Method and control system for opening and / or closing a car door of an elevator car and a hoistway door of the elevator system
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- INVENTIO AG
- Filing Date
- 2024-06-20
- Publication Date
- 2026-05-06
AI Technical Summary
Elevator systems face challenges in achieving precise and synchronous coordination of car door and shaft door opening and closing movements, which affects safety and user experience.
A method and control system where one door acts as a guide and the other as a follower, using a transmitter and receiver to generate and receive position signals, allowing the follower door to synchronize its movement with the guide door based on a predetermined travel curve, ensuring minimal displacement and maximizing signal strength for synchronized opening and closing.
This approach ensures that the car door and shaft door movements are perceived as synchronous and safe, enhancing the user experience and maintaining high safety standards by minimizing recognizable displacement during door operations.
Smart Images
Figure EP2024067264_02012025_PF_FP_ABST
Abstract
Description
[0001] Method and control system for opening and / or closing a cabin door of an elevator car and a shaft door of the elevator system
[0002] Description
[0003] The present invention relates to an elevator system. Furthermore, the invention relates to a method and a control system for opening and / or closing a car door of an elevator car and a shaft door of the elevator system.
[0004] In elevator systems, at least one elevator car can typically be moved within an elevator shaft between different floors in a building. In a commonly used elevator type, the elevator car is held by a cable-like suspension element. By moving the cable-like suspension element, the elevator car can be moved vertically within the elevator shaft. For this purpose, the suspension elements generally run over a traction sheave, which can be driven in rotation by a drive motor.
[0005] Such an elevator car has a car door opening through which the elevator car can be entered and / or exited, and at least one car door for closing or opening the car door opening. The car doors of elevator cars are typically designed as sliding doors, for example, as telescopic sliding doors. Optionally, the elevator car can have two car doors that move toward each other during the closing process and away from each other during the opening process. The elevator car also has a car door drive for moving the car door.
[0006] Depending on the number of floors to be reached by the elevator car, the elevator shaft has two or more shaft door openings arranged one above the other, each of which has at least one shaft door. If the elevator car has two car doors, two shaft doors can be arranged at each of the shaft door openings. When the elevator car stops at the corresponding shaft door on one of the floors, the car door is usually mechanically coupled to the shaft door by means of a coupling device provided on the car door. Once coupled, both the car door and the shaft door can be opened and closed again by the car door drive. Alternatively, it is possible to open or close both the car door and the shaft door using a specially designed active door drive.With this variant, a mechanical coupling that transmits the car door movement generated by the car door drive to the shaft door is no longer necessary. Nevertheless, during normal operation, it must be ensured that both the car door and the shaft door can only open when the car door is at the same height as the shaft door, thus ensuring the safety of the elevator system. Furthermore, it is advantageous to ensure that the car door and the shaft door can be opened and closed in a coordinated manner, i.e., in particular, synchronously.
[0007] WO 2022 / 228959 A1 describes an elevator system with an elevator car movable in an elevator shaft, a car door arranged on the elevator car, a car door drive for closing and / or opening the car door, at least one shaft door arranged at a door opening of the elevator shaft, a shaft door drive for closing and / or opening the shaft door, a car door control unit by means of which the car door drive can be directly controlled, and a shaft door control unit by means of which the shaft door drive can be directly controlled. The car door control unit and the shaft door control unit are connected to one another via a communications connection, preferably wirelessly, so that synchronous opening and / or closing of the shaft door and the car door is possible. Precise positions of the shaft door and the car door can be determined by means of an encoder coupled to the respective door drive.The encoder generates a position signal representative of the state of the respective door drive, which can be used to determine the position of the respective door. This can already achieve very good results. However, in some situations and / or elevator systems, even more precise coordination of the door opening and closing movements is desired.
[0008] Therefore, there may be a need for an elevator system in which a car door and corresponding shaft doors can be opened and closed as synchronously and / or uniformly as possible. There may also be a need for a method and a control system for opening and / or closing the car door and the shaft door that contribute to the car door and a corresponding one of the shaft doors being opened and closed as synchronously and / or uniformly as possible.
[0009] Such a need can be met by the subject matter according to one of the independent claims. Advantageous embodiments are defined in the dependent claims and the following description.
