Method for controlling at least one converter of ropeless elevator system, and corresponding elevator system and computer program and use thereof

Abstract

The invention relates to a method for controlling at least one converter of a ropeless elevator system, in which at least one motor of at least one car of the elevator system, in particular a motor segment of the motor, is controlled by the converter, the converter itself, and optionally also at least one motor of the car of the elevator system. The at least one adjusting movement can or has been oriented in such a way that the converter and optionally also the car or at least the electric machine are oriented from a first direction of travel defined by the first travel path to a second direction of travel defined by / for the second travel path, wherein the (rotational) speed of the at least one adjustment movement of the converter is controlled / regulated in accordance with at least one parameter, in particular for individual per car and / or individual per orientation process and converter, in order to minimize the speed as a function of the situation. The invention also relates to a corresponding ropeless elevator system. In this way, a particularly sustainable operating mode is also achieved.

Description

Technical Field

[0001] The invention relates to a method for controlling at least one converter of a ropeless elevator system, wherein a new travel direction is predefined by the converter (the converter is positioned / oriented separately, i.e., no car is located at the converter) or at least one motor of at least one car of the elevator system is oriented by at least one adjustment movement so that the car or at least the motor is oriented from a first travel direction defined by a first travel path to / for a second travel direction defined by a second travel path. Furthermore, the invention relates to a corresponding elevator system, in particular an elevator system with a plurality of parallel or intersecting travel paths. Last but not least, the invention also relates to the use of time and speed parameters (among others) for specifying the operating mode of at least one converter. The invention relates in particular to a method and a device according to the features of the respective independent claims. Background Art

[0002] In modern elevator systems, cars (or cabins) can move both vertically and horizontally. Consequently, numerous elevator systems (particularly ropeless elevator systems) have been developed in which the cars can move independently of one another in the desired direction, either along the same path (travel path) or along different paths (e.g., vertically and horizontally). These elevator systems are often referred to as ropeless elevator systems (in contrast to the traditional concept of a car, which moves on ropes within a single, predefined hoistway). As their size increases, these ropeless elevator systems become increasingly complex. Logistical challenges, such as shortening travel times and minimizing obstructions between cars on the same or intersecting paths, place significantly higher demands on the control and regulation of the overall system. This control and regulation is particularly important, for example, in the so-called switch area and its associated components, where individual cars switch or are redirected from a vertical to a horizontal travel path (or vice versa, i.e., where cars typically change direction of travel or where the choice of travel path is coupled with a change in spatial orientation or travel direction). Depending on the specific situation, the switch is moved / oriented either independently or together with at least one car located there.

[0003] Ropeless elevator systems typically have at least one such converter or at least one such conversion unit, which can also be used to rotate the car or its motor section by, for example, 90° to change the orientation of the car's movement or coordinate a new travel path. The converter's rotation time (or reversing time) has been shown to have a significant impact on the elevator system's transport performance. The actual rotation time affects the scheduling or switching of individual cars, thus also affecting the cycle time in multi-car operation and ultimately the achievable transport performance (turnaround capacity) of the entire elevator system. A short reversing time (i.e., a faster rotation of the converter) shortens the cycle time of each car, thus contributing to increased transport capacity. Therefore, shorter converter reversing times are generally preferred. Unfortunately, this also increases wear, especially on converter components, which unfortunately also increases maintenance costs (or product costs); even energy costs can be significantly increased.

[0004] According to the prior art, the respective converters are operated in a largely standardized manner with the shortest possible rotation times. Based on this, there is an interest in a more differentiated operating method in which individual circumstances can also be taken into account.

[0005] For example, the publication WO 2019 / 162 165 A1 can be mentioned, which describes measures taken on the guide device of a ropeless elevator system with regard to collision prevention. Summary of the Invention

[0006] The object of the present invention is to provide a method and a device with which a ropeless elevator system can be operated in a particularly sustainable and energy-optimized manner, in particular with regard to changes in direction / trajectory of the car at the so-called switch. A further object of the present invention is to control the switch of the elevator system in such a way that the switch can be operated in a particularly sustainable and discreet manner, without generally affecting the operating sequence.

