Rope-way control system and method and rope-way transportation system

Abstract

This invention relates to a control system for controlling a cableway transportation system, preferably an aerial transportation system, specifically a gondola-type cable car. The cableway transportation system includes at least one traction cable, at least one gondola, at least one boarding station and / or a disembarking station, wherein at least one gondola travels along a predetermined external path outside at least one station and along a predetermined internal path inside at least one station, wherein at least one gondola includes an entrance / exit and doors configured to selectively close the entrance / exit. The control system includes a processing and control block and at least one detection device. The detection device is configured to: detect at least one data item related to the state of the door of at least one gondola; generate an output signal based on the detected data item; and send the output signal to the processing and control block. The processing and control block is configured to receive the output signal from the detection device and is configured to control the movement of at least one gondola based on the output signal.

Description

[0001] Cross-citation of related applications

[0002] This patent application claims priority to Italian Patent Application No. 102025000007788, filed on April 9, 2025, the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] This invention relates to a system and method for controlling a cableway transportation system.

[0004] Furthermore, the present invention relates to a cableway transportation system (preferably an air transportation system) including the control system. Background Technology

[0005] As is well known, aerial cableway transportation systems are used in ski / mountain resorts, where they are called ski lifts. However, aerial cableway transportation systems can also be advantageously applied in urban environments with congested ground traffic.

[0006] In currently known aerial cableway transportation systems, passengers and / or sports equipment are transported one after another along a predetermined path by one or more transport units. The terminal stations, also known as top and valley stations, are located at both ends of the transportation system, where passengers can safely board and disembark from the transport units.

[0007] In some cases, there may be one or more intermediate stations between the top station and the valley station.

[0008] In addition, cableway transportation systems can also transport goods and / or building materials.

[0009] Specifically, the term "aerial" refers to a cableway system in which transport units are moved and supported in an elevated position relative to the ground below or any other underlying structure by means of at least one rope.

[0010] Currently known aerial ropeway transportation systems can be of the "single cable" type, in which the carrying cable also functions as the traction cable, or they can be of the "double cable" and "triple cable" types, in which, in addition to the traction cable, there are one or two carrying cables respectively.

[0011] As is well known, the traction cable moves cyclically between two terminal stations, and in the case of a single-cable transport system, the transport unit includes special devices (such as clamps) to remain constrained (clamped) to the cable, at least in sections outside the station.

[0012] In fact, at the terminal station, the transport unit is usually released (detached) from the tow cable to move along another predetermined path at a slower speed, so that passengers can get on and off safely without slowing down the transport unit moving along the predetermined path outside the station.

[0013] For example, a transportation system could be a gondola-type cable car, where each transportation unit includes a gondola adapted to accommodate one or more passengers and / or transport one or more objects.

[0014] The gondolas are usually equipped with automatic doors that open or close when the gondola arrives at or leaves the terminal or intermediate station.

[0015] Specifically, when the gondola arrives at the terminal or intermediate station, the automatic doors open to allow passengers to enter / exit the gondola or to allow an external operator to load objects into the gondola.

[0016] Similarly, when the gondola leaves the terminal or intermediate station, the automatic doors close to prevent passengers or objects inside the gondola from accidentally falling during transport between two terminals or between a terminal and an intermediate station.

[0017] During the operation of the cableway transportation system, the terminal stations (valley station and top station) and intermediate stations are always staffed by operators.

[0018] Each operator at each station must monitor the proper operation of the system and weather conditions in order to operate the system based on its operational status and / or events detected by the operator, by slowing down the forward speed of transport units and / or stopping the forward entry of transport units.

[0019] For example, each operator checks that the automatic door is opened and / or closed correctly.

[0020] For example, when the gondola leaves the terminal station and the automatic door is not closed, the operator operates the emergency control device to stop the movement of the traction cable.

[0021] For example, an automatic door failing to close may be caused by a passenger or object getting stuck between the doors.

[0022] Similarly, for example, when the gondola enters the terminal station and the automatic door is not open, the operator activates the emergency control to stop the gondola's movement.

[0023] For example, the inability of an automatic door to open may be caused by a malfunction in the door opening mechanism of the cableway transportation system.

[0024] One drawback of existing technologies is that operators may not notice or notice late events that require their intervention, which may result in failure to take appropriate or timely action on the system due to the failure to properly identify or the late identification of the event.

[0025] Another drawback is that having one operator per station results in high system operating costs due to the hourly cost of each operator at each station. Furthermore, these operators are difficult to find.

[0026] Against this backdrop, US2023045835 A1 describes a monitoring system for monitoring the position of the doors of moving gondolas in a cableway transportation system, a system that does not require an operator.

[0027] The monitoring system according to US2023045835 A1 is based on the use of a preferred passive reference target installed on each door, and fixed detection sensors typically installed at the station and cooperating with the control unit.

[0028] In the first configuration described in US2023045835A1, two separate fixed detection sensors are configured to simultaneously detect a corresponding target associated with each door to determine that the door is in the closed position.

[0029] In an alternative configuration, a single fixed detection sensor is configured to detect the successive passage of two targets within a time interval shorter than a predetermined threshold, indicating that the gate is closed.

[0030] However, the monitoring system disclosed in US2023045835A1 is prone to failure and lacks robustness, for example, because it requires the presence of a corresponding passive reference target accurately positioned on each door. Furthermore, the system relies on the presence of the passive target and its mechanical accuracy in height and position. For example, phenomena such as wear, vibration, target loss, changes in load within the gondola, or misalignment over time can impair the correct alignment of the sensor and the target, posing a risk that the sensor may no longer detect the target. In other words, the prior art system is not very robust and is prone to failure. Summary of the Invention

[0031] The object of the present invention is to provide a system for controlling a cableway transportation system that reduces or overcomes at least one of the above-mentioned disadvantages.

