Method for determining a rope condition of a rope of a transport system, and transport system

Abstract

The invention relates to a method for determining a rope condition of a rope (20, 530, 535) and to a transport system (10), wherein a sensor device (25) having at least one first sensor unit (70), a data memory (35), and a rope (20, 530, 535) are provided, wherein the rope (20, 530, 535) is moved past the first sensor unit (70) along an available rope length, wherein the first sensor unit (70) generates a first sensor signal, wherein a first signal profile of the first sensor signal is determined, depending on the first rope position (p1(l)), as a first reference characteristic (100) of the rope (20, 530, 535), wherein a rope section (110) of the rope (20, 530, 535) is moved past the first sensor unit (70), wherein the first sensor unit (70) generates a second sensor signal depending on a second rope position (p2(l)) of the rope (20, 530, 535), wherein a second signal profile (120) is determined depending on the second rope position (p2(l)), wherein the second signal profile (120) is assigned to a partial section (116) of the first reference characteristic (100), wherein the partial section (116) of the first reference characteristic (100) assigned to the second signal profile (120) is updated using the second signal profile (120), wherein the updated reference characteristic is stored as a second reference characteristic (125).

Description

[0001] Description

[0002] Method for determining a rope condition of a rope of a transport system and transport system

[0003] The invention relates to a method for determining a rope condition of a rope of a transport system according to patent claim 1 and a transport system according to patent claim 15.

[0004] EP 4 065 498 A1 discloses an arrangement for monitoring an elevator having an elevator rope. The elevator rope is guided past an inductive sensor positioned so that a magnetic field generated by the inductive sensor, which extends at least partially across the elevator rope, is evaluated by a control device.

[0005] It is an object of the invention to provide an improved method for determining a rope condition of a rope of a transport system and an improved transport system.

[0006] This object is achieved by means of a method according to claim 1 and a transport system according to claim 15. Advantageous embodiments are specified in the dependent claims.

[0007] It has been recognized that an improved method for determining the condition of a rope of a transport system and an improved transport system, for example for a large-scale industrial facility and / or a goods transshipment point and / or for the transport of goods and / or people, can be provided by providing a sensor device with at least a first sensor unit, a data storage device, and a rope of the transport system. The rope is moved past the first sensor unit over an available rope length, wherein the first sensor unit generates a first sensor signal, which characterizes an interaction between the first sensor unit and the rope moved past the first sensor unit, as a function of a first rope position of the rope. A first signal curve of the first sensor signal is determined as a first reference characteristic of the rope as a function of the first rope position and stored in the data storage device.A section of the rope that is less than or equal to the available rope length of the rope is moved past the first sensor unit after the first reference characteristic of the rope has been determined, wherein the first sensor unit generates a second sensor signal that characterizes an interaction between the first sensor unit and the section of rope moved past the first sensor unit, depending on a second rope position of the rope. A second signal curve of the second sensor signal is determined depending on the second rope position. The second signal curve of the second sensor signal is assigned to a subsection of the first reference characteristic, wherein the subsection of the first reference characteristic assigned to the second signal curve is updated by the second signal curve of the second sensor signal. The updated reference characteristic is stored as the second reference characteristic in the data memory.

[0008] This configuration has the advantage that the second reference characteristic can be determined during operation of the transport system. This eliminates the need for a downtime or maintenance interruption to determine the second reference characteristic. This makes the method particularly suitable for a transport system, in particular for a large-scale industrial facility and / or a freight transfer point and / or a passenger and / or goods transport system, such as a cable car, for example in shuttle or circulating operation, in particular an aerial cable car, which operates essentially without interruption throughout the day and / or month.

[0009] In a further embodiment, the sensor device has a second sensor unit. The second sensor unit provides information about a first running direction of the rope guided past the second sensor unit over the available rope length upon determination of the first reference characteristic. The second sensor unit provides information about a second running direction of the rope section guided past the second sensor unit, wherein the second sensor signal is further processed depending on the second running direction of the rope section such that the first reference characteristic and the second signal profile are determined with the same running direction. This embodiment has the advantage that the running direction can be reliably determined in each case by the second sensor unit, such that a reliable analysis and assignment of the second sensor profile to the first reference characteristic with only minor deviations is possible.