[0007] This object is achieved by a method according to claim 1 and a device according to the parallel device claim. Advantageous developments of the invention are described in the corresponding dependent claims. The features of the exemplary embodiments described below can be combined with one another unless expressly denied.

[0008] This object is achieved in particular by a method comprising the combination of features of the independent method claims. In this regard, a method for controlling at least one converter of a ropeless elevator system is provided, wherein the converter, the converter itself, and optionally also at least one motor, in particular a motor segment of at least one car of the elevator system, is orientable by at least one adjusting movement in such a way that the converter and optionally also the car or at least the motor (in particular because the orientation of the car can or should remain unchanged) is oriented from a first travel direction (or travel path) defined by a first travel path to / for a second travel direction (or travel path) defined by a second travel path (in particular from a horizontal travel direction to a vertical travel direction or vice versa). The invention proposes that the (rotational) speed of the at least one adjusting movement of the converter is controlled / regulated in order to minimize this speed in accordance with at least one parameter, in particular individually for each car and / or individually for each orientation process (direction / track change) and converter. This also enables optimized operation of the respective converter.

[0009] Orientation of the converter can also be referred to herein as repositioning and can optionally also include translational movements. This orientation of the converter can optionally relate only to the converter itself or also to the car or its motor (segment) positioned on the converter.

[0010] For the purposes of the present disclosure, a "switch" is to be understood as a switch unit / device, essentially independent of the specific technical design of the system, by means of which a change in direction / travel path can be achieved by changing the travel path and / or the orientation of the car, in particular by also causing a corresponding reorientation of the car motor section. Such a switch comprises, for example, a rail or a guide element in the form of a switch, which can be adjusted between at least a first and a second travel path, in particular by rotating in a plane.

[0011] In this context, "control / regulation" is to be understood as at least the control of the adjustment movement and optionally also the implementation of a regulation, for example of the current position or orientation of the respective converter. This regulation can also be carried out in conjunction with control / regulation parameters related to the method of movement of the individual cars.

[0012] In other words, the present invention is based on the idea of ​​achieving a further control / regulation optimization of at least the control of the converters with the goal of the shortest possible (process) times, in that not only is the time required for the adjustment movements of the converters minimized as a control / regulation priority, but the adjustment movement speed of the respective converters is also set as slow / low as possible, in particular to minimize wear and other operating costs. This is because it has been shown that during the operation of an elevator installation, short switching times of the converters are not always (or even rarely) necessary. For example, situations may arise where the further differentiated control / regulation approach described herein for minimizing the adjustment of movement speed can offer significant advantages: when a subsequent car slows down or is delayed (either to pass through the bottom or to stop) when approaching a switch (particularly the bottom of the switch), i.e., when it reaches the switch height later than would normally be expected for an optimized operating sequence, the control / regulation according to the invention can provide for the switch to be rotated / displaced at a slower speed (or moved to the position required to receive the approaching car), without this more time-consuming movement negatively impacting the current transport capacity of the entire elevator installation. Thus, the invention can utilize time delays that would otherwise have occurred to make system operation more cost-effective / energy-efficient, less friction-prone, or more sustainable and less maintenance-intensive. This can contribute to sustainability, particularly in relatively energy-intensive transport systems. Another situation in which the inventive approach can be particularly advantageously implemented is when the car at the switch location is being used for other purposes or for loading operations, so that the transfer process is not subject to time pressure and can be optimally adjusted according to the inventive concept described herein.

[0013] Another situation in which the method according to the invention can be well implemented can be described as follows: the trolley located in the transfer position is used for another purpose or is loaded, so that the transfer process can be changed in an optimized manner according to the concept of the invention without time pressure.

[0014] In particular, since the control / regulation according to the invention recognizes the corresponding traffic information data and the required / expected (transport) capacity in each respective individual case as parameters, or is able to evaluate or at least call them, the corresponding control / regulation device is designed to combine / associate the adjustment movement / rotation command (control signal) with the corresponding information / prescription about the required adjustment movement speed, so that the converter is repositioned as slowly as possible without causing further delays in the operating sequence; in this respect, according to the invention, the adjustment movement speed is reduced to a minimum according to the circumstances by corresponding control regulations.

