Method for determining position of elevator car of elevator system

Abstract

A method (200, 300) of determining a position of an elevator car (3) of an elevator system (1), the elevator car (3) being movably arranged in an elevator hoistway (23) of the elevator system (1), the method (200, 300) comprising: imaging a hoistway component of the elevator system (1) using an imaging sensor (9) mounted to the elevator car (3), the imaging sensor (9) automatically adjusts a shutter value (103) of the imaging sensor (9) during imaging; moving the elevator car (3) along a travel axis (7) of the elevator car (3); detecting a first marker (41) while moving the elevator car (3), the first marker (41) being located on a hoistway component of the elevator system (1), the first marker (41) being detected based on a shutter value (103) of the imaging sensor (9); and determining a first position of the elevator car (3) on the basis of detecting the first marker (41).

Description

Technical Field

[0001] The invention relates to a method and a system for determining the position of an elevator car of an elevator system, in particular an elevator system for transporting passengers. Background Art

[0002] Conventional elevators include a system for determining the position of an elevator car of the elevator. Typically, the elevator controller requires the position of the elevator car in the direction of travel in order to be able to safely and accurately move and position the elevator car in the elevator shaft. For example, EP 3 625 160 B1 relates to relative position determination based on the acquisition of images of shaft equipment. In particular, a current image is compared with a previous image to determine the displacement of the elevator car.

[0003] However, conventional techniques for determining the position of an elevator car based on relative position determination may not be very accurate, particularly if the position is to be used for reliable or precise positioning of the elevator car. Known systems may use additional sensor systems or extensive computing resources to accurately determine the position of the elevator car. Summary of the invention

[0004] Therefore, there is a need for a method and a system for determining the position of an elevator car which is improved with respect to conventional techniques, in particular with respect to the complexity, accuracy, cost or reliability of the position determination. Such a need is met by the subject matter of the independent claims. Advantageous embodiments are defined in the dependent claims and in the following description.

[0005] In one aspect, a method for determining the position of an elevator car of an elevator system is provided. The elevator car is arranged in an elevator shaft of the elevator system in a movable manner. The method includes imaging a shaft component of the elevator system using an imaging sensor mounted to the elevator car, and the imaging sensor automatically adjusts a shutter value of the imaging sensor during imaging. The method also includes moving the elevator car along a travel axis of the elevator car. The method includes detecting a first marker while moving the elevator car, the first marker being positioned on the shaft component of the elevator system, wherein the first marker is detected based on a shutter value of the imaging sensor. The method also includes determining a first position of the elevator car based on detecting the first marker.

[0006] On the other hand, a system for determining the position of an elevator car of an elevator system is provided, the elevator car being arranged in an elevator shaft in a movable manner. The system includes an imaging sensor configured to be mounted to the elevator car, the imaging sensor being configured to automatically adjust a shutter value of the imaging sensor during imaging of a shaft component of the elevator system. The system also includes one or more first markers. The system includes a controller connected to the imaging sensor in a communicative manner, the controller being configured to detect one or more first markers on a shaft component of the elevator system based on a shutter value of the imaging sensor, and wherein the controller is further configured to determine a first position of the elevator car based on detecting a first marker in the one or more first markers.

[0007] In yet another aspect, an elevator system is provided. The elevator system includes an elevator car and a hoistway component. The elevator system also includes a system for determining a position of an elevator car of the elevator system according to embodiments described herein, wherein an imaging sensor is mounted to the elevator car, and wherein one or more first markers are positioned on the hoistway component of the elevator system.

[0008] According to an embodiment of the present disclosure, an elevator system includes an elevator car movably arranged in an elevator shaft of the elevator system. In particular, the elevator car can move along a travel axis of the elevator car. The travel axis can be a vertical axis, in particular a vertical axis oriented vertically along a gravity direction. The elevator system may include a plurality of landings at which passengers can enter or leave the elevator car. In an embodiment, each landing includes a landing door. Passengers can enter and leave the elevator car through the landing door and through a car door of the elevator car.

[0009] In an embodiment, the elevator system includes a shaft component. The shaft component may include one or more shaft walls of the elevator system and / or a shaft equipment of the elevator system. In particular, the shaft equipment may include one or more guide rails arranged in the elevator shaft, one or more landing doors, and / or one or more door frames for the landing doors. In an embodiment, the shaft component is fixed or stationary in the vertical direction.

[0010] According to some embodiments, the position of the elevator car to be determined is the position of the elevator car along the axis of travel of the elevator car, in particular the vertical position. In an embodiment, the position to be determined may be an absolute position of the elevator system. For example, the absolute position may be a position relative to a reference point of the elevator system, such as a maximum position or a minimum position of the elevator car in the elevator system. In some embodiments, the position of the elevator car to be determined may be a relative position, for example a relative position relative to a landing or a landing door.

[0011] In an embodiment, the imaging sensor may be mounted to the elevator car, or may be configured to be mounted to the elevator car. The imaging sensor may be arranged on the elevator car for imaging the shaft components of the elevator system. It should be understood that, according to an embodiment, the imaging sensor is configured to image only a portion of the shaft components at any given time, in particular a portion of the shaft components corresponding to the field of view of the imaging sensor. In an embodiment, the imaging sensor is mounted to the outside of the elevator car to image the shaft components of the elevator system. For example, the imaging sensor may be mounted to face the side of the elevator car, such as for imaging the guide rails of the elevator system. In other embodiments, the imaging sensor may be mounted on the same side as the car door of the elevator car, such as for imaging the landing door of the elevator system or the door frame of the elevator system. In some embodiments, more than one imaging sensor may be mounted to the elevator car, particularly for imaging more than one area of ​​the shaft components of the elevator system.

