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EP3227215B1 - Procédé et système destinés à la détermination de la position d'une cabine d'ascenseur - Google Patents

Procédé et système destinés à la détermination de la position d'une cabine d'ascenseur Download PDF

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Publication number
EP3227215B1
EP3227215B1 EP15804120.2A EP15804120A EP3227215B1 EP 3227215 B1 EP3227215 B1 EP 3227215B1 EP 15804120 A EP15804120 A EP 15804120A EP 3227215 B1 EP3227215 B1 EP 3227215B1
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EP
European Patent Office
Prior art keywords
image
current position
images
elevator
computing unit
Prior art date
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EP15804120.2A
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German (de)
English (en)
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EP3227215A1 (fr
Inventor
Astrid Sonnenmoser
Christian Studer
Klaus Zahn
Johannes Gassner
André Rüegg
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Inventio AG
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Inventio AG
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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
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3492—Position or motion detectors or driving means for the detector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • 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
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
    • B66B3/02—Position or depth indicators
    • 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

Definitions

  • the invention relates to a method and a system for determining the position of an elevator car arranged in a lift cage arranged elevator car of an elevator system according to the preamble of the independent claims.
  • JP 2009 220 904 discloses an elevator installation according to the preamble of claim 8. It is therefore an object of the invention to provide a method and a system of the type mentioned, which avoid the disadvantages of the known and in particular allow a reliable determination of the position of the elevator car. In addition, the inventive system should be inexpensive to produce and operable.
  • the method according to the invention for determining the position of an elevator car of an elevator system which can be moved in an elevator shaft, wherein the elevator car is equipped with an acceleration sensor comprises the following steps.
  • the acceleration data from the acceleration sensor are detected by a computing unit. This is followed by a calculation by the arithmetic unit of the current position and / or speed of the elevator car starting from an initial position and the acquired acceleration data.
  • the position or speed of the elevator car is thus determined in accordance with an inertial navigation system.
  • inertial navigation system it will be appreciated that, due to the characteristics of such a system, delays and errors may occur which affect the reliability of position determination.
  • vibrations of the elevator car from the acceleration sensor can not be clearly assigned to a movement or a fault, so that in the end result the calculated position will deviate from the actual position. This is referred to as a "drifting" of the calculated position data with respect to the real position of the elevator car.
  • the acceleration sensor is preferably designed as a 3-axis sensor. Other sensor configurations are conceivable. However, it is important that the accelerations occurring in the direction of travel of the elevator car can be detected.
  • the elevator system is equipped with an image acquisition unit.
  • the image acquisition unit is attached to the elevator car and arranged to be movable together with the elevator car.
  • the arithmetic unit compares the recorded images with mapping images of the elevator shaft in order to determine an image-based current position. Further, the arithmetic unit recalibrates the current position using the image-based current position. In this case, a second possibility of position determination and thus redundancy of the method according to the invention is created by comparing the recorded images with the mapping images.
  • Mapping images are images that, in their entirety, represent an image of the elevator shaft.
  • the mapping images are preferably taken during a learning drive during the commissioning of the elevator and clearly assigned to a position of the elevator car in the elevator shaft, so that the subsequent determination of the image-based position is possible.
  • the mapping images stored with the assigned position values in a database.
  • the determination of the current position thus takes place initially by means of the calculated current position by the acceleration data obtained by the acceleration sensor until an image-based current position is again determined and the current position is recalibrated.
  • a so-called “drift" of the calculated current position is counteracted by the image-based current position. It is advantageous in such an embodiment that for recalibration does not need to be approached as in the processes and systems of the prior art, a top and / or bottom floor but the calibration over the entire hoistway at any time, for example during a journey, can take place.
  • image recordings of the elevator shaft are taken by the image acquisition unit.
  • Two successively recorded images are compared by the arithmetic unit to determine a spatial displacement of both images, wherein the acceleration data are used to determine the position and / or speed of the elevator car only when a spatial displacement of the arithmetic unit based on the recorded images determined has been.
  • the images compared by the arithmetic unit need not necessarily be recorded immediately one after the other.
  • the images are preferably recorded only when the acceleration sensor measures acceleration data of the elevator cars. This ensures that the arithmetic unit does not constantly have to compare images from the image acquisition unit but a comparison only in case of detection of acceleration (and therefore possible movement) by the acceleration sensor.
  • Acceleration data with a frequency of 100 Hz are preferably recorded.
