 results in the illustrated embodiment from the sum of an optionally predeterminable minimum distance 16 from the lower car end 22, which must not be undercut, and one from the current driving parameters assuming a worst case -Scenarios predicted braking distance 19.
  • the positions of the stop points vary depending on the current driving parameters. If the car is stationary, the stop points will move closer to the car. If the car travels upwards at high speed, i.e. in direction of travel 4, the upper stop point will be further up. In this case, in particular, even at very high speeds, the lower stop point 7 may be determined lying at position 14, since a movement in the direction of travel 5 can be ruled out even in the worst case scenario.
  • Such car 3 is predicted such an upper stop point and a lower stop point.
  • the distance between the upper stop point 6 of a car and the lower stop point 7 'or 7 "of a car adjacent above this car and the distance between the lower stop point 7 of this car and the upper stop point 6' respectively 6" one below this car adjacent car determined.
  • the distances 8 are positive, since 7 "greater than 6 or 7 greater than 6". If the distance is negative, there is a risk of collision. Such a negative distance is obtained if 6 is greater than 7 'or 6' is greater than 7. If such a negative distance is determined, the elevator system is brought into a safe operating state, in particular into a safety mode.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Structural Engineering (AREA)
  • Elevator Control (AREA)
  • Types And Forms Of Lifts (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Betreiben einer ein Schachtsystem und wenigstens drei Fahrkörbe umfassenden Aufzuganlage, welche zum separaten Verfahren der Fahrkörbe zumindest in eine erste Fahrtrichtung und in eine zweite Fahrtrichtung ausgebildet ist. Die wenigstens drei Fahrkörbe werden dabei in einem Folgebetrieb jeweils separat verfahren. Für jeden Fahrkorb wird wenigstens für eine Fahrtrichtung laufend ein Stoppunkt, an dem der Fahrkorb bei Bedarf stoppen kann, prädiziert.The invention relates to a method for operating an elevator system comprising a shaft system and at least three cars, which is designed for separate movement of the cars at least in a first direction of travel and in a second direction of travel. The at least three cars are each moved separately in a subsequent operation. A stop point at which the car can stop if necessary is continuously predicted for each car, at least for one direction of travel.

Eine solche Aufzuganlage ist insbesondere eine Aufzuganlage, welche einen Schacht umfasst, in der mehrere Fahrkörbe separat verfahren werden können. Dabei kann insbesondere oberhalb und unterhalb wenigstens eines Fahrkorbs wenigstens ein weiterer Fahrkorb verfahren werden. Insbesondere dieses Verfahren von mehreren Fahrkörben im Wesentlichen unabhängig voneinander in einem Schacht ist dabei ein Folgebetrieb im Sinne der vorliegenden Erfindung. Im Stand der Technik ist eine derartige Aufzuganlage beispielsweise aus der Druckschrift EP 1 562 848 B1 bekannt.Such an elevator system is, in particular, an elevator system which comprises a shaft in which several cars can be moved separately. In particular, at least one other car can be moved above and below at least one car. In particular, this method of several cars essentially independent of one another in a shaft is a follow-up operation in the sense of the present invention. In the prior art, such an elevator system is, for example, from the document EP 1 562 848 B1 known.

Ferner ist eine eingangs genannte Aufzuganlage insbesondere eine Aufzuganlage mit einem mehrere Schächte umfassenden Schachtsystem, wobei die Aufzüge insbesondere in einem Umlaufbetrieb als Folgebetrieb verfahren werden können. Das Verfahren in einem Folgebetrieb erfolgt dabei insbesondere derart, dass mehrere Fahrkörbe gemeinsam in wenigstens einem Schacht des Schachtsystems nach oben verfahren werden, von diesem Schacht in wenigstens einen weiteren Schacht verfahren werden und in diesem wenigstens einen weiteren Schacht gemeinsam nach unten verfahren werden. Bei einer solchen Aufzuganlage ist dabei insbesondere vorgesehen, dass zu einem Zeitpunkt in jedem der Schächte des Schachtsystems der Aufzuganlage üblicherweise mehrere Fahrkörbe verfahren werden. Eine solche Aufzuganlage ist im Stand der Technik beispielsweise aus der Druckschrift EP 0 769 469 B1 bekannt.Furthermore, an elevator system mentioned at the outset is, in particular, an elevator system with a shaft system comprising a plurality of shafts, wherein the elevators can be operated as a subsequent operation, in particular in a circulating mode. The method in a subsequent operation is carried out in such a way that several cars are moved upwards together in at least one shaft of the shaft system, are moved from this shaft into at least one further shaft and are moved downwards together in this at least one further shaft. In the case of such an elevator installation, it is provided in particular that several cars are usually moved at a time in each of the shafts of the shaft system of the elevator installation. Such an elevator system is in the prior art, for example, from the publication EP 0 769 469 B1 known.

Der Folgebetrieb der Fahrkörbe solcher Aufzuganlagen bedingt dabei eine besondere Auslegung des Sicherheitssystems der Aufzuganlage, da eine Kollision zwischen Fahrkörben unbedingt verhindert werden muss. Um eine Kollision zwischen Fahrkörben zu verhindern, ist es beispielsweise aus der Druckschrift WO 2004/043842 A1 bekannt, die absoluten Abstände zwischen den unmittelbar benachbarten Fahrkörben zu überwachen. Unterschreitet der Abstand einen für einen kritischen Abstand zwischen zwei Fahrkörben vordefinierten Wert, wird eine Maßnahme eingeleitet, die eine Kollision der Fahrkörbe vermeidet. Eine solche Maßnahme kann dabei beispielsweise das Auslösen einer Sicherheitseinrichtung des Fahrkorbs sein, insbesondere das Auslösen einer Fangvorrichtung des Fahrkorbs.The subsequent operation of the cars of such elevator systems requires a special design of the safety system of the elevator system, since a collision between the cars must be prevented. To prevent a collision between cars, it is from the publication, for example WO 2004/043842 A1 known to monitor the absolute distances between the immediately adjacent cars. If the distance falls below a value predefined for a critical distance between two cars, a measure is initiated which prevents the cars from colliding. Such a measure can be, for example, the triggering of a safety device in the car, in particular the triggering of a safety gear in the car.

Die US 2013/0299282 A1 offenbart eine Aufzuganlage mit zwei Fahrkörben, die in einem gemeinsamen Schacht verfahren werden. Um eine Kollision zwischen den beiden Fahrkörben zu verhindern wird für jeden Fahrkorb eine Stopposition zwischen den beiden Fahrkörben ermittelt. Eine Stopposition repräsentiert diejenige Position im Schacht, an der Fahrkorb zum Stehen kommen, falls eine Bremsung eingeleitet wird. Bewegen sich die beiden Fahrkörbe aufeinander zu, so müssen die jeweils nächstliegenden Stoppositionen der Fahrkörbe stets einen positiven Abstand zueinander aufweisen.The US 2013/0299282 A1 discloses an elevator system with two cars, which are moved in a common shaft. To prevent a collision between the two cars, a stop position between the two cars is determined for each car. A stop position represents the position in the shaft at which the car comes to a stop if braking is initiated. If the two cars move towards each other, the closest stop positions of the cars must always be at a positive distance from each other.

Gemäß der Druckschrift EP 0 769 469 B1 lassen sich Kollisionen zwischen Fahrkörben alleine durch einen großen Abstand nicht verhindern. In der Druckschrift EP 0769 469 B1 wird daher vorgeschlagen, dass jeder Fahrkorb neben einem eigenen Antrieb zudem ein eigenes Sicherheitsmodul aufweist. Dieses Sicherheitsmodul kann dabei sowohl bei dem entsprechend zugehörigen Fahrkorb als auch bei benachbarten Fahrkörben Bremsvorgänge auslösen. Das Sicherheitsmodul berechnet dabei aus den aktuellen Fahrdaten sämtlicher Fahrkörbe der Aufzuganlage das notwendige Bremsverhalten der Fahrkörbe.According to the document EP 0 769 469 B1 collisions between cars cannot be prevented by a large distance alone. In the publication EP 0769 469 B1 It is therefore proposed that each car also have its own safety module in addition to its own drive. This safety module can trigger braking processes both in the corresponding associated car and in adjacent cars. The safety module calculates the necessary braking behavior of the cars from the current driving data of all the cars in the elevator system.

Ein aus der EP 0 769 469 B1 bekanntes Problem hierbei ist, dass die zu dieser Berechnung unter Berücksichtigung der aktuellen Fahrdaten erforderliche Datenmenge derart groß ist, dass eine laufende Übertragung und Verarbeitung dieser Daten zumindest mit vertretbarem technischen Aufwand nicht möglich ist, weshalb die EP 0 769 469 B1 vorschlägt, mit einem dynamischen Aufzugmodell zu arbeiten.One out of the EP 0 769 469 B1 Known problem here is that the amount of data required for this calculation, taking into account the current driving data, is so large that ongoing transmission and processing of this data is not possible, at least with reasonable technical effort, which is why EP 0 769 469 B1 proposes to work with a dynamic elevator model.