[0010] In a further embodiment, the sensor device comprises a second sensor unit, wherein the second sensor unit comprises a speed sensor. When the rope moves over the available rope length, the speed sensor provides a first speed signal corresponding to a first speed of the rope guided past the first sensor unit. When the rope section moves, the speed sensor provides a second speed signal corresponding to a second speed of the rope section guided past the first sensor unit. Information about the movement of the rope can be determined in a simple manner using the speed sensor.

[0011] In a further embodiment, the speed sensor is arranged at a distance from the cable and determines the first speed of the cable and / or the second speed without contact. This configuration has the advantage of preventing wear on the speed sensor.

[0012] In a further embodiment, the speed sensor has at least one receiving unit and preferably a transmitting unit. The transmitting unit preferably emits waves, in particular electromagnetic waves, for example laser radiation, or sound waves, for example ultrasonic waves. In this case, the transmitting unit is preferably aligned with a detection zone on the rope. The rope reflects waves, in particular the wave emitted by the transmitting unit, at least in the detection zone of the receiving unit. In this case, for example, a frequency shift of the reflected wave compared to the emitted wave can occur. The receiver of the speed sensor at least partially detects the reflected waves, and the first speed is determined based on the reflected waves.

[0013] For example, the transmitting unit and the receiving unit can be designed as Doppler-LI DAR (Light Detection and Ranging), in which the receiving unit emits laser radiation onto the rope, for example, at an oblique angle, into the detection zone. The laser radiation is reflected by the rope running through the detection zone, whereby a speed-dependent frequency shift occurs due to the Doppler effect of the reflected laser radiation compared to the emitted laser radiation. From this frequency shift, the speed sensor determines the speed of the rope. This design has the advantage that the speed sensor is very robust and can measure both very low and very high speeds.

[0014] Instead of designing the transmitting and receiving unit as a LIDAR, it would also be possible for the transmitting and receiving unit to be designed as a radar. Thus, instead of laser radiation, for example, the transmitting unit emits electromagnetic waves with a wavelength of 1 mm to 1 m, and the receiving unit detects waves reflected from the cable. This design has the advantage that the speed sensor is robust against different environmental conditions and can also be used in steamy, dusty environments, for example, above a steel converter or a continuous casting machine. It would also be possible for the transmitting unit to emit sound waves, in particular with a frequency of 20 kHz to 100 kHz, instead of electromagnetic radiation in order to determine the first and / or second speed using the evaluation described above.This design has the advantage of being very robust and cost-effective, and can be easily integrated into existing systems. It is also highly resistant to dust and dirt.

[0015] Alternatively, it would also be possible for the speed sensor to determine the first speed based on laser Doppler velocimetry. The transmitting unit, for example, emits a laser beam that is split into two partial beams. This can be done, for example, using a beam splitter that emits two laser beams that are focused on a point in the detection area so that the laser beams overlap at this point and create an interference pattern. The rope reflects scattered light in the detection area with a scattered light frequency that depends on the first speed or the second speed of the rope. The reflected scattered light is detected by the receiving unit, and the speed sensor determines the first speed and / or the second speed of the rope in the detection area based on the frequency shift that occurs due to the Doppler effect.This arrangement has the advantage that it can be used reliably even with heavily soiled ropes. This eliminates the need to clean the rope.

[0016] In the aforementioned embodiments, the first and second speeds are determined via a speed-dependent frequency shift during the reflection / scattering of the transmitted wave from the cable compared to the wave transmitted by the transmitting unit. The evaluation can use the Doppler equations known from the prior art to determine the first and second speeds.

[0017] Alternatively, it is also possible for the first speed and / or the second speed to be determined based on a travel time of the wave and a known distance of the speed sensor from the rope. In particular, the first and / or second speed of the rope can be determined, for example, using laser triangulation. This embodiment has the advantage that the first speed and / or the second speed can be determined very precisely and very quickly, almost in real time, using the speed sensor. In an alternative embodiment, the receiving unit can also be designed as a camera that provides a camera image of the rope guided through the detection area, wherein the speed sensor determines the first speed and / or the second speed, for example, using image processing techniques in order to track the movement of patterns on the rope surface, e.g. a lay length of the rope.This design has the advantage that the first speed and / or the second speed can be determined continuously. Furthermore, the speed sensor in this design is insensitive to various environmental conditions.