[0012] In some embodiments, the imaging sensor includes a light source configured to illuminate the field of view of the imaging sensor. The light source may include a light emitting diode (LED). The LED may be a laser LED. The light source may emit light in the visible spectrum and / or infrared spectrum, for example.

[0013] According to an embodiment, the imaging sensor is an optical tracking sensor. The imaging sensor may be configured to determine or track the position of the elevator car, in particular the relative displacement of the elevator car. The imaging sensor may include a camera. The imaging sensor may be a two-dimensional imaging sensor, in particular for providing a two-dimensional image of a shaft component of an elevator system. For example, the imaging sensor may be or may include an optical flow sensor. The imaging sensor may be configured to acquire a series of images over time. In an embodiment, the imaging sensor is configured to evaluate at least the current image and the previous image, for example, by digital image correlation (DIC) and / or optical flow analysis. The imaging sensor or controller according to the embodiments described herein may be configured to derive motion data indicating the relative displacement of the elevator car over time. Motion data indicating velocity and / or acceleration may be derived from data indicating the relative displacement of the elevator car.

[0014] In an embodiment, the imaging sensor uses a shutter value of the imaging sensor to capture an image. The shutter value corresponds to an exposure time of the imaging sensor, such as an exposure time of an imaging chip of the imaging sensor. In particular, the exposure time indicates the light exposure time of the imaging chip for capturing the image. In particular, the shutter value can be defined by the reflectivity of the surface imaged by the imaging sensor. According to an embodiment, the imaging sensor is configured to automatically adjust the shutter value based on the brightness value during imaging. For example, the imaging sensor can adjust the shutter value based on one or more brightness values ​​(e.g., brightness values ​​of a previous image).

[0015] According to an embodiment, a first marker (particularly one or more first markers) may be provided on a shaft component of an elevator system. The first marker may be positioned so that when the elevator car moves along the axis of travel of the elevator car, the first marker is imaged by an imaging sensor. In some embodiments, the first marker may be provided on a shaft device of the elevator system. The shaft device may be provided in an elevator shaft of the elevator system. For example, one or more first markers may be provided on a guide rail of the elevator system, on a landing door of the elevator system, and / or on a door frame of a landing door for the elevator system.

[0016] In an embodiment, a controller connected in a communication manner to an imaging sensor is configured to detect one or more first markers based on a shutter value of the imaging sensor, in particular, to detect one or more first markers based on a shutter value of the imaging sensor while the elevator car moves along the axis of travel. In particular, the imaging sensor can be configured to provide a shutter value to the controller via a communication connection between the controller and the imaging sensor. The controller can be located on the elevator car, or can be arranged away from the elevator car, for example, in a machine room of an elevator system. The controller can be provided, for example, as a dedicated controller, or can be integrated with an elevator controller for controlling an elevator system. In an embodiment, the controller includes a processor and a memory. The memory can include a program that, when executed by the processor, causes the controller to perform operations according to the embodiments described herein. In particular, the controller can perform one or more operations according to the methods described herein. More specifically, the controller can be configured to detect one or more markers according to an embodiment, in particular one or more first markers, based on a shutter value of the imaging sensor. The controller can be configured to determine the position of the elevator car, such as a first position or a current position.

[0017] In some embodiments, the first marker is detected once the first marker has entered the field of view of the imaging sensor and the imaging sensor has automatically adjusted the shutter value. The one or more first markers can be configured to interact with the imaging sensor so that imaging a first marker of the one or more first markers causes the imaging sensor to automatically adjust the shutter value, for example, to a shutter value that exceeds a shutter value threshold.

[0018] According to an embodiment, the first mark includes at least one first area to be imaged by an imaging sensor, and the at least one first area has a first reflectivity. The hoistway component of the elevator system may include a non-marking area adjacent to the first mark in the direction of the travel axis, and the non-marking area has other reflectivities different from the first reflectivity. In particular, the non-marking area can be arranged on the same side of the hoistway component as the first mark, more specifically, arranged on the same side facing the imaging sensor, so that the non-marking area and at least one first area can be imaged by the imaging sensor. In an embodiment, the imaging sensor images at least one first area and the non-marking area with different shutter values. In this article, the value of the reflectivity can particularly refer to the average reflectivity, such as the average reflectivity on the area of ​​the hoistway component corresponding to the field of view of the imaging sensor.

[0019] In some embodiments, the first mark is detected based on a comparison of the shutter value with a shutter value threshold, in particular a predetermined shutter value threshold. According to some embodiments, the first reflectivity of at least one first area of ​​the first mark is lower than other reflectivities of non-mark areas. In particular, at least one first area of ​​the first mark may provide higher absorption or higher diffuse reflection than the non-mark area. The first mark or at least one first area may be detected based on the shutter value exceeding the shutter value threshold. The shutter value threshold may be selected as a value between the shutter value corresponding to the first area and the shutter value corresponding to the non-mark area. Using a first reflectivity lower than other reflectivities may reduce the effect of changes in the first reflectivity over time due to wear or contamination of the first mark. In other embodiments, the first reflectivity may be higher than other reflectivities of the non-mark area. For example, at least one first area may have a mirrored reflective surface. In such an embodiment, the first mark or at least one first area may be detected based on the shutter value dropping below the shutter value threshold.