Das heißt, dass für ein dezentrales Sicherheitssystem, bei dem die Abstandsüberwachungen der Fahrkörbe lokal bei den Fahrkörben stattfinden, der oben beschriebene Ansatz entweder mit einer nicht händelbaren Kommunikationslast zwischen den Sicherheitsmodulen der Fahrkörbe einer Aufzuganlage einhergeht. Der technische Aufwand zur Bewältigung einer solchen hohen Kommunikationslast ist dabei höchstens mit sehr hohem technischem Aufwand realisierbar. Alternativ müssten Aufzugmodelle, die den tatsächlichen Aufzugbetrieb möglichst gut approximieren, entwickelt und den Berechnungen der Bremsvorgänge zugrunde gelegt werden, was mit hohem Aufwand verbunden ist. Zudem ist jeweils eine Anpassung des Modells an die tatsächlichen Gegebenheiten, beispielsweise die jeweilige Anzahl von Fahrkörben, erforderlich.This means that for a decentralized safety system in which the distance monitoring of the cars takes place locally at the cars, the approach described above is either accompanied by a non-tradable communication load between the safety modules of the cars of an elevator system. The technical effort to cope with such a high communication load can be realized with a very high technical effort. Alternatively, elevator models that approximate the actual elevator operation as well as possible would have to be developed and used as a basis for the calculations of the braking processes, which is associated with great effort. In addition, an adaptation of the model to the actual circumstances, for example the respective number of cars, is required in each case.

Vor diesem Hintergrund ist es eine Aufgabe der vorliegenden Erfindung, ein Verfahren zum Betreiben einer ein Schachtsystem und wenigstens drei Fahrkörbe umfassenden Aufzuganlage zu verbessern, insbesondere dahingehend, dass mögliche Kollisionen von Fahrkörben frühzeitig erkannt werden können, wobei die Erkennung vorteilhafterweise mittels eines dezentral ausgestalteten Sicherheitssystems realisierbar sein soll. Vorzugsweise soll hierbei das zu übertragene Datenvolumen möglichst gering sein. Ferner soll vorzugsweise eine einfache Übertragbarkeit des Verfahrens auf unterschiedlich ausgebildete Aufzuganlagen möglich sein. Zur Lösung der Aufgabe wird ein Verfahren zum Betreiben einer ein Schachtsystem und wenigstens drei Fahrkörbe umfassenden Aufzuganlage vorgeschlagen, welche zum separaten Verfahren der Fahrkörbe zumindest in eine erste Fahrtrichtung und in eine zweite Fahrtrichtung ausgebildet ist, wobei die wenigstens drei Fahrkörbe in einem Folgebetrieb jeweils separat verfahren werden und für jeden Fahrkorb wenigstens für eine Fahrtrichtung laufend ein Stoppunkt, an dem der Fahrkorb bei Bedarf stoppen kann, prädiziert wird. Der Abstand der prädizierten Stoppunkte benachbarter Fahrkörbe zueinander wird dabei laufend ermittelt, wobei bei Ermittlung eines negativen Abstands der Stoppunkte die Aufzuganlage in einen Sicherheitsmodus überführt wird.Against this background, it is an object of the present invention to improve a method for operating an elevator system comprising a shaft system and at least three cars, in particular to the extent that possible collisions of cars can be detected at an early stage, the detection advantageously being able to be implemented by means of a decentrally designed safety system should be. In this case, the data volume to be transmitted should preferably be as small as possible. Furthermore, it should preferably be possible for the method to be easily transferable to elevator systems of different designs. To achieve the object, a method for operating an elevator system comprising a shaft system and at least three cars is proposed, which is designed for separate movement of the cars at least in a first direction of travel and in a second direction of travel, the at least three cars in each case moving separately in a subsequent operation and a stop point at which the car can stop if necessary is continuously predicted for each car, at least for one direction of travel. The distance between the predicted stop points of adjacent cars to one another is determined continuously, the elevator system being switched to a safety mode when a negative distance between the stop points is determined.

Insbesondere ist vorgesehen, dass die Aufzuganlage als Antriebssystem wenigstens einen Linearmotor umfasst, welcher ein separates Verfahren der Fahrkörbe ermöglicht. Das heißt, die Fahrkörbe können in dem Schachtsystem jeweils unter Berücksichtigung der weiteren Fahrkörbe weitgehend unabhängig voneinander verfahren werden. Insbesondere ist vorgesehen, dass die Fahrkörbe jeweils nach oben und nach unten verfahren werden können und somit zum Verfahren in zumindest eine erste Fahrtrichtung und in eine zweite Fahrtrichtung ausgebildet sind. Insbesondere wenn das Schachtsystem der Aufzuganlage mehrere Schächte umfasst, wobei die Fahrkörbe über Verbindungsschächte zwischen den Schächten verfahren werden können, sind als weitere Fahrtrichtungen insbesondere seitliche Fahrtrichtungen vorgesehen.In particular, it is provided that the elevator system comprises at least one linear motor as the drive system, which enables the cars to be moved separately. This means that the cars can be moved largely independently of one another in the shaft system, taking into account the other cars. In particular, it is provided that the cars can be moved up and down and are thus designed to move in at least a first direction of travel and in a second direction of travel. In particular if the hoistway system of the elevator installation comprises a plurality of manholes, the cars being able to be moved between the manholes via connecting manholes, lateral directions of travel in particular are provided as further directions of travel.

Das Verfahren weist dabei insbesondere den Vorteil auf, dass jeweils für jeden Fahrkorb für die wenigstens eine Fahrtrichtung laufend, das heißt im Wesentlichen kontinuierlich, der Stoppunkt berechnet wird. Dieser Stoppunkt gibt insbesondere Auskunft darüber, wo dieser Fahrkorb bei einem Abbremsen, insbesondere einer Notbremsung, zum Stoppen beziehungsweise zum Halten käme. Betriebsparameter der andern Fahrkörbe, insbesondere Fahrparameter der anderen Fahrkörbe brauchen bei dieser Bestimmung der Stoppunkte vorteilhafterweise nicht berücksichtigt zu werden. Durch den Abgleich eines Stoppunktes eines Fahrkorbs für eine Fahrtrichtung mit dem Stoppunkt eines benachbarten Fahrkorbs lässt sich dabei vorteilhafterweise eine Kollisionsgefahr zuverlässig erkennen. Bei diesem Verfahren werden somit vorteilhafterweise lediglich Stoppunkte übertragen und insbesondere keine weiteren Fahrkorb bezogenen Betriebsparameter, sodass die zu übertragende Datenmenge vorteilhafterweise gering ist. Da insbesondere vorgesehen ist, dass lediglich die Stoppunkte benachbarter Fahrkörbe miteinander abgeglichen werden, ist vorteilhafterweise die zu übertragende Datenmenge weiter reduziert.The method has the particular advantage that the stop point is calculated continuously, that is essentially continuously, for each car for the at least one direction of travel. This stopping point provides information, in particular, about where this car would come to a stop or stop when braking, in particular emergency braking. Operating parameters of the other cars, in particular driving parameters of the other cars, advantageously need not be taken into account when determining the stop points. By comparing a stop point of a car for one direction of travel with the stop point of an adjacent car, a risk of collision can advantageously be reliably identified. In this method, therefore, advantageously only stop points are transmitted and in particular no further car-related operating parameters, so that the amount of data to be transmitted is advantageously small. Since it is provided in particular that only the stop points of adjacent cars are compared with one another, the amount of data to be transmitted is advantageously further reduced.

Ein aktueller Stoppunkt für eine Fahrtrichtung eines Fahrkorbs ist dabei ausgehend von der aktuellen Position des Fahrkorbs insbesondere die Distanz, die der Fahrkorb in diese Fahrtrichtung zum Stoppen benötigt, also insbesondere der prädizierte Bremsweg. Vorzugsweise wird die Distanz dabei um einen Sicherheitsabstand, vorzugsweise einen fixen Sicherheitsabstand, beaufschlagt, sodass der Stoppunkt entsprechend weiter von dem Fahrkorb entfernt liegt. In Abhängigkeit von den aktuellen Betriebsparametern eines Fahrkorbs der Aufzuganlage ändert sich somit auch jeweils für jede Fahrtrichtung die Distanz zwischen dem Fahrkorb und dem Stoppunkt. Insbesondere vergrößert sich mit der Geschwindigkeit, mit der ein Fahrkorb verfahren wird, auch die Distanz des entsprechenden Stoppunktes zu dem Fahrkorb.Based on the current position of the car, a current stop point for a direction of travel of a car is, in particular, the distance that the car needs to stop in this direction of travel, in particular the predicted braking distance. The distance is preferably a safety distance, preferably a fixed one Safety distance, so that the stopping point is further away from the car. Depending on the current operating parameters of a car in the elevator system, the distance between the car and the stop point also changes for each direction of travel. In particular, the speed at which a car is moved also increases the distance from the corresponding stop point to the car.