[0015] Similar measures can be taken using the control / regulation device for situations when each corresponding passenger cabin (or elevator) is parked / located at the parking position of the converter, for example, for the purpose of passenger transfer (boarding / exiting and / or loading cargo); for example, the rotation speed regulation of the converter can be implemented based on the passenger volume or the passenger boarding / exiting speed (transfer time).

[0016] In this respect, according to the invention, the switch can in many cases be rotated relatively slowly (slower than currently predefined by standard), in particular when the arrival of the next approaching car takes longer than the standard adjustment time of the switch. Thus, the adapted adjustment movement can be decelerated by the determined available time buffer.

[0017] For example, in the following two situations or according to the corresponding status, the control / regulation device will send a signal / command to rotate the corresponding converter (for example, also including locking / unlocking):

[0018] 1. The car is at the switch position and wants to change the direction of travel; the switch rotates, and thus the car also rotates;

[0019] 2. The car needs to pass the switch point or is stopped at this position, but the corresponding switch is currently in the wrong orientation with respect to the oncoming car; therefore, the switch must be rotated without the car, i.e. before the car approaches the switch.

[0020] In this respect, it has been shown that in order to ensure or not compromise the required transport capacity or turnover capacity, the shortest possible rotation time of the converter is not always necessary. In this respect, the control / regulatory device can determine whether a shorter rotation time or a minimum necessary rotation speed is required and incorporate this time / speed specification into the control signal in order to regulate the minimum speed of the movement according to the specific situation.

[0021] For example, the control / regulation system includes (data) input, data retrieval, or corresponding algorithms for determining the appropriate rotation time in each case, for example, depending on the generally required transport capacity: at times of the day or calendar days when the required transport capacity is lower, the control / regulation system provides for automatically changing the operating mode to a slower converter rotation speed. The required / changed new minimum commutation time can be transmitted as part of the control / regulation command or to the control / regulation device(s) controlling the respective converter. The currently required transport capacity can be set as an input, or historical data or empirical values ​​can be used to estimate the transport capacity required at a specific time of day.

[0022] Furthermore, the control / regulation can also set different operating modes for the converter according to pre-set standard situations, such as when the car is in the transfer position and passengers are boarding or exiting (including the opening and closing of the doors and the passenger transfer time). This process can last longer than the converter rotation performed simultaneously; in this case, the type and manner of rotation can also be specified to a large extent independently of the (daily) time parameters, for example at least a few percentage points slower according to the standard. Or, for example, if the cycle time (the time between two cars, for example in the transfer position) is longer in the distribution cycle, or if the time it takes for the subsequent car to reach the converter is longer than usual (or foreseeable duration), the converter can be rotated at a slower speed. This information can also be incorporated into the rotation command. In this respect, according to the present invention, the rotation speed pattern can be set according to at least two variables.

[0023] The current approach, according to existing technology, is to reduce the peak power required. For example, during startup, this is done by setting startup times for multiple cars to prevent all cars from moving simultaneously. However, even with this approach, the actual peak power required is still relatively difficult to control, especially because the delay time setting does not take power peaks into account.

[0024] The present invention further realizes the consideration of the real-time relative speed and occupancy status, and can achieve the following advantages: improving the service life of the converter components, reducing the peak power required for the converter (re)rotation, and reducing maintenance and product costs.

[0025] According to the present disclosure, when referring to the "rotation" of the converter, this is to be understood synonymously as any adjusting movement by which a desired direction of travel or orientation of a desired travel path can be achieved, even if the adjusting movement is not a pure rotational movement. This also applies to the rotational speed or the speed of the corresponding adjusting movement.

[0026] According to one embodiment, the (rotational) speed of at least one adjustment movement of the switch is controlled / regulated to minimize this speed based on at least one of the following parameters, which are determined / measurable in real time and are performed individually for each car and / or individually for each orientation process (direction / track change) and switch: the current position of the respective car, in particular relative to the associated switch, the current travel speed of the respective car, the currently required transport capacity of the entire elevator installation or at the respective switch, the current load factor of the entire elevator installation, the current occupancy status of the car at the respective switch (or direction / track switching point), the current loading / unloading method of the car at the respective switch (or direction / track switching point), the time of day, or the expected load value. This also allows application-specific optimization and personalization of the control / regulation.