[0032] According to the present invention, a system for controlling a cableway transport system according to any one of claims 1 to 15 is provided, the cableway transport system being specifically a gondola cable car.

[0033] Thanks to this invention, the control system is able to detect the correct operation of the automatic doors of the gondola and take action based on whether they are fully or partially not open / closed, either autonomously or jointly with the operator, by adjusting the forward movement of the transport unit, specifically by reducing the forward speed and / or by stopping the forward movement.

[0034] Alternatively or in combination, the control system can warn the operator and preferably indicate an action to be performed after detecting that the device is not turned on / off.

[0035] Thanks to the present invention, a control system is provided that can detect when the automatic door of the gondola is not fully or partially open / closed, and take action to stop or slow down the system and / or indicate the event to the operator through audible and / or visual warnings and / or through messages displayed on a user interface (e.g., on a screen).

[0036] Another object of the present invention is to provide a cableway transportation system, specifically a gondola-type cable car, which reduces or overcomes at least one of the above-mentioned disadvantages.

[0037] According to the present invention, a cableway transportation system as described in claim 16 is provided.

[0038] Another object of the present invention is to provide a method for controlling a cableway transport system, specifically a gondola cable car, which reduces or overcomes at least one of the disadvantages of the prior art described above.

[0039] According to the present invention, a method for controlling a cableway transportation system is provided according to claims 17 to 26.

[0040] This method helps operators control the opening and closing status of doors in cableway transportation systems, or enables the system to operate autonomously based on door monitoring, thereby eliminating or reducing the need for operators to be present. Attached Figure Description

[0041] Other features and advantages of the invention are defined in the appended dependent claims and will be best understood from the following description of non-limiting embodiments with reference to the accompanying drawings, in which: - Figure 1 This is a schematic diagram of a cableway transportation system according to the present invention, wherein some components have been removed for clarity. - Figure 2 yes Figure 1 A top-down view of the cableway transportation system, with some components removed for clarity; - Figure 3 yes Figure 1 A schematic perspective view of a portion of the cableway transportation system during its first operational phase, with some components removed for clarity; - Figure 4 yes Figure 1 A schematic perspective view of a portion of the cableway transportation system during the second operating state, with some components removed for clarity; - Figure 5 The diagram illustrates the control... Figure 1 A block diagram of a cableway transportation system; - Figure 6schematically shown Figure 1 An example of the system's first reference signal; - Figure 7 schematically shown Figure 1 An example of the system's second reference signal; - Figure 8 yes Figure 1 A schematic perspective view of a variant of a cableway transportation system during its first operational phase, with some components removed for clarity. - Figure 9 yes Figure 1 A schematic perspective view of a variant of a cableway transportation system during a second operational state, with some components removed for clarity; and - Figure 10 yes Figure 1 A top-down view of a station (specifically, an upper or lower station) of a cableway transportation system, with some components removed for clarity. Detailed Implementation

[0042] refer to Figure 1 The attached figure, labeled 1, shows an aerial cableway transportation system, specifically a gondola-type cable car.

[0043] In the non-limiting embodiments of the invention described and illustrated herein, the transport system 1 is of the single-cable type and includes a single rope 2 that performs the dual functions of a load-bearing cable and a traction cable.

[0044] According to another embodiment (not shown in the figures), the transport system 1 can be of the "double cable" and "triple cable" type, wherein the transport system 1 includes one or two carrying cables in addition to the traction cable.

[0045] The transportation system 1 includes a first terminal station or valley station 3 and a second terminal station or top station 4. Specifically, the valley station 3 and the top station 4 are equipped with corresponding pulleys, at least one of which is electrically powered.

[0046] In a non-limiting embodiment of the present invention, the first station 3 and / or the second station 4 may be a boarding station and / or an alighting station. Specifically, for example, the first station 3 may be used only for boarding or only for alighting, or both, and station 4 may be used only for boarding or only for alighting, or both.

[0047] In a non-limiting embodiment of the invention, the cableway transportation system includes one or more intermediate stations 5 located between the top station 4 and the valley station 3.

[0048] Intermediate station 5 is either a boarding station or an alighting station, or both a boarding station and an alighting station.

[0049] In a non-limiting embodiment of the invention, the cableway transportation system may include a single top station 4 or a valley station 3.

[0050] refer to Figure 1 A portion of the cableway transport system 1 can be seen, preferably the top station 4 and the valley station 3, wherein the rope 2 is cyclically moved by means of two pulleys (not shown), at least one of which is guided by a drive device to identify a predetermined path 6 including an upward branch 7 and a downward branch 8. Figure 1 Arrows A and B shown indicate the forward direction of the upward branch 7 and the downward branch 8, respectively.

[0051] Transportation system 1 includes at least one transportation unit 9, which is configured to travel along a predetermined external path 6a outside stations 3, 4, and 5 and along a predetermined internal path 6b inside stations 3, 4, and 5. Figure 2 (Transporting passengers)

[0052] In a preferred but non-limiting embodiment of the invention, the transport unit 9 is clamped to the traction cable 2 during movement along the outer path 6a of stations 3, 4, and 5, and disengaged from the traction cable 2 during movement along the inner path 6b of stations 3, 4, and 5.

[0053] Specifically, when transport unit 9 enters one of stations 3, 4, or 5, the transport unit separates from the traction cable 2 and is advanced along a predetermined path 6b by an auxiliary forward system, allowing transport unit 9 to move at a slower speed than the predetermined path 6a, facilitating passenger boarding or alighting. Similarly, when transport unit 9 is about to leave stations 3, 4, or 5, and passengers have disembarked at the alighting station or boarded at the boarding station, transport unit 9 is clamped onto the traction cable 2 and leaves stations 3, 4, or 5, so that it can advance along the predetermined path 6a via the traction cable 2.

[0054] In a preferred but non-limiting embodiment of the invention, the transport unit 9 is clamped to the traction cable 2 during movement on the outer path 6a of stations 3, 4, and 5 and during movement on the inner path 6b of stations 3, 4, and 5.