Der minimale Abstand, den zwei benachbarte Fahrkörbe zueinander einnehmen können, ist dabei abhängig von mehreren Betriebsparametern, insbesondere der aktuellen Position der Fahrkörbe im Schachtsystem, der Geschwindigkeiten der Fahrkörbe, der Beschleunigungen der Fahrkörbe, der Zuladungen der Fahrkörbe und/oder der Zustände der Bremsen der Fahrkörbe. Bei dem erfindungsgemäßen Verfahren werden diese Betriebsparameter dabei vorteilhafterweise jeweils nur für jeden Fahrkorb einzeln erfasst, um aus diesen Betriebsparametern für jeden Fahrkorb für die wenigstens eine Fahrtrichtung den jeweiligen Stoppunkt zu ermitteln. Durch den Abgleich der Stoppunkte benachbarter Fahrkörbe wird dabei vorteilhafterweise überprüft, dass ein minimaler Abstand zwischen den Fahrkörben eingehalten wird, wobei dieser minimale Abstand vorteilhafterweise durch die laufenden Ermittlungen der Stoppunkte und deren Abgleich dynamisch angepasst wird.The minimum distance between two adjacent cars can depend on several operating parameters, in particular the current position of the cars in the shaft system, the speeds of the cars, the accelerations of the cars, the payloads of the cars and / or the states of the brakes cars. In the method according to the invention, these operating parameters are advantageously only recorded individually for each car, in order to determine the respective stop point for each car for the at least one direction of travel from these operating parameters. By comparing the stop points of adjacent cars, it is advantageously checked that a minimum distance between the cars is maintained, this minimum distance advantageously being dynamically adjusted by the ongoing determinations of the stop points and their comparison.

Wird beim Ermitteln der Abstände der prädizierten Stoppunkte benachbarter Fahrkörbe ein negativer Abstand ermittelt, das heißt, ist der Stoppunkt eines Fahrkorbes weiter von diesem Fahrkorb entfernt als der Stoppunkt eines benachbarten Fahrkorbes, so wird die Aufzuganlage vorteilhafterweise in einen Sicherheitsmodus überführt, insbesondere in dem die entsprechenden benachbarten Fahrkörbe, deren Stoppunkte einen negativen Abstand aufweisen, abgebremst und somit zum Stoppen gebracht werden, insbesondere durch ein Auslösen von Sicherheitseinrichtungen dieser Fahrkörbe. Es wird darauf hingewiesen, dass die Bezeichnung "negativer Abstand" den Fall bezeichnet, dass der Stoppunkt eines betrachteten Fahrkorbes weiter von diesem betrachteten Fahrkorb entfernt ist als der Stoppunkt eines benachbarten Fahrkorbes, insbesondere eines vorausfahrenden oder nachfolgenden Fahrkorbs. Ob der Abstand dabei tatsächlich negativ im Sinne einer negativen Zahl ist, hängt dabei von dem verwendeten Bezugssystem ab. So kann ein "negativer Abstand" bei einem entsprechenden Bezugssystem insbesondere auch durch eine positive Zahl ausgedrückt werden.If a negative distance is determined when determining the distances between the predicted stop points of adjacent cars, i.e. if the stop point of one car is further away from this car than the stop point of an adjacent car, the elevator system is advantageously switched to a safety mode, in particular in the corresponding one neighboring cars, the stopping points of which are at a negative distance, are braked and thus brought to a stop, in particular by triggering safety devices in these cars. It is pointed out that the term “negative distance” denotes the case that the stopping point of a car in question is further away from the car in question than the stopping point of an adjacent car, in particular a preceding or following car. Whether the distance is actually negative in the sense of a negative number depends on the reference system used. For example, a "negative distance" in a corresponding reference system can also be expressed by a positive number.

Vorteilhafterweise ist das Verfahren insbesondere sowohl für horizontale als auch für vertikale Bewegungen der Fahrkörbe anwendbar. Vorteilhafterweise ist zudem durch das vorgeschlagene Verfahren eine schnelle Erkennung möglicher Kollisionen zwischen benachbarten Fahrkörben bereitgestellt.The method can advantageously be used in particular for both horizontal and vertical movements of the cars. Advantageously, the proposed method also provides for rapid detection of possible collisions between adjacent cars.

Gemäß einer besonders vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass der Stoppunkt von jedem Fahrkorb jeweils unter Annahme des bei einem Eingreifen wenigstens einer Sicherheitseinrichtung der Aufzuganlage spätestens erfolgenden Stopps des jeweiligen Fahrkorbs prädiziert wird. Das Verfahren ist hierbei somit vorteilhafterweise konservativ ausgebildet. Der Abstand zwischen benachbarten Fahrkörben ist hierdurch zwar mitunter größer als unbedingt notwendig, dafür wird zuverlässig eine Kollision benachbarter Fahrkörbe verhindert. Sicherheitseinrichtungen der Aufzuganlage sind dabei insbesondere Bremsvorrichtungen, wie beispielsweise Fangvorrichtungen der Fahrkörbe und/oder seitens des Antriebssystems bereitgestellte Bremsvorrichtungen. Umfasst das Antriebssystem der Aufzuganlage wenigstens einen Linearantrieb, ist insbesondere auch das abschnittsweise Abschalten eines Stranges des Linearantriebs als Eingreifen wenigstens einer Sicherheitseinrichtung vorgesehen.According to a particularly advantageous embodiment of the method according to the invention, it is provided that the stopping point of each car is predicted, assuming that at least one safety device of the elevator installation intervenes at the latest. The method is thus advantageously designed to be conservative. As a result, the distance between adjacent cars is sometimes greater than is absolutely necessary, but a collision between adjacent cars is reliably prevented. Safety devices of the elevator system are, in particular, braking devices, such as safety devices for the cars and / or braking devices provided by the drive system. If the drive system of the elevator installation comprises at least one linear drive, the section-by-section shutdown of a line of the linear drive is also provided as intervention by at least one safety device.

Eine weitere vorteilhafte Ausgestaltung des erfindungsgemäßen Verfahrens sieht vor, dass die Stoppunkte jeweils unter der Annahme eines Worst-Case-Szenarios prädiziert werden, um eine Kollision benachbarter Fahrkörbe in jedem Fall zuverlässig zu verhindern. Insbesondere ist vorgesehen, dass der Stoppunkt von jedem Fahrkorb unter der zusätzlichen Annahme prädiziert wird, dass der jeweilige Fahrkorb vor dem Eingreifen der wenigstens einen Sicherheitseinrichtung der Aufzuganlage mit der seitens der Aufzuganlage maximal möglichen Beschleunigung beschleunigt wird. Für einen haltenden Fahrkorb, der in einem Schacht nach oben und nach unten verfahren werden kann, wird somit vorteilhafter der Stoppunkt in die Fahrtrichtung "oben" unter der Annahme prädiziert, dass der Fahrkorb zunächst maximal in Fahrtrichtung "oben" beschleunigt wird und dann durch ein Eingreifen wenigstens einer Sicherheitseinrichtung zum Stoppen gebracht wird. In die Fahrtrichtung "unten" wird vorteilhafterweise der Stoppunkt in die Fahrtrichtung "unten" unter der Annahme prädiziert, dass der Fahrkorb zunächst maximal in Fahrtrichtung "unten" beschleunigt wird und dann durch ein Eingreifen wenigstens einer Sicherheitseinrichtung zum Stoppen gebracht wird. Aufgrund der auf den Fahrkorb einwirkenden Schwerkraft, welcher vorteilhafterweise bei der Prädiktion der Stoppunkte berücksichtigt wird, ist die Distanz des Stoppunktes in Fahrtrichtung "oben" zu dem oberen Fahrkorbende dabei geringer als die Distanz des Stoppunktes in Fahrtrichtung "unten" zu dem unteren Fahrkorbende.A further advantageous embodiment of the method according to the invention provides that the stop points are each predicted on the assumption of a worst-case scenario in order to reliably prevent a collision between adjacent cars in any case. In particular, it is provided that the stopping point is predicted by each car on the additional assumption that the respective car is accelerated with the maximum possible acceleration on the part of the elevator system before the at least one safety device of the elevator system intervenes. For a stopping car, which can be moved up and down in a shaft, the stopping point in the direction of travel "up" is thus more advantageously predicted on the assumption that the car is first accelerated in the direction of travel "up" and then by a Intervention of at least one safety device is brought to a stop. In the direction of travel "below" the stop point in the direction of travel "below" is advantageously predicted on the assumption that the car is first accelerated to a maximum in the direction of travel "below" and is then brought to a stop by intervention of at least one safety device. Due to the gravity acting on the car, which is advantageously taken into account in the prediction of the stop points, the distance of the stop point in the direction of travel "up" to the upper end of the car is less than the distance of the stop point in the direction of travel "down" to the lower end of the car.

Dabei ist es vorgesehen, dass für jeden Fahrkorb für die erste Fahrtrichtung ein erster Stoppunkt prädiziert und für jeden Fahrkorb für die zweite Fahrtrichtung ein zweiter Stoppunkt prädiziert, sodass für jeden Fahrkorb laufend zwei Stoppunkte prädiziert werden. Vorteilhafterweise werden für jeden Fahrkorb zumindest ein oberer Stoppunkt für die Fahrtrichtung "aufwärts" und ein unterer Stoppunkt für die Fahrtrichtung "abwärts" prädiziert.It is provided that a first stop point is predicted for each car for the first direction of travel and a second stop point is predicted for each car for the second direction of travel, so that two stop points are continuously predicted for each car. Advantageously, at least one upper stop point for the “upward” direction of travel and one lower stop point for the “downward” direction of travel are predicted for each car.