[0027] According to one embodiment, the control / regulating device of the elevator installation generates a control / regulating signal based on at least one parameter, in particular individually for each car and / or individually for each orientation process and switch, and transmits this control / regulating signal to at least one switch for changing direction / trajectory at a junction point between a first and a second travel path or at a switching point between parallel travel paths. This also facilitates highly specific, situation-specific control; the individual switches can also be individually addressed.

[0028] According to one embodiment, a control / regulating signal is generated separately for each converter and commutation / commutation process, which sets the minimum speed of the regulating movement as a function of the current position and speed of the car approaching the converter. This also ensures that the currently set minimum speed of the regulating movement is kept as low as possible.

[0029] According to one embodiment, the control of the at least one converter includes unlocking / locking the at least one converter. This simplifies, in particular, the implementation of the control concept described herein in otherwise possibly standardized operating sequences.

[0030] According to one embodiment, the (rotational) speed of at least one converter is controlled to minimize at least one of its adjustment movements according to specifications or corresponding parameters from the following group: the new target orientation of the corresponding car currently arranged / positioned at the corresponding converter; the new target orientation of the corresponding free (unoccupied) converter, in particular for receiving an approaching car. This also facilitates optimizing the control specifications depending on the number of cars or their current status.

[0031] According to one embodiment, the (rotational) speed of the adjustment movement of at least one of the switches is minimized when the car is currently located at the corresponding switch position (the switch is occupied by the car), in particular when the car is in a loading / unloading state (passengers and / or cargo), i.e., for example, when the door is open. This control / regulation priority setting enables a more detailed implementation of the solution according to the invention, in particular at a further (deeper) level of regulation.

[0032] According to one embodiment, the (rotational) speed of the adjustment movement of at least one of the switches is minimized when the estimated time of arrival of the car at the corresponding switch is later than the switch movement time required to complete the desired adjustment movement. This also provides a good compromise between the overall readiness of the system and the currently required availability.

[0033] According to one embodiment, at least two switches are controlled / regulated in a temporally overlapping manner to orient these switches and / or at least one car, in particular when the car changes track between two at least approximately parallel travel paths. This also enables the advantages described herein to be achieved in conjunction with other switches. Paired control also reduces complexity.

[0034] The above object is also solved by a computer program product comprising instructions which, when executed on a computer, cause the execution of the method described above on the computer, in particular a computer program product configured for determining and setting a minimized minimum speed for adjustment movements of at least one converter in a ropeless elevator installation.

[0035] For example, control instructions are determined as a function of the parameters described herein involving the at least two cars, in particular also as a function of their relative positions and / or speeds, and are transmitted to at least one converter.

[0036] The above-mentioned object is also achieved by the use of a control / regulating device of a ropeless elevator system for controlling at least one converter of the elevator system, wherein the converter or the converter aligns at least one motor of at least one car of the elevator system by means of at least one adjustment movement in such a way that the converter and optionally also the car are oriented from a first travel direction defined by a first travel path toward / for a second travel direction defined by a second travel path, wherein the (rotational) speed of the at least one adjustment movement of the converter is controlled / regulated to minimize this speed in a case-by-case manner based on at least one parameter selected from the following group, in particular individually for each car and / or individually for each orientation process (direction / track change) and converter: the current position of the respective car and / or converter, the current travel speed of the respective car, the currently required transport capacity of the entire elevator system, the current load factor, the current occupancy state of the car / cars at the respective converter and / or the current loading / unloading method, the time of day and / or the load expectation. The advantages described above can thereby be achieved.

[0037] The above object is also achieved by a device according to the corresponding parallel device claim, namely a ropeless elevator installation having at least one converter, wherein the converter itself and optionally also at least one motor of at least one car of the elevator installation, in particular a motor segment of the motor, can be oriented by means of at least one adjustment movement in such a way that the converter and optionally also the car or at least the motor are oriented from a first travel direction defined by a first travel path to / for a second travel direction defined by a second travel path, wherein the elevator installation has a control / regulatory device designed to set the (rotational) speed of each respective adjustment movement of the converter as a function of at least one parameter relating to the current state of the converter or of the at least one car in order to achieve a situation-specific speed minimization, in particular when controlling / regulating the converter individually for each car and / or individually for each orientation process (direction / track change) and the converter. The advantages mentioned above can thereby be achieved, in particular with regard to particularly sustainable use of energy resources and particularly gentle and minimally loaded use of the relevant system components.