[0055] According to a variant of the invention not shown in the accompanying drawings, the transport unit 9 is configured to transport objects and / or motion devices.

[0056] Specifically, the transportation system 1 includes multiple transportation units 9 arranged one after another along a predetermined path 6a, with an uplink branch 7 and a downlink branch 8.

[0057] Each transport unit 9 includes a gondola for transporting passengers along a predetermined path 6. Therefore, the transport system 1 is a gondola-type cable car.

[0058] The gondola 9 includes an entrance / exit 10 and a door 11 configured to selectively close the entrance / exit 10.

[0059] Specifically, when the gondola 9 is about to enter or has already entered stations 3, 4, and 5, the door 11 is configured to open and allow passengers to enter (or leave) the gondola 9 through the entrance / exit 10.

[0060] Similarly, when the gondola 9 is about to leave or has already left stations 3, 4, and 5, the door 11 is configured to close the entrance / exit 10 and protect passengers from accidental falls from the gondola 9 while being transported along the predetermined path 6 (specifically, the external path 6a).

[0061] In preferred embodiments (e.g.) Figures 2 to 4 As shown), each station 3, 4, 5 includes a tread surface 15 for user use, and a recess 16 located below the gondola 9 along a predetermined internal path 6b of each station 3, 4, and 5, specifically in the boarding and / or alighting area.

[0062] refer to Figure 5 The transportation system 1 includes a control system 18 for controlling the cableway transportation system 1.

[0063] The control system 18 includes at least one detection device 19 configured to detect at least one data item related to the state of the door 11 of at least one cabin 9, specifically at a predetermined point on a predetermined internal path 6b.

[0064] Preferably, but not necessarily, in one embodiment, the detection device 19 includes at least one of the following devices: lidar, phototube, position sensor, radar, photoelectric sensor, ultrasonic sensor, and laser sensor.

[0065] Preferably, the detection device 19 is a distance sensor, including one or more of the following devices: lidar, position sensor, radar, ultrasonic sensor, and laser sensor.

[0066] In one embodiment, the detection device 19 includes a photoelectric distance sensor configured to detect data indicating the distance between the sensor itself and an external point to which the sensor is pointing. Specifically, the photoelectric sensor is of the type that calculates the time of flight of the emitted light beam.

[0067] The detection device 19 is configured to generate an output signal S based on the detected data (preferably based on the detected distance). u The signal is then sent to processing and control block 20, which is configured to receive output signal S. u And based on the received output signal S u To control the forward movement of gondola 9.

[0068] Specifically, the processing and control block 20 is configured to base its operation on the received output signal S. uTo slow down and / or stop the movement of the entire system 1, and thus also slow down and / or stop the movement of the gondola 9.

[0069] According to a preferred embodiment, the control system 18 includes a detection device 19, which is preferably arranged at a height above the tread surface 15 to detect the state of the door 11 when the gondola 9 is about to enter / leave or has already entered / leaved the stations 3, 4, 5.

[0070] Preferably, the detection device 19 is located near the first end 22 of the predetermined internal path 6b to detect the first state of the door 11 when the gondola 9 is about to enter or has already entered the stations 3, 4, 5.

[0071] Similarly, the detection device 19 is preferably located near the second end 23 of the predetermined internal path 6b to detect the second state of the door 11 when the gondola 9 is about to leave or has already left the stations 3, 4, 5.

[0072] Specifically, the first state of door 11 corresponds to the operation state when door 11 is open, and the second state of door 11 corresponds to the operation state when door 11 is closed.

[0073] In a preferred but non-limiting embodiment of the invention, the detection device 19 detects data items related to the state of the door 11 only when the gondola 9 enters the detection area 21, preferably when the gondola 9 is detected to be in the detection area 21.

[0074] The detection area 21 corresponds to the area where at least one detection device 19 is located, and is therefore adjacent to or close to the first end 22 and / or adjacent to the second end 23.

[0075] In this implementation, only the closing of door 11 is monitored, and therefore the control system 18 includes a single detection device 19 located adjacent to the second end 23 to monitor the closing of door 11, but does not include a detection device 19 located at the first end 22 to monitor the opening of door 11.

[0076] According to a possible embodiment not shown herein, the control system 18 includes a first detection device 19 and a second detection device 19, wherein the first detection device 19 is located near a first end 22 and the second detection device 19 is located near a second end 23. In this embodiment, the first detection device and the second detection device 19 detect a first state and a second state of the door 11, respectively, namely, the opening and closing of the door 11 along the internal path 6b.

[0077] In another embodiment, only the opening of door 11 is monitored, and therefore the control system 18 includes a single detection device 19 arranged adjacent to the first end 22 to monitor the opening of door 11, but does not include a detection device 19 located at the second end 23 to monitor the closing of door 11.

[0078] In non-limiting embodiments of the present invention (e.g.) Figure 2 As shown, the control system 18 includes at least a pair of detection devices 19 configured to detect relative data related to a first state of the door 11 (i.e., when the door is open), and preferably includes a pair of detection devices 19 configured to detect relative data related to a second state of the door 11 (i.e., when the door is closed and the entrance / exit 10 is closed).

[0079] Specifically, two detection devices 19 are located near the first end 22 of the predetermined internal path 6b and / or two detection devices 19 are located near the second end 23 of the predetermined internal path 6b, wherein the second end 23 is preferably opposite to the first end 22.

[0080] Obviously, the present invention can be implemented using any number of detection devices 19, and can be used only to monitor the closing of the door 11, thus using a single detection device 19 to monitor the closing of the door 11, or only to monitor the opening of the door 11, thus using a single detection device 19 to monitor the opening of the door 11, or simultaneously to monitor the closing and opening of the door.

[0081] Preferably, the processing and control block 20 is configured to determine the output signal S received from the detection device 19. u The reference signal S associated with one of the first and second states of AND gate 11 ref Whether they are consistent with each other or whether the absolute value difference is less than a given threshold.