[0010] According to a first aspect of the invention, a method for opening and / or closing a car door of an elevator car and a shaft door of an elevator system is described. The elevator car is arranged vertically displaceably in an elevator shaft of a building and has a car door opening for entering or exiting the elevator car and a car door for opening or closing the car door opening. The shaft door is arranged on a floor of the building at a shaft door opening of the elevator shaft and is designed to open or close the shaft door opening. The car door or the shaft door is designed as a leading door, and the other of the two doors is designed as a following door.The method comprises: generating a guide control signal for opening or closing the guide door depending on a predetermined guide door travel curve after the elevator car has arrived at the floor; generating a position signal by means of a transmitter arranged on the guide door; receiving the position signal by means of a receiver arranged on the follower door; and generating a follower control signal for opening or closing the follower door depending on the received position signal, so that when the guide door moves, the follower door follows the guide door.
[0011] According to a second aspect of the invention, a control system for opening and / or closing a car door of an elevator car and a shaft door of an elevator installation is described. The elevator car is arranged vertically displaceably in an elevator shaft of a building and has a car door opening for entering or exiting the elevator car and a car door for opening or closing the car door opening. The shaft door is arranged on a floor of the building at a shaft door opening of the elevator shaft and is designed to open or close the shaft door opening. The control system comprises: a car door control unit for controlling a car door drive for opening or closing the car door, wherein the car door drive is mechanically coupled to the car door; and a shaft door control unit for controlling a shaft door drive for opening or closing the shaft door, wherein the shaft door drive is mechanically coupled to the shaft door.The car door or the shaft door is configured as a leading door, and the other of the two doors is configured as a following door. Accordingly, the car door control unit or the shaft door control unit is configured as a leading control unit, and the other of the two control units is configured as a following control unit. The leading control unit is configured to generate a leading control signal for opening or closing the leading door, depending on a predetermined leading door travel curve, after the elevator car has reached the floor.The follower control unit is designed to generate a follower control signal for the follower door drive for opening or closing the follower door depending on a position signal that is generated by a transmitter to be arranged on the leading door and is received by a receiver that is communicatively coupled to the follower control unit and that is to be arranged on the following door, such that when the leading door moves, the follower door follows the leading door.
[0012] According to a third aspect of the invention, an elevator installation is described. The elevator installation comprises: a control system according to the second aspect of the invention; the elevator car, which is arranged vertically displaceably in the elevator shaft of the building, which has the car door opening for entering or exiting the elevator car, and which has the car door for opening or closing the car door opening; the car door drive, which is mechanically coupled to the car door; the shaft door, which is arranged on a floor of the building at a shaft door opening of the elevator shaft and which is designed to open or close the shaft door opening; the shaft door drive, which is mechanically coupled to the shaft door; wherein the car door control unit is communicatively coupled to the car door drive;and the shaft door control unit is communicatively coupled to the shaft door drive, wherein the car door or the shaft door is designed as a leading door, the corresponding control unit as a leading control unit and the corresponding door drive as a leading door drive, and wherein the other of the two doors is designed as a following door, the other of the two control units as a following control unit and the other of the two door drives as a following door drive; the transmitter for generating a position signal, which is arranged on the leading door and faces the following door; the receiver for receiving the position signal, which is arranged on the following door, faces the leading door and is communicatively coupled to the following control unit;
[0013] Using one of the two doors as the lead door, which dictates the movement of the doors, and the other of the two doors as the follower door, which follows the movement of the lead door, makes it easy to control the two doors in such a way that the opening and closing of the two doors is perceived as synchronous and / or simultaneous by a person using the elevator. This can contribute to a particularly pleasant travel experience for the person using the elevator. In addition, using one of the two doors as the lead door and the other of the two doors as the follower door can make it easy to ensure that one of the two doors is not open when the other is closed, which can contribute to a particularly high level of safety for the person using the elevator.
[0014] If the landing door is the leading door, the landing door control unit is the leading control unit, the landing door drive is the leading door drive, the specified travel curve is a landing door travel curve, the car door is the following door, the car door control unit is the following control unit, and the car door drive is the following door drive. If the car door is the leading door, the car door control unit is the leading control unit, the car door drive is the leading door drive, the specified travel curve is a car door travel curve, the landing door is the following door, the landing door control unit is the following control unit, and the landing door drive is the following door drive.
[0015] The transmitter can be, for example, a magnet or an excitation coil, a radiation source, for example a light source, or a sound source, for example an ultrasound source, which actively generates the position signal in the form of a magnetic field, radiation, in particular light, or sound, in particular ultrasound. Accordingly, the receiver can be a Hall sensor or an induction coil, a radiation sensor, in particular a light sensor, or a microphone, which receives the corresponding position signal. Alternatively, the transmitter can be merely a passive transmitter, for example an optical marker. In this context, the receiver can be designed as a camera, in particular a line scan camera, by means of which a position of the optical marker can be detected.