  • Images are preferably recorded at a frequency of 60 Hz.
  • the image recordings are preferably recorded only if the acceleration data lie above a predefined or predefinable threshold value.
  • accelerations generated by the acceleration sensor e.g. during the loading and unloading of the elevator car, do not trigger the image acquisition unit. It is thus possible to use a relatively inexpensive and simple arithmetic unit, as they do not process continuously image recordings and may need to save.
  • Acceleration data which are above a predefined or predefinable second threshold value are preferably rejected by the arithmetic unit.
  • This preferred embodiment is also based on the idea of limiting the computing capacity of the arithmetic unit to a minimum.
  • acceleration data which are above the second threshold, and which experience has caused by disturbances are not taken into account. For example, accelerations greater than 1 g, which occur during emergency braking of the elevator car, can be excluded, since in this case it is ensured by an emergency brake arrangement that the elevator car comes to a standstill.
  • the current position is recalibrated if a deviation between the image-based current position and the calculated current position is above a predefined or predefinable threshold value.
  • the image-based current position which has been directly and uniquely determined, is set instead of the calculated current position (which has been determined indirectly via the acceleration data).
  • the recalibration of the current position with the image-based current position may occur at a second interval.
  • the image-based current position is therefore preferably determined with images recorded in a predefined or predefinable second time interval, the second time interval being greater than or equal to the first time interval. Also in this case, a relief of the arithmetic unit is achieved. Not all images taken by the image acquisition unit are used for the determination of the image-based current position, and thus the computational complexity of the arithmetic unit is reduced.
  • the second time interval is particularly preferably in the range between 500 and 100 ms, which corresponds to a frequency of 2 to 10 Hz.
  • mapping images are preferably stored in a database during the learning run of the elevator car.
  • This database is connected to the arithmetic unit.
  • a memory address of a mapping image in the database is defined as a function of the position along the hoistway.
  • the arithmetic unit uses the calculated current position to narrow a search of a mapping image in the database.
  • mapping image associated with the captured image can be found more quickly in the database.
  • the advantage of this is even twofold, because a mapping image can not only be found faster, but the computing capacity of the arithmetic unit can also be further reduced.
  • the invention furthermore relates to a system for determining the position of an elevator car of an elevator system which can be moved in an elevator shaft.
  • a system may preferably be operated by a method mentioned above. It can therefore be seen that the advantages mentioned above with regard to the method according to the invention also apply correspondingly to the system according to the invention.
  • the elevator car is equipped with an acceleration sensor.
  • the system further comprises a computing unit, which is designed to detect acceleration data from the acceleration sensor and to calculate a current position and / or speed of the elevator car based on an initial position and the acquired acceleration data.
  • the system further comprises an image acquisition unit, which is designed to record image recordings of the elevator shaft and to transmit them to the arithmetic unit.
  • the arithmetic unit is configured to compare captured images with mapping images of the elevator shaft to determine an image-based current position and to recalibrate the current position using the image-based current position.
  • the image acquisition unit is further configured to record image recordings of the elevator shaft at a predefined or predefinable first time interval and to transmit them to the arithmetic unit.
  • the arithmetic unit is designed to compare two consecutively recorded images with one another in order to determine a spatial displacement of both images and to use the acceleration data for determining the position and the speed of the elevator car only if a spatial displacement is determined by the arithmetic unit becomes.
  • the arithmetic unit is designed to control and / or regulate the image acquisition unit for image acquisition when acceleration data of the elevator car are detected.
  • the arithmetic unit is designed to detect acceleration data only if they are above a predetermined or specifiable threshold value. More preferably, the arithmetic unit is designed to discard acceleration data which are above a predetermined or predefinable second threshold value.
  • the arithmetic unit is designed to, if a deviation between the current image-based position and the current position is above a predetermined or predeterminable threshold, the current calculated position with to recalibrate the current image-based position.
  • the arithmetic unit is adapted to recalibrate the current position at a second time interval with the image-based current position.
  • the arithmetic unit is configured to determine the image-based current position with images recorded in a predefined or predefinable second time interval, wherein the second time interval is greater than or equal to the first time interval.
  • a database which is designed to store mapping images that were generated during a learning trip of the elevator car.
  • a memory address of a mapping image in the database is defined as a function of the position along the elevator shaft.
  • the arithmetic unit is designed to limit a search of a mapping image in the database using the calculated current position.
