METHOD FOR PLANNING AND AT LEAST PARTIAL INSTALLATION OF AN ELEVATOR SYSTEM IN AN ELEVATOR SHAFT

Description

[0001] The invention relates to a method for planning and at least partially installing an elevator system in an elevator shaft according to claim 1.

[0002] The manufacture of an elevator system and, in particular, the installation of components of the elevator system within an elevator shaft in a building can be very complex and therefore costly, as a large number of components must be mounted at different positions within the elevator shaft.

[0003] Installation steps, such as installing a component within an elevator shaft, have traditionally been performed by fitters or installation personnel. Typically, a fitter goes to the location within the elevator shaft where the component is to be installed and installs the component at the desired location, for example, by drilling holes in a shaft wall and securing the component to the shaft wall with screws or bolts inserted into these holes. The fitter may use tools and / or machines for this purpose.

[0004] To reduce costs and relieve fitters of hazardous work in the elevator shaft, individual installation steps can be automated, for example by an automated assembly device. The assembly device can, for example, drill holes at specified positions on the shaft walls of the elevator shaft and insert anchor bolts into the drilled holes. Subsequent work steps, such as aligning and attaching guide rails using rail brackets and the aforementioned anchor bolts, can then be carried out by a fitter. Rail brackets usually have a lower rail bracket section and an upper rail bracket section that can be screwed to the lower rail bracket section. The lower rail bracket section is fixed to the shaft wall, for example by screwing. The guide rail is connected to the upper rail bracket section, which can be moved relative to the lower rail bracket section.This allows for alignment of the guide rail. The division of labor between the automated assembly device and the installer can vary.

[0005] WO 2017 / 016783 A1 describes an automated assembly device for performing an installation process in an elevator shaft of an elevator system and a method for performing an installation process using such an assembly device. In this method, a support component with a mechatronic installation component is fixed at various heights in the elevator shaft. In this fixed state, the installation component performs various installation steps, such as drilling holes in a shaft wall of the elevator shaft. WO 2017 / 016783 A1 focuses primarily on the execution of the installation and does not address its planning in detail.

[0006] EP 1 225 522 A1 describes a design system for a product for an elevator that is to be manufactured on the basis of a specific order.

[0007] EP 3 127 847 A1 describes a device and a method for determining the position of an installation platform in an elevator shaft.

[0008] WO 2017 / 016780 A1 describes an automated assembly device for performing an installation process in an elevator shaft of an elevator system and a method for performing an installation process using such an assembly device. In this method, before drilling a hole in a shaft wall of the elevator shaft, an image of the position of reinforcements within the shaft wall is created, and based on this image, drilling positions for the boreholes are determined.

[0009] In contrast, the object of the invention is, in particular, to propose a method for planning and at least partially installing an elevator system in an elevator shaft, which enables the installation to be carried out as planned. According to the invention, this object is achieved by a method having the features of claim 1.

[0010] In the method according to the invention for planning and at least partially installing an elevator system in an elevator shaft, some, but not all, installation steps are performed by an automated assembly device. The installation steps performed by the automated assembly device are referred to herein as automated installation steps. The method comprises the following process steps, which are performed in particular, but not necessarily, in the specified order: Deriving a target layout of the elevator system from the target dimensions of the elevator shaft, defining the installation steps that are to be carried out by an automated assembly device, i.e. defining the automated installation steps, checking that the automated installation steps can be carried out by the assembly device, recording some actual dimensions of the elevator shaft, deriving an actual layout of the elevator system from the target layout of the elevator system and the recorded actual dimensions of the elevator shaft, planning the automated installation steps based on the actual layout of the elevator system and carrying out the automated installation steps with the assembly device.

[0011] In particular, verifying that the automated installation steps can be carried out by the assembly device ensures that the planned automated installation steps can actually be carried out. Ensuring the feasibility of the planned automated installation steps is also helped by planning the automated installation steps only after the actual layout of the elevator system has been derived. This allows changes from the target layout to the actual layout of the elevator system to be taken into account when planning the automated installation steps.

[0012] After completing the automated installation steps, and especially after removing the installation device from the elevator shaft, the installation of the elevator system is continued by one or more installers. For example, the installer aligns guide rails and secures them to the shaft walls, installs a drive, assembles a car, and performs all necessary electrical installations. It is also possible for individual installation steps to be performed by another automated installation device.

[0013] The assembly device performs several installation steps automatically. It can perform a single installation step, such as drilling a hole in a shaft wall, multiple times at different locations in the elevator shaft, or it can perform several installation steps, such as drilling a hole and inserting an anchor bolt into the hole. Even if different installation steps are performed, they are often performed multiple times at different locations in the elevator shaft.

[0014] The assembly device comprises, in particular, a support component and a mechatronic installation component. The support component is designed to be displaced relative to the elevator shaft, i.e., for example, within the elevator shaft, and to be positioned at different heights within the elevator shaft. The installation component is held on the support component and designed to carry out an installation step within the installation process at least partially automatically, preferably fully automatically. The installation component is designed, for example, as an industrial robot. The assembly device comprises, in particular, a displacement device, by means of which the support component can be displaced in the elevator shaft, and a fixing component for fixing, in particular caulking, the support component in the elevator shaft.The assembly device, in particular, has a control device for controlling the individual components of the assembly device. The assembly device is designed, for example, in accordance with an assembly device described in WO 2017 / 016783 A1.

[0015] Deriving a target layout for the elevator system from the target dimensions of the elevator shaft is primarily performed by a planner, supported in particular by a special computer-aided planning tool. This derivation can also be fully automated using a corresponding computer-aided tool. The starting point for deriving the target layout is the target dimensions of the elevator shaft, such as the width, depth, and height of the elevator shaft, the number of floors, and the dimensions of door cutouts. The target dimensions of the elevator shaft can be taken from construction plans of the building containing the elevator shaft. It is also possible for the target dimensions of the elevator shaft to be derived from a digital building model of the building in question.In addition to the target dimensions of the elevator shaft, other specifications such as the desired transport capacity of the elevator system are taken into account when deriving the target layout of the elevator system. The target layout of the elevator system specifies, for example, the arrangement of a counterweight (next to or behind the elevator car), the size of the elevator car, the type and number of guide rails, the arrangement and design of the drive motor, and the type and design of a suspension device (e.g., steel cables or belts). The target layout can have a lower level of detail than the actual layout subsequently derived from it. For example, it is possible that the target layout only specifies the arrangement of the counterweight and the size of the elevator car.