[0018] In a further embodiment, the speed sensor can determine the first speed and / or the second speed, for example, based on eddy currents induced in the cable. The transmitting unit provides a time-varying magnetic field that acts on the cable. The cable is preferably made of steel and is therefore electrically conductive. The magnetic field induces at least one eddy current in the cable running along the sensor unit. This eddy current generates its own eddy current magnetic field, which is opposite to the original, time-varying magnetic field according to Lenz's law. The strength of the induced eddy current is speed-dependent, with the receiving unit detecting the induced magnetic field, and the first speed and / or the second speed is determined based on the induced magnetic field.This design is very robust, especially against vapors and dust, and the first and / or second speed can be determined very precisely.

[0019] In a further embodiment, the second sensor unit has a rolling element coupled to the speed sensor. The rolling element rests against the cable. As the cable moves, the rolling element rolls along the cable, and the speed sensor provides the first speed signal or the second speed signal. Alternatively or additionally, the first running direction is determined based on the first speed signal, and the second running direction is determined based on the second speed signal. This configuration has the advantage that the first and / or second speed of the cable can be reliably determined by the rolling element rolling along the cable and the mechanical connection of the second sensor unit to the cable.

[0020] In a further embodiment, the second sensor unit is arranged at a predefined distance from the first sensor unit, wherein the detection of the rope with the first sensor unit begins at a starting point, wherein the first rope position relative to the starting point is determined as a function of the first speed signal. This allows the first rope position to be reliably determined and a particularly precise first reference characteristic to be determined.

[0021] In a further embodiment, the second signal profile of the sensor signal is assigned to the first reference characteristic by means of pattern recognition, in particular cross-correlation, and / or in particular a time-warping algorithm, in particular a dynamic time-warping algorithm, and / or a self-learning algorithm. This allows for compensation of rope stretching caused by heavy loads or progressive aging of the rope, so that a reliable assignment of the second signal profile to the first reference characteristic is possible even when the rope is stretched.

[0022] In a further embodiment, the first reference characteristic is linked to a first piece of time information from the temporal acquisition of the first sensor signal and stored with the first piece of time information. The second reference characteristic is linked to a second piece of time information from the temporal acquisition of the second sensor signal and stored. This allows an epigenetic fingerprint of the rope, which changes over the rope's lifetime, to be stored in the data storage device.

[0023] In a further embodiment, the second reference characteristic is evaluated based on the first reference characteristic, with a rope condition being determined and output based on the evaluation result. By repeating the process multiple times and each time saving the most recent reference characteristic, a rope history can be created, which offers additional evaluation options during a rope inspection.

[0024] In a further embodiment, the second speed at the second rope position is compared with a predefined minimum speed, wherein if the second speed at the second rope position exceeds the minimum speed, the second sensor signal is taken into account for determining the second rope loss, wherein in particular if the second speed at the second rope position falls below the minimum speed, the second sensor signal is not taken into account for determining the second rope loss. This embodiment has the advantage that implausible second sensor signals are avoided by the minimum speed. For example, the minimum speed can be at least 0.1 m / s, in particular at least 0.2 m / s. The speed at which the rope is moved should not, however, exceed 50 m / s.

[0025] In a further embodiment, the first sensor signal and / or the second sensor signal is smoothed and / or pre-filtered before the first sensor signal and / or the second sensor signal is evaluated, wherein in particular a Fast Fourier Transformation and / or a Wavelet Transformation, in particular a Direct Wavelet Transformation, and / or a low-pass filter is used for filtering. Additionally or alternatively, the first sensor signal and / or the second sensor signal is compared with a predefined minimum threshold value, wherein the first signal curve is determined based on the first sensor signal exceeding the predefined minimum threshold value, wherein the second signal curve is determined based on the second sensor signal exceeding the predefined minimum threshold value. The minimum threshold value can, for example, be inclusive of 5 percent to 10 percent of an expected maximum leakage flux change.This allows noise to be masked out in healthy areas of the rope.