  • the invention further relates to an elevator installation which is equipped with an abovementioned system for determining the position of the elevator car.
  • an elevator system 3 is shown, which is equipped with a system 7 according to the invention for determining the position.
  • the elevator system 3 comprises an elevator car 2, which is arranged to be movable in an elevator shaft 1 along an axis z.
  • any carrying and traction means are used for carrying and moving the elevator car 2 application.
  • the elevator car 2 is further provided with an acceleration sensor 4, which is connected to a computing unit 5.
  • the connection between the acceleration sensor 4 and the arithmetic unit 5 is shown schematically with a dashed line. This can be a direct connection via cable, for example with a bus system, or even a wireless connection.
  • the computing unit 5 is arranged on the elevator car 2. However, the arithmetic unit 5 does not necessarily have to be arranged in the elevator shaft 1.
  • the acceleration sensor 4 measures the accelerations Dg occurring in the elevator car 2 and transmits them to the arithmetic unit 5. Particularly important are the accelerations occurring in the Z direction, which can represent a movement of the elevator car 2 and consequently must be detected reliably.
  • the elevator car is further equipped with a camera 6, here by way of example a CCD camera, which is attached to the elevator car 2 by means of a boom 9.
  • the boom 9 allows adjustment of the orientation of the camera 6 and also allows retrofitting in existing elevator systems.
  • the camera 6 is also connected to the arithmetic unit 5, as shown schematically by the dashed line.
  • a Headlight 8 for example, an LED headlight, arranged on the boom 9.
  • the camera 6 can thus record a sufficiently illuminated area of the elevator shaft 1, which improves the quality of the image recordings and consequently increases the reliability of the image comparison.
  • FIG. 2 an exemplary embodiment of the boom 9 is shown.
  • the camera 6 can be pivoted for adjustment about a pivot axis, as indicated by the double arrow 10.
  • the headlight 8 can be both pivoted about a pivot axis 11 and displaced along the boom 9, as indicated by the double arrows 11 and 12 respectively.
  • the camera 6 is operated at a recording rate of 60 Hz.
  • a shift ⁇ z of the images in the z direction has taken place.
  • FIG. 3 such a shift ⁇ z is shown between two consecutively taken pictures B1 and B2.
  • the shows FIG. 3 by way of example a displacement ⁇ z based on a fastener 19.1, 19.2.
  • the fastening element 19.1 appears in the lower area of the first image B1.
  • the fastening element 19.2 appears higher by the displacement ⁇ z.
  • the displacement ⁇ z determined in the images B1 and B2 thus corresponds to a downward travel of the elevator car 2 by ⁇ z.
  • This comparison is preferably carried out on the basis of a gray value comparison of the two images B1 and B2. It can therefore be determined whether the elevator car has been moved in the z direction.
  • These optically determined data are used to supplement the data from the acceleration sensor 4.
  • a position zt of the elevator car 2 can be derived.
  • a movement at a constant speed is not detected by the acceleration sensor 4, since in this case the measured acceleration of the elevator car is zero. Due to the optical motion detection, however, a distinction can be made between standstill and movement of the elevator car 2.
  • the (inertia-based) position determination based on the data from the acceleration sensor 4 is used only when a movement of the elevator car 2 is optically detected.
  • FIG. 4 the data acquired by the acceleration sensor 4 are shown.
  • Dg a curve of the acceleration of the elevator car 2 measured by the acceleration sensor 4 is shown.
  • the acceleration measured by the acceleration sensor 4 is 9.81 m / s 2.
  • mapping images from a database have been taken during a learning journey, for example during the startup of the elevator system 3, and clearly assigned to a position of the elevator car 2 in the elevator shaft 1. It is thus possible to determine the position eg of the elevator car 2 on the basis of a direct, image-based measurement and not as usual by means of indirect methods.
  • the arithmetic unit searches the database for a matching mapping image with the aid of a calculated current position.
  • the search on the database can be greatly restricted since the memory addresses of the mapping images are formed as a function of the position along the elevator shaft 1.
  • the accuracy of indirect methods such as, for example, an incremental disk or a magnetic tape coding decreases.
  • the system 7 is not affected by such a decrease in accuracy because the visually determined, image-based position zBt is independent of the above confounding factors.
  • the current image-based position eg, which has been optically determined as described above, is further used to correct the position zt calculated by means of acceleration data from the acceleration sensor 4.