[0038] The ropeless elevator system can have multiple cars, motors (or motor sections), converters, and intersecting travel paths. The functional scope of the control / regulatory device described here is scalable in this respect, in particular so that each converter can be identified by a unique identification feature, such as a communication address.

[0039] According to one embodiment, the control / regulation device controls at least two converters, which are located at least at approximately the same height (or level) on mutually parallel and connected travel paths. This facilitates a more efficient implementation of the conversion scheme described herein.

[0040] According to one embodiment, the control / regulation device controls at least one converter located at a node where the driving paths intersect. This allows the advantages described to also apply to horizontally extending driving paths.

[0041] Summary: The present invention relates to a method for controlling at least one converter of a ropeless elevator system, wherein the converter, the converter itself, and optionally also at least one motor, in particular a motor segment, of at least one car of the elevator system can be or is oriented by at least one adjustment movement in such a way that the converter and optionally also the car or at least the motor are oriented from a first travel direction defined by a first travel path to / for a second travel direction defined by a second travel path; wherein the (rotational) speed of the at least one adjustment movement of the converter is controlled / regulated in order to minimize this speed in accordance with the specific circumstances, in particular individually for each car and / or individually for each orientation process and converter. The present invention also relates to a corresponding ropeless elevator system. This also enables a particularly sustainable operating mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention is described in more detail in the following figures, wherein for reference numerals not clearly described in each figure, reference may be made to other figures. Each figure is a schematic diagram:

[0043] Figure 1 In five successive stages ( Figure 1 Figures 1 to 5 in the accompanying drawings show a switching point on two parallel travel paths of a ropeless elevator installation, at which two converters can be controlled according to an embodiment;

[0044] Figure 2 A perspective side view shows a switching point on two parallel travel paths of a ropeless elevator installation, at which two switches can be activated according to an embodiment;

[0045] Figure 3 A side view shows two travel paths of a ropeless elevator installation according to an embodiment, extending in parallel over a plurality of floors or levels, here by way of example with three cars, wherein at least two switches are provided for each level;

[0046] Figure 4 Various steps of a control method according to an embodiment are shown. DETAILED DESCRIPTION

[0047] First, the present invention will be explained in general with reference to all figures and drawings. The particularities or individual aspects of the present invention will be described in conjunction with the corresponding drawings.

[0048] A control / regulatory device 20 is provided for a ropeless elevator system 10 having at least a first travel path 1 and a second travel path 2. The control / regulatory device 20 comprises a computing unit 21 and a communication module 23 and is coupled to at least one sensor unit 30. An elevator system 10 of the type described here is configured so that a plurality of cars 3 can be provided for (currently) utilizing the respective travel paths. Each of the respective cars 3 has a motor or a motor segment 5 and is designed to move along the travel paths (without the use of ropes).

[0049] For track / direction change, a switch 11 is provided, which can realize the switching of the car or the redirection of each corresponding travel path by a rotatable (track) section 13 in the sense of a switch. Each corresponding switch 11 can also interact with the motor section of the corresponding car.

[0050] According to the invention, the movement / displacement of the converter (with or without carriage) is controlled / regulated in such a way that the speed of the adjustment movement of the converter can be minimized depending on the specific situation.

[0051] For example, at least one of the following parameters can be detected or determined with the aid of the sensor unit 30 and taken into account for control / regulation: the current position of the respective car 3, in particular relative to the associated converter 11, the current travel speed of the respective car, the currently required transport capacity of the entire elevator system 10 or of the respective converter 11, the current load factor of the entire elevator system 10, the current occupancy state of a car 3 parked at the respective converter, the current loading / unloading method of a car / cars parked at the respective converter, the time of day or an expected load factor value.