[0016] The fact that the car door control unit is communicatively coupled to the car door drive means, for example, that the car door control unit can transmit control signals to the car door drive, for example, wirelessly or via a cable. The fact that the shaft door control unit is communicatively coupled to the shaft door drive means, for example, that the shaft door control unit can transmit control signals to the shaft door drive, for example, wirelessly or via a cable. The specified travel curve can be determined in advance, for example, empirically and / or by a manufacturer of the elevator system. The specified guide door travel curve can, for example, be stored in a memory unit of the guide control unit.
[0017] According to one embodiment, the transmitter is arranged on the leading door and the receiver is arranged on the following door in such a way that a signal strength of the received position signal is maximum when a displacement of the following door relative to the leading door in the direction of movement of the following door is minimal.
[0018] The direction of movement of the follower door is parallel to the direction of movement of the lead door. When the elevator car is properly arranged, both directions of movement are aligned horizontally. The directions of movement refer, for example, to the closing directions of the two doors or to the opening directions of the two doors, with the closing directions being parallel to each other and parallel to the opening directions, with the opening directions being parallel to each other, and with the closing directions being opposite to the corresponding opening directions.
[0019] The displacement refers to the relative positions of the two doors to each other. The displacement refers, for example, to a distance between a movable vertical outer edge of the leading door and a movable vertical outer edge of the following door, whereby the distance is measured parallel to the direction of movement. In this context, the transmitter can be arranged horizontally at the same distance from the corresponding outer edge of the leading door as the receiver is arranged horizontally from the corresponding outer edge of the following door. With this arrangement, the distance from the transmitter to the receiver is minimal when the displacement is minimal, and when the displacement is minimal, the signal strength of the position signal is maximum.Ideally, the displacement is so minimal that it cannot be detected by a person using the elevator system without aids and / or that the opening and closing of the two doors is perceived by the person as synchronous and / or simultaneous.
[0020] According to one embodiment, the follower control unit is configured to generate the follower control signal such that the displacement of the follower door relative to the guide door in the direction of movement of the two doors is minimized. For example, the follower control unit can have a control system that influences the follower control signal such that the displacement is minimal. Ideally, the displacement is so minimal that it is not noticeable to a person using the elevator system without aids and / or that the opening and closing of the two doors is perceived by the person as synchronous and / or simultaneous.
[0021] According to one embodiment, the follower control unit is configured to generate the follower control signal such that the signal strength of the received position signal is maximized. For example, the follower control signal can be generated such that the signal strength of the received position signal is maximum at any time during the opening and / or closing of the two doors. For example, the follower control unit can have a control system that influences the follower control signal such that the signal strength of the received position signal is maximum.
[0022] According to one embodiment, the follower control unit is designed to generate the follower control signal depending on a predetermined follower door travel curve. The follower control signal can thus be generated depending on the received position signal and depending on the predetermined follower door travel curve. For example, the predetermined follower door travel curve can be corrected depending on the position signal, and the follower control signal can be generated based on the corrected follower door travel curve. In other words, the predetermined follower door travel curve can be a type of reference curve that roughly specifies the movement of the follower door and is corrected based on the position signal. The predetermined follower door travel curve can correspond to the predetermined lead door travel curve. Alternatively, the predetermined follower door travel curve can deviate from the predetermined lead door travel curve.Furthermore, a separate travel curve can be provided for each floor, in particular for each of the shaft doors, in particular corresponding leading door travel curves or following door travel curves, since the shaft doors exhibit slightly different behavior due to typical tolerances when the corresponding shaft door drives are controlled identically, for example, due to different friction values of the corresponding guide rails. In particular, in the case of shaft doors as leading doors, a separate leading door travel curve can be specified for each floor, in particular for each shaft door. Alternatively, in the case of shaft doors as following doors, a separate following door travel curve can be specified for each floor, in particular for each shaft door.