[0016] The determination of the installation steps to be performed by an automated assembly device is also typically performed by a planner. However, this step can also be fully automated. In this context, the planner also specifies which assembly device should be used to carry out the automated installation steps. The planner's primary task is to plan the installation of the elevator system so that it can be completed as quickly and / or cost-effectively as possible. Depending on the design of the target layout, various installation steps can be performed automatically.For example, in some cases it may be advantageous to only drill holes for fixing guide rails and insert the corresponding anchor bolts automatically, while in other cases it may be advantageous to drill holes automatically and fix so-called rail bracket bases for fixing guide rails to the shaft wall using corresponding screws. The determination of the automated installation steps also depends on the available automated assembly devices. There may be different designs of assembly devices that can carry out at least partially different installation steps. It is also possible that, due to the dimensions of the elevator shaft, for example, only a certain design of the assembly device can be used, which can also influence the determination of the automated installation steps.

[0017] It is also possible for the automated installation steps to be defined independently of the target layout of the elevator system. This is the case, for example, if the same installation steps are always performed automatically for all possible elevator system layouts. For example, it can be specified that holes are always drilled by an automated assembly device, and that the assembly device always inserts anchor bolts into the drilled holes. Thus, only adopting this specification is necessary to define the automated installation steps.

[0018] Checking that the automated installation steps can be carried out by the assembly device is also carried out by a planner. However, it can also be fully automated. In the simplest case, the dimensions of the intended automated assembly device are compared with the dimensions of the elevator shaft. In particular, it is checked whether the assembly device can be brought into the elevator shaft, whether a support component can be moved in the elevator shaft using an installation component of the assembly device, and whether it is possible to fix the support component in the elevator shaft. The assembly device is designed to be so flexible that, for example, a fixing component for fixing the support component can be adapted to different dimensions of the elevator shaft within certain limits.Such adjustments are planned or specified, particularly within the scope of this process step. In addition to the aforementioned checks, it can be checked whether the installation component can reach all necessary locations in the elevator shaft. The check to determine whether the automated installation steps can be carried out by the assembly device is carried out, in particular, based on the target dimensions of the elevator shaft and the target layout of the elevator system. However, it is also possible for the aforementioned check to be carried out based on the actual dimensions of the elevator shaft and the actual layout of the elevator system. It is therefore not absolutely necessary for the aforementioned check to be based on the target layout of the elevator system.

[0019] The process steps described so far can be carried out based on the target dimensions of the elevator shaft and thus independently of the actual elevator shaft in which the elevator system is to be installed. However, the recording of some actual dimensions of the elevator shaft must be carried out at or in the elevator shaft. The actual dimensions can be recorded manually by a planner or installer, for example. The planner or installer measures the width and depth of the elevator shaft at different heights and / or checks whether the dimensions of the door cutouts correspond to the target specifications. It is also possible to measure the entire elevator shaft using an automated measuring system. The measuring system can, for example, be designed like a measuring system described in WO 2018 / 041815 A1. The goal of the recording or measurement is to determine any deviations from the target dimensions of the elevator shaft.The dimensions of the elevator shaft can also include surface characteristics, particularly the shaft walls, or even holes and local elevations in the shaft walls. The dimensions of the elevator shaft also include the layout of reinforcements in the shaft walls. This allows the layout of reinforcements to be detected and documented using a suitable sensor when recording actual dimensions, for example, by integrating them into a digital model of the elevator shaft.

[0020] Deriving an actual layout of the elevator system from the target layout of the elevator system and the recorded actual dimensions of the elevator shaft is also carried out by a planner, a fitter, or fully automatically. The goal is to adopt the target layout as the actual layout of the elevator system. To do this, a check is carried out to determine whether the target layout can be implemented in the real elevator shaft defined by the actual dimensions. For example, a check is carried out to determine whether the planned size of the elevator car is compatible with the actual dimensions of the elevator shaft. The check can, for example, include all specifications of the target and actual layout. If this is the case, the target layout is adopted as the actual layout of the elevator shaft. If this is not the case, adjustments are made to the layout according to the actual dimensions of the elevator shaft. For this purpose, the size of the elevator car can be adjusted.In addition, all other specifications of the target or actual layout can also be adjusted. If the automated assembly device requires reference elements to determine its position in the elevator shaft, for example, in the form of cords stretched in the elevator shaft, their position is also determined in this process step.

[0021] The planning of the automated installation steps based on the actual layout of the elevator system is also carried out by a planner, a fitter, or fully automatically. For example, the exact positions of holes to be drilled in the shaft walls are determined, the positions of the support components when carrying out the individual installation steps are determined, which tool is to be used for which installation step and / or the order in which the individual installation steps are to be carried out is determined.

[0022] Once the automated installation steps have been planned, they are carried out by the automated assembly device. The process is initiated and monitored by a technician.

[0023] After the automated installation steps have been completed, the assembly device is removed from the elevator shaft and the installation is continued, in particular by a fitter, by hand or with the assistance of tools.

[0024] The planners or fitters mentioned can be a single person or several different people.

[0025] In one embodiment of the invention, a digital model of the elevator shaft is created using the recorded actual dimensions of the elevator shaft. This enables a particularly precise derivation of the actual layout from the target layout of the elevator system. The actual layout of the elevator system can be integrated into the digital model of the elevator shaft and thus mapped particularly accurately. A digital model of the elevator shaft is understood to be a CAD model of the elevator shaft, which can also contain additional information. The level of detail of the digital model of the elevator shaft can vary. For example, only some dimensions of the elevator shaft can be measured by hand, and the digital model can be created based on these. However, it is also possible for the entire elevator shaft to be measured very precisely using an automated measuring system, and for the digital model to be derived from a point cloud generated in the process.The digital model of the elevator shaft can be integrated into a digital building model and construction plans of the building containing the elevator shaft.

[0026] In one embodiment of the invention, after deriving the actual layout of the elevator system, a further check is performed to determine whether the automated installation steps can be performed by the assembly device. This constitutes a second check of the feasibility of the automated installation steps. This ensures with particular certainty that the automated installation steps can actually be performed. This feasibility is ensured even if the actual layout of the elevator system differs from the target layout.