[0020] According to some embodiments, one or more first marks are manufactured on a hoistway component by laser writing, in particular, on a hoistway device of an elevator system. In particular, one or more first marks can be manufactured on a hoistway component made of metal and / or plastic by laser writing, or manufactured on a part of a hoistway component made of metal and / or plastic. For example, one or more first marks can be manufactured on a metal surface of a hoistway component or on a plastic surface of a hoistway component by laser writing. For example, one or more first marks can be manufactured on a guide rail, on one or more landing doors, and / or on one or more door frames by laser writing. In particular, manufacturing one or more first marks by laser writing can provide effective manufacturing of the one or more first marks, and / or avoid additional steps for installing the mark.

[0021] According to an embodiment, a first position of the elevator car is determined based on detecting the first marker. In particular, the first position may be the current position of the elevator car. The first position may be an absolute position or a relative position of the elevator car, in particular a relative position relative to a landing door. The first position may be determined by a controller communicatively coupled to the imaging sensor. The first position may be determined based on marker position data associated with the first marker.

[0022] According to some embodiments, an approximate position of an elevator car is tracked based on images acquired by an imaging sensor, in particular based on images of a shaft component of an elevator system. According to embodiments described herein, tracking may be performed by a controller. Tracking the approximate position may include determining the distance traveled by the elevator car between the acquisition of two subsequent images in the acquired images, in particular between two subsequent images that overlap each other. For example, the approximate position may be determined using image evaluation described herein, such as an image correlation algorithm. In particular, the imaging sensor used to track the approximate position may be an optical tracking sensor according to an embodiment of the present disclosure, such as an optical flow sensor. The approximate position may be determined based on a previous position and also based on the distance traveled between two consecutive images. However, the approximate position determined by tracking may be inaccurate. In particular, tracking the approximate position using an imaging sensor may accumulate position errors, such as position errors proportional to the distance or distance traveled, over time. In order to provide accurate positioning of the elevator car in the elevator shaft, embodiments of the present disclosure provide systems and methods for determining or calibrating the position of the elevator car. In particular, based on the approximate position and based on detecting a first marker, a first position of the elevator car may be determined. The first position may be determined further based on marker position data associated with the first marker.

[0023] For example, a plurality of first markers may be provided in an elevator system. The plurality of first markers may be referred to herein as a plurality of position calibration markers. A plurality of first markers may be arranged along the travel axis of the elevator car, and the plurality of first markers may be configured to be imaged by an imaging sensor while the elevator car moves along the travel axis. In an embodiment, the marker position data may include the positions of the plurality of first markers, in particular the absolute positions of the plurality of first markers, and / or the spacings between the plurality of first markers. In some embodiments, the plurality of first markers may be positioned at regular intervals along the travel axis. For example, the regular spacing may be at least 30 cm, in particular at least 50 cm or at least 70 cm, and / or the regular spacing may be at most 2.5 m, in particular at most 2 m or at most 1.5 m. In some embodiments, the plurality of first markers may be substantially identical first markers. For example, according to the embodiments described herein, each of the plurality of first markers may have exactly one first region.

[0024] In an embodiment, a controller of a system according to an embodiment may track an approximate position, in particular an approximate absolute position, of an elevator car. Tracking the approximate position may have, for example, a position error of about 1%. When a first marker among a plurality of first markers is detected based on a change in a shutter value, the controller may determine the current position of the elevator car as a first position associated with the first marker. For example, the controller may calibrate the approximate position to the closest position of the position of the first marker, the position of the first marker being included in the marker position data, or calculated based on the marker position data. For example, if a plurality of first markers are positioned at regular intervals, the absolute position of the first marker may be a multiple of the regular interval between the first markers plus an offset of the first marker relative to a reference point of the absolute position coordinate system of the elevator system. In particular, calibrating the approximate position by determining a more accurate first position avoids accumulating large position errors. After determining the first position of the elevator car, the approximate position may be further tracked by continuously adding the distance or interval traveled between other images captured by the imaging sensor to the first position.

[0025] According to some embodiments, the first mark includes at least one second area to be imaged by the imaging sensor, the at least one second area being arranged adjacent to the at least one first area in the direction of the travel axis, wherein the at least one second area has a second reflectivity different from the first reflectivity. In particular, detecting the first mark may include imaging each first area in the at least one first area and each second area in the at least one second area. In some embodiments, the second reflectivity of the at least one second area may be the same as the other reflectivities of the non-marking area adjacent to the first mark along the travel axis. In other embodiments, the second reflectivity may be different from the first reflectivity and different from the other reflectivities. In an embodiment, the area length of each area of ​​the at least one first area and / or the at least one second area along the travel axis may be at least 5 mm, in particular at least 7 mm or at least 10 mm, and / or may be at most 30 mm, in particular at most 20 mm or at most 15 mm. In some embodiments, the total number of areas of the first mark (in particular areas including at least one first area and at least one second area) may be at most 15, in particular at most 12 or at most 10.