[0082] Preferably, the processing and control block 20 is configured to determine the output signal S received from the detection device 19. u Is it greater than or less than a given reference signal associated with one of the first and second states of gate 11, and / or are they consistent with each other or have an absolute value difference less than a specific threshold? In the output signal S u With reference signal S ref If at least the corresponding part and / or the given reference value are inconsistent or the absolute difference between the two is not less than a given threshold, the processing and control block 20 is configured to stop and / or may slow down the forward movement of the gondola 9.

[0083] Preferably, the processing and control block 20 is configured to process the output signal S received from the detection device 19. u With the first reference signal S ref A warning will be displayed to the operator if the parts and / or given reference values ​​are inconsistent with each other or if the absolute values ​​differ by a given threshold.

[0084] For example, an alarm can be an audible and / or visual alarm and / or a message displayed on a user interface (such as a screen).

[0085] The following discloses a first non-limiting example of the operation of the control system 18, wherein the detection device 19 includes at least one of the following devices: lidar, phototube, position sensor, radar, photoelectric sensor, ultrasonic sensor, and laser sensor.

[0086] Preferably, the detection device 19 is a distance sensor, including one or more of the following devices: lidar, position sensor, radar, ultrasonic sensor, and laser sensor.

[0087] In one embodiment, the detection device 19 includes a photoelectric distance sensor configured to detect data indicating the distance between the sensor itself and an external point to which the sensor is pointing. Specifically, the photoelectric sensor is of the type that calculates the time of flight of the emitted light beam.

[0088] Figure 3 An example of the first operating condition of the control system 18 is shown, specifically when the gondola 9 is about to enter or has already entered stations 3, 4, and 5.

[0089] In this configuration, door 11 is set to open and allow passengers to enter gondola 9 through entrance / exit 10.

[0090] exist Figure 3 In the example shown, the control system 18 includes at least two detection devices 19 configured to activate when the gondola 9 enters the detection area 21.

[0091] Preferably, both detection devices 19 are located near the first end 22 of the internal path 6b.

[0092] Each detection device 19 is configured to detect the data item of the distance between the indicator reference point P0 and the point P belonging to the gondola 9.

[0093] In a preferred embodiment, P0 is the emission point of the detection beam emitted by the detection device 19.

[0094] Specifically, when the gondola 9 is located within the detection area 21, the detection beam is directed at the gondola 9.

[0095] For example, if the detection device 19 includes a laser, then the detection beam includes a laser beam.

[0096] For example, if the detection device 19 includes an ultrasonic sensor, then the detection beam includes sound waves.

[0097] As a further example, the detection device 19 includes a radio frequency sensor and the detection beam includes radio waves.

[0098] It should be understood that, in this description, the term "detection beam" may refer to one or more of the following: laser beam, laser pulse, sound wave, sound beam, echo, radio wave, electromagnetic wave, electromagnetic beam, radio beam, or the like.

[0099] In one possible implementation, the detection device 19 is configured to measure the distance between itself and an external point (e.g., a point belonging to the gondola 9) to which the detection beam is pointed, based on the measurement return time of the detection beam. In this implementation, the distance is calculated indirectly by measuring the flight time of the detection beam from emission to reception by the detected device 19. More specifically, each detection device 19 is configured to detect data on the distance between an indicating reference point P0 and a point P within the gondola 9 where the detected beam strikes, the reference point being the emission point of the detection beam emitted from the gondola 9.

[0100] In other words, each detection device 19 is configured to detect data indicating the distance between the detection device 19 itself at reference point P0 and point P belonging to the gondola 9. In other words, the detection device 19 detects the distance between itself and point P belonging to the gondola 9 that is struck by the detected beam.

[0101] For example, point P may correspond to a point on the bottom wall of gondola 9 where the orientation detection device 19 (preferably a lidar and / or laser sensor and / or radar) is located; or point P may correspond to the side edge end of door 11 or gondola 9 where the orientation detection device 19 (preferably a lidar and / or laser sensor and / or radar) is located. For example, in the case where gondola 9 (specifically door 11) includes a support structure for carrying skis outside gondola 9, point P may correspond to one end of the support structure, which is also commonly referred to as a ski rack.

[0102] For example, if the gondola 9 (specifically, door 11) includes a support structure for transporting sports equipment (e.g., bicycle racks, ski racks, etc.) outside the gondola 9, then point P may correspond to one end of the support structure. Preferably, the detection device 19 is located in a reference frame whose origin is defined by the emission point of the detection beam pointing towards the gondola 9, wherein the origin coincides with P0.

[0103] Detection device 19 is configured to generate output signal S u And the output signal S u The signal is sent to processing and control block 20, which will output signal S. u The first reference signal S associated with the first state of gate 11 ref1 And / or compare with a first reference value.

[0104] exist Figure 6 or Figure 7 In the example shown, the first reference signal Sref1 And / or the first reference value is related to the first state of door 11, which is specifically when the gondola 9 is about to enter or has entered station 3, 4, 5 and door 11 is configured to open and allow passengers to board or alight.

[0105] like Figure 6 As shown, the first reference signal S ref1 And / or the first reference value is defined based on reference distances x1, x2 and time intervals t1 to t4 corresponding to the activation time periods of the detection device 19 when the gondola 9 enters (t1) and leaves (t4) the detection area 21.

[0106] For example, when the door is open, x1 corresponds to the distance between P0 detected by the detection device 19 (preferably by sensor laser and / or lidar and / or radar) and point P1 (when the door is closed) belonging to the side edge end of the door 11 or the gantry 9 facing the detection device, while x2 corresponds to the distance between P0 detected by the detection device 19 and point P2 (when the door is closed) belonging to the bottom wall of the gantry 9. Figure 3 , Figure 4 The distance between (indicated by arrows).