  • the optically ascertained, image-based position is compared, for example, with the inertia-based position zt calculated from the acceleration data of the acceleration sensor 4, which is subject to "drifting". If the deviation between the optically determined, image-based position, eg, and the calculated, inertia-based position, is too great, the position is recalibrated. During recalibration, the optically determined, image-based position is set, for example, as the current position. Based on this, the acceleration data from the acceleration sensor 4 are then used as described above in order to further determine the position zt of the elevator car 2. It may thus be based on the use of other positioning systems such as e.g. an incremental disk or a magnetic coding are dispensed with. In addition, such a recalibration is possible at any time and not as usual only at the top or bottom stop of an elevator car 2.
  • the recalibration of the current position zt at intervals t2 between 100 to 200 ms at each comparison of a recorded image with mapping images, in which an image-based current position is determined can take place.
  • FIG. 5 the sequence of such a recalibration is shown, wherein the right diagram represents an enlargement of the framed area of the left diagram. It can be seen that the calculated, inertia-based position deviates zt over time from the optically determined, image-based position z. If the deviation is above a threshold value, the calculated inertia-based position zt is recalibrated zt by the optically determined, image-based position zBt is set as the current position of the inertia-based positioning system, as indicated by the arrow 14.
  • the position is then determined as described above until the deviation between the optically determined, image-based position zBt and the calculated, inertia-based position zt again reaches the threshold and a new recalibration takes place, as indicated by the arrow 14 '.
  • the FIG. 6 shows a schematic representation of a section of the elevator system 3 at a floor 17, wherein the FIG. 6 shows a situation in which an elevator car 2 in the shaft 1 in vertical travel in the direction z is about to approach the floor 17.
  • the shaft 1 is opposite the floor 17 by a shaft door 16 lockable.
  • a car door 15 is provided at the shaft door 16 side facing the elevator car 2.
  • the floor 17 is marked with a floor marking 18, here exemplarily designed as a QR code, which lies in the field of view of the camera 6 and can be detected by it.
  • the camera 6 is mounted on the boom 9, which is fastened, for example, to the cabin floor 2.1 of the elevator car 2.
  • the floor marking 18 is preferably characteristic for each floor 17, so that an automatic recognition of the floor positions of all floors 17 along the shaft 1 is possible due to the detectable by the camera 6 floor markings 18.
  • the floor markings 18 detected imagewise by the camera 6 can also be recorded in a learning run as mapping pictures KB and are stored accordingly in the database.
  • the images taken in the area of the floor markings 18 are particularly easily assignable to a mapping image KB, so that a calibration of the calculated current position zt in the area of the floor markings 18 is particularly robust.
  • the floor marking 18 can thus also serve as a catchment point or initial position z0 for the recalculation of the current position zt.
  • the QR code 18 is important for flawless detection of floor positions.
  • the QR code 18 has a dimension of at least 3cm x 3cm with an optimum range of dimension between 4cm x 4cm and 6cm x 6cm. In the case of even larger QR codes, recognition is likewise ensured, but only with a correspondingly large field of view of the camera 6.
  • Such a system 7 allows a very accurate position determination with errors less than 0.5 mm at elevator speeds up to 5 m / s.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Elevator Control (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (15)

  1. Procédé pour déterminer la position (zt) d'une cabine d'ascenseur (2) disposée de façon mobile dans un puits d'ascenseur (1) d'un système d'ascenseur (3), la cabine d'ascenseur (2) étant équipée d'un capteur d'accélération (4), comprenant les étapes suivantes :
    - enregistrement des données d'accélération (Dg) du capteur d'accélération (4) par une unité de calcul (5),
    - calcul, par l'unité de calcul (5), de la position actuelle (zt) et/ou de la vitesse (vt) de la cabine d'ascenseur (2) à partir d'une position initiale (z0) et des données d'accélération (Dg) enregistrées, caractérisé en ce que le système d'ascenseur (3) est équipé d'une unité d'enregistrement d'images (6), où
    - l'unité d'enregistrement d'images (6) prend des prises de vue (Bn) des puits d'ascenseurs (1),
    - l'unité de calcul (5) compare les images prises (Bn) avec des images cartographiques (KB) des puits d'ascenseur (1) pour déterminer une position actuelle fondée sur les images (zBt), et
    - l'unité de calcul (5) entreprend un ré-étalonnage de la position actuelle (zt) en utilisant la position actuelle fondée sur les images (zBt).