[0026] In some embodiments, the first mark includes a sequence of regions including at least one first region and at least one second region. When passing through the sequence of regions, the imaging sensor can automatically adjust the shutter value in response to the sequence of regions. A series of shutter values ​​associated with a series of images acquired by the imaging sensor can be determined and at least temporarily stored, for example, by a controller connected to the imaging sensor in a communicative manner. The controller can identify a first sequence of shutter values ​​in a series of shutter values, the first sequence corresponding to a sequence of at least one first region and at least one second region of the first mark in the direction of the axis of travel. The first sequence may include one or more first shutter values ​​indicating a first reflectivity of at least one first region and one or more second shutter values ​​indicating a second reflectivity of at least one second region. The sequence of regions (particularly the length of the regions along the axis of travel) and the sequence of corresponding shutter values ​​can encode a tag identifier corresponding to the first mark. For example, the tag identifier can be a binary number, wherein each digit of the binary number corresponds to a shutter value exceeding or not exceeding a shutter value threshold in the region of the first mark.

[0027] In an embodiment, a first marker is detected based on an identified first sequence. For example, the first marker may be detected by matching the identified first sequence to the first marker based on marker identifier data (e.g., by a controller). The marker identifier data may link one or more sequences of shutter values ​​comprising the first sequence to one or more markers comprising the first marker. In particular, the marker identifier data may include a marker identifier encoded in the first sequence for linking the identified first sequence to the first marker. The marker identifier data may be stored, for example, in a controller. Based on the detection of the first marker, and further based on marker position data indicating the position of the first marker, a first position of the elevator car may be determined, in particular a first position of the elevator car corresponding to the position of the first marker or a first position of the elevator car relative to the position of the first marker.

[0028] According to an embodiment, a second marker different from the first marker can be positioned or mounted on a hoistway component. The second marker can include any features described herein about the first marker. In particular, the second marker can be positioned so that when the elevator car moves, the second marker is imaged by the imaging sensor. In an embodiment, the second marker is positioned at a position different from the first marker along the axis of travel. The second marker can include another sequence of at least one first area and at least one second area, in particular, the other sequence is different from the sequence of the area of ​​the first marker. According to an embodiment, the second marker can be detected based on a shutter value while the elevator car is moved. For example, the second marker can be detected based on a second sequence of shutter values ​​associated with another area sequence of the second marker. The second sequence can be identified, for example, by a controller in a series of shutter values ​​used for imaging by the imaging sensor. The identified second sequence can be matched to the second marker based on the marker identifier data. Based on the detection of the second marker, the second position of the elevator car can be determined in a similar manner to the first position determined based on the detection of the first marker.

[0029] In some embodiments, a plurality of tags including a first tag, a second tag and / or one or more other tags are provided. One or more other tags may include any features described herein about the first tag or the second tag. Each tag in the plurality of tags may include a unique sequence of at least one first region and at least one second region. The plurality of tags may be referred to as a plurality of unique tags in this article. In an embodiment, each tag in the plurality of tags is associated with separate tag position data. For example, each tag in the plurality of tags may be positioned at a landing of an elevator system, such as positioned on a landing door or door frame. Separate tag position data may include data for each tag in the plurality of tags, the data associating the plurality of tags with the corresponding landings of the elevator system. In particular, separate tag position data may include a landing number or a floor number of the elevator system for each tag in the plurality of tags.

[0030] When moving the elevator car, the controller can detect and identify a mark from a plurality of marks based on a unique sequence of shutter values ​​associated with the mark. Based on the identified mark and based on separate mark position data associated with the identified mark, the controller can determine that the elevator car is currently positioned at a landing corresponding to the identified mark. Alternatively or additionally, the separate mark position data may include a position corresponding to the mark, in particular an absolute position corresponding to the mark. For example, the absolute position may correspond to a reference point or calibration point of the positioning system, such as a maximum position or a minimum position of the elevator car along the axis of travel. In an embodiment, the mark length of each mark of the plurality of marks along the axis of travel is at least 5 mm, in particular at least 7 mm or at least 10 mm, and / or the mark length is at most 200 mm, in particular at most 150 mm or at most 100 mm.

[0031] According to some embodiments of the present disclosure, a system for determining the position of an elevator car includes a first system and a second system, wherein the first system is used to determine the absolute position of the elevator car and the second system is used to determine the relative position of the elevator car, in particular, the relative position relative to one or more landings of the elevator system. In particular, according to the embodiments described herein, the first system may include a plurality of position calibration marks. The first system includes a first imaging sensor positioned on the elevator car, and the first imaging sensor is used to image a plurality of position calibration marks. A plurality of position calibration marks may be positioned on a hoistway component for calibrating the approximate position determined by the imaging sensor as described herein. In particular, a plurality of position calibration marks may be positioned at regular intervals along the axis of travel of the elevator car. In particular, a plurality of position calibration marks may be provided on a guide rail of the elevator system.