[0107] Specifically, according to Figure 6 The first reference signal S shown ref1 When the gondola 9 is about to enter or has already entered stations 3, 4, and 5, specifically when the gondola has entered the detection area 21, the detection device 19 must detect distance x1 within time interval t1 to t2, detect distance x2 within time interval t2 to t3, and detect distance x1 within time interval t3 to t4.

[0108] Preferably, the time intervals t1 to t2, t2 to t3, and t3 to t4 are calculated and / or limited and / or set based on the characteristics of the gondola 9, such as based on the gondola size when the door 11 is open or closed.

[0109] Preferably, time intervals t1 to t2, t2 to t3, and t3 to t4 are calculated and / or limited and / or set based on the maximum width of the gondola when the door 11 is open or closed.

[0110] Preferably, the term "width" refers to the axial distance between two opposite ends of two doors of the same gondola 9. In an optional and non-limiting embodiment of the invention, time intervals t1 to t2, t2 to t3, t3 to t4, and / or distances x1 and / or x2, and / or the first and / or second reference values ​​are calculated and / or defined and / or set in software based on the characteristics of the gondola 9 or its model. This allows the system to achieve high flexibility and updability by changing software parameters. According to one possible embodiment, time intervals t1 to t2, t2 to t3, and t3 to t4, and / or distances x1 and / or x2, and / or the first and / or second reference values ​​are calculated and / or defined and / or set based on one or more characteristics of the transport system 1, such as the forward speed of the gondola 9.

[0111] Therefore, if the output signal S u With the first reference signal S ref If at least corresponding parts are inconsistent or the absolute difference is not less than a given threshold, then the processing and control block 20 is configured to stop and / or slow down the advance of the gondola 9.

[0112] Advantageously, the control system 18 is capable of performing preferred continuous monitoring and / or sampling monitoring of the opening and closing status of the door 11 of the gondola 9, thereby achieving more precise management of the operating conditions within the monitored area. Preferably, but not necessarily, in the embodiment, the detection device 19 includes at least one of the following devices: lidar, phototube, position sensor, radar, photoelectric sensor, ultrasonic sensor, and laser sensor.

[0113] Preferably, the detection device 19 is a distance sensor, including one or more of the following devices: lidar, position sensor, radar, ultrasonic sensor, and laser sensor.

[0114] In one embodiment, the detection device 19 includes a photoelectric distance sensor configured to detect data indicating the distance between the sensor itself and an external point to which the sensor is pointing. Specifically, the photoelectric sensor is of the type that calculates the time of flight of the emitted light beam.

[0115] Figure 4 An example of a second operating condition for the control system 18 is shown, specifically when the gondola 9 is about to leave or has already left stations 3, 4, and 5.

[0116] exist Figure 4 In the example shown, the control system 18 includes at least two detection devices 19 configured to activate when the gondola 9 enters the detection area 21.

[0117] Preferably, both detection devices 19 are located near the second end 23 of the predetermined internal path 6b.

[0118] According to possible implementations, the second detection device 19 is activated when the first detection device 19 is not in operation, or vice versa.

[0119] The detection device 19 is configured to detect the data item of the distance between the reference point P0 and the point P belonging to the gantry 9.

[0120] In this case, for example again, point P may correspond to the point on the bottom wall of the gondola 9 facing the detection device 19; or point P may correspond to the end of the side edge of the door 11 or the gondola 9 facing the detection device 19.

[0121] For example, in the case where the gondola 9 (specifically the door 11) includes a support structure for carrying skis outside the gondola 9, point P may correspond to one end of the support structure, which is also commonly referred to as a ski rack.

[0122] Preferably, the detection device 19 is located in a reference frame whose origin is defined by the emission point of the detection beam pointing from the detection device to the gondola 9, wherein the origin coincides with P0.

[0123] Detection device 19 is configured to generate output signal S u And the output signal S u The signal is sent to processing and control block 20, which will output signal S. u With the second reference signal S ref2 And / or compare with a second reference value associated with the second state of door 11, wherein door 11 is configured to close and protect passengers from possible accidental falls through entrance / exit 10.

[0124] like Figure 7 As shown, the second reference signal S ref2 And / or the second reference value is defined based on reference distances x1, x2 and the time interval t5 to t6 corresponding to the activation time of the detection device 19 when the gondola 9 enters (t5) and leaves (t6) the detection area 21.

[0125] For example, x1 corresponds to the distance between P0 detected by the detection device 19 and point P1 at the end of the side edge of the door 11 or the gantry 9 facing the detection device 19.

[0126] Specifically, according to Figure 7 The second reference signal S shown ref2 When the gondola 9 is about to leave or has already left stations 3, 4, and 5, specifically when the gondola has entered the detection area 21, the detection device 19 must detect the distance x1 within the time interval t5 to t6.

[0127] Preferably, the time intervals t5 to t6 are calculated based on the characteristics of the gondola 9 (e.g., based on the maximum width of the gondola 9 when the door 11 is open or closed).

[0128] According to another embodiment, the control system 18 is based on the output signal S u The amplitude of the signal determines whether door 11 is open or closed, regardless of the time interval. Specifically, the control system 18 compares the output signal S. u The amplitude is used to verify whether it corresponds to a distance value x1 or a distance value x2, regardless of time intervals t1, t2, etc. In other words, the control system 18 outputs signal S. u The value is compared with the first reference value and the second reference value to determine whether the door 11 is open or closed.

[0129] Therefore, if the output signal S u With the second reference signal S ref2 If the corresponding part and / or the second reference threshold are inconsistent or the absolute value difference is not less than the given threshold, then the processing and control block 20 is configured to stop and / or slow down the forward movement of the gondola 9.

[0130] For example, door 11 includes two units 11A and 11B (such as...) Figure 3 or Figure 4 (As shown); in the event that a passenger or object is stuck between the two ends 11A and 11B of the door 11, the output signal S is... u With the second reference signal S ref2 The corresponding parts and / or the second reference threshold will be inconsistent or have different absolute values.