[0052] In this respect, the present invention can also be implemented in combination with or based on the following three method steps or procedural measures, which are roughly divided here:

[0053] Step S1 detects / determines at least one parameter;

[0054] Step S2 controls / regulates at least one converter 11 so as to minimize the adjustment of the movement speed according to the specific situation;

[0055] Step S3 controls / regulates at least one other converter;

[0056] Optionally, step S1 can be omitted, for example, if control / regulation is performed only as a function of the time of day or the expected load factor. Step S3 can also be performed in conjunction with or simultaneously with step S2. The manner and method of control / regulation according to step S2 can differ from the manner and method of control / regulation according to step S3, so that individual control specifications can be specified for a large number of converters (possibly performed simultaneously).

[0057] exist Figure 1 In the example, the conventional functioning of the converter 11 is described in five successive stages with reference to a track change between two parallel running travel paths 1, 2 (each corresponding stage in Figure 1 (indicated by numbers without reference arrows above the corresponding images): First, a / the car 3 approaches a / the switch 11 arranged on its travel path (image 1 / stage 1); the switch 11 is then controlled to perform a car track change, wherein the adjacent switch is also controlled synchronously (image 2); the car can then switch from the first travel path 1 to the second travel path 2 (image 3); the two switches are then controlled to perform an adjustment movement, by which the switch (and, through one of the switches, also the motor section of the car) is returned to its own track orientation of the corresponding travel path (image 4); the car 3 can then leave the switch group in the desired direction (Figure 5). With regard to the conventional functional mode, the present invention can also be implemented, either in stage 2 or in stage 4.

[0058] exist Figure 2 , the driving path and the exemplary structure of the converter are shown in more detail in a perspective view. The communication between the sensor unit 30 and the control / regulating device 20 can take place via the module 23 (in particular in wireless form).

[0059] Figure 3 The schematic diagram shows how the real-time position or speed of a car (e.g., the car currently located midway between two levels Z11) is used as a parameter to set the adjustment speed of the relevant switch. Here, the lower switch 11 on the second travel path 2 must perform an adjustment movement to receive the car, and for this purpose, there is still a certain amount of time before the car currently located midway between the two levels Z11 reaches this switch 11.

[0060] The numbers "0", "1" and "2" shown on the travel path without reference arrows represent exemplary movement trajectories of a / the car 3 of the elevator system 10. These numbers can also be used to represent different cars that are present (in operation) at the same time, since the same travel path can be shared by multiple cars.

[0061] Figure 4 The method is divided into individual steps for ease of understanding. Based on this, those skilled in the art can add intermediate steps and / or set control /

[0062] The input value of the manipulated variable is in particular a function of at least one respectively selected parameter.

[0063] Description of Reference Numerals

[0064] 1First driving path

[0065] 2 Second driving path

[0066] 3 cars

[0067] 5 motor, motor segment

[0068] 10Ropeless Elevator Equipment

[0069] 11Converter

[0070] 13 rotatable sections

[0071] 20 Control / regulation device

[0072] 21 computing units

[0073] 23 communication modules

[0074] 30 sensor units

[0075] S1 step of detecting / determining at least one parameter

[0076] S2 step of controlling / regulating at least one converter

[0077] S3 Step of controlling / regulating at least one other converter

[0078] Z11 altitude layer

Claims

1. A method for controlling at least one converter (11) of a ropeless elevator system (10), wherein the converter (11) and optionally also at least one motor (5), in particular a motor segment of at least one car (3) of the elevator system, can be or have been oriented by means of at least one adjustment movement in such a way that the converter (3) and optionally also the car or at least the motor are oriented from a first travel direction defined by a first travel path (1) toward / for a second travel direction defined by a second travel path (2), It is characterized by: The (rotational) speed of at least one adjustment movement of the converter (11) is controlled / regulated in order to minimize it according to the specific situation, in particular for each individual car (3) and / or each individual orientation process and converter (11).

2. A method according to the preceding method claim, wherein the control / regulation of the (rotational) speed of at least one adjustment movement of the converter (11) for minimizing this speed is carried out on the basis of at least one of the following parameters which are determined / measurable in real time and which is carried out individually for each car (3) and / or individually for each orientation process and converter: the current position of the respective car (3), in particular relative to the associated converter (11), the current travel speed of the respective car, the currently required transport capacity of the entire elevator system (10) or at the respective converter (11), the current load factor of the entire elevator system (10), the current occupancy status of the car (3) at a / the respective converter, the current loading / unloading method of the car at a / the respective converter, the time of day or the expected load value.