[0027] In one embodiment of the invention, the assembly device uses a suitable sensor to check whether an upcoming installation step can be carried out as planned before performing the installation step. This performs a third check of the feasibility of the installation step. For this purpose, the installation component of the assembly device incorporates a sensor, for example, a laser scanner for distance measurement or a sensor for detecting reinforcement in a shaft wall. This sensor is used to more closely examine the intended position where the installation step is to be performed—for example, drilling a hole and subsequently installing a rail bracket base.For example, the laser scanner can be used to check whether there are any local unevennesses, such as holes or edges, in the shaft wall at the intended location that could complicate or even prevent the planned installation step. The reinforcement detection sensor can be used, for example, to check whether there is reinforcement at the intended location that could make drilling a hole at that location difficult or impossible. The positioning of the sensor and the evaluation of the acquired sensor data are performed primarily by the control unit of the assembly device.

[0028] If the feasibility review is positive, the installation step will be carried out as planned. If the feasibility review is negative, the implementation will be rescheduled so that the installation step can be carried out, and the rescheduled installation step will then be carried out as planned. This ensures the feasibility of the installation step with the utmost certainty.

[0029] If the feasibility check fails, a so-called local replanning of the installation step is performed. In particular, the intended position for the installation step is shifted within permissible limits so that the installation step can be carried out. For example, the intended position is shifted so that detected reinforcement no longer interferes with the drilling of a hole. A method for detecting reinforcement and determining drilling positions is described, for example, in WO 2017 / 016782 A1.

[0030] It is also possible that, as part of the local replanning, a decision is made to first perform a different, additional installation step at the intended location and only then proceed with the originally planned installation step. During the additional installation step, for example, a raised area at the specified location can be removed using a chisel, allowing the originally planned installation step to be carried out without being affected by the raised area.

[0031] In an embodiment of the invention, in the case where replanning while adhering to specified specifications is not possible, an installer can specify the implementation of the installation step and start the execution. This allows the installer to decide, using his experience, that implementation of the installation step is justifiable even without adhering to the specified specifications. A specified specification can, for example, be that in a certain

[0032] There must be no reinforcement in the shaft wall around a designated drilling position. The installation device would only automatically carry out the installation step of drilling a hole in the shaft wall if this requirement is met. However, if reinforcement is present, for example, at the edge of the specified area, the installer can decide to take the risk that the drilling might not be successful and drill the hole in the designated position anyway.

[0033] The installer can adapt the implementation process to the one planned by the installation facility. This allows them to contribute their experience to the implementation process.

[0034] For example, the installer can change the sequence and initiate the installation step directly via an input on the control device of the assembly device. It is also possible for the control device of the assembly device to have an interface through which the installer can remotely access the control device, for example, via a mobile phone app, and change the sequence and initiate the installation step.

[0035] In one embodiment of the invention, the digital model of the elevator shaft is adjusted using the sensor data acquired by the sensor. This enables the creation of a particularly accurate digital model of the elevator shaft. The type of adjustment depends on the type of sensor used. If distances to the shaft wall were measured using the sensor, the masses of the elevator shaft contained in the digital shaft model are adjusted locally. If reinforcements in a shaft wall were detected using the sensor, the information about the reinforcements is incorporated into the digital model of the elevator shaft.

[0036] In addition, information about installation steps performed, such as the position and type of holes drilled in shaft walls, can be incorporated into the digital model of the elevator shaft.

[0037] In one embodiment of the invention, an assembly log is automatically created for the automatically performed installation steps. The assembly log can be viewed as part of the model of the elevator shaft and thus a building model of the corresponding building. This logs and documents the installation without additional effort. The assembly log can, for example, be evaluated and used in subsequent installation steps carried out by an installer. For example, the installer can obtain information from the assembly log about which automated installation steps require manual rework. Furthermore, the assembly log can be saved for documentation purposes. The assembly log is created in particular by the control device of the assembly device and saved in such a way that it can be retrieved later.The assembly protocol contains, for example, information about the exact positions at which the installation steps were carried out and / or about the successful or unsuccessful completion of the automated installation steps.

[0038] In one embodiment of the invention, a simulation of the automated installation step is performed to verify that an automated installation step can be carried out by the assembly device. This allows a particularly precise verification of whether the planned automated installation steps can actually be carried out. A computer-aided simulation tool is used for this simulation, in which the assembly device and the elevator shaft are modeled. A simulation of the individual automated installation steps is then carried out. During the simulation, a planner or an automated system can check whether the installation steps can actually be carried out or whether, for example, there are collisions between the installation component and the elevator shaft or the support component.In addition to simulating the automated installation steps, the insertion of the mounting device into the elevator shaft can also be simulated.

[0039] In one embodiment of the invention, when recording the actual dimensions of the elevator shaft, a position is determined by a marker arranged on the elevator shaft. This enables particularly accurate recording of the actual dimensions and, in particular, the creation of an accurate model of the elevator shaft. The markers can be arranged in the elevator shaft or in or directly adjacent to door cutouts of the elevator shaft. The recording and evaluation of said markers can also be advantageously carried out independently of the process steps for planning and at least partially installing an elevator system in an elevator shaft.

[0040] The markings can, for example, indicate building axes, particularly a vertical axis. Based on the building axes identified by the marking, the digital model of the elevator shaft can be correctly aligned. It is also possible for the aforementioned marking to indicate a defined height, for example, a so-called meter line. The meter line indicates a vertical distance of 1 m from the top edge of the finished floor. From this, for example, the correct position of an elevator shaft door can be determined with great precision.

[0041] In one embodiment of the invention, a reinforcement plan of the elevator shaft walls is taken into account when deriving a target layout for the elevator system. This allows the target layout to be derived in such a way that as few problems as possible arise with the reinforcements in the shaft walls during installation of the elevator system. A reinforcement plan contains information about the locations and, in particular, the depth at which reinforcements run in the shaft walls. The target layout is thus defined, for example, so that no holes need to be drilled where reinforcements are present.