[0026] In a further embodiment, the rope length for determining the second signal profile is determined after a predefined time interval, for example, from 1 hour up to and including 12 hours, or after a predefined number of lifting cycles have been performed. This embodiment has the advantage of ensuring reliable evaluation and determination of the first and second reference characteristics. This allows the rope to be evaluated and analyzed regularly, for example, at shift changes and as needed. This embodiment also has the advantage that the comparison of the reference characteristics enables automated evaluation, for example, with a trend analysis or indications of frequently worn rope areas.

[0027] In a further embodiment, the available cable length is advanced at the first sensor unit at at least one predefined minimum speed, wherein the minimum speed is preferably at least 0.1 m / s, in particular at least 0.2 m / s.

[0028] An improved transport system can be provided in that the transport system is designed, in particular, for a large-scale industrial plant, in particular a rolling mill and / or a continuous casting machine and / or a steelworks. Alternatively, the transport system is designed for transporting people and / or goods, for example, as a cable car, for example in shuttle operation or in circulating operation, in particular as an aerial cable car. The transport system is designed to carry out the method described above. Furthermore, the transport system preferably has at least one cable, wherein the transport system has a load-bearing capacity on the cable of at least 201 and / or a tensile force of at least 200 kN.

[0029] The invention is explained in more detail below with reference to the figures. These show:

[0030] FIG 1 shows a schematic representation of a transport system according to a first embodiment;

[0031] FIGS. 2A and 2B show a sensor device of the transport system shown in FIG. 1 from different perspective views on the rope;

[0032] FIG 3 is a flowchart of a method for operating the transport system shown in FIGS 1 and 2A, 2B;

[0033] FIG 4 shows a schematic first diagram of a first reference characteristic;

[0034] FIG 5 shows a schematic second diagram of a second signal curve of a second sensor signal over a second cable position; and

[0035] FIG 6 shows a second reference characteristic of the device shown in FIGS. 1 and 2

[0036] rope;

[0037] FIG 7 shows a second reference characteristic of a rope ready for discard;

[0038] FIG 8 shows a schematic representation of a transport system according to a second embodiment;

[0039] FIG 9 is a perspective view of the sensor device of the transport system shown in FIG 8;

[0040] FIGS 10A and 10B show different perspective views from different angles of a transport system according to a third embodiment;

[0041] FIG 11 shows a schematic representation of a transport system according to a fourth embodiment; FIG 12 shows a schematic representation of a transport system according to a fifth embodiment; and

[0042] FIG 13 is a schematic representation of a transport system according to a sixth embodiment.

[0043] FIG 1 shows a schematic representation of a transport system 10 according to a first embodiment.

[0044] The transport system 10 is designed, for example, as a crane, in particular, for example, as a gantry crane. The transport system 10 can, for example, be designed to be mounted in a production facility, for example, in a building of a continuous casting machine or a cast-rolling composite plant, or another building used for steel or metal production, in order to lift heavy objects, in particular, for example, ladles, using a rope 20. The transport system 10, in particular the rope 20, is subject to high loads and is subject to corresponding wear and aging.

[0045] In order to determine the wear and aging, the transport system 10 has, in addition to the cable 20, a control unit 15, a sensor device 25, a transport device 30 and a carrier device 31.

[0046] The control unit 15 has a data memory 35, an evaluation device 40, and a data interface 45. The data interface 45 is connected to the evaluation device 40 via a first data connection 50. Furthermore, the evaluation device 40 is connected to the data memory 35 via a second data connection 55. The data interface 45, in turn, is connected to the sensor device 25 via a third data connection 60.

[0047] The carrier device 31 can, for example, have a trolley (not shown in FIG. 1) which is arranged to be movable along a crane bridge 33 of the transport system 10.

[0048] The transport device 30 can, for example, have a drive unit, which is arranged, for example, on the trolley. The drive unit is designed to wind up or unwind the cable 20 and to lift or lower loads by means of the cable 20 or the lifting gear arranged thereon, for example.