Für jeden Fahrkorb, welcher in der ersten Fahrtrichtung einen benachbarten ersten Fahrkorb aufweist, wird vorteilhafterweise der Abstand von dem erstem Stoppunkt dieses Fahrkorbs zu dem zweiten Stoppunkt des ersten Fahrkorbs ermittelt, insbesondere um eine Kollisionsgefahr dieses Fahrkorbs mit dem ersten Fahrkorb ermitteln zu können.For each car which has an adjacent first car in the first direction of travel, the distance from the first stop point of this car is advantageously increased determined the second stop point of the first car, in particular in order to be able to determine a risk of collision of this car with the first car.

Für jeden Fahrkorb, welcher in der zweiten Fahrtrichtung einen benachbarten zweiten Fahrkorb aufweist, wird vorteilhafterweise der Abstand von dem zweiten Stoppunkt dieses Fahrkorbs zu dem ersten Stoppunkt des zweiten Fahrkorbs ermittelt, insbesondere um eine Kollisionsgefahr dieses Fahrkorbs mit dem zweiten Fahrkorb ermitteln zu können.For each car which has an adjacent second car in the second direction of travel, the distance from the second stop point of this car to the first stop point of the second car is advantageously determined, in particular in order to be able to determine a risk of collision of this car with the second car.

Insbesondere ist somit vorgesehen, dass in einem senkrecht verlaufenden Schacht des Schachtsystems der Aufzuganlage, in dem wenigstens drei Fahrkörbe verfahren werden, für jeden Fahrkorb laufend ein oberer Stoppunkt und ein unterer Stoppunkt prädiziert werden. Außer dem in dem Schacht am weitesten oben befindlichen Fahrkorb und dem in dem Schacht am weitesten unten befindlichen Fahrkorb weisen somit sämtliche Fahrkörbe einen oberen benachbarten Fahrkorb und einen untern benachbarten Fahrkorb auf. Hierbei ist vorteilhafterweise vorgesehen, dass jeweils der Abstand des oberen Stoppunktes eines Fahrkorbs zu dem unteren Stoppunkt des oberen benachbarten Fahrkorbs ermittelt wird. Vorteilhafterweise wird ferner der Abstand des unteren Stoppunktes eines Fahrkorbs zu dem oberen Stoppunkt des unteren benachbarten Fahrkorbs ermittelt.
Die Stoppunkte werden vorteilhafterweise über ein dem Schachtsystem fest zugewiesenes Raster definiert. Ein grundsätzlich hierfür geeignetes Raster ist beispielsweise aus der Druckschrift EP 1 719 727 B1 bekannt.In particular, it is thus provided that an upper stop point and a lower stop point are continuously predicted for each car in a vertical shaft of the shaft system of the elevator system, in which at least three cars are moved. In addition to the car located at the top in the shaft and the car located at the bottom in the shaft, all of the cars thus have an upper adjacent car and a lower adjacent car. It is advantageously provided that the distance between the upper stop point of one car and the lower stop point of the upper adjacent car is determined. The distance between the lower stop point of a car and the upper stop point of the lower adjacent car is also advantageously determined.
The stop points are advantageously defined using a grid that is permanently assigned to the shaft system. A grid which is fundamentally suitable for this is, for example, from the publication EP 1 719 727 B1 known.

Bei einem solchen fixen Raster wird dem niedrigsten Punkt, den ein Fahrkorb über das Schachtsystem anfahren kann, vorzugsweise der Wert 0 zugeordnet. Dem höchsten Punkt, den ein Fahrkorb über das Schachtsystem anfahren kann, wird vorzugsweise ein entsprechender Höchstwert zugeordnet. Sind die Fahrkörbe auch seitlich verfahrbar, können die Stoppunkte insbesondere als Koordinaten (x, y) bzw. (x, y, z) repräsentiert werden. Dabei wird vorzugsweise für eine aktuelle Fahrtrichtung nur die entsprechende Koordinate berücksichtigt, beispielsweise für Fahrtrichtung x nur die Koordinate x. Insbesondere in den Bereichen, in denen die Fahrtrichtung wechselt, beispielsweise von Fahrtrichtung x in Fahrtrichtung y, ist vorteilhafterweise vorgesehen, dass hier jeweils für einen entsprechenden, den Übergangsbereich umfassenden Abschnitt mehr als eine Koordinate berücksichtigt wird, also in Bezug auf das zuvor angeführte Beispiel die Koordinaten (x, y).With such a fixed grid, the lowest point that a car can travel to via the shaft system is preferably assigned the value 0. A corresponding maximum value is preferably assigned to the highest point that a car can travel to via the shaft system. If the cars can also be moved laterally, the stop points can be represented in particular as coordinates (x, y) or (x, y, z). Only the corresponding coordinate is preferably taken into account for a current direction of travel, for example only the coordinate x for direction of travel x. Particularly in the areas in which the direction of travel changes, for example from the direction of travel x to the direction of travel y, provision is advantageously made for more than one coordinate to be taken into account here for a corresponding section comprising the transition area, i.e. in relation to the example given above Coordinates (x, y).

Bei einer solchen Festlegung eines fixen Rasters besteht Kollisionsgefahr, wenn der obere Stoppunkt eines Fahrkorbs größer ist als der untere Stoppunkt des oberhalb dieses Fahrkorbs fahrenden Fahrkorbs. Die Aufzuganlage wird in diesem Fall in einen Sicherheitsmodus überführt, insbesondere indem zumindest einer der beiden Fahrkörbe zum Stoppen gebracht wird. Gleiches gilt entsprechend, wenn der untere Stoppunkt eines Fahrkorbs kleiner ist, als der obere Stoppunkt des unterhalb dieses Fahrkorbs fahrenden Fahrkorbs.With such a fixed grid, there is a risk of collision if the upper stop point of a car is greater than the lower stop point of the car traveling above this car. In this case, the elevator system is switched to a safety mode, in particular by stopping at least one of the two cars. The same applies accordingly if the lower stop point of a car is smaller than the upper stop point of the car traveling below this car.

Mögliche Kollisionsgefahren eines Fahrkorbs mit einem oberen benachbarten Fahrkorb und/oder einem unteren benachbarten Fahrkorb werden somit zuverlässig erkannt, nämlich indem überprüft wird, ob ein ermittelter Abstand negativ ist, also die miteinander verglichenen Stoppunkte einen Überschneidungsbereich aufweisen. Wenn ein negativer Abstand ermittelt wird, wird vorteilhafterweise die Aufzuganlage von dem Normalbetrieb in einen Sicherheitsmodus überführt, insbesondere indem die betroffenen Fahrkörbe gestoppt werden. Die anderen Fahrkörbe werden vorteilhafterweise in eingeschränktem Betrieb weiter verfahren, wobei die gestoppten Fahrkörbe einen Sperrbereich definieren, dem sich die weiter betriebenen Fahrkörbe nur bis zu einem vordefinierten Abstand annähern dürfen. Vorzugsweise erhalten die im Rahmen der Überführung der Aufzuganlage in einen Sicherheitsmodus gestoppten Fahrkörbe fix zugewiesene Stoppunkte, sodass insbesondere eine Kollision von Fahrkörben mit den gestoppten Fahrkörben mit der Anwendung des gleichen Verfahrens weiterhin verhindert wird.Possible collision risks of a car with an upper adjacent car and / or a lower adjacent car are thus reliably identified, namely by checking whether a determined distance is negative, that is to say the stop points compared with one another have an overlap area. If a negative distance is determined, the elevator system is advantageously switched from normal operation to a safety mode, in particular by stopping the cars concerned. The other cars are advantageously moved further in restricted operation, the stopped cars defining a restricted area to which the cars still operating may only approach up to a predefined distance. The cars stopped during the transfer of the elevator system to a safety mode are preferably assigned fixed stop points, so that in particular a collision of cars with the stopped cars is further prevented using the same method.

Gemäß einer weiteren besonders bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass die Fahrkörbe jeweils eine eigene Steuereinheit aufweisen, die Steuereinheit eines Fahrkorbs der Aufzuganlage jeweils den Stoppunkt für die wenigstens eine Fahrtrichtung prädiziert und jeweils die für einen Fahrkorb prädizierten Stoppunkte an die Steuereinheiten der zu diesem Fahrkorb benachbarten Fahrkörbe übertragen werden, wobei die Steuereinheit eines Fahrkorbs jeweils den Abstand der für diesen Fahrkorb prädizierten Stoppunkte zu den an diese Steuereinheit übertragenen Stoppunkte ermittelt.According to a further particularly preferred embodiment of the method according to the invention, it is provided that the cars each have their own control unit, the control unit of a car of the elevator system predicts the stop point for the at least one direction of travel and the stop points predicted for a car to the control units of the latter Car adjacent car are transmitted, the control unit of a car determines the distance between the stop points predicted for this car to the stop points transmitted to this control unit.