[0042] In particular, so-called reinforcing bars run vertically in shaft walls, which are connected to horizontal reinforcing bars in the ceiling area using special brackets. This means that there is a particularly large amount of reinforcing bar in the shaft walls in the ceiling area. It can therefore be advantageous to define the guide rails in the target layout in such a way that no rail bracket bases have to be fixed to the shaft walls in the ceiling area. For this purpose, the guide rails can, for example, have a length that roughly corresponds to the distance between the ceilings of the building in which the elevator shaft is located. The guide rails can then be fixed in such a way that they always butt together in the area of ​​a ceiling of the building.Since no rail bracket bases need to be installed at the ends of the guide rails, no fixing of rail bracket bases is required in the ceiling area, and therefore no drilling of holes is necessary in these areas. In the area of ​​a shaft floor and a shaft head, guide rails with a suitable length that differs from the length of the other guide rails mentioned may need to be installed. The described distribution of guide rails in the elevator shaft can also be advantageously implemented independently of the procedural steps for planning and at least partially installing an elevator system in an elevator shaft.

[0043] In one embodiment of the invention, the mounting device is arranged in the elevator shaft in a first installation phase. In this first installation phase, a position of the mounting device is determined using a reference element arranged in the elevator shaft, and the mounting device carries out automated installation steps. In a second installation phase, after removing the mounting device from the elevator shaft, a fitter aligns guide rails of the elevator system to an alignment element arranged in the elevator shaft and then fixes them in place. In the first installation phase, based on a path of the reference element and the actual layout of the elevator system, a path of the alignment element is determined, and information on the path of the alignment element is made available to the fitter. This allows the fitter to arrange the alignment element in the elevator shaft very quickly and without having to measure the elevator shaft.

[0044] In particular, two reference elements are used in the first installation phase and two alignment elements are used in the second installation phase, all of which are designed in particular as cords and run mainly in a main extension direction of the elevator shaft.

[0045] The main direction of extension of the elevator shaft is understood here to be the direction in which an elevator car of the fully assembled elevator system travels. The main direction of extension is therefore generally vertical, but it can also be inclined relative to the vertical or horizontal. The main direction of extension does not necessarily have to run along a single straight line along the entire length of the elevator shaft. For example, the main direction of extension can also be composed of straight sections, the transition areas of which can also be rounded.

[0046] The position of the mounting device, in particular the support component, can be determined, for example, according to a method described in WO 2017 / 167719 A1. The alignment of the guide rails to the alignment elements can be carried out, for example, according to a method described in WO 2015 / 091419 A1.

[0047] Information about the alignment element's path can be provided to the installer in a variety of ways. For example, distances between the alignment element and the reference element can be output for two different heights, which can then be manually adjusted and measured. A special gauge can also be used for setting the specified distances. If both the reference element and the alignment element are exactly vertical, outputting the specified distances is only sufficient for one height.

[0048] Furthermore, the installation component can be used to apply appropriate markings to a shaft wall or to a component additionally fixed to the shaft wall, such as a suitable angle plate. These markings can be used to position the alignment element.

[0049] The described determination and provision of information on the course of the reference element can also be advantageously carried out independently of the procedural steps for planning and at least partial installation of an elevator system in an elevator shaft.

[0050] In one embodiment of the invention, information about the current status of the assembly device can be retrieved via an interface of a control device of the assembly device. This allows the assembly device to be monitored and any problems to be identified.

[0051] The information mentioned can include, for example, whether the assembly device is currently performing an installation step or is inactive. For example, the current position of the support component in the elevator shaft or information about the installation steps already performed and / or pending can be queried. The information is retrieved remotely, for example, via a communications network, in particular the internet or a local Wi-Fi network. The information can be retrieved, for example, via an app running on a mobile phone.

[0052] In one embodiment of the invention, if an error occurs in the automated assembly device, the control device of the automated assembly device informs a responsible technician via the aforementioned interface. For this purpose, a notification is actively sent to the technician. This immediately informs the responsible technician of an error, eliminating the need to constantly check the status of the assembly device to detect the occurrence of an error.

[0053] This information or notification can, for example, be displayed by an app on the responsible technician's mobile phone and / or the app can emit an audible alarm. Such notifications are also known as push notifications.

[0054] In one embodiment of the invention, the control device of the assembly device can be remotely controlled via an interface. Remote control of the assembly device can be advantageous, for example, if the assembly device has gotten itself into a situation from which it cannot escape, for example, because any possible action would violate some specification.

[0055] The remote control can be carried out, for example, by an installer using the app mentioned above. For example, the remote control can be used to start or stop an installation step, activate or deactivate the fastening of the support component, or relocate the support component in the elevator shaft.

[0056] The described query of information about the current status of the assembly device and the described process steps based on this, such as informing about errors or remotely controlling the control device, can also be advantageously carried out independently of the process steps for planning and at least partially installing an elevator system in an elevator shaft.

[0057] Further advantages, features, and details of the invention will become apparent from the following description of exemplary embodiments and from the drawings, in which identical or functionally equivalent elements are provided with identical reference numerals. The drawings are merely schematic and not to scale.

[0058] Showing: Fig. 1 a perspective view of an elevator shaft of an elevator system with a mounting device accommodated therein, Fig. 2 a perspective view of an assembly device, Fig. 3 a simplified layout of an elevator system in a view from above, Fig. 4 a simplified layout of an elevator system in a side view, Fig. 5 a measuring system when measuring an elevator shaft, Fig. 6 a schematic diagram of communication between a fitter and a control device of an assembly device, Fig. 7 an arrangement of alignment elements relative to reference elements in an elevator shaft in a view from above and Fig. 8 an arrangement of alignment elements relative to reference elements in an elevator shaft in a side view.

[0059] First, an example of an automated assembly device is described, which can perform automated installation steps in an elevator shaft of an elevator system. Fig. 1 a mounting device 14 is shown arranged in a lift shaft 10 of an elevator system 12, by means of which rail bracket lower parts 16 can be fixed to a shaft wall 18. The lift shaft 10 extends in a main extension direction 11, which in the Fig. 1 vertically aligned. The rail bracket bases 16 can be used in a later assembly step in Fig. 1 guide rails not shown (46 in Figs. 3 and 4) of the elevator system 12 to the shaft wall 18. The mounting device 14 has a support component 20 and a mechatronic installation component 22. The support component 20 is designed as a frame on which the mechatronic installation component 22 is mounted. This frame has dimensions that enable the support component 20 to be displaced vertically within the elevator shaft 10, i.e., for example, to be moved to different vertical positions on different floors within a building. In the example shown, the mechatronic installation component 22 is designed as an industrial robot 24, which is attached to the frame of the support component 20 in a downwardly suspended manner. An arm of the industrial robot 24 can be moved relative to the support component 20 and, for example, displaced towards the shaft wall 18 of the elevator shaft 10.