[0023] According to one embodiment, the predefined follower door travel curve is adjusted depending on the received position signal. For example, the predefined follower door travel curve can be dynamically adjusted depending on the position signal, and the follower control signal can be generated depending on the dynamically adjusted follower door travel curve. Thus, in this embodiment, the follower door travel curve can remain the same across multiple opening and / or closing processes and can be adjusted again with each opening and / or closing process based on the position signal. Alternatively, the predefined follower door travel curve can be adjusted based on the position signal and stored in an adjusted form such that the follower door travel curve requires less adjustment with each new opening and / or closing process.Furthermore, these two variants can be combined in such a way that, during each opening and / or closing process, the follower door travel curve is first dynamically adjusted based on the position signal, the follower control signal is generated depending on the dynamically adjusted follower door travel curve, and this adjusted follower door travel curve is subsequently stored and specified as the follower door travel curve for the next opening or closing process. According to one embodiment, the follower control signal is generated in such a way that the displacement of the follower door relative to the leading door in the direction of movement of the two doors is minimized.
[0024] According to one embodiment, the follower control signal is generated such that the signal strength of the received position signal is maximized.
[0025] According to one embodiment, the follower control signal is generated depending on the predetermined follower door travel curve.
[0026] The leading door travel curve(s) and the following door travel curve(s) can, for example, be stored in a memory unit of the leading control unit and the following control unit, respectively. The stored leading door travel curve(s) and following door travel curve(s) can then be adjusted regularly, for example, every time the elevator car stops at one of the floors and the car door and the corresponding shaft door are opened and / or closed.
[0027] It should be noted that some of the possible features and advantages of the invention are described herein exclusively with reference to one of the aforementioned aspects. However, one skilled in the art will recognize that the features can be combined, adapted, or exchanged as appropriate to achieve further embodiments of the invention and / or to achieve further advantages, particularly across the various aspects.
[0028] Embodiments of the invention are described below with reference to the accompanying drawings, wherein neither the drawings nor the description are to be construed as limiting the invention.
[0029] Fig. 1 shows a side sectional view of an elevator system according to an embodiment of the present invention.
[0030] Fig. 2 shows a sectional plan view of a car door and a shaft door of the elevator system according to Fig. 1, according to an embodiment of the present invention. Fig. 3 shows a flowchart of an embodiment of a method for opening and / or closing a car door of an elevator car of an elevator system and a shaft door of an elevator shaft of a building, according to an embodiment of the present invention.
[0031] The figures are merely schematic and not to scale. The same reference numerals designate the same or equivalent features in the various figures.
[0032] Fig. 1 shows a side sectional view of an elevator system 1 according to an embodiment of the present invention. The elevator system 1 is arranged in a building having an elevator shaft 3. The elevator system 1 is designed to transport one or more persons and / or one or more loads within the building from one floor 10 to another floor 10 of the building.
[0033] The elevator system 1 has an elevator car 5. The elevator car 5 is arranged so that it can be moved vertically in the elevator shaft 3. The elevator car 5 is mechanically coupled to a counterweight 2 of the elevator system 1 via at least one support means 4, for example a cable. The support means 4 can be guided between the elevator car 5 and the counterweight 2 via one or more deflection pulleys 12. The support means 4 and thus the elevator car 5 and the counterweight 2 are movable by means of a drive motor (not shown) of the elevator system 1, whereby the vertical displacement of the elevator car 5 can be realized. The drive motor can be controlled by means of an elevator control unit 16. In the embodiment according to Figure 1, the elevator control unit 16 is arranged on the elevator car 5. However, the elevator control unit 16 can also be arranged at a different location in the elevator system 1, for example in the region of a ceiling of the elevator shaft 3.
[0034] The elevator car 5 serves to accommodate the person(s) to be transported and / or
[0035] Load(s). The elevator car 5 has a car door opening 6 through which the
[0036] Persons can enter or exit the elevator car 5 or through which loads can be introduced into or removed from the elevator car 5. The elevator car 5 has a car door 7 for opening or closing the car door opening 6.
[0037] The elevator installation 1 has a car door drive 8, which is mechanically coupled to the car door 7 such that the car door 7 can be moved, in particular opened or closed, by means of the car door drive 8. Corresponding mechanical couplings are known from the prior art. The elevator installation 1 has a car door control unit 14, which is communicatively coupled to the car door drive 8 such that the car door drive 8 can be controlled by the car door control unit 14. In particular, the car door control unit 14 is communicatively coupled to the car door drive 8 such that the car door control unit 14 can transmit control signals to the car door drive 8, for example, wirelessly or via a cable.