  2. Procédé selon la revendication 1, caractérisé en ce que des prises de vue (Bn) des puits d'ascenseurs (1) sont prises par l'unité d'enregistrement d'images (6) à un intervalle de temps prédéterminé ou prédéterminable (Δt1) et en ce que deux images (B1, B2) prises consécutivement par l'unité de calcul (5) sont comparées entre elles pour déterminer un décalage spatial (z) entre les deux images (B1, B2), où pour déterminer la position (zt) et/ou la vitesse (vt) de la cabine d'ascenseur (2), on n'utilise les données d'accélération (Dg) que si un décalage spatial (z) a été déterminé par l'unité de calcul (5).
  3. Procédé selon la revendication 2, caractérisé en ce que les prises de vue (B1, B2) ne sont prises que si le capteur d'accélération (4) mesure des données d'accélération (Dg) de la cabine d'ascenseur (2).
  4. Procédé selon la revendication 2, caractérisé en ce que les prises de vue (B1, B2) ne sont prises que si les données d'accélération (Dg) sont supérieures à un seuil prédéterminé ou prédéterminable (DS) et/ou si des données d'accélération (Dg) supérieures à un second seuil prédéterminé ou prédéterminable (DS2) sont rejetées par l'unité de calcul (5).
  5. Procédé selon la revendication 1, caractérisé en ce qu'un réétalonnage de la position actuelle (zt) se fait avec une position actuelle fondée sur les images (zBt) à un second intervalle de temps (Δt2) ou en ce que s'il y a un écart entre la position actuelle fondée sur les images (zBt) et la position actuelle calculée (zt) supérieur à un seuil prédéterminé ou prédéterminable (ZS), il se produit un ré-étalonnage de la position actuelle (zt) avec une position actuelle fondée sur les images (zBt).
  6. Procédé selon la revendication 1 ou 5, caractérisé en ce que la position actuelle fondée sur les images (zBt) est déterminée avec des images (Bn) prises à un second intervalle de temps prédéterminé ou prédéterminable (Δt2), le deuxième intervalle de temps étant supérieur ou égal au premier intervalle de temps (Δt2 ≥ Δt1).
  7. Procédé selon la revendication 1, caractérisé en ce que les images cartographiques (KB) dans un cursus d'apprentissage de la cabine d'ascenseur (2) sont stockées dans une base de données, où une adresse d'enregistrement d'une image cartographique (KB) est définie dans la base de données en fonction de la position (zt) le long du puits d'ascenseur (1), et en ce que la position actuelle calculée (zt) par l'unité de calcul (5) est utilisée pour circonscrire une recherche de l'image cartographique (KB) dans la base de données.
  8. Système (7) pour déterminer la position (zt) d'une cabine d'ascenseur (2) disposée de façon mobile dans un puits d'ascenseur (1) d'un système d'ascenseur (3), en particulier par un procédé selon l'une des revendications précédentes, la cabine d'ascenseur (2) étant équipée d'un capteur d'accélération (4) comprenant une unité de calcul (5) qui est conçue pour enregistrer des données d'accélération (Dg) à partir du capteur d'accélération (4) et pour calculer une position actuelle (zt) et/ou une vitesse (vt) de la cabine d'ascenseur (2) à partir d'une position initiale (z0) et des données d'accélération (Dg) enregistrées, caractérisé en ce que le système (7) comprend en outre une unité d'enregistrement d'images (6), qui est conçue pour prendre des prises de vue (Bn) des puits d'ascenseurs (1) et les transmettre à l'unité de calcul (5), et en ce que l'unité de calcul (5) est conçu, en outre, pour comparer des images prises (Bn) avec des images cartographiques (KB) des puits d'ascenseur (1) pour déterminer une position actuelle fondée sur les images (zBt) et entreprendre un ré-étalonnage de la position actuelle (zt) en utilisant la position actuelle fondée sur les images (zBt).
  9. Système (7) selon la revendication 8, caractérisé en ce que l'unité d'enregistrement d'images (6) est conçue, en outre, pour prendre des prises de vue (Bn) du puits d'ascenseur (1) à un premier intervalle de temps prédéterminé ou prédéterminable (Δt1) et en ce que l'unité de calcul (5) est conçue, en outre, pour comparer deux images (B1, B2) prises consécutivement pour déterminer un décalage spatial (z) des deux images (B1, B2) et en ce que pour déterminer la position (zt) et/ou la vitesse (vt) de la cabine d'ascenseur (2) on n'utilise les données d'accélération (Dg) que si un décalage spatial (z) a été déterminé par l'unité de calcul (5).