3. A method according to the preceding method claim, wherein the control / regulation device (20) of the elevator system generates a control / regulation signal based on at least one parameter, in particular individually for each car (3) and individually for each orientation process and converter (11), and sends it to at least one converter (11) for the corresponding direction / track change.

4. A method according to one of the preceding method claims, wherein a control / regulation signal is generated separately for each converter (11) and exchange / commutation process, wherein the control / regulation signal sets a minimum speed for the adjustment movement based on the current position and speed of the car (3) approaching the converter; and / or wherein the control of at least one of the converters includes unlocking / locking of at least one of the converters.

5. A method according to one of the preceding method claims, wherein the control of the (rotational) speed of at least one of the converters (11) for minimizing at least one of its adjustment movements is carried out according to provisions or corresponding parameters from the following group: a new target orientation of the corresponding car (3) currently arranged / positioned at the corresponding converter (11); a new target orientation of the corresponding idle converter, in particular for receiving an approaching car (3).

6. A method according to one of the preceding method claims, wherein the (rotational) speed of the adjustment movement of at least one of the converters (11) is minimized when the car (3) is currently in a position at the corresponding converter, in particular when the car (3) is in a loading / unloading state.

7. A method according to one of the preceding method claims, wherein the (rotational) speed of the adjustment movement of at least one of the converters (11) is minimized when the detected arrival time of the car (3) at the corresponding converter (11) is later than the converter movement time required to complete the desired adjustment movement.

8. A method according to one of the preceding method claims, wherein at least two converters (11) are controlled / regulated in a temporally overlapping manner to orient these converters or at least one car (3), in particular when the car changes track between two travel paths (1, 2) extending at least approximately parallel.

9. A computer program product comprising instructions which, when executed on a computer, cause the computer to carry out the method according to one of the preceding method claims, in particular a computer program product configured to determine and set a minimum minimum speed for adjustment movements of at least one converter (11) in a ropeless elevator installation (10).

10. Use of a control / regulating device (20) of a ropeless elevator system (10) for controlling at least one converter (11) of the elevator system, wherein the converter or the converter is used to align at least one motor (5) of at least one car (3) of the elevator system by means of at least one adjustment movement in such a way that the converter (11) and optionally also the car (3) are oriented from a first travel direction defined by a first travel path (1) toward / for a second travel direction defined by a second travel path (2), wherein: The control / regulation of the (rotational) speed of at least one adjustment movement of the converter (11) for minimizing the speed in accordance with the specific situation is carried out based on at least one parameter selected from the following group, in particular individually for each car (3) and / or individually for each orientation process and converter (11): the current position of the respective car and / or converter, the current travel speed of the respective car (3), the currently required transport capacity of the entire elevator system, the current load factor, the current occupancy status of the car at / at the respective converter (11) and / or the current loading / unloading method, the time of day and / or the load expectation.

11. A ropeless elevator system (10) having at least one converter (11) by means of which the converter itself and optionally also at least one motor (5), in particular a motor segment of / a motor, of at least one car (3) of the elevator system (10) can be oriented by at least one adjustment movement in such a way that the converter (11) and optionally also the car (3) or at least the motor is oriented from a first travel direction defined by a first travel path (1) to / for a second travel direction defined by a second travel path (2), wherein the elevator system (10) has a control / regulation device (20) which is designed to set the (rotational) speed of each respective adjustment movement of the converter (11) as a function of at least one parameter relating to the current state of the converter (11) or of at least one car (3) in order to achieve a situation-specific speed minimization, in particular when the control / regulation is performed individually for each car and / or individually for each orientation process and the converter.

12. Ropeless elevator system (10) according to the preceding claim, wherein the control / regulating device (20) controls at least two converters (11) which are located at least at approximately the same height on travel paths (1, 2) extending parallel to one another and connected to one another.

13. Ropeless elevator installation (10) according to the preceding claim, wherein the control / regulating device (20) controls at least one converter (11) located at a node of an intersecting travel path.

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