[0038] The elevator shaft 3 has a shaft door opening 9 on each floor 10 to allow access from the elevator car to the respective floors 10 of the building. A shaft door 11 is arranged at each of these shaft door openings 9. If the elevator car 5 is located on one of the floors 10, the corresponding shaft door 9 is arranged opposite the car door 7. With the car door 7 and shaft door 11 open, the elevator car 5 can then be entered or exited from the corresponding floor 10. Optionally, the elevator car 5 can have two car doors 7 (see Figure 2), with two shaft doors 11 being arranged on each floor, each assigned to one of the car doors 7. The fact that the shaft doors 11 are assigned to the car doors 7 means, for example, that the shaft doors 11 should be moved synchronously with the car doors 5 that are assigned to them.In other words, the doors that are assigned to each other should be moved synchronously.
[0039] The elevator system 1 further comprises a shaft door drive 13 and a shaft door control unit 19. The shaft door drive 13 is mechanically coupled to the shaft door 11 such that the shaft door 11 can be moved, in particular opened or closed, by means of the shaft door drive 11. Corresponding mechanical couplings are known from the prior art. The shaft door control unit 19 is communicatively coupled to the shaft door drive 13 such that the shaft door drive 13 can be controlled by the shaft door control unit 19. In particular, the shaft door control unit 19 is communicatively coupled to the shaft door drive 13 such that the shaft door control unit 19 can transmit control signals to the shaft door drive 13, for example, wirelessly or via a cable. A control system for opening and / or closing the car door 7 and the shaft door 11 comprises the car door control unit 14 and the shaft door control unit 19.
[0040] The car door 7 or the shaft door 11 is designed as a leading door, the corresponding control unit is designed as a leading control unit, and the corresponding door drive is designed as a leading door drive. The other of the two doors is designed as a following door, the other of the two control units is designed as a following control unit, and the other of the two door drives is designed as a following door drive. If the shaft door 11 is the leading door, the shaft door control unit 19 is the leading control unit, the shaft door drive 13 is the leading door drive, the car door 7 is the following door, the car door control unit 14 is the following control unit, and the car door drive 8 is the following door drive.If the car door 7 is the leading door, the car door control unit 14 is the leading control unit, the car door drive 8 is the leading door drive, the shaft door 11 is the following door, the shaft door control unit 19 is the following control unit and the shaft door drive 13 is the following door drive.
[0041] For the sake of simplicity and to avoid unnecessary repetition, the embodiments described in detail in this specification assume that the shaft door 11 is the leading door and that the car door 7 is the following door. However, the features and advantages described herein can be readily applied to an embodiment in which the car door 7 is the leading door and the shaft door 11 is the following door.
[0042] The elevator system 1 further comprises a transmitter 15 for generating a position signal and a receiver 17 for receiving the position signal. The transmitter 15 is arranged on the leading door, in particular the shaft door 11, and faces the following door, in particular the car door 7. The receiver 17 is arranged on the following door, facing the leading door, and communicatively coupled to the following control unit, in particular the car door control unit 14. The leading control unit, in particular the shaft door control unit 19, is designed to generate a leading control signal for the leading door drive, in particular the shaft door drive 13, for opening or closing the leading door, depending on a predetermined leading door travel curve, after the elevator car 5 has arrived at one of the floors 10.The follower control unit is designed to generate, depending on the received position signal, a follower control signal for the follower door drive, in particular the car door drive 8, for opening or closing the follower door such that when the guide door moves, the follower door follows the guide door, as explained in more detail below with reference to Figures 2 and 3.
[0043] The transmitter 15 can be arranged on the leading door and the receiver 17 can be arranged on the following door in such a way that the signal strength of the received position signal is maximum when the displacement of the following door relative to the leading door in the direction of movement of the following door is minimal (see Figure 2). The follower control unit can be designed to generate the follower control signal in such a way that the displacement of the following door relative to the leading door in the direction of movement of the two doors is minimized. For example, the follower control unit can have a control that influences the follower control signal such that the displacement is minimal. Ideally, the displacement is so minimal that it is not noticeable to a person using the elevator system without aids and / or that the opening and closing of the two doors is perceived by the person as synchronous and / or simultaneous.
[0044] For example, the follower control unit is configured to generate the follower control signal such that the signal strength of the received position signal is maximized. For example, the follower control signal can be generated such that the signal strength of the received position signal is maximum at any time during the opening and / or closing of the two doors. For example, the follower control unit can have a control system that influences the follower control signal such that the signal strength of the received position signal is maximum.