  10. Système (7) selon la revendication 9, caractérisé en ce que l'unité de calcul (5) est conçue de sorte que l'unité d'enregistrement d'images (6) n'enregistre et/ou ne règle une prise de vue (B1, B2) que si des données d'accélération (Dg) de la cabine d'ascenseur (2) sont enregistrées.
  11. Système (7) selon la revendication 10, caractérisé en ce que l'unité de calcul (5) est conçue de façon à ce que les données d'accélération (Dg) ne soient enregistrées que si elles sont supérieures à un seuil prédéterminé ou prédéterminable (DS) et/ou en ce que l'unité de calcul (5) est conçue de façon à rejeter les données d'accélération (Dg) supérieures à un second seuil prédéterminé ou prédéterminable (DS2).
  12. Système (7) selon la revendication 8, caractérisé en ce que l'unité de calcul (5) est conçue de façon à ré-étalonner la position actuelle (zt) dans un second intervalle de temps (Δt2) avec la position actuelle fondée sur les images (zBt) ou en ce que l'unité de calcul (5) est conçue de façon à ré-étalonner la position actuelle (zt) avec la position actuelle fondée sur les images (zBt) s'il y a un écart entre la position actuelle fondée sur les images (zBt) et la position actuelle calculée (zt) supérieur à un seuil prédéterminé ou prédéterminable (ZS).
  13. Système (7) selon la revendication 8 ou 12, caractérisé en ce que l'unité de calcul (5) est conçue de façon à déterminer la position actuelle fondée sur les images (zBt) avec des images (Bn) prises à un second intervalle de temps prédéterminé ou prédéterminable (Δt2), le deuxième intervalle de temps étant supérieur ou égal au premier intervalle de temps (Δt2 ≥ Δt1).
  14. Système (7) selon la revendication 8, caractérisé en ce qu'il est prévu une base de données qui est conçue pour enregistrer des images cartographiques (KB) qui ont été créées dans un trajet d'apprentissage de la cabine d'ascenseur (2), où une adresse d'enregistrement d'une image cartographique (KB) est définie dans la base de données en fonction de la position (zt) le long du puits d'ascenseur (1), et en ce que l'unité de calcul (5) est conçue de façon à circonscrire une recherche de l'image cartographique (KB) dans la base de données en utilisant la position actuelle calculée (zt).
  15. Installation d'ascenseur comportant un système (7) de détermination de la position de la cabine d'ascenseur (2) selon une des revendications 8 à 14.
EP15804120.2A 2014-12-02 2015-12-02 Procédé et système destinés à la détermination de la position d'une cabine d'ascenseur Active EP3227215B1 (fr)

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EP14195971 2014-12-02
PCT/EP2015/078385 WO2016087528A1 (fr) 2014-12-02 2015-12-02 Procédé et système de détermination de la position d'une cabine d'ascenseur

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BR112017010539A2 (pt) 2017-12-26
CA2968042A1 (fr) 2016-06-09
ES2721534T3 (es) 2019-08-01
KR20220154246A (ko) 2022-11-21
US20170349399A1 (en) 2017-12-07
RU2699744C2 (ru) 2019-09-09
CA2968042C (fr) 2023-05-23
CN107000964A (zh) 2017-08-01
WO2016087528A1 (fr) 2016-06-09
EP3227215A1 (fr) 2017-10-11
TR201906504T4 (tr) 2019-05-21
MY187871A (en) 2021-10-26
CN107000964B (zh) 2019-12-10
TW201632445A (zh) 2016-09-16
AU2015357119A1 (en) 2017-06-29
AU2015357119B2 (en) 2019-04-04
US10549947B2 (en) 2020-02-04
RU2017122787A3 (fr) 2019-07-17
PH12017500990A1 (en) 2017-12-18
MX371434B (es) 2020-01-30
KR102547453B1 (ko) 2023-06-23
RU2017122787A (ru) 2019-01-09
SG11201704345TA (en) 2017-06-29
TWI673229B (zh) 2019-10-01
KR20170089870A (ko) 2017-08-04
BR112017010539B1 (pt) 2022-09-13
MX2017007030A (es) 2017-09-05

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