[0032] The second system may include a plurality of unique markers. In particular, each of the plurality of unique markers may have a unique sequence of at least one first region and at least one second region. For example, each of the plurality of unique markers may be positioned at a landing of an elevator system according to an embodiment described herein, in particular on a landing door or on a door frame for a landing door. The second system may include a second imaging sensor positioned on the elevator car, the second imaging sensor being used to image the plurality of unique markers. In particular, embodiments including the first system and the second system may provide independent determination of the absolute position of the elevator car and the relative position of the elevator car (e.g., relative position relative to a landing of the elevator system).

[0033] Embodiments of the present disclosure provide methods and systems for determining the position of an elevator car based on imaging of a shaft component of an elevator system. Embodiments advantageously use shutter values ​​of an imaging system for reliable marker detection to determine the position of the elevator car. For example, marker detection based on shutter values ​​can avoid the use of marker discrimination in the acquired image. Alternatively, markers can be reliably detected, for example, by using a threshold. Embodiments provide calibration of the approximate relative position determined by optical tracking to determine the accurate absolute position or relative position of the elevator car. Accurately and reliably determining the position can improve the safety of elevator operation. In addition, using imaging systems and markers according to embodiments can require less additional sensor equipment and / or can require less computing work, thereby reducing, for example, the complexity or cost of the position determination system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Reference will now be made in detail to various embodiments, one or more examples of which are shown in the accompanying drawings. In the following description of the drawings, like reference numerals denote like parts. Generally, only the differences with respect to various embodiments are described. Each example is provided by way of explanation and is not meant to be a limitation. In addition, features shown or described as part of one embodiment may be used on other embodiments or used in conjunction with other embodiments to produce yet another embodiment. This specification is intended to include such modifications and variations.

[0035] Figure 1 A schematic diagram of an elevator system according to the present disclosure is shown;

[0036] Figure 2 A system for determining the position of an elevator car according to an embodiment is illustrated;

[0037] Figure 3 schematically illustrates an imaging sensor moving along a hoistway component for detecting a first marker;

[0038] Figure 4 Shown according to Figure 3 A graph showing the relationship between the shutter value of the imaging sensor and the distance traveled;

[0039] Figure 5 A flow chart of a method according to an embodiment is shown;

[0040] Figure 6 schematically illustrates an imaging sensor moving along a hoistway component for detecting a first marker according to another embodiment;

[0041] Figure 7 Shown according to Figure 6 A graph showing the relationship between the shutter value of the imaging sensor and the distance traveled;

[0042] Figure 8 shows a schematic diagram of an elevator system according to another embodiment;

[0043] Fig. 9 A flow chart showing a method according to the present disclosure; and

[0044] Fig.10 A schematic diagram of an elevator system according to yet another embodiment is illustrated. DETAILED DESCRIPTION

[0045] Figure 1 The diagram shows a schematic diagram of an elevator system 1. The elevator system 1 comprises an elevator car 3, which is movable along a travel axis 7, in particular along a vertical axis. The elevator system 1 comprises an elevator shaft 23 and a plurality of landings, in particular a first landing 27, a second landing 29 and a third landing 31. In other embodiments, the elevator system may comprise any number of landings. Figure 1 , each landing includes a landing door 33 arranged in a corresponding door frame (not shown). Passengers can enter and leave the elevator car 3 through the landing door 33 and through the car door 5 of the elevator car 3 at the landing. The elevator system 1 also includes a machine room with an elevator drive 37 for driving the elevator car 3. The elevator drive 37 and the elevator car 3 are connected via a cable 39. The elevator car 3 is guided in the elevator shaft 23 by a guide rail 25, which is fixed to the side wall of the elevator shaft 23 relative to the elevator car 3. In particular, the elevator car 3 is driven along the guide rail 25 in the direction of the travel axis 7.

[0046] Figure 1 The elevator system 1 of the embodiment of the present invention comprises a system for determining the position of an elevator car 3. The system comprises an imaging sensor 9 mounted to the elevator car 3. The imaging sensor 9 is communicatively coupled to a controller 21 of the system via a communication connection 22. The system further comprises a plurality of first markers 41 disposed on a hoistway component of the elevator system 1, Figure 1 In particular, it is arranged on the guide rail 25. The plurality of first marks 41 (also referred to herein as a plurality of position calibration marks) are arranged at regular intervals along the travel axis 7. Figure 1 In the embodiment, the plurality of first markings 41 are produced in particular by laser writing on the guide track 25 .

[0047] like Figure 2 , the imaging sensor 9 is arranged on the elevator car 3 so that the imaging sensor 9 can image the guide rail 25 when the elevator car 3 moves along the travel axis 7. The imaging sensor 9 particularly comprises a camera 11 for acquiring an image of a field of view 13 of the camera 11 on the guide rail 25. The imaging sensor 9 also comprises a light source 15 providing illumination 17 for the field of view 13.

[0048] Figure 3 and Figure 4 Schematically illustrates the hoistway components, in particular the hoistway equipment 24 (such as, Figure 1 and Figure 2 Detection of the first mark 41 among multiple first marks 41 on the guide rail 25). Figure 3 A portion of a hoistway device 24 and an imaging sensor 9 mounted on an elevator car moving in a travel direction 8 along a travel axis 7 are illustrated, wherein the elevator car is not shown for clarity. The hoistway device 24 includes a first marker 41 having exactly one first region with a first reflectivity. The first reflectivity is different from other reflectivities of a non-marking region 47 adjacent to the first marker 41 in the direction along the travel axis 7. More specifically, the first reflectivity of the first region is lower than other reflectivities of the non-marking region 47.