[0045] The transmitter 15 can be, for example, a magnet or an excitation coil, a
[0046] A radiation source, for example a light source, or a sound source, for example an ultrasound source, which actively generates the position signal in the form of a magnetic field, radiation, in particular light, or sound, in particular ultrasound. Accordingly, the receiver 17 can be a Hall sensor or an induction coil, a radiation sensor, in particular a calibration sensor, or a microphone, which receives the corresponding position signal. Alternatively, the transmitter 15 can be merely a passive transmitter, for example an optical marker, wherein in this context the receiver 17 can be designed as a camera, in particular as a line scan camera, by means of which a position of the optical marker can be detected.
[0047] The specified guide door travel curve can be determined in advance, for example, empirically and / or by a manufacturer of the elevator system. The specified guide door travel curve can, for example, be stored in a memory unit of the guide control unit. If the shaft door 11 is the guide door, the specified guide door travel curve is a shaft door travel curve. If the car door 7 is the guide door, the specified guide door travel curve is a car door travel curve.
[0048] Optionally, the follower control unit can be configured to generate the follower control signal based on a predetermined follower door travel curve, at least roughly. The follower control signal can thus be generated based on the received position signal and the predetermined follower door travel curve. For example, the predetermined follower door travel curve can be corrected based on the position signal, and the follower control signal can be generated based on the corrected follower door travel curve. In other words, the predetermined follower door travel curve can be a type of reference curve that roughly specifies the movement of the follower door and is corrected based on the position signal. The predetermined lead door travel curve can correspond to the follower door travel curve. Alternatively, the predetermined lead door travel curve can deviate from the predetermined follower door travel curve.
[0049] Fig. 2 shows a sectional plan view of the car door 7 and the shaft door 11 of the elevator system 1 according to Figure 1, according to an embodiment of the present invention. In this embodiment, the elevator car 5 has two car doors 7, and the elevator shaft 3 has two shaft doors 11 on each floor 10. The car doors 7 and the shaft doors 11 of one of the floors 10, which are arranged directly next to one another, i.e., on the same side of the car door opening 6 or the shaft door opening 9, respectively, each form a pair, with the doors of a pair being assigned to one another. For the sake of simplicity of illustration, the features and functions of the car doors 7 and the shaft doors 11 and the corresponding door drives and control units mentioned in this description always refer to a pair of these doors, i.e., to one of the car doors 7 and the shaft door 11 assigned to it.In an alternative embodiment, the elevator car 5 may have only one of the car doors 7 and the elevator shaft 3 may have only one of the shaft doors 11 on each floor 10 (not shown), wherein the features and functions of the car doors 7 and the shaft doors 11 mentioned in this description can be readily transferred to this alternative embodiment.
[0050] The two car doors 7 move towards each other when the car doors 7 are closed and away from each other when the car doors 7 are opened. The two shaft doors 11 move towards each other when the shaft doors 11 are closed and away from each other when the shaft doors 11 are opened. If the doors are opened, the end positions of the doors refer to the opening positions of the corresponding doors, i.e., the positions of the doors in which they are maximally open as intended. If the doors are closed, the end positions of the doors refer to the closing positions of the corresponding doors, i.e., the positions of the doors in which they are maximally closed as intended.
[0051] If the car door 7 is closed, the vertical outer edges 21 of the car door 7 touch each other. If the car door 7 is fully open, the outer edges 21 of the car door 7 are at a maximum distance from each other. If the shaft door 11 is closed, the vertical outer edges 23 of the shaft door 11 touch each other. If the shaft door 11 is fully open, the outer edges 21 of the shaft door 11 are at a maximum distance from each other.
[0052] When opening and / or closing the doors, the doors are moved in different directions. The direction of movement of the follower door is parallel to the direction of movement of the lead door. When the elevator car 5 is arranged as intended, both directions of movement are aligned horizontally. The directions of movement refer, for example, to the closing directions 25 of the two doors or to the opening directions (not shown) of the two doors, with the closing directions being parallel to each other and parallel to the opening directions, with the opening directions being parallel to each other, and with the closing directions being opposite to the corresponding opening directions.