Die erforderliche Menge der zu übermittelnden Echtzeitdaten ist dabei vorteilhafterweise gering. Vorteilhafterweise können die Stoppunkte gleichzeitig von mehreren Steuereinheiten, die vorteilhafterweise jeweils an den Fahrkörben angeordnet sind, berechnet werden. Hierdurch sinken vorteilhafterweise die technischen Anforderungen an die Rechenkapazitäten des Sicherheitssystems der Aufzuganlage.The required amount of real-time data to be transmitted is advantageously small. Advantageously, the stop points can be calculated simultaneously by a plurality of control units, which are advantageously arranged on the cars. This advantageously reduces the technical requirements for the computing capacities of the safety system of the elevator system.

Die Steuereinheiten, die jeweils einem Fahrkorb zugewiesen und vorzugsweise an diesem angeordnet sind, erfassen vorteilhafterweise mittels entsprechender an dem Fahrkorb angeordneter Sensoren alle zur Prädiktion der Stoppunkte erforderlichen Betriebsparameter. Hierzu zählen insbesondere die aktuelle Position des Fahrkorbs, die Geschwindigkeit des Fahrkorbs, die Beschleunigung des Fahrkorbs, die Zuladung des Fahrkorbs und/oder der Zustand der Bremse des Fahrkorbs. Vorzugsweise werden diese Betriebsparameter sowie die daraus prädizierten Stoppunkte in vordefinierten diskreten Zeitintervallen von beispielsweise 5 ms bis 50 ms (ms: Millisekunden) ermittelt. Hierdurch ist quasi eine laufende Prädiktion der Stoppunkte ermöglicht.The control units, each assigned to a car and preferably arranged on the car, advantageously detect all the operating parameters required for predicting the stopping points by means of corresponding sensors arranged on the car. These include in particular the current position of the car, the speed of the car, the acceleration of the car, the load of the car and / or the state of the brake in the car. These operating parameters and the stop points predicted from them are preferably determined in predefined discrete time intervals of, for example, 5 ms to 50 ms (ms: milliseconds). In this way, a continuous prediction of the stop points is made possible.

Jede einem Fahrkorb zugeordnete Steuereinheit berechnet vorteilhafterweise die Stoppunkte für die wenigstens eine Fahrtrichtung dieses Fahrkorbs, insbesondere einen oberen und einen unteren Stoppunkt, und tauscht diese mit den von den Steuereinheiten der benachbarten Fahrkörbe aus. Anstatt die Abstände zwischen benachbarten Fahrkörben zu berechnen, werden vorteilhafterweise die Stoppunkte miteinander verglichen, wie bereits oben stehend erläutert. Solange die Stoppunkte sich nicht überlappen, das heißt kein negativer Abstand ermittelt wird, besteht keine Kollisionsgefahr.Each control unit assigned to a car advantageously calculates the stop points for the at least one direction of travel of this car, in particular an upper and a lower stop point, and exchanges them with those of the control units of the adjacent cars. Instead of calculating the distances between adjacent cars, the stop points are advantageously compared with one another, as already explained above. As long as the stop points do not overlap, i.e. no negative distance is determined, there is no risk of collision.

Vorzugsweise löst die Steuereinheit eines Fahrkorbs bei Ermittlung eines negativen Abstands der Stoppunkte eine Sicherungseinrichtung dieses Fahrkorbs aus, wobei insbesondere vorgesehen ist, dass ein Auslösen der Sicherungseinrichtung den Fahrkorb zum Stoppen bringt. Insbesondere ist das Betätigen einer Bremse des Fahrkorbs als Auslösen einer Sicherungseinrichtung des Fahrkorbs vorgesehen. Vorteilhafterweise ist die einem Fahrkorb zugeordnete Steuereinrichtung dabei hinsichtlich des Auslösens von Sicherungseinrichtungen nur für die Sicherungseinrichtung dieses Fahrkorbs zuständig und muss vorteilhafterweise nicht auch noch andere Fahrkörbe abbremsen. Hierdurch ist die zu übertragende Datenmenge vorteilhafterweise weiter reduziert.The control unit of a car preferably triggers a securing device for this car when a negative distance between the stopping points is determined, it being provided in particular that triggering the securing device causes the car to stop. In particular, the actuation of a brake of the car is provided as the triggering of a safety device of the car. Advantageously, the control device assigned to one car is only responsible for the safety device of this car with regard to the triggering of safety devices and advantageously does not also have to brake other cars. As a result, the amount of data to be transmitted is advantageously further reduced.

Insbesondere ist vorgesehen, dass die Stoppunkte jeweils aus aktuellen Betriebsparametern des jeweiligen Fahrkorbs prädiziert werden. Gemäß einer vorteilhaften Ausgestaltungsvariante ist vorgesehen, dass zu sämtlichen gequantelten Kombinationen von Betriebsparametern jeweils Stoppunkte vordefiniert sind. Eine Zuordnung der Stoppunkte zu einer solchen Kombination von Betriebsparametern erfolgt dabei gemäß einer vorteilhaften Ausgestaltung über Lookup-Table. Insbesondere ist gemäß einer weiteren vorteilhaften Ausgestaltungsvariante eine solche Zuordnung als Plausibilisierung von durch Echtzeitberechnungen prädizierten Stoppunkten vorgesehen. Vorteilhafterweise wird die Aufzuganlage bei Feststellung einer vordefinierten Abweichung von zugeordneten Stoppunkten und prädizierten Stoppunkten ebenfalls in einen Sicherheitsmodus überführt.In particular, it is provided that the stop points are predicted from current operating parameters of the respective car. According to an advantageous embodiment variant, it is provided that stop points are predefined for all quantized combinations of operating parameters. According to an advantageous embodiment, the stop points are assigned to such a combination of operating parameters via a lookup table. In particular, according to a further advantageous embodiment variant, such an assignment is provided as a plausibility check of stop points predicted by real-time calculations. When a predefined deviation from assigned stop points and predicted stop points is ascertained, the elevator system is also advantageously switched to a safety mode.

Gemäß einem weiteren vorteilhaften Aspekt der Erfindung ist vorgesehen, dass die Aufzuganlage ein dezentrales Sicherheitssystem mit einer Mehrzahl von Steuereinheiten umfasst, wobei die Mehrzahl von Steuereinheiten die Steuereinheiten der Fahrkörbe umfassen, und die Steuereinheiten jeweils zur Feststellung eines von dem Normalbetrieb der Aufzuganlage abweichenden Betriebsmodus Daten austauschen.According to a further advantageous aspect of the invention, it is provided that the elevator installation comprises a decentralized safety system with a plurality of control units, the plurality of control units comprising the control units of the elevator cars, and the control units each exchanging data to determine an operating mode that differs from the normal operation of the elevator installation ,

Zur Lösung der eingangs genannten Aufgabe wird des Weiteren eine zur Ausführung eines erfindungsgemäßen Verfahrens ausgebildete Aufzuganlage vorgeschlagen. Insbesondere wird eine Aufzuganlage mit einem wenigstens einen Schacht umfassenden Schachtsystem und wenigstens drei Fahrkörben, welche gemeinsam in dem wenigstens einen Schacht des Schachtsystems separat verfahren werden können, vorgeschlagen, wobei die Fahrkörbe vorteilhafterweise jeweils eine eigene Steuereinheit aufweisen, und wobei die Aufzuganlage zur Ausführung eines erfindungsgemäßen Verfahrens ausgebildet ist.To solve the problem mentioned at the outset, an elevator system designed to carry out a method according to the invention is also proposed. In particular, an elevator system with a shaft system comprising at least one shaft and at least three elevator cars, which can be moved together in the at least one shaft of the shaft system, is proposed, the elevator cars each advantageously have its own control unit, and the elevator installation is designed to carry out a method according to the invention.

Insbesondere ist dabei vorgesehen, dass die Steuereinheiten der Fahrkörbe über eine Schnittstelle zum Übertragen von Daten miteinander verbunden sind. Als Schnittstelle ist dabei insbesondere ein Kommunikationsbus vorgesehen. Gemäß einer weiteren vorteilhaften Ausgestaltung erfolgt die Übertragung der Daten drahtlos, insbesondere über eine Luftschnittstelle, beispielsweise mittels WLAN (WLAN: Wireless Local Area Network). Jede Steuereinheit eines Fahrkorbs ist dabei vorteilhafterweise ausgebildet, die Stoppunkte für diesen Fahrkorb zu ermitteln und diese mit den übertragenen Stoppunkten benachbarter Fahrkörbe abzugleichen. Zur Ermittlung der Stoppunkte weist jeder Fahrkorb vorteilhafterweise Sensoren zur Erfassung von Betriebsparametern, wie insbesondere Geschwindigkeit, Beschleunigung, Zuladung, Zustand der Sicherheitseinrichtungen des Fahrkorbs, insbesondere Zustand der Bremsen als Sicherheitseinrichtung des Fahrkorbs, und Position des Fahrkorbs, auf. Die erfassten Betriebsparameter werden dabei an die Steuereinheit übertragen und von dieser zur Prädiktion der Stoppunkte ausgewertet.In particular, it is provided that the control units of the cars are connected to one another via an interface for transmitting data. In particular, a communication bus is provided as the interface. According to a further advantageous embodiment, the data is transmitted wirelessly, in particular via an air interface, for example by means of WLAN (WLAN: Wireless Local Area Network). Each control unit of a car is advantageously designed to determine the stop points for this car and to compare them with the transmitted stop points of adjacent cars. To determine the stopping points, each car advantageously has sensors for recording operating parameters, such as, in particular, speed, acceleration, payload, state of the safety devices of the car, in particular state of the brakes as safety device of the car, and position of the car. The recorded operating parameters are transmitted to the control unit and evaluated by the control unit to predict the stop points.