[0131] according to Figure 8 and Figure 9 In the possible implementation shown, the control system 18 includes at least two detection devices 19 located near the first end 22 or the second end 23 along the internal path 6b.

[0132] Preferably, the two detection devices 19 are arranged along a vertical axis C that is preferably perpendicular to the tread surface 15.

[0133] In other words, the two detection devices 19 are arranged at different heights relative to the tread surface 15.

[0134] For example, the first detection device 19 faces the lower end portion 25 of the door 11, and the second detection device 18 faces the upper end portion 26 of the door 11, wherein the upper end portion 26 is opposite to the lower end portion 25.

[0135] According to a possible implementation, the first detection device 19 faces the lower end portion 25 of the door 11 and the second detection device 19 faces the middle portion 27 of the door 11, wherein the middle portion 27 is disposed between the upper end portion 26 and the lower end portion 25 of the door 11.

[0136] According to another embodiment, the first detection device 19 faces the middle portion 27 of the door 11, and the second detection device 19 faces the upper portion 26 of the door 11.

[0137] According to an embodiment not shown herein, the control system 18 includes three detection devices 19 arranged near the first end 22 or the second end 23 and along a vertical axis preferably perpendicular to the tread surface 15.

[0138] In this embodiment, the first detection device 19 faces the lower end portion 25 of the door 11, the second detection device 19 faces the upper end portion 26 of the door 11, and the third detection device 19 faces the middle portion 27 of the door 11, wherein the middle portion 27 is disposed between the upper end portion 26 and the lower end portion 25 of the door 11.

[0139] According to possible embodiments not shown herein, the control system 18 includes at least two detection devices 19 arranged in a direction inclined relative to the direction perpendicular to the tread surface 15.

[0140] In this embodiment, the two detection devices 19 face the opposite portions of the tread 15 of the door 11 and are at different heights relative to the tread.

[0141] Preferably, when the control system includes at least two detection devices 19, each detection device 19 will detect the output signal S. u The reference signal S corresponding to the detection section of gate 11 ref Compare them.

[0142] According to an alternative implementation, the detection device 19 includes a camera or video camera for detecting whether it is open and / or closed.

[0143] In embodiments where the detection device 19 includes a camera or video camera, the detection device 19 can detect the opening and / or closing of a door by directly analyzing an image (e.g., using an image detection algorithm), or by detecting the distance of an object framed in an image, for example, using a time-of-flight camera, and using that distance value, as described above.

[0144] In a preferred but non-limiting embodiment, the transport system 1 includes two or more detection devices 19 of the same or different types according to any combination of the above-described detection devices 19.

[0145] In a preferred but non-limiting embodiment of the invention and with reference to Figure 10 The control system 18 includes a set of sensors 50 for detecting the position of the transport unit 9 within at least a portion of stations 3, 4, and 5 of the transport system 1.

[0146] Preferably, the sensor group 50 includes at least one sensor 51 in the sensor group, which includes a position sensor and a proximity sensor.

[0147] In a preferred but non-limiting embodiment of the invention, the control system 18 includes a position and / or speed detection device (not shown) coupled to one of the two pulleys for calculating the position and / or speed of the transport unit 9 outside the station along a predetermined path 6a, as well as the speed and length in meters of the rope 2. Specifically, the position and / or speed detection device sends one, some, or all of the information items to the processing and control block 20.

[0148] Preferably, the detection device detects the speed of the traction cable 2 and the position of the traction cable relative to the reference position.

[0149] By way of a non-limiting example of the invention, sensor group 50 includes a plurality of sensor units 51, such as position sensors or proximity sensors, arranged along an auxiliary movement mechanism located within stations 3, 4, and 5 along a predetermined path 6b to detect the position and / or speed of each transport unit 9 within the stations along the predetermined path 6b and transmit it to processing and control block 20. In a preferred but non-limiting embodiment of the invention, the sensor units 51 are arranged non-uniformly along the predetermined internal path 6b.

[0150] Preferably, the distance between sensor units 51 decreases from the station entrance area to the boarding / disembarking area and increases from the boarding / disembarking area to the exit area.

[0151] According to possible implementations, the processing and control block 20 is configured to be based on the output signal S of the detection device 19. u The state of the door 11 is detected by position and / or speed data detected by sensor unit 51. According to possible implementations, the detection device 19 is activated / deactivated based on information received from sensor group 50 regarding the position of the gondola 9.

[0152] Specifically, according to this embodiment, the activation or deactivation of the sensing device 19 is managed based on information about the position of the gondola 9 provided by the sensor array 50.

[0153] Therefore, the sensing device 19 is activated only when the gondola 9 is in a position that needs or is worth detecting, such as when the gondola enters the detection area 21, thereby avoiding unnecessary or redundant activation.

[0154] This optimizes the overall operation of the control system 18, reduces energy consumption, limits component wear, and improves detection reliability because the sensing device 19 operates only under conditions that correspond to the actual position of the gondola 9.

[0155] According to this embodiment, the processing and control block 20 is configured to process the output signal S received from the detection device 19. u If there is a discrepancy between the position and / or velocity data detected by sensor unit 51, the motion of system 1 shall be stopped and / or slowed down.

[0156] For example, if the detection device 19 detects the state of the door 11 of the gondola 9 in the detection area 21 and the sensor unit 51 does not detect the position and / or speed of the gondola 9 in the detection area 21, the processing and control block 20 slows down and / or stops the system 1 and / or announces a malfunction of the sensor group 50 and / or the detection device 19 by means of a warning signal.

[0157] Alternatively, for example, if the detection device 19 fails to detect the state of the door 11 of the gondola 9 and the sensor unit 51 instead detects the position and / or speed of the gondola 9 in the detection area 21, the processing and control block 20 causes the system 1 to decelerate and / or stop and / or announce a malfunction of at least one detection device 19 and / or sensor group 50 by means of a warning signal.