[0053] The displacement between the two doors refers to the relative positions of the two doors to each other. The displacement refers, for example, to a distance S of the movable vertical outer edge of the leading door, for example the outer edge 23 of the shaft door 11, to a movable vertical outer edge of the following door, for example the outer edge 21 of the car door 7. The distance S is measured parallel to the direction of movement. In this context, the transmitter 15 can be arranged horizontally at the same distance from the corresponding outer edge of the leading door as the receiver 17 is arranged horizontally from the corresponding outer edge of the following door. With this arrangement, the distance from the transmitter to the receiver is minimal when the displacement, i.e. the distance S, is minimal, and when the displacement is minimal, the signal strength of the position signal is maximum.Ideally, the displacement is so minimal that it is not noticeable to a person using the elevator system without assistance and / or that the person perceives the opening and closing of the two doors as synchronous and / or simultaneous. In the vertical direction, the transmitters 15 and the receivers 17, particularly one of the pairs, can be arranged at the same height.
[0054] Fig. 3 shows a flowchart of an exemplary embodiment of a method for opening and / or closing the car door 7 and the shaft door 11, according to an embodiment of the present invention. The method can be executed, for example, by the control system.
[0055] In a step S2, the guide control signal for opening or closing the guide door is generated depending on the predetermined guide door travel curve after the elevator car 5 has arrived at one of the floors 10. In a step S4, a position signal is generated by the transmitter 15 arranged on the guide door.
[0056] In a step S6, the position signal is received by the receiver 17, which is arranged on the follower door.
[0057] In a step S8, the follower control signal for opening or closing the follower door is generated, for example by the follower control unit, depending on the received position signal, so that when the leading door moves, the follower door follows the leading door. For example, the follower control signal can be generated such that the displacement of the follower door relative to the leading door in the direction of movement of the two doors, i.e. the distance S, is minimized. For example, the follower control unit can have a control that influences the follower control signal such that the signal strength of the received position signal is maximum and, consequently, the displacement is minimal. For example, the follower control signal can be generated such that the signal strength of the received position signal is maximum at any time during the opening and / or closing of the two doors.Ideally, the displacement is so minimal that it cannot be detected by a person using the elevator system without aids and / or that the opening and closing of the two doors is perceived by the person as synchronous and / or simultaneous.
[0058] Optionally, the follower control signal can be generated based on the specified follower door travel curve. The follower control signal can thus be generated based on the received position signal and the specified follower door travel curve. For example, the specified follower door travel curve can be adjusted based on the position signal, and the follower control signal can be generated based on the adjusted follower door travel curve. For example, the specified follower door travel curve can be dynamically adjusted based on the position signal, and the follower control signal can be generated based on the dynamically adjusted follower door travel curve.Alternatively, the specified follow-up door travel curve can be permanently adjusted based on the position signal and saved in an adjusted form so that with each new opening and / or closing process, the follow-up door travel curve needs to be adjusted less and, in the case of control, the corresponding control effort is reduced.
[0059] Furthermore, a separate travel curve can be provided for each floor, in particular for each of the shaft doors, since the shaft doors exhibit slightly different behaviors due to typical tolerances when the corresponding shaft door drives are controlled identically, for example, due to different friction values of the corresponding guide rails. In particular, in the case of shaft doors as leading doors, a separate leading door travel curve can be specified for each floor, in particular for each shaft door. Alternatively, in the case of shaft doors as following doors, a separate following door travel curve can be specified for each floor, in particular for each shaft door. In the latter case, the various following door travel curves can be adjusted independently of one another.
[0060] 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. A method for opening and / or closing a car door (7) of an elevator car (5) and a shaft door (11) of an elevator installation (1), wherein the elevator car (5) is arranged vertically displaceably in an elevator shaft (3) of a building and has a car door opening (6) for entering or exiting the elevator car (5) and a car door (7) for opening or closing the car door opening (6), wherein the shaft door (11) is arranged on a floor (10) of the building at a shaft door opening (9) of the elevator shaft (3) and is designed to open or close the shaft door opening (9), and wherein the car door (7) or the shaft door (11) is designed as a leading door and the other of the two doors is designed as a following door, the method comprising: Generating a guide control signal for opening or closing the guide door depending on a predetermined guide door travel curve after the elevator car (5) has arrived at the floor (10); Generating a position signal by means of a transmitter (15) arranged on the guide door; Receiving the position signal by means of a receiver (17) arranged on the follower door; and Generating a follower control signal to open or close the follower door depending on the received position signal, so that when the lead door moves, the follower door follows the lead door.
2. The method according to claim 1, wherein the follower control signal is generated such that a displacement of the follower door relative to the guide door in the direction of movement (25) of the two doors is minimized.
3. A method according to any one of claims 1 or 2, wherein the follower control signal is generated so as to maximize the signal strength of the received position signal.