Weitere Vorteile, Merkmale und Ausgestaltungsdetails der Erfindung werden im Zusammenhang mit den in den Figuren dargestellten Ausführungsbeispielen näher erläutert. Dabei zeigt:

Fig. 1
in einer vereinfachten schematischen Darstellung ein Ausführungsbeispiel für eine Aufzuganlage, welche gemäß einer Ausgestaltungsvariante eines erfindungsgemäßen Verfahrens betrieben wird; und
Fig. 2
in einer vereinfachten schematischen Darstellung ein Ausführungsbeispiel für einen Fahrkorb zur Verwendung in einer in Fig. 1 dargestellten Aufzuganlage, mit beispielhaft dargestellten Stoppunkten.
Further advantages, features and design details of the invention are explained in more detail in connection with the exemplary embodiments shown in the figures. It shows:
Fig. 1
in a simplified schematic representation, an embodiment for an elevator system, which is operated according to an embodiment variant of a method according to the invention; and
Fig. 2
In a simplified schematic representation, an embodiment for a car for use in a Fig. 1 elevator system shown, with stop points shown as examples.

Die in Fig. 1 dargestellte Aufzuganlage 1, welche aus Gründen der besseren Übersicht nicht maßstabsgerecht dargestellt ist, umfasst ein Schachtsystem 2 mit zwei senkrechten Schächten 12 und zwei Verbindungsschächten 13. Des Weiteren umfasst die Aufzuganlage 1 eine Mehrzahl von Fahrkörben 3 (in Fig. 1 beispielhaft acht Fahrkörbe), welche in dem Schachtsystem 2 in einem Folgebetrieb separat verfahren werden können, das heißt, dass mehrere Fahrkörbe 3 in einem Schacht 12 oder einem Schacht 13 verfahren werden können.In the Fig. 1 The elevator system 1 shown, which is not shown to scale for reasons of a better overview, comprises a shaft system 2 with two vertical shafts 12 and two connecting shafts 13. Furthermore, the elevator system 1 comprises a plurality of elevator cars 3 (in Fig. 1 Eight cars, for example), which can be moved separately in the shaft system 2 in a subsequent operation, that is to say that several cars 3 can be moved in a shaft 12 or a shaft 13.

Die Fahrkörbe 3 können dabei in den Schächten 12 in eine erste Fahrtrichtung 4 nach oben verfahren werden (in Fig. 1 durch den Pfeil 4 symbolisch dargestellt) und in eine zweite Fahrtrichtung 5 nach unten verfahren werden (in Fig. 1 durch den Pfeil 5 symbolisch dargestellt). In den Verbindungsschächten 13, über welche die Fahrkörbe 3 zwischen den Schächten 12 wechseln können, sind die Fahrkörbe zudem seitlich in eine dritte Fahrtrichtung 10 (in Fig. 1 durch den Pfeil 10 symbolisch dargestellt) und in eine vierte Fahrtrichtung 11 (in Fig. 1 durch den Pfeil 11 symbolisch dargestellt) verfahrbar.The cars 3 can be moved upwards in the shafts 12 in a first direction of travel 4 (in Fig. 1 symbolically represented by arrow 4) and moved downwards in a second direction of travel 5 (in Fig. 1 symbolically by arrow 5 ) Shown. In the connecting shafts 13, via which the cars 3 can switch between the shafts 12, the cars are also laterally in a third direction of travel 10 (in Fig. 1 symbolically represented by arrow 10) and in a fourth direction of travel 11 (in Fig. 1 symbolically represented by arrow 11).

Insbesondere ist vorgesehen, dass die Aufzuganlage als Antriebssystem wenigstens einen Linearmotor umfasst (in Fig. 1 nicht explizit dargestellt), mittels dem die Fahrkörbe 3 innerhalb des Schachtsystems 2 verfahren werden.In particular, it is provided that the elevator installation comprises at least one linear motor as the drive system (in Fig. 1 not explicitly shown), by means of which the cars 3 are moved within the shaft system 2.

Die in Fig. 1 dargestellte Aufzuganlage 1 wird dabei derart betrieben, dass für jeden Fahrkorb 3 laufend für die erste mögliche Fahrtrichtung ein erster Stoppunkt 6 und für die zweite mögliche Fahrtrichtung ein zweiter Stoppunkt 7 prädiziert wird. Somit wird für jeden Fahrkorb 3 wenigstens für eine Fahrtrichtung laufend ein Stoppunkt prädiziert. So wird für in den senkrechten Schächten 12 befindliche Fahrkörbe 3 als erster Stoppunkt 6 ein oberer Stoppunkt prädiziert und als zweiter Stoppunkt 7 ein unterer Stoppunkt prädiziert. In den Verbindungsschächten 13 wird als Stoppunkt 6' ein in Fahrtrichtung des jeweiligen Fahrkorbs 3 befindlicher Stoppunkt und als Stoppunkt 7' ein zweiter gegen Fahrtrichtung des jeweiligen Fahrkorbs 3 befindlicher Stoppunkt prädiziert.In the Fig. 1 The elevator system 1 shown is operated in such a way that a first stop point 6 is continuously predicted for each car 3 for the first possible direction of travel and a second stop point 7 for the second possible direction of travel. A stop point is thus continuously predicted for each car 3, at least for one direction of travel. For cars 3 located in the vertical shafts 12, an upper stop point is predicted as the first stop point 6 and a lower stop point is predicted as the second stop point 7. In the connecting shafts 13, a stop point located in the direction of travel of the respective car 3 is predicted as the stop point 6 ′ and a second stop point located opposite the direction of travel of the respective car 3 is predicted as the stop point 7 ′.

Die Stoppunkte können insbesondere über Koordinaten (x, y) definiert werden, wobei über die x-Koordinaten seitliche Stoppunkte und über die y-Koordinaten senkrecht liegende Stoppunkte definiert werden. Dem Punkt A in Fig. 1 kann dabei beispielhaft die Koordinate (0, 0) zugewiesen sein.The stop points can in particular be defined via coordinates (x, y), lateral stop points being defined via the x coordinates and stop points lying vertically via the y coordinates. The point A in Fig. 1 For example, the coordinate (0, 0) can be assigned.

Die beiden Stoppunkte 6, 7 beziehungsweise 6', 7' geben dabei ausgehend von der aktuellen Position des jeweiligen Fahrkorbs 3 für jede der möglichen Fahrtrichtungen 4, 5 beziehungsweise 10, 11 jeweils den Punkt an, an dem der Fahrkorb 3 unter Annahme eines Worst-Case-Szenarios spätestens stoppen kann. Insbesondere wird für einen aufwärtsfahrenden Fahrkorb 3' unter Berücksichtigung aktueller Betriebsparameter, wie beispielsweise Fahrtrichtung, Geschwindigkeit und Zuladung des Fahrkorbs 3', ein oberer Stoppunkt 6 prädiziert, also vorherbestimmt, wo der Fahrkorb 3' stoppen würde, wenn der Fahrkorb 3' in Fahrtrichtung maximal beschleunigen würde und dann abgebremst würde. Als unterer Stoppunkt 7 des Fahrkorbs 3' wird unter der Worst-Case-Annahme prädiziert, dass der Antrieb ausfällt, der Fahrkorb 3' aufgrund dessen absackt und der Fahrkorb 3' erst dann abgebremst würde.Starting from the current position of the respective car 3, the two stop points 6, 7 and 6 ', 7' respectively indicate the point at which the car 3 assumes a worst-case scenario for each of the possible directions of travel 4, 5 or 10, 11. Case scenarios can stop at the latest. In particular, for an upward-moving car 3 ', taking into account current operating parameters, such as the direction of travel, speed and payload of the car 3', an upper stop point 6 is predicted, that is to say it is predetermined where the car 3 'would stop if the car 3' maximally in the direction of travel would accelerate and then slow down. The worst-case assumption predicts that the lower stop point 7 of the car 3 'is that the drive fails, the car 3' sags as a result, and the car 3 'would then only be braked.