[0049] During operation of the transport system 10, the rope 20 is frequently moved. The rope 20 has a large number of stranded wires. The wires can be made, for example, from ferromagnetic and / or austenitic steel. Over the service life of the rope 20, the rope 20 wears on the one hand due to the loads lifted by means of the rope 20 and the associated elongation of the rope, and on the other hand due to the bending of the rope 20, which occurs, for example, when the rope 20 is wound up and unwound. This results in wire breaks. Over the course of its service life, the rope 20 wears as individual wires of the rope 20 break locally. If breaks accumulate over a predefined length, the rope 20 is considered worn and must be replaced to prevent unintentional tearing of the rope 20, for example under heavy loads, or further unintentional breakage.

[0050] The sensor device 25 is mechanically connected to the trolley and arranged on the cable 20. The sensor device 25 remains on the trolley during operation of the transport system 10 and is not removed. The cable 20 is guided through the sensor device 25.

[0051] FIGS. 2A and 2B show the sensor device 25 of the transport system 10 shown in FIG. 1 from different perspective views on the cable 20.

[0052] The sensor device 25 has a guide roller assembly 65, a first sensor unit 70, and at least one second sensor unit 75. The guide roller assembly 65 is designed to guide the cable 20 in the sensor device 25 and to establish a predefined distance between the first sensor unit 70 and the cable 20.

[0053] The first sensor unit 70 can, for example, comprise a magnetic field generator and a magnetic field sensor. The magnetic field generator can, for example, comprise an electric coil or a permanent magnet that acts on the cable 20. The magnetic field sensor is designed to provide a first sensor signal corresponding to the cable 20 guided through the magnetic field of the magnetic field generator.

[0054] The second sensor unit 75 can, for example, have a rolling element 80 and a speed sensor 90, wherein the rolling element 80 rests against the cable 20 at least at a contact point 85. In the first embodiment of the transport system 10, the rolling element 80 can be designed, for example, as a speedometer wheel 81. Another design of the rolling element 80 is also possible. In particular, for example, the rolling element 80 can be omitted. If the cable 20 is moved, the rolling element 80 rolls on the cable 20. The speed sensor 90 detects a first speed of the cable 20 guided past the second sensor unit 75. The contact point 85 is arranged at a distance a from the first sensor unit 70. Furthermore, it is also possible for the first speed of the cable 20 to be determined contactlessly by the speed sensor 90.In this case, for example, the speed sensor 90 can be arranged at the distance a from the first sensor unit 70.

[0055] FIG. 3 shows a flowchart of a method for operating the transport system 10 shown in FIGS. 1 and 2A, 2B. FIG. 4 shows a schematic first diagram of a first reference characteristic 100. FIG. 5 shows a schematic second diagram of a second signal curve 120 of a second sensor signal over a second cable position p2(l). FIG. 6 shows a second reference characteristic 125 of the cable 20 shown in FIGS. 1 and 2.

[0056] The process described below is preferably carried out over the entire service life of the rope 20 and is repeated regularly in parts. For this purpose, the rope 20 is preferably mounted on the transport device 30 at the beginning of its service life in a preferably new or barely worn condition.

[0057] Before the start of the method, a minimum speed and preferably a predefined reference length are stored in the data memory 35. The minimum speed can be at least 0.1 m / s, in particular at least 0.2 m / s.

[0058] In a first method step 305, the cable 20 is mounted in the transport system 10 essentially in a new or barely worn state, and the sensor device 25 is permanently mounted on the cable 20, so that during each lifting or lowering operation or during each movement of the cable 20 by the transport device 30, the cable 20 is guided past the sensor device 25.

[0059] In a second method step 310, for example, the rope 20 is completely unwound or completely wound up once. Once the rope 20 is wound up or completely unwound, a starting point 95 of the rope 20 is thereby defined. The starting point 95 serves as a reference point on the rope 20. The first rope position p1 (I) can be referenced and related to the starting point 95. The starting point 95 thus serves as the "zero point" for the first rope position.