4. Method according to one of claims 1 to 3, wherein the follower control signal is generated as a function of a predetermined follower door travel curve.
5. The method according to claim 4, wherein the predetermined follower door travel curve is adapted depending on the received position signal.
6. Control system for opening and / or closing a car door (7) of a lift car (5) and a shaft door (11) of a lift installation (1), wherein the lift car (5) is arranged vertically displaceably in a lift shaft (3) of a building and has a car door opening (6) for entering or leaving the lift car (5) and a car door (7) for opening or closing the car door opening (6), and wherein the shaft door (11) is arranged on a floor (10) of the building at a shaft door opening (9) of the lift shaft (3) and is designed to open or close the shaft door opening (9), the control system comprising: - a car door control unit (14) for controlling a car door drive (8) for opening or closing the car door (7), wherein the car door drive (8) is mechanically coupled to the car door (7); and - a shaft door control unit (19) for controlling a shaft door drive (13) for opening or closing the shaft door (11), wherein the shaft door drive (13) is mechanically coupled to the shaft door (11), wherein the car door (7) or the shaft door (11) is designed as a guide door and the other of the two doors is designed as a follower door and accordingly the car door control unit (14) or the shaft door control unit (19) is designed as a guide control unit and the other of the two control units is designed as a follower control unit, the guide control unit is designed to generate a guide control signal for opening or closing of the guide door after the elevator car (5) has arrived at the floor (10), and the follower control unit is designed to generate a follower control signal for the follower door drive for opening or closing the follower door depending on a position signal which is generated by a transmitter (15) to be arranged on the guide door and is received by a receiver (17) which is communicatively coupled to the follower control unit and which is to be arranged on the follower door, such that when the guide door moves, the follower door follows the guide door.
7. Control system according to claim 6, wherein the follower control signal is generated such that a displacement of the follower door relative to the guide door in the direction of movement (25) of the two doors is minimized.
8. A control system according to any one of claims 6 or 7, wherein the follower control signal is generated so as to maximize the signal strength of the received position signal.
9. Control system according to one of claims 6 to 8, wherein the follower control unit is designed to generate the follower control signal depending on a predetermined follower door travel curve and / or to adapt the predetermined follower door travel curve depending on the received position signal.
10. Lift system (1), comprising: - a control system according to one of claims 6 to 9, - the elevator car (5) which is arranged to be vertically displaceable in the elevator shaft (3) of the building, which has the car door opening (6) for entering or leaving the elevator car (5) and which has the car door (7) for opening or closing the car door opening (6); - the cabin door drive (8), which is mechanically coupled to the cabin door (7); - TI - - the shaft door (11) which is arranged on a floor (10) of the building at a shaft door opening (9) of the elevator shaft (3) and which is designed to open or close the shaft door opening (9); - a shaft door drive (13) which is mechanically coupled to the shaft door (11); wherein the car door control unit (14) is communicatively coupled to the car door drive (8); and the shaft door control unit (19) is communicatively coupled to the shaft door drive (13), and wherein the car door (7) or the shaft door (11) is designed as a guide door, the corresponding control unit as a guide control unit and the corresponding door drive as a guide door drive, and wherein the other of the two doors is designed as a follower door, the other of the two control units as a follower control unit and the other of the two door drives as a follower door drive; - the transmitter (15) for generating a position signal, which is arranged on the leading door and faces the following door; - the receiver (17) for receiving the position signal, which is arranged on the follower door, which faces the guide door and which is communicatively coupled to the follower control unit.
11. Elevator installation (1) according to claim 10, wherein the transmitter (15) is arranged on the leading door and the receiver (17) is arranged on the following door such that a signal strength of the received position signal is maximum when a displacement of the following door relative to the leading door in the direction of movement (25) of the following door is minimal.
12. Elevator installation (1) according to claim 10, wherein the follower control unit is designed to generate the follower control signal such that a displacement of the follower door relative to the guide door in the direction of movement (25) of the two doors is minimized.
13. Elevator installation (1) according to claims 11 and 12, wherein the follower control unit is designed to generate the follower control signal such that the signal strength of the received position signal is maximized.
14. Elevator installation (1) according to claims 10 and 13, wherein the follower control unit is designed to generate the follower control signal depending on a predetermined follower door travel curve.
15. Elevator installation (1) according to claim 14, wherein the follower control unit is designed to determine the predetermined To adjust the follower door travel curve depending on the received position signal.