[0060] The support component 20 is connected via a steel cable serving as a support means 26 to a displacement component 28 in the form of a motor-driven cable winch, which is mounted at the top of the elevator shaft 10 at a stop 29 on the ceiling of the elevator shaft 10. With the aid of the displacement component 28, the mounting device 14 can be displaced within the elevator shaft 10 in the main extension direction 11 of the elevator shaft 10, i.e., vertically over the entire length of the elevator shaft 10.

[0061] The mounting device 14 further comprises a fixing component 30, by means of which the support component 20 can be fixed or caulked within the elevator shaft 10 in the lateral direction, i.e. in the horizontal direction.

[0062] In the elevator shaft 10, two reference elements 13 in the form of cords are stretched along its entire length, aligned along the main extension direction 11. The reference elements 13 are installed in the elevator shaft 10 by a technician and serve to determine the position of the mounting device 14, specifically the position of the support component 20 in the elevator shaft 10.

[0063] Fig. 2 shows an enlarged view of a mounting device 14 without the displacement component 28.

[0064] The support component 20 is designed as a cage-like frame in which several horizontally and vertically extending beams form a mechanically resilient structure. Attached to the top of the cage-like support component 20 are retaining cables 32, which can be connected to the support means 26.

[0065] In the illustrated embodiment, the mechatronic installation component 22 is implemented using an industrial robot 24. In the illustrated example, the industrial robot 24 is equipped with multiple robot arms that can pivot about pivot axes. For example, the industrial robot can have at least six degrees of freedom, meaning that an assembly tool 34 guided by the industrial robot 24 can be moved with six degrees of freedom, i.e., for example, with three rotational degrees of freedom and three translational degrees of freedom. For example, the industrial robot can be implemented as a vertical articulated-arm robot, a horizontal articulated-arm robot, a SCARA robot, or a Cartesian robot or gantry robot.

[0066] The robot can be coupled to various assembly tools 34 at its cantilevered end. The assembly tools 34 can differ in terms of their design and intended use. The assembly tools 34 can be held on the support component 20 in such a way that the cantilevered end of the industrial robot 24 can be moved toward them and coupled to one of them. For this purpose, the industrial robot 24 can, for example, have a tool changing system that is designed to enable the handling of at least several such assembly tools 34.

[0067] One of the assembly tools 34 is designed as a sensor in the form of a laser scanner, by means of which the relative position of the support component 20 relative to the reference elements 13 can be determined. This can be carried out, for example, using a method described in WO 2017 / 167719 A1. From the relative position of the support component 20 relative to the reference elements 13, the position of the support component 20 in the elevator shaft 10 can be determined. Based on the position of the support component 20, it can be determined at which points on the shaft wall 18 a rail bracket lower part 16 should be attached.

[0068] One of the assembly tools 34 is designed as a reinforcement detection sensor, by means of which reinforcements or their position in the shaft walls 18 can be detected or determined. For this purpose, the reinforcement detection sensor can be moved along a shaft wall 18 by the industrial robot 24.

[0069] One of the assembly tools 34 is designed as a drilling tool, similar to a drill. By coupling the industrial robot 24 with such a drilling tool, the installation component 22 can be configured to enable at least partially automated, controlled drilling of fastening holes in one of the shaft walls 18 of the elevator shaft 10. The drilling tool can be moved and handled by the industrial robot 24 such that the drilling tool, with a drill bit, drills holes into the shaft wall 18 of the elevator shaft 10 at a designated position, into which fastening elements in the form of screws, screw anchors, or anchor bolts are later inserted to secure the rail bracket bases 16.

[0070] A further assembly tool 34 is designed as a screwdriver in order to screw screw anchors or screws into previously drilled fastening holes in the shaft wall 18 of the elevator shaft 10 at least partially automatically.

[0071] A further assembly tool 34 is designed as an impact tool, for example in the form of a hammer, in order to at least partially automatically drive anchor bolts into previously drilled fastening holes in the shaft wall 18 of the elevator shaft 10.

[0072] A further assembly tool 34 is designed as a gripper in order to at least partially automatically fasten a rail bracket lower part 16 to the shaft wall 18.

[0073] Another assembly tool 34 is designed as a marking tool, for example in the form of a milling cutter, for applying a marking to the shaft wall 18 or to a component mounted on a shaft wall 18, for example a rail bracket base 16. This marking can be used in a later installation step, particularly one carried out by an installer, for aligning, for example, alignment elements or guide rails.

[0074] An assembly device does not need to include all of the described types of tools 34. In particular, if anchor bolts are driven into drilled holes using an impact tool, a screwdriver for screwing screws into drilled holes and a gripper for gripping rail bracket bases are not necessary.

[0075] A magazine component 36 may also be provided on the support component 20. The magazine component 36 may serve to store rail bracket bases 16 to be installed and to provide them to the installation component 22. Screw anchors, screws, or anchor bolts may also be stored and provided in the magazine component 36, which can be inserted into prefabricated mounting holes in the shaft wall 18 using the installation component 22.

[0076] In the example shown, the industrial robot 24 can, for example, automatically grip a screw from the magazine component 36 and, for example, use an assembly tool 34 designed as a screwdriver to partially screw it into previously drilled fastening holes in the shaft wall 18. An assembly tool 34 can then be changed on the industrial robot 24 and, for example, a rail bracket lower part 16 can be gripped from the magazine component 36. The rail bracket lower part 16 has fastening slots. When the rail bracket lower part 16 is brought into a designated position using the installation component 22, the previously partially screwed-in screws can engage in these fastening slots or pass through them. Subsequently, the assembly tool 34 designed as a screwing device can be reconfigured and the screws tightened.

[0077] After all rail bracket bases 16 have been fixed to the elevator shafts 18, guide rails are brought into the elevator shaft 10 and fixed to the shaft walls 18 by a fitter.

[0078] It is also possible for the industrial robot 24 to pick up anchor bolts from the magazine component 36 and drive them into previously drilled mounting holes in the shaft wall 18 using an assembly tool 34 designed as an impact tool. Using the anchor bolts, the rail bracket bases can be manually fixed to the shaft wall 18 by a fitter in a later installation step.