[0158] For example, a warning is an audible and / or visual alert and / or a message displayed via a user interface (such as a screen).

[0159] It should be noted that sensor group 50 is preferred but not essential to the present invention, and therefore can be omitted.

[0160] Finally, the invention can obviously be modified without exceeding the scope of protection set forth in the appended claims.

Claims

1. A control system (18) for a cableway transportation system (1), wherein the cableway transportation system is preferably an aerial transportation system, specifically a gondola cable car; in, The cableway transport system (1) includes at least one traction cable (2), at least one gondola (9), and at least one upper station and / or lower station (3, 4, 5), wherein the at least one gondola (9) travels outside the at least one station (3, 4, 5) along a predetermined external path (6a) and inside the at least one station (3, 4, 5) along a predetermined internal path (6b), wherein the at least one gondola (9) includes an entrance (10) and a door (11) configured to selectively close the entrance (10). The control system (18) includes: At least one detection device (19); and Processing and control block (20); The detection device (19) is configured as follows: Preferably, at least one data item related to the state of the door (11) of the at least one cabin (9) is detected based on the distance between a point of the at least one cabin (9) and the detection device (19); The output signal (S) is generated based on the detected data. u );and The output signal (S) u ) is sent to the processing and control block (20); The processing and control block (20) is configured as follows: Receive the output signal (S) from the detection device (19) u );and Based on the output signal (S) u ( ) to control the operation of the at least one gondola (9) along a predetermined internal path (6b) at least inside the at least one station (3, 4, 5).

2. The control system according to claim 1, wherein, Detecting at least one data item related to the state of the door (11) of the at least one cabin (9) includes: detecting a data item indicating the distance between a reference point (P0) and a point (P) pointed to by the detection device (19), the reference point preferably being located on the detection device (19); Wherein, the point (P) corresponds to the point belonging to the hoist (9) when the hoist (9) enters the detection area (21).

3. The control system according to claim 2, wherein, The reference point (P0) is defined by the emission point of the detection beam of the detection device (19) pointing to the gondola (9). Preferably, the reference point (P0) corresponds to the origin of the detection beam pointing to the gondola (9).

4. The control system according to any one of the preceding claims, wherein, The processing and control block (20) is configured to process the output signal (S) received from the detection device (19). u ); detect whether the door (11) is in an open or closed configuration; and control the at least one gondola (9) to move along a predetermined internal path (6b) at least inside the at least one station (3, 4, 5) based on the detected configuration of the at least one gondola (9).

5. The control system according to any one of the preceding claims, wherein, The processing and control block (20) is configured to: receive the output signal (S) from the detection device (19) u The reference value and / or reference signal (S) associated with one of the first and second states of the gate (11) rif1 S rif2 The comparison is performed; the door (11) is detected to be in the open or closed configuration; and the operation of the at least one cabin (9) is controlled based on the comparison; the first state and the second state of the door (11) are preferably related to the open and closed configurations of the door (11), respectively. The processing and control block (20) is configured to determine the output signal (S) received from the detection device (19). u ) and the reference signal (S) associated with one of the first state and the second state of the gate (11). rif1 S rif2 Whether at least corresponding parts of the output signal and the reference signal are consistent with each other, or whether the difference between the absolute values ​​of at least corresponding parts of the output signal and the reference signal is less than a given threshold, and if they are inconsistent with each other or the difference is not less than the given threshold, control the forward movement of the gondola (9), specifically causing the gondola to stop moving forward and / or slow down the forward movement of the gondola.

6. The control system according to claim 5, wherein, When the gondola (9) enters the detection area (21), the detection device (19) is configured to detect data indicating the distance between the reference point (P0) belonging to the detection device (19) and the point (P) belonging to the gondola (9); Wherein, the reference signal (S) rif1 S rif2 The reference distance between the reference point (P0) belonging to the detection device (19) and the point (P) belonging to the gondola (9) and the time interval corresponding to the activation time of the detection device (19) when the gondola (9) enters the detection area (21) is defined.

7. The control system according to any one of claims 2 to 6, wherein, The detection device (19) is located in a reference frame whose origin is defined by the emission point of the detection beam pointing to the gondola (9), wherein the origin coincides with the reference point (P0).

8. The control system according to any one of claims 5 to 7, wherein, The processing and control block (20) is configured to: receive the output signal (S) from the detection device (19) u ) and the reference signal (S) associated with one of the first state and the second state of the gate (11). rif1 S rif2 If at least corresponding parts of the output signal and the reference signal are inconsistent with each other, or if the absolute values ​​of at least corresponding parts of the output signal and the reference signal differ by a specific threshold, a warning shall be displayed to the operator.

9. The control system according to any one of the preceding claims, wherein, The at least one detection device (19) includes at least one of lidar, phototube, photoelectric sensor, position sensor, radar, ultrasonic sensor, camera or video camera, laser sensor and distance sensor.

10. The control system according to any one of the preceding claims, wherein, The at least one detection device (19) includes at least one camera or video camera, and wherein the detection device (19) is configured to detect at least one piece of data related to the state of the door (11) of the at least one cabin (9) by directly analyzing the image, preferably via an image detection algorithm.

11. The control system according to any one of the preceding claims, wherein, The data indicating the distance between the reference point (P0) and the point (P) that does not belong to the detection device (19) is obtained based on the flight time of the detection beam between the reference point (P0) and the point (P) that does not belong to the detection device (19).

12. The control system according to any one of the preceding claims, comprising: At least two detection devices (19) are arranged along the internal path (6b) near two different ends (22, 23) of the internal path (6b).

13. The control system according to any one of the preceding claims, comprising at least two detection devices (19); the at least two detection devices (19) are arranged at different heights relative to the tread surface (15); preferably, wherein, The at least two detection devices (19) are arranged along a vertical axis (C) preferably perpendicular to the tread surface (15).