[0049] Figure 5 The diagram shows how to determine the position of the elevator car 3, in particular based on Figure 3 Flow chart of a method 200 for determining the position of an elevator car 3 based on a first marker 41 shown. At box 210, an imaging sensor 9 images a shaft component of the elevator system 1, in particular a shaft equipment 24. While imaging, the imaging sensor 9 automatically adjusts a shutter value of the imaging sensor 9. At box 220, the elevator car 3 moves in a travel direction 8 along a travel axis 7. At box 230, the method 200 includes tracking an approximate position of the elevator car 3 based on images acquired by the imaging sensor 9 according to embodiments described herein.

[0050] At block 240, the method 200 includes detecting the first marker 41 based on the shutter value while moving the elevator car 3. For example, Figure 4 The diagram shows the elevator car 3 and the imaging sensor 9 moving along the travel direction 8 ( Figure 3 ) is a graph of shutter value 103 versus position 105 as the image sensor 9 moves. The imaging sensor 9 automatically adjusts the shutter value 103 to image the non-marking area 47 at a low shutter value 125 indicating the other reflectivity of the non-marking area 47. When the imaging sensor 9 reaches the first area of ​​the first mark 41, the imaging sensor 9 automatically increases the shutter value 103 to the first shutter value 123 to image the first area. In particular, the imaging sensor 9 increases the exposure time for imaging the first area, which has a lower reflectivity and appears less bright than the non-marking area 47. Figure 4 As shown, the first shutter value 123 is greater than the predetermined shutter value threshold 121. By continuously comparing the shutter value 103 with the shutter value threshold 121, when the shutter value 103 exceeds the shutter value threshold 121, the controller 21 detects the existence of the first mark 41.

[0051] At box 250, a first position of the elevator car 3 is determined based on the detection of the first marker 41. In particular, the tracked approximate position is calibrated based on the detection of the first marker. The controller 21 determines the first position based on the detection of the first marker 41 and also based on the marker position data including information about the absolute marker positions of multiple first markers 41. In particular, the approximate position of the elevator car 3 is calibrated to the marker position of the first marker 41 that is closest to the approximate position. Based on the calibration, the first position of the elevator car 3 can be accurately determined based on the first marker 41. For example, arranging the first markers 41 at regular intervals along the travel axis allows the approximate position to be calibrated regularly so that the position error of the approximate position does not accumulate to a critical position error over time.

[0052] like Figure 4 As shown, when the imaging sensor 9 reaches the first mark 41, the shutter value 103 is increased to a first shutter value 123 that is above the shutter value threshold 121, and when the imaging sensor 9 has passed the first area of ​​the first mark 41, the shutter value 103 is dropped back to a low shutter value 125. Detecting the first mark 41 based on the shutter value 103 can provide a particularly robust or robust detection of the first mark, for example, which does not rely on the recognition of a pattern within the image.

[0053] Figure 6 and Figure 7 Detection of a first marker 41 according to another embodiment of the present disclosure is illustrated. Figure 6 The first mark 41 includes more than one first area 43 and second area 45. The first area 43 has a first reflectivity that is lower than the other reflectivity of the non-mark area 47. Figure 6 In the example of , the second reflectivity of the second area 45 is substantially the same as the other reflectivity of the non-marking area 47. The first mark 41 is provided on the hoistway equipment 24. In particular, the hoistway equipment 24 may be a landing door 33 or a door frame 35.

[0054] For example, Figure 8 The diagram shows an elevator car 3 and a Figure 1 The elevator system of various landing stations 1. Figure 8 In the embodiment, a plurality of marks (particularly a plurality of unique marks) are arranged on the door frame 35 of each corresponding landing. The unique marks include, for example Figure 6 4, 51. The second marker 49 and the third marker 51 are configured similarly to the first marker 41, but have different sequences of one or more first regions 43 and one or more second regions 45. In other embodiments, the plurality of unique markers may include any number of markers, such as two or more markers. It should also be understood that although Figure 8A unique mark arranged on the top side of the door frame 35 is shown, but in other embodiments the unique mark may be arranged on the door frame 35 at the side of the landing door 33, or on the landing door 33. The imaging sensor 9 is arranged so that it can image the unique mark when the elevator car 3 moves along the travel axis 7.

[0055] Fig. 9 A further embodiment of a method 300 for determining the position of an elevator car 3 is shown, in particular based on Figure 6 and Figure 8 The method 300 of determining the position of the elevator car 3 by using the plurality of unique markers shown. At block 310, the method 300 includes imaging the hoistway component using the imaging sensor 9. Figure 6 and Figure 7 , the imaging sensor 9 can image the non-marking area 47 with a low shutter value 125. At block 320, the elevator car 3 moves in the travel direction 8 along the travel axis 7.

[0056] At box 330, the method 300 includes detecting the first mark 41. In particular, the first mark 41 is detected based on the shutter value 103, which is automatically adjusted by the imaging sensor 9 along the travel direction 8. The controller 21 can at least temporarily store a series of shutter values ​​used by the imaging sensor 9 for imaging the hoistway component. At box 330, detecting the first mark 41 includes identifying a first sequence 111 of shutter values ​​in the series of shutter values ​​103, the first sequence 111 corresponding to a sequence of one or more first regions 43 and one or more second regions 45 in the first mark 41.