[0079] The elevator system and its installation in the elevator shaft must be planned before installation begins. The starting point for planning the elevator system is the target dimensions of the elevator shaft, which can be obtained, for example, from blueprints or a digital building model of the building in which the elevator system is to be installed. Using the blueprints, the target values ​​for the width, depth, and height of the elevator shaft, the number of floors, and the dimensions of the elevator shaft door cutouts can be determined. From these target dimensions of the elevator shaft, a planner derives a target layout for the elevator system with the aid of a computer-aided tool. In particular, they specify the arrangement of a counterweight (next to or behind the elevator car), the size of the elevator car, the type and number of guide rails, the arrangement and design of the drive motor, and the type and design of any suspension elements (e.g., steel cables or belts).

[0080] In the Figs. 3 and 4 A very simplified diagram of the target layout of an elevator system 12 is shown. In the target layout, the dimensions of an elevator car 40 (only in Fig. 3 shown), the arrangement of a counterweight 42, the positions of guide rails 46 and the positions of rail brackets 48 are specified. In addition to the dimensions of the elevator shaft 10, particular attention is paid to the positions of the door cutouts 44. Further specifications in the target layout of the elevator system 12, such as the type and position of the drive machine or the type and arrangement of the suspension means, are specified in the Figs. 3 and 4 not shown.

[0081] When deriving the target layout of the elevator system, the planner takes particular account of a reinforcement plan for the elevator shaft walls. The reinforcement plan contains information about the locations and, in particular, the depth at which reinforcements are installed in the shaft walls. The planner defines the target layout in such a way that no holes need to be drilled where reinforcements are present.

[0082] The planner then defines the automated installation steps, i.e., the installation steps that are to be performed by an automated assembly device. The selection of the automated installation steps depends on a variety of factors. The planner also determines which assembly device is to be used to carry out the automated installation steps. Firstly, the planner must consider which automated assembly devices will actually be available at the time of installation. Furthermore, the target layout of the elevator system plays a major role, particularly the height of the elevator shaft. Since installing an automated assembly device in an elevator shaft involves a certain amount of effort, the elevator shaft should have a certain minimum height to make the use of an automated assembly device worthwhile.Since many factors play a role in the selection of automated installation steps, no generally applicable rules can be given.

[0083] The planner then checks that the automated installation steps can be carried out by the intended automated assembly device. In the simplest case, the dimensions of the intended automated assembly device are compared with the dimensions of the elevator shaft. This checks whether the assembly device can be brought into the elevator shaft, whether the support component can be relocated with the installation component in the elevator shaft, and whether it is possible to fix the support component in the elevator shaft. The assembly device can be designed to be flexible enough that the fixing component for securing the support component can be adapted, within certain limits, to different dimensions of the elevator shaft. Such adjustments are planned or specified by the planner as part of this process step.

[0084] In particular, the planner simulates the automated installation steps. They use a computer-aided simulation tool that models the assembly fixture and the elevator shaft. The planner checks whether the installation steps can actually be carried out and whether there are any collisions between the installation component and the elevator shaft or the support component. In addition to simulating the automated installation steps, they also simulate the insertion of the assembly fixture into the elevator shaft.

[0085] After the described feasibility check of the automated installation steps, some actual dimensions of the elevator shaft are recorded. This step can therefore only be performed once the elevator shaft has been created. Recording the actual dimensions of the elevator shaft can be done in a variety of ways. Firstly, the planner or an installer can record some dimensions manually. This involves measuring the width and depth of the elevator shaft and the dimensions of the door cutouts at different heights.

[0086] It is also possible to measure the entire elevator shaft with an automated measuring system. Fig. 5a measuring system 110 is shown during the measurement of an elevator shaft 10. The optical inertial measuring system 110 is suspended via a support means in the form of a cable 111 and a displacement device in the form of a winch 112 from a shaft ceiling 113 of a shaft head 114 of a mainly cuboid-shaped elevator shaft 10. The elevator shaft 10 runs in a vertically oriented main extension direction 11 and has a total of four shaft walls, wherein in the side view of Fig. 1Only a rear shaft wall 117 and a front shaft wall 118 are shown. The front shaft wall 118 has a total of three door cutouts 44, which are arranged one above the other in the main extension direction 11. Shaft doors will be installed in the door cutouts 44 at a later time, closing off the elevator shaft 10 and providing access to an elevator car. Opposite the shaft head 114, the elevator shaft 10 has a shaft pit 120, which is closed off by a shaft floor 121.

[0087] The measuring system 110 has a camera system in the form of a digital stereo camera 122 with a first camera 122a and a second camera 122b. The stereo camera 122 is arranged on a primarily cuboid-shaped base body 123 of the measuring system 110 such that, in the suspended state shown, it is oriented vertically downwards toward the shaft floor 120. The stereo camera 122 is designed such that, in the state shown, it can capture sections of all four shaft walls. The stereo camera 122 is connected via signal technology to an evaluation unit 124 of the measuring system 110, which receives and evaluates the images captured by the stereo camera 122. The evaluation unit 124 searches the images for prominent points, such as corners or elevations in one of the shaft walls.As soon as it has identified a prominent point in both images of the cameras 122a, 122b, it can determine the position of the prominent point relative to the cameras 122a, 122b and thus relative to the measuring system 110 by means of triangulation, based on the known distance between the two cameras 122a, 122b and the different positions of the prominent point in both images.

[0088] An inertial measuring unit 125 is arranged on the base body 123 of the measuring system 110 between the two cameras 122a, 122b. The inertial measuring unit 125 has three acceleration sensors (not shown), each arranged perpendicular to one another, and three angular rate sensors (also not shown), arranged perpendicular to one another, which are used to determine the accelerations in the x-, y-, and z-directions and the rotational accelerations about the x-, y-, and z-axes. From the measured accelerations, the inertial measuring unit 125 can estimate its position and thus also the position of the measuring system 110 from a starting position and transmit this information to the evaluation unit 124 of the measuring system 110. It is also possible that the inertial measuring unit 125 only transmits the measured accelerations to the evaluation unit 124 and the evaluation unit 124 uses this to estimate the position of the measuring system 110.