14. The control system according to any one of the preceding claims, comprising a sensor array (50) for detecting the position and / or speed of the gondola (9) along the internal path (6b) inside the at least one station (3, 4, 5), wherein, The sensor group (50) includes a plurality of sensor units (51) arranged along the internal path (6b) inside the at least one station (3, 4, 5), the plurality of sensor units preferably being position sensors or proximity sensors; wherein the sensor units (50) are communicatively coupled to the processing and control block (20) to transmit data relating to at least one of the position and speed of the gondola (9) to the processing and control block (20); wherein the processing and control block (20) receives the output signal (S) from the detection device (19) u The system generates control signals for the cableway transport system (1) based on data received from the sensor group (50) relating to at least one of the position and speed of the gondola (9).

15. The control system according to claim 14, wherein, The processing and control block (20) is configured to determine a fault in the detection device (19) and / or the sensor group (50), and to display a warning to the operator and / or implement a reset procedure for the detection device (19) and / or the sensor group (50).

16. A cableway transportation system (1), comprising: At least one traction cable (2), at least one gondola (9), at least one boarding station and / or alighting station (3, 4, 5), wherein the at least one gondola (9) moves along an external path (6a) outside the at least one station (3, 4, 5) and along an internal path (6b) inside the at least one station (3, 4, 5); and a control system (18) according to any one of the preceding claims.

17. A control method for a cableway transportation system, wherein the cableway transportation system is preferably an aerial cableway, specifically a gondola-type cable car; wherein, The cableway transport system (1) includes at least one traction cable (2), at least one gondola (9), at least one upper station and / or lower station (3, 4, 5), wherein the at least one gondola (9) moves outside the at least one station (3, 4, 5) along a predetermined external path (6a) and inside the at least one station (3, 4, 5) along a predetermined internal path (6b), wherein the at least one gondola (9) includes an entrance (10) and a door (11) configured to selectively close the entrance (10). The control method includes the following steps: At least one data item related to the state of the door (11) of the at least one gondola (9) is detected by a detection device (19), the detection device being selected from the group consisting of: lidar, laser sensor, phototube, position sensor, radar, photoelectric sensor, ultrasonic sensor, camera, video camera and distance laser; preferably, the detected data is based on the distance between a point of the at least one gondola (9) and the detection device (19); An output signal (S) is generated based on at least one detected data point. u ); Based on the generated output signal (S) u ( ) to control the forward movement of the gondola (9).

18. The control method according to claim 17, comprising the following steps: - Process the output signal (S) received from the detection device (19). u And detect whether the door (11) is in an open or closed configuration; and - Based on the detected configuration of the at least one gondola (9), check the operation of the at least one gondola (9) in a predetermined internal path (6b) at least inside the at least one station (3, 4, 5).

19. The control method according to claim 17 or 18 further comprises the following steps: The generated output signal (S) u The reference signal (S) associated with the first and second states of the gate (11) rif1 S rif2 The first state and the second state of the door (11) are preferably related to the opening configuration and the closing configuration of the door (11), respectively. Detect the open or closed configuration of the door (11), and check the operation of at least one cabin (9) based on the comparison; and Determine the output signal (S) received from the detection device (19). u ) and the reference signal (S) associated with one of the first state and the second state of the gate (11). rif1 S rif2 Whether at least corresponding parts of the output signal and the reference signal are consistent with each other, or whether the difference between the absolute values ​​of at least corresponding parts of the output signal and the reference signal is less than a specific threshold, and if they are inconsistent with each other or the difference is not less than the specific threshold, control the forward movement of the gondola (9), specifically causing the gondola to stop moving forward and / or slow down the forward movement of the gondola.

20. The control method according to claim 19, comprising the following steps: The output signal (S) received from the detection device (19) u ) and the reference signal (S) associated with one of the first state and the second state of the gate (11). rif1 S rif2 A warning is generated for the operator if at least corresponding parts of the output signal and the reference signal are inconsistent with each other, or if the absolute values ​​of at least corresponding parts of the output signal and the reference signal differ by a given threshold.

21. The control method according to any one of claims 17 to 20, wherein, The step of detecting at least one data item related to the state of the door (11) of the at least one cabin (9) includes: detecting a data item indicating the distance between a reference point (P0) and a point (P) belonging to the cabin (9), the reference point preferably being located on the detection device (19).

22. The control method according to claim 21, wherein, The reference point (P0) is defined by the emission point of the detection beam of the detection device (19) pointing to the gondola (9). Preferably, the reference point (P0) corresponds to the origin of the detection beam pointing to the gondola (9).

23. The control method according to claim 21 or 22 when dependent on claim 19, wherein, When the gondola (9) enters the detection area (21), the detection device (19) is configured to detect data indicating the distance between the reference point (P0) belonging to the detection device (19) and the point (P) belonging to the gondola (9); Wherein, the reference signal (S) rif1 S rif2 The reference distance between the reference point (P0) belonging to the detection device (19) and the point (P) belonging to the gondola (9) and the time interval corresponding to the activation time of the detection device (19) when the gondola (9) enters the detection area (21) is defined.

24. The control method according to any one of claims 21 to 23, wherein, The detection device (19) is located in a reference frame whose origin is defined by the emission point of the detection beam pointing to the gondola (9), wherein the origin coincides with the reference point (P0).

25. The control method according to any one of claims 21 to 24, wherein, The data indicating the distance between the reference point (P0) and the point (P) that does not belong to the detection device (19) is obtained based on the flight time of the detection beam between the reference point (P0) and the point (P) that does not belong to the detection device (19).

26. The control method according to any one of claims 17 to 25, wherein, Data relating to the state of the door (11) of the at least one cabin (9) is detected by at least two detection devices (19) arranged along a vertical axis (C) preferably perpendicular to the tread (15); wherein the at least two detection devices (19) are arranged at different heights relative to the tread (15).

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