[0057] For example, refer to Figure 6 and Figure 7 , a first marker 41 is detected based on a first sequence 111 of shutter values ​​103, wherein the first sequence 111 includes a first set of shutter values ​​that exceeds a shutter value threshold 121 over a first length along the travel axis 7. The first set of shutter values ​​corresponds to a first area 43 that the imaging sensor 9 first reaches along the travel direction 8. Figure 6 The first length of the first mark 41 shown corresponds in particular to the predetermined area length. The first sequence 111 of shutter values ​​also includes a second set of shutter values ​​corresponding to the second area 45, which is below the shutter value threshold 121 over a second length along the travel direction 8. Figure 6 The first mark 41 in the first sequence 111 includes a second length substantially corresponding to the predetermined region length. Figure 6 A third set of shutter values ​​corresponding to the first area 43 imaged after the second area 45 in FIG. The third set of shutter values ​​exceeds the shutter value threshold 121 over a third length along the direction of travel 8. Figure 6In the example of , the third length is twice the length of the predetermined region. Based on the first sequence 111 of regions, and in particular based on the lengths of the corresponding regions, the first tag 41 is identified. Specifically, the sequence of one or more first regions 43 and one or more second regions 45 and their respective lengths may encode a tag identifier for the first tag 41. For example, in Figure 6 In FIG. 4 , the first sequence of shutter values ​​encodes the binary number 1011. Based on a comparison of the tag identifier with the tag identifier data stored in the controller, the first tag 41 is identified. Figure 6 The first mark 41 in FIG. 4 is illustrated as having a length of four predetermined region lengths, but it should be understood that in other embodiments, the mark may include a different number (in particular a greater number) of regions or predetermined region lengths.

[0058] At block 340, a first position of the elevator car 3 is determined based on the detected first marker 41. In method 300, the first position is a position relative to a landing. In particular, the controller 21 matches the first marker 41 with a landing number stored in the marker position data of the controller 21. For example, referring to Figure 8 , the controller 21 can detect the first marker 41 and determine that the first position of the elevator car 3 is the first landing 27 of the elevator system 1.

[0059] At block 350, the method 300 includes detecting a second marker 49 different from the first marker 41 while moving the elevator car 3. In particular, the second marker 49 is detected based on a second sequence of shutter values. The second sequence indicates a sequence of one or more first regions and one or more second regions, and the sequence of the second marker 49 is different from the sequence of the first marker. The second marker 49 is detected in a manner similar to the first marker 41.

[0060] At block 360, the method 300 further includes determining a second position of the elevator car 3 that corresponds to the position of a second marker 49 in the elevator system 1. Figure 8 When the second marker 49 in the elevator system 1 is detected, the controller 21 determines that the second position of the elevator car 3 is the second landing 29 of the elevator system 1. The method 300 may also include detecting other markers while moving the elevator car 3 and determining other corresponding positions of the elevator car 3. For example, Figure 8 The controller 21 may be configured to detect a third marker 51 and determine a third position of the elevator car 3 based on the detection of the third marker 51 , the third position corresponding to the third landing 31 .

[0061] Fig.10A further embodiment of an elevator system 1 comprising a system for determining the position of an elevator car 3 is schematically shown. In particular, the system comprises a first system for determining the absolute position of the elevator car 3. According to the embodiments described herein, the first system comprises a first imaging sensor 61 and a plurality of position calibration markers 63. Fig.10 In the embodiment, a plurality of position calibration marks are arranged on one of the guide rails 25 at regular intervals along the travel axis 7. The first imaging sensor 61 and the controller 21 are configured to perform operations for determining the absolute position of the elevator car 3, for example according to the method 200 ( Figure 5 ) performs the operation. Specifically, the approximate absolute position is tracked using the first imaging sensor 61 that images the guide rail 25. Based on detecting the markers in the plurality of position calibration markers 63, the approximate position is calibrated to an accurate absolute position. In particular, based on detecting the markers and based on the marker position data associated with the plurality of position calibration markers 63, the current position of the elevator is accurately determined.

[0062] The system further comprises a second system for determining the relative position of the elevator car 3, in particular for determining the relative position relative to a landing of the elevator system 1. According to the embodiment described herein, the second system comprises a second imaging sensor 71 and a plurality of unique markers 73. Fig.10 , each of the plurality of unique markers 73 is positioned on a landing door 33 of the elevator system 1. The second imaging sensor 71 is mounted to the elevator car 3 so that the second imaging sensor 71 can image the plurality of unique markers 73 when the elevator car 3 moves. The second imaging sensor 71 and the controller 21 communicatively coupled to the second imaging sensor 71 are configured to perform operations for determining the relative position of the elevator car 3, such as according to the method 300 ( Fig. 9 ). In particular, a marker among a plurality of unique markers is detected based on a sequence of shutter values ​​associated with the marker. Upon detecting the marker, the controller 21 determines the relative position of the elevator car 3. In particular, the controller 21 determines that the elevator car 3 is positioned at the landing door 33 on which the marker is positioned. Fig.10 The elevator system 1 may advantageously provide an independent, robust or stable and accurate determination of the absolute position of the elevator car 3 and the position relative to a landing, in particular relative to a landing door 33 .