[0089] To more accurately determine the position of the measuring system 110 in the main extension direction 11 in the elevator shaft 10, the measuring system 110 is coupled to a position-determining unit 126. The position-determining unit 126 has a position information carrier in the form of a code band 127, aligned in the main extension direction 11, which is stretched between the shaft floor 121 and the shaft ceiling 113. The code band 127 has invisible magnetic code marks that represent information about the position in the main extension direction 11. The position-determining unit 126 also has a reading unit 128 arranged laterally on the base body 123 of the measuring system 110, through which the code band 127 is inserted. The reading unit 128 reads information in the form of the magnetic code marks of the code tape 127 and can thus very precisely determine the position of the reading unit 128 and thus of the measuring system 110 in the main extension direction 11.The information read from the code tape 127 can thus be regarded as additional information about the position of the measuring system 110 in the main extension direction 11 compared to the information from the acceleration and yaw rate sensors of the inertial measuring unit 125.

[0090] The position of the measuring system 110 in the main extension direction 11 determined by the position determination unit 126 is considered the correct position of the measuring system 110 and thus replaces the position of the measuring unit 110 in the main extension direction estimated by the inertial measuring unit 125. However, it is also possible to assume an average of the two aforementioned positions as the correct position.

[0091] From the position of the measuring system 110 determined as described above and the position of a prominent point relative to the measuring system 110 determined by triangulation, the evaluation unit 124 determines the absolute position of the prominent point. The evaluation unit 124 thus determines the positions of a plurality of prominent points. To measure the entire elevator shaft 10, the measuring system 110 is moved by the winch 112 from top to bottom in the elevator shaft 10.

[0092] The measuring system 110 also determines the positions of markings 129 on the elevator shaft 10. A marking 129 is located on a shaft wall in the area of ​​each door cutout 44. The markings 129 are designed as so-called meter lines, which indicate a distance of one meter from the future floor covering. In addition, further Fig. 5Markings (not shown) may be arranged on the elevator shaft, which can be detected and evaluated by the measuring system 110. These markings may, for example, indicate building axes, in particular a vertical building axis.

[0093] A so-called point cloud is created from the positions of the numerous landmarks, with each point in the point cloud corresponding to one of the landmarks. From this point cloud, and possibly taking into account the positions of the aforementioned markers, a digital model in the form of a CAD model of elevator shaft 10 is later derived. The digital model then contains the actual dimensions of elevator shaft 10.

[0094] After recording the actual dimensions of the elevator shaft, the planner derives an actual layout of the elevator system from the target layout and the recorded actual dimensions of the elevator shaft. The planner primarily checks whether there are any discrepancies between the target and actual dimensions of the elevator shaft that make it impossible to adopt the target layout as the actual layout of the elevator system. If this is not the case, the planner adopts the target layout as the actual layout of the elevator system. Otherwise, the planner modifies the target layout to obtain an actual layout that can be implemented within the actual dimensions of the elevator shaft.

[0095] After deriving the actual layout of the elevator system, the planner checks again, in particular, that the automated installation step can be performed by the intended assembly device. This check is carried out analogously to the check described above.

[0096] The planner then plans the automated installation steps based on the actual layout of the elevator system. For example, the exact positions of holes to be drilled in the shaft walls are determined, the positions of the support components when carrying out the individual installation steps are determined, which tool is to be used for which installation step and / or the order in which the individual installation steps are to be carried out is determined.

[0097] This completes the preparatory steps for installing the elevator system in the elevator shaft, and installation can begin. For this purpose, one or more installers insert the mounting fixture 14 into the elevator shaft 10 and attach the reference elements 13 in the elevator shaft 10.

[0098] The installer then starts the automated installation steps. The interaction or communication between the installer and the automated assembly device is very schematic in the Fig. 6 The installer 50 can initiate the automated installation steps directly via an input on a control device 52 of the automated assembly device. Alternatively, the installer 50 can access the control device 52 via a mobile phone 54, a communications network 56, for example, the Internet or a local WLAN, and an interface 58 of the control device 52 and, for example, initiate the installation steps. The installer 50 can also use this method to query information about the current status of the assembly device.

[0099] The information mentioned can include, for example, whether the assembly device is currently performing an installation step or is inactive. For example, the current position of the support component in the elevator shaft or information about the installation steps already performed and / or upcoming ones can be queried.

[0100] If an error occurs in the automated assembly device, the installer 50 is notified by the control device 52 via the interface 58, the communication network 56, and the mobile phone 54. The control device 52 sends a notification, a so-called push message, to the mobile phone 54 of the installer 50.

[0101] The installer 50 can remotely control the control device 52 via the aforementioned method. For example, the remote control can be used to start or stop a specific installation step, activate or deactivate the fixation of the support component, or relocate the support component in the elevator shaft.

[0102] Once started, the assembly device automatically performs the automated installation steps. Before performing certain installation steps, the assembly device uses a suitable sensor to check whether the installation step can be carried out as planned. In particular, before drilling a hole into a shaft wall, it checks whether there are any reinforcements in the shaft wall at the intended position that could complicate or even prevent successful completion of the installation step. For this purpose, the installation component of the assembly device incorporates a sensor for detecting reinforcements and checks the intended position for reinforcements. The positioning of the sensor and the evaluation of the recorded sensor data are carried out by the control unit of the assembly device.

[0103] If the feasibility review is positive, the installation step will be carried out as planned. If the feasibility review is negative, the implementation will be rescheduled so that the installation step can be carried out, and the rescheduled installation step will then be carried out as planned.

[0104] If the feasibility check fails, the control unit of the assembly device performs a local replanning of the installation step. The intended position for the installation step is shifted within permissible limits so that the installation step can be performed. For example, the intended position is shifted so that a detected reinforcement no longer interferes with the drilling of a hole. The detection of reinforcement and determination of drilling positions can be performed, for example, as described in WO 2017 / 016782 A1.

[0105] If replanning is not possible while adhering to specified specifications, the installer can specify the execution of the installation step and start the execution. A specified specification may, for example, be that there must be no reinforcement in the shaft wall in a certain area around a designated drilling position. The installation device would only automatically execute the installation step, namely drilling a hole in the shaft wall, if this specification is met. However, if reinforcement is present, for example, at the edge of the specified area, the installer can decide to take the risk that the drilling might not be successful and the hole will still be drilled at the intended position. The necessary communication between the installer and the control device of the installation device runs in particular as in connection with Fig. 6 described.