Entsprechende Prädiktionen werden für die weiteren Fahrkörbe 3 der Aufzuganlage laufend durchgeführt. Vorteilhafterweise weisen die Fahrkörbe 3 hierzu jeweils einer Steuereinheit, beispielsweise eine als Steuereinheit ausgebildete Mikrocontrollerschaltung, auf (in Fig. 1 nicht explizit dargestellt).Corresponding predictions are carried out continuously for the other cars 3 of the elevator system. For this purpose, the cages 3 advantageously have a control unit, for example a microcontroller circuit designed as a control unit (in Fig. 1 not explicitly shown).

Für jeden Fahrkorb 3, welcher in einer ersten Fahrtrichtung einen benachbarten ersten Fahrkorb aufweist, wird der Abstand von dem ersten Stoppunkt 6 dieses Fahrkorbs zu dem zweiten Stoppunkt 7 des zweiten Fahrkorbs ermittelt. Zudem wird für jeden Fahrkorb 3, welche in der zweiten Fahrtrichtung einen benachbarten zweiten Fahrkorb aufweist, der Abstand von dem zweiten Stoppunkt 7 dieses Fahrkorbs zu dem ersten Stoppunkt 6 des zweiten Fahrkorbs ermittelt.For each car 3 which has an adjacent first car in a first direction of travel, the distance from the first stop point 6 of this car to the second stop point 7 of the second car is determined. In addition, for each car 3 which has an adjacent second car in the second direction of travel, the distance from the second stop point 7 of this car to the first stop point 6 of the second car is determined.

Beispielsweise wird also für den Fahrkorb 3', welcher in Fahrtrichtung 4 einen benachbarten Fahrkorb 3" aufweist, der Abstand 8 von dem oberen Stoppunkt 6 des Fahrkorbs 3' zu dem unteren Stoppunkt 7 des Fahrkorbs 3" ermittelt. Dazu wird vorteilhafterweise der untere Stoppunkt 7 des Fahrkorbs 3" an eine Steuereinheit (in Fig. 1 nicht explizit dargestellt) des Fahrkorbs 3' übertragen. Der ermittelte Abstand 8 ist in diesem Beispiel positiv. Bezüglich der Fahrkörbe 3' und 3" besteht somit keine Kollisionsgefahr.For example, for the car 3 ', which has an adjacent car 3''in the direction of travel 4, the distance 8 from the upper stop point 6 of the car 3' to the lower stop point 7 of the car 3 '' is determined. For this purpose, the lower stop point 7 of the car 3 "is advantageously sent to a control unit (in Fig. 1 not explicitly shown) of the car 3 '. The determined distance 8 is positive in this example. There is therefore no risk of collision with respect to the cars 3 'and 3 ".

Der Fahrkorb 3' weist zudem in der weiteren Fahrtrichtung 5 einen benachbarten Fahrkorb 3"' auf. Daher wird für den Fahrkorb 3' zudem der Abstand 9 von dem unteren Stoppunkt 7 des Fahrkorbs 3' zu dem oberen Stoppunkt 6 des Fahrkorbs 3"' ermittelt. Dazu wird vorteilhafterweise der obere Stoppunkt 6 des Fahrkorbs 3"' an eine Steuereinheit (in Fig. 1 nicht explizit dargestellt) des Fahrkorbs 3' übertragen. Der ermittelte Abstand 9 ist in diesem Beispiel negativ, das heißt der obere Stoppunkt 6 des Fahrkorbs 3"' liegt über dem unteren Stoppunkt 7 des Fahrkorbs 3'. Bezüglich der Fahrkörbe 3' und 3"' besteht somit eine Kollisionsgefahr. Aufgrund des negativen Abstands 9 des unteren Stoppunktes 6 des Fahrkorbs 3' und des oberen Stoppunktes 7 des Fahrkorbs 3"' wird die Aufzuganlage in einen Sicherheitsmodus überführt, insbesondere indem fahrkorbseitige Bremsen dieser Fahrkörbe aktiviert werden, vorzugsweise ausgelöst von den jeweiligen Fahrkörbe 3' und 3"' zugeordneten Steuereinheiten.The car 3 'also has an adjacent car 3''in the further direction of travel 5. Therefore, the distance 9 from the lower stop point 7 of the car 3' to the upper stop point 6 of the car 3 '' is also determined for the car 3 ' , For this purpose, the upper stop point 6 of the car 3 "'is advantageously sent to a control unit (in Fig. 1 not explicitly shown) of the car 3 '. The determined distance 9 is negative in this example, that is to say the upper stop point 6 of the car 3 "'lies above the lower stop point 7 of the car 3'. There is therefore a risk of collision with respect to the cars 3 'and 3"'. Due to the negative distance 9 between the lower stop point 6 of the car 3 'and the upper stop point 7 of the car 3 "', the elevator system is switched to a safety mode, in particular by activating brakes on these cars on the car side, preferably triggered by the respective cars 3 'and 3 "'assigned control units.

Da an einen Fahrkorb 3 von den beiden benachbarten Fahrkörben jeweils nur ein Stoppunkt übertragen wird, ist die Kommunikationslast bei dem angewandten Verfahren vorteilhafterweise gering.Since only one stop point is transmitted to a car 3 from each of the two adjacent cars, the communication load in the method used is advantageously low.

Zur weiteren Erläuterung der Stoppunkte, die für einen Fahrkorb 3 gemäß einem erfindungsgemäßen Verfahren prädiziert werden, wird auf Fig. 2 Bezug genommen. In Fig. 2 ist dabei ein Fahrkorb 3 mit einer Fahrkorbgesamthöhe 17 und einer Eintrittsschwelle 20 dargestellt.To further explain the stop points that are predicted for a car 3 according to a method according to the invention, is on Fig. 2 Referred. In Fig. 2 A car 3 with a total car height 17 and an entry threshold 20 is shown.

Für den in Fahrtrichtung 4 und in Fahrtrichtung 5 (in Fig. 2 ist die Fahrtrichtung jeweils durch Pfeile 4, 5 symbolisch dargestellt) verfahrbaren Fahrkorb 3 ist für jede Fahrtrichtung 4, 5 jeweils beispielhaft ein prädizierter Stoppunkt 6, 7 dargestellt. Für die Fahrtrichtung 4 ist dabei der obere Stoppunkt 6 dargestellt und für die Fahrtrichtung 5 der untere Stoppunkt 7.For the direction of travel 4 and the direction of travel 5 (in Fig. 2 the direction of travel is symbolically represented by arrows 4, 5). Movable car 3 shows a predicted stop point 6, 7 for each direction of travel 4, 5. The upper stop point 6 is shown for the direction of travel 4 and the lower stop point 7 for the direction of travel 5.

Der obere Stoppunkt 6 gibt dabei den Punkt an, wo der Fahrkorb 3 mit dem oberen Fahrkorbende 21 ausgehend von aktuellen Betriebsparametern und unter Annahme eines Worst-Case-Szenarios spätestens in Fahrtrichtung 4 stoppen kann. Der Abstand zwischen dem Stoppunkt 6 und dem oberen Fahrkorbende 21 ergibt sich dabei in dem dargestellten Ausführungsbeispiel aus der Summe von einem optional festlegbaren Mindestabstand 15 zum Fahrkorb 3, der nicht unterschritten werden darf, und einem aus den aktuellen Fahrparametern unter Annahme eines Worst-Case-Szenarios berechneten Bremswegs 18. Die Berechnung der Stoppunkte erfolgt beispielsweise mittels eines entsprechend konfigurierten Prädiktormodells.The upper stop point 6 indicates the point where the car 3 with the upper car end 21 can stop at the latest in the direction of travel 4 based on current operating parameters and assuming a worst-case scenario. The distance between the stop point 6 and the upper end 21 of the car results in the exemplary embodiment shown from the sum of an optionally definable minimum distance 15 from the car 3, which must not be undercut, and one from the current driving parameters assuming a worst-case scenario. Scenarios calculated braking distance 18. The stopping points are calculated, for example, using an appropriately configured predictor model.

Der untere Stoppunkt 7 gibt dagegen den Punkt an, wo der Fahrkorb 3 mit dem unteren Fahrkorbende 22 ausgehend von aktuellen Betriebsparametern und unter Annahme eines Worst-Case-Szenarios spätestens in Fahrtrichtung 5 stoppen kann. Der Abstand zwischen dem Stoppunkt 7 und dem unteren Fahrkorbende 22 ergibt sich dabei in dem dargestellten Ausführungsbeispiel aus der Summe von einem optional vorgebbaren Mindestabstand 16 zum unteren Fahrkorbende 22, der nicht unterschritten werden darf, und einem aus den aktuellen Fahrparametern unter Annahme eines Worst-Case-Szenarios prädizierten Bremswegs 19.The lower stop point 7, on the other hand, indicates the point where the car 3 with the lower car end 22 can stop at the latest in the direction of travel 5 based on current operating parameters and assuming a worst-case scenario. The distance between the stop point 7 and the lower car end 22 results in the illustrated embodiment from the sum of an optionally predeterminable minimum distance 16 from the lower car end 22, which must not be undercut, and one from the current driving parameters assuming a worst case -Scenarios predicted braking distance 19.