Claims

1. A method (200, 300) for determining a position of an elevator car (3) of an elevator system (1), the elevator car (3) being arranged in a movable manner in an elevator shaft (23) of the elevator system (1), the method (200, 300) comprising: - imaging a hoistway component of the elevator system (1) using an imaging sensor (9) mounted to the elevator car (3), the imaging sensor (9) automatically adjusting a shutter value (103) of the imaging sensor (9) based on a brightness value during imaging; - moving the elevator car (3) along the travel axis (7) of the elevator car (3); - detecting a first marker (41) while moving the elevator car (3), the first marker (41) being positioned on the hoistway component of the elevator system (1), wherein the first marker (41) is detected based on the shutter value (103) of the imaging sensor (9); and - determining a first position of the elevator car (3) based on detecting the first marking (41).

2. The method (200, 300) according to claim 1, wherein: The first mark (41) includes at least one first area (43) to be imaged by the imaging sensor (9), the at least one first area (43) having a first reflectivity; wherein the hoistway component of the elevator system (1) includes a non-marking area (47) adjacent to the first mark (41) in the direction of the travel axis (7), the non-marking area (47) having a reflectivity different from the first reflectivity; and wherein imaging the hoistway component includes: imaging the at least one first area (43) and the non-marking area (47) using different shutter values ​​(103).

3. The method (200, 300) according to claim 1 or 2, wherein: The first mark (41) is detected based on a comparison of the shutter value (103) with a shutter value threshold (121).

4. The method (200, 300) according to any of the preceding claims, wherein: The hoistway component of the elevator system (1) comprises a hoistway device (24) arranged in the elevator hoistway (23), and wherein the first mark (41) is provided on the hoistway device (24).

5. The method (200, 300) according to any of the preceding claims, further comprising: - tracking the approximate position of the elevator car (3) based on the images acquired by the imaging sensor (9), wherein tracking the approximate position comprises: determining the distance travelled by the elevator car (3) between the acquisition of two consecutive ones of the acquired images; and Therein, the first position of the elevator car (3) is determined based on the approximate position and based on the detection of the first marking (41).

6. The method (200, 300) according to any of the preceding claims, wherein: The elevator system (1) comprises a plurality of first markers (41) arranged along the travel axis (7) of the elevator car (3), and wherein the plurality of first markers (41) are configured to be imaged by the imaging sensor (9) while the elevator car (3) moves along the travel axis (7).

7. The method (200, 300) according to claim 6, wherein: The plurality of first markings (41) are positioned at regular intervals along the travel axis (7).

8. The method (200, 300) according to claim 2, wherein: The first marking (41) comprises at least one second area (45) to be imaged by the imaging sensor (9), the at least one second area (45) being arranged adjacent to the at least one first area (43) in the direction of the travel axis (7), wherein the second area (45) has a second reflectivity different from the first reflectivity.

9. The method (200, 300) according to claim 8, wherein: Detecting the first marker (41) comprises: - determining a series of shutter values ​​(103) associated with a series of images acquired by the imaging sensor (9); and - identifying a first sequence of shutter values ​​(103) in the series of shutter values ​​(103), the first sequence corresponding to a sequence of the at least one first area (43) and the at least one second area of ​​the first marking (41) in the direction of the travel axis (7).

10. The method (200, 300) according to any of the preceding claims, further comprising: - detecting a second marker (49) different from the first marker (41) while moving the elevator car (3), the second marker (49) being positioned on the hoistway component of the elevator system (1), wherein the second marker (49) is detected based on the shutter value (103) of the imaging sensor (9); and - determining a second position of the elevator car (3) based on the detection of the second marking (49).

11. A system for determining the position of an elevator car (3) of an elevator system (1), the elevator car (3) being arranged in a movable manner in an elevator shaft (23), the system comprising: - an imaging sensor (9) configured to be mounted to the elevator car (3), the imaging sensor (9) being configured to automatically adjust a shutter value (103) of the imaging sensor (9) during imaging of a hoistway component of the elevator system (1); - one or more first markings (41); - a controller (21) communicatively coupled to the imaging sensor (9), Characterized in that the controller (21) is configured to detect the one or more first marks (41) on the hoistway component of the elevator system (1) based on the shutter value (103) of the imaging sensor (9), and wherein the controller (21) is also configured to determine the first position of the elevator car (3) based on detecting a first mark (41) among the one or more first marks (41).

12. The system of claim 11, further comprising a hoistway device (24), and wherein the one or more first markings (41) are disposed on the hoistway device (24).

13. The system according to claim 12, wherein: The hoistway equipment (24) is a guide rail (25) of the elevator system (1), a landing door of the elevator system (1), and / or a door frame (35) of the elevator system (1).

14. The system according to claim 12 or 13, wherein: The one or more first marks (41) are produced on the hoistway equipment (24) by laser writing.

15. An elevator system (1), comprising: - Elevator car (3), - hoistway components, and - A system according to any one of claims 11 to 14, wherein the imaging sensor (9) is mounted to the elevator car (3), and wherein the one or more first markers (41) are positioned on the hoistway component of the elevator system (1).

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