[0106] The digital model of the elevator shaft is adjusted using the sensor data acquired by the sensor. If reinforcements in a shaft wall are detected by the sensor, the information about the reinforcements is incorporated into the digital model of the elevator shaft. In addition, information about completed installation steps, such as the position and type of holes drilled in shaft walls, is incorporated into the digital model of the elevator shaft.

[0107] The control unit of the assembly device automatically creates an assembly log for the automated installation steps. The assembly log contains, for example, information about the exact positions where the installation steps were performed and / or about the successful or unsuccessful completion of the installation steps.

[0108] As in connection with the Fig. 1As described, the assembly device 12 determines the position of the support component 20 by means of reference elements 13 arranged in the elevator shaft 10. The phase in which the assembly device 12 carries out the automated installation steps can be referred to as a first installation phase.

[0109] After all automated installation steps have been completed and the installation device has been removed from the elevator shaft, the installation of the elevator system is carried out manually by a technician in a second installation phase. For example, the guide rails must be aligned and fixed to a shaft wall. To align the guide rails, the technician can use alignment elements arranged in the elevator shaft and designed as cords. The correct alignment of the alignment elements can be derived directly from the course of the aforementioned reference elements. The necessary information is provided to the technician by the control device of the installation device. This can also be done as in connection with Fig. 6 Based on this information, the installer can install the alignment elements in the elevator shaft during the second installation phase and before aligning the guide rails.

[0110] In the Figs. 7 and 8 An example is shown of the information that can be made available to the technician. Figs. 7 and 8 two reference elements 13 are shown in the area of ​​a door cutout 44 of the elevator shaft 10, wherein the Fig. 7shows the situation at a height h1 near the shaft head 114 of the elevator shaft 10. Furthermore, an alignment element 60 is arranged in the area of ​​each guide rail 46. The alignment elements 60 are spaced from the corresponding reference elements 13 in the x and y directions by x0h1 and y0h1, or x1h1 and y1h1. The distances x0h1, y0h1, x1h1, and y1h1 are provided to the installer. The same is done for a height h0 near the shaft pit 120 of the elevator shaft 10. The distances x0h0, y0h0, x1h0, and y1h0 are determined in a similar manner and provided to the installer. With these distances x0h0, y0h0, x1h0, y1h0, x0h1, y0h1, x1h1 and y1h1 as well as the information about the heights h0 and h1, the fitter can correctly install the alignment elements 60 in the elevator shaft 10 and then align the guide rails 46 thereto.

[0111] Finally, it should be noted that terms such as "having," "comprising," etc., do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference signs in the claims are not to be considered as limitations.

Claims

1. Method for planning and at least partially installing an elevator system (12) in an elevator shaft (10), wherein automated installation steps are carried out by an automated mounting device (14) and the method comprises the following method steps: - deriving a target layout of the elevator system (12) from target dimensions of the elevator shaft, - establishing the installation steps to be carried out by an automated mounting device (14), - checking that the automated installation steps can be carried out by the mounting device (14), - detecting several actual dimensions of the elevator shaft (10), - deriving an actual layout of the elevator system (12) from the target layout of the elevator system (12) and the detected actual dimensions of the elevator shaft (10), - planning the automated installation steps on the basis of the actual layout of the elevator system (12) and - carrying out the automated installation steps by means of the mounting device (14).

2. Method according to claim 1, characterized in that a digital model of the elevator shaft (10) is created using the detected actual dimensions of the elevator shaft (10).

3. Method according to either claim 1 or claim 2, characterized in that after the actual layout of the elevator system (12) has been derived, it is checked again that the automated installation steps can be carried out by the mounting device (14).

4. Method according to claim 1, claim 2 or claim 3, characterized in that before carrying out an upcoming installation step, the mounting device (14) checks, by means of a suitable sensor (34), whether the installation step can be carried out as planned and - if the result of the check is positive, carries out the installation step as planned, - if the result of the check is negative, re-plans the implementation such that the installation step can be carried out and then carries out said step in this way.

5. Method according to claim 4, characterized in that in the event that re-planning is not possible while adhering to the established requirements, a fitter (50) can establish the implementation of the installation step and start carrying it out.

6. Method according to either claim 4 or claim 5, characterized in that the digital model of the elevator shaft (10) is adapted using the sensor data detected by the aforementioned sensor (34).

7. Method according to any of claims 1 to 6, characterized in that a mounting protocol for the installation steps carried out in an automated manner is created in an automated manner.

8. Method according to any of claims 1 to 7, characterized in that when it is checked that an automated installation step can be carried out by the mounting device (14), a simulation of the automated installation step is carried out.

9. Method according to any of claims 1 to 8, characterized in that when the actual dimensions of the elevator shaft (10) are detected, a position is determined by a marking (129) arranged on the elevator shaft (10).

10. Method according to any of claims 1 to 9, characterized in that when a target layout of the elevator system (12) is derived, a reinforcement plan of the shaft walls (18) of the elevator shaft (10) is taken into account.

11. Method according to any of claims 1 to 10, characterized in that in a first installation phase, - the mounting device (14) is arranged in the elevator shaft (10), - a position of the mounting device (14) is determined by means of a reference element (13) arranged in the elevator shaft (10) and - the mounting device (14) carries out automated installation steps, in a second installation phase after the mounting device (14) has been removed from the elevator shaft (10), - a fitter (50) aligns and then fixes guide rails (46) of the elevator system (12) on an alignment element (60) arranged in the elevator shaft (10), a course of the alignment element (60) being determined based on a course of the reference element (13) and the actual layout of the elevator system (12) and information on the course of the alignment element (60) being provided to the fitter (50) in the first installation phase.

12. Method according to any of claims 1 to 11, characterized in that information regarding a current state of the mounting device (14) can be requested via an interface (58) of a control means (52) of the mounting device (14).

13. Method according to claim 12, characterized in that if a fault occurs in the automated mounting device (14), a responsible fitter (50) is informed by the control means (52) of the automated mounting device (14) via said interface (58).

14. Method according to either claim 12 or claim 13, characterized in that information regarding completed and / or upcoming automated installation steps can be requested via said interface (58) of the control means (52) of the mounting device (14).

15. Method according to claim 12, claim 13 or claim 14, characterized in that a control means (52) of the mounting device (14) can be controlled remotely via the interface (58).