Die Positionen der Stoppunkte variieren dabei in Abhängigkeit von den jeweils aktuellen Fahrparametern. Steht der Fahrkorb, werden die Stoppunkte näher an den Fahrkorb rücken. Fährt der Fahrkorb mit hoher Geschwindigkeit aufwärts, also in Fahrtrichtung 4, wird der obere Stopppunkt weiter oben liegen. Dabei kann insbesondere auch bei sehr hoher Geschwindigkeit der Fall auftreten, dass der untere Stoppunkt 7 an der Position 14 liegend bestimmt wird, da hierbei eine Bewegung in Fahrrichtung 5 selbst im Worst Case-Szenario ausgeschlossen sein kann.The positions of the stop points vary depending on the current driving parameters. If the car is stationary, the stop points will move closer to the car. If the car travels upwards at high speed, i.e. in direction of travel 4, the upper stop point will be further up. In this case, in particular, even at very high speeds, the lower stop point 7 may be determined lying at position 14, since a movement in the direction of travel 5 can be ruled out even in the worst case scenario.

Für jeden solchen in Fig. 2 dargestellten Fahrkorb 3 wird jeweils ein solcher oberer Stoppunkt und ein unterer Stoppunkt prädiziert. Dabei wird jeweils der Abstand zwischen dem oberen Stoppunkt 6 eines Fahrkorbs und dem unteren Stoppunkt 7' beziehungsweise 7" eines oberhalb dieses Fahrkorbs benachbarten Fahrkorbs und der Abstand zwischen dem unteren Stoppunkt 7 dieses Fahrkorbs und dem oberen Stoppunkt 6' beziehungswiese 6" eines unterhalb dieses Fahrkorbs benachbarten Fahrkorbs ermittelt. Bei einem unkritischen Betrieb sind die Abstände 8 positiv, da 7" größer 6 beziehungsweise 7 größer 6". Bei einem negativen Abstand besteht dagegen ein Kollisionsrisiko. Ein solcher negativer Abstand ergibt sich, wenn 6 größer 7' beziehungsweise 6' größer 7. Wird ein solcher negativer Abstand ermittelt, wird die Aufzuganlage in eine sicheren Betriebszustand überführt, insbesondere in einen Sicherheitsmodus.For every such in Fig. 2 Such car 3 is predicted such an upper stop point and a lower stop point. The distance between the upper stop point 6 of a car and the lower stop point 7 'or 7 "of a car adjacent above this car and the distance between the lower stop point 7 of this car and the upper stop point 6' respectively 6" one below this car adjacent car determined. In uncritical operation, the distances 8 are positive, since 7 "greater than 6 or 7 greater than 6". If the distance is negative, there is a risk of collision. Such a negative distance is obtained if 6 is greater than 7 'or 6' is greater than 7. If such a negative distance is determined, the elevator system is brought into a safe operating state, in particular into a safety mode.

Die in den Figuren dargestellten und im Zusammenhang mit diesen erläuterten Ausführungsbeispiele dienen der Erläuterung der Erfindung und sind für diese nicht beschränkend.The exemplary embodiments shown in the figures and explained in connection with these serve to explain the invention and are not restrictive thereof.

Bezugszeichen:Reference numerals:

11
Aufzuganlageelevator system
22
Schachtsystemshaft system
33
Fahrkorbcar
3'3 '
Fahrkorbcar
3"3 '
Fahrkorbcar
3'''3 '' '
Fahrkorbcar
44
erste Fahrtrichtungfirst direction of travel
55
zweite Fahrtrichtungsecond direction of travel
66
erster Stoppunktfirst stop point
6'6 '
erster Stoppunktfirst stop point
6"6 "
erster Stoppunktfirst stop point
77
zweiter Stoppunktsecond stop point
7'7 '
erster Stoppunktfirst stop point
7"7 "
erster Stoppunktfirst stop point
88th
positiver Abstand prädizierter Stoppunktepositive distance of predicted stop points
99
negativer Abstand prädizierter Stoppunktenegative distance of predicted stop points
1010
dritte Fahrtrichtungthird direction of travel
1111
vierte Fahrtrichtungfourth driving direction
1212
senkrechter Schachtvertical shaft
1313
Verbindungsschachtconnecting shaft
1414
Extremposition für einen möglichen StoppunktExtreme position for a possible stop point
1515
von der Kabine aus einzuhaltender MindestabstandMinimum distance to be observed from the cabin
1616
von der Kabine aus einzuhaltender MindestabstandMinimum distance to be observed from the cabin
1717
FahrkorbhöheCabin height
1818
prädizierter Bremswegpredicted braking distance
1919
prädizierter Bremswegpredicted braking distance
2020
Eintrittsschwelleentry threshold
2121
oberes Ende des Fahrkorbsupper end of the car
2222
unteres Ende des Fahrkorbslower end of the car

Claims (10)

  1. Method for operating an elevator system (1) wherein the elevator system (1) comprises a shaft system (2) and at least three cars (3),
    wherein the elevator system is designed for separately moving the cars (3) in at least a first direction of travel (4) and in a second direction of travel (5),
    wherein the at least three cars (3) are moved separately in sequential operation each time and for each car (3) a stop point (6, 7) at which the car (3) can stop if necessary is continuously predicted at least for one direction of travel, wherein the distance (8, 9) of the predicted stop points (6, 7) of neighboring cars (3) from each other is continuously determined,
    wherein the elevator system (1) is transferred to a safety mode if a negative distance (9) of the stop points (6, 7) is determined,
    wherein a negative distance is present if the stop point of one car is further away from this car than the stop point of a neighboring car,
    characterized in that
    a first stop point (6) is predicted for each car (3) for the first direction of travel (4) and a second stop point (7) is predicted for each car (3) for the second direction of travel (5), so that two stop points (6, 7) are predicted continuously for each car (3) .
  2. Method according to Claim 1, characterized in that the stop point (6, 7) of each car (3) is predicted each time under the assumption of the stopping of the respective car (3) at latest upon engagement of at least one safety mechanism of the elevator system (1) .
  3. Method according to Claim 2, characterized in that the stop point (6, 7) of each car (3) is predicted under the additional assumption that the respective car (3) is accelerated with the maximum possible acceleration on the part of the elevator system (1) before the engaging of the at least one safety mechanism of the elevator system (1).
  4. Method according to one of the preceding claims, characterized in that for each car (3') having a neighboring first car (3") in the first direction of travel (4) the distance (8, 9) from the first stop point (6) of this car (3') to the second stop point (7) of the first car (3") is determined.
  5. Method according to one of the preceding claims, characterized in that for each car (3') having a neighboring second car (3"') in the second direction of travel (5) the distance (8, 9) from the second stop point (7) of this car (3') to the first stop point (6) of the second car (3"') is determined.
  6. Method according to one of the preceding claims, characterized in that the cars (3) each have their own control unit, the control unit of a car (3') of the elevator system (1) each time predicts the stop point (6, 7) for the at least one direction of travel (4, 5) and each time the stop points (6, 7) predicted for a car (3) are transmitted to the control units of the neighboring cars (3", 3'") to this car (3'), wherein the control unit of a car (3) each time ascertains the distance (8, 9) of the stop points (6, 7) predicted for this car (3) from the stop points (6, 7) transmitted to this control unit.
  7. Method according to Claim 6, characterized in that the control unit of a car (3) upon determining a negative distance (9) of the stop points (6, 7) triggers a safety mechanism of this car (3), wherein a triggering of the safety mechanism brings the car (3) to a halt.
  8. Method according to one of the preceding claims, characterized in that the stop points (6, 7) are predicted each time from current operating parameters of the respective car (3).
  9. Method according to Claim 6 or Claim 7, characterized in that the elevator system (1) comprises a decentralized safety system with a plurality of control units, wherein the plurality of control units comprise the control units of the cars (3), and the control units each time exchange data for the determination of an operating mode deviating from the normal operation of the elevator system (1).
  10. Elevator system (1) with
    a shaft system (2) comprising at least one shaft (12) and
    at least three cars (3),
    wherein the cars (3) together can move separately in the at least one shaft (12),
    wherein the cars (3) each comprise their own control unit,
    characterized in that
    the elevator system (1) is designed to implement a method according to one of Claims 1 to 9.
EP15791306.2A 2014-11-27 2015-11-10 Method for operating an elevator system and elevator system designed for performing the method Active EP3224175B1 (en)

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DE102014017487.5A DE102014017487A1 (en) 2014-11-27 2014-11-27 Method for operating an elevator installation and elevator installation designed for carrying out the method
PCT/EP2015/076141 WO2016083115A1 (en) 2014-11-27 2015-11-10 Method for operating an elevator system and elevator system designed for performing the method

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EP (1) EP3224175B1 (en)
KR (1) KR20170091097A (en)
CN (1) CN107000980B (en)
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CN107000980B (en) 2019-05-14
BR112017010927A2 (en) 2018-02-14
EP3224175A1 (en) 2017-10-04
BR112017010927B1 (en) 2022-08-02
US10710841B2 (en) 2020-07-14
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CA2967882A1 (en) 2016-06-02
US20170355553A1 (en) 2017-12-14

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