[0060] In a third method step 315, the cable 20 is guided past the sensor device 25 at the minimum speed in a first direction of travel, starting from the starting point 95. The sensor device 25 is activated in the third method step 315.

[0061] For example, the magnetic field generator generates a magnetic field. The magnetic field of the magnetic field generator acts on the cable 20 and the individual wires of the cable 20. The material of the cable 20 modifies the magnetic field flux. In this embodiment, the magnetic field sensor is arranged at a distance from the magnetic field generator and provides a first sensor signal depending on the detected magnetic field. The first sensor signal is transmitted via the third data connection 60 to the data interface 45 and from the data interface 45 via the first data connection 50 to the evaluation device 40. The evaluation device 40 detects the first sensor signal. The minimum speed ensures that the first sensor signal can be further processed by the evaluation device 40.

[0062] The evaluation device 40 can filter and / or smooth the first sensor signal before further processing, or the control unit 15 can have an additional first filter for filtering and / or first smoother for smoothing the first sensor signal, wherein in particular a Fast Fourier Transformation and / or a Wavelet Transformation, in particular a Direct Wavelet Transformation, is used for filtering.

[0063] In the third method step 315, the unwinding element 80, designed as a speedometer wheel 81, rolls on the cable 20, and the speed sensor 90 provides, as part of a first speed signal, information about the first speed of the cable 20, for example, via the third data connection of the data interface 45 and via the first data connection 50 of the evaluation device 40. The evaluation device 40 detects the first speed signal. The first running direction can be determined based on the first speed signal and the starting point 95.

[0064] The evaluation device 40 can filter and / or smooth the first speed signal before further processing, or the control unit 15 can have an additional second filter for filtering and / or a second smoother for smoothing the first speed signal, wherein, in particular, a Fast Fourier Transformation and / or a Wavelet Transformation, a Direct Wavelet Transformation, is applied for filtering. Starting from the starting point 95, the cable 20 is wound or unwound over an available cable length to, for example, a maximally movable end 105, and is guided past the sensor device 25.

[0065] In a fourth method step 320 following the third method step 315, the evaluation device 40 determines a first cable position p1 (I) relative to the starting point 95 corresponding to the respectively detected first sensor signal based on the distance a and the speed information of the first speed signal via the cable 20. In other words, a respective first cable position p1 (I) of the corresponding first sensor signal is determined at a distance of a specific length of the cable 20 from the starting point 95.

[0066] In a fifth method step 325 (see FIG. 4) following the fourth method step 320, the evaluation device 40 determines a first signal profile of the first sensor signal for the respectively assigned first cable position p1 (I) between the starting point 95 and the end 105. The evaluation device 40 stores the first signal profile in the data memory 35 as the first reference characteristic 100. Furthermore, the evaluation device 40 stores information about the first running direction with which the first reference characteristic 100 was determined.

[0067] Furthermore, the evaluation device 40 preferably stores a first time information item associated with the first reference characteristic 100, which essentially corresponds to the detection time of the first sensor signal. The first reference characteristic 100 forms a first fingerprint of the rope 20, which is unique to the respective rope 20.

[0068] The first sensor signal correlates with a leakage flux change D of a magnetic flux in the cable 20. The leakage flux change D of the first sensor signal corresponds to an interruption / weakening of the magnetic flux, for example due to one or more wire breaks at the associated first cable position p1 (I).

[0069] The first reference characteristic 100 (see FIG. 4), for example, has a jagged first signal profile of the first sensor signal across the first cable position p1(I). The greater the amplitude of the first sensor signal at an assigned first cable position p1(I), the greater the leakage flux change D at the respectively assigned first cable position p1(I). Therefore, if the first sensor signal has a high amplitude, the cable 20 has an irregularity, in particular one or more wire breaks, at the respectively assigned first cable position p1(I).

[0070] The first to fifth method steps 305 to 325 represent, for example, an initialization process of the rope 20. The initialization process can be performed during or shortly after installation of the rope 20 in the transport system 10.

[0071] After the initialization process, the transport system 10 can be used as intended to lift or lower loads using the cable 20. The method steps described below are carried out cyclically and regularly during the use of the cable 20. It is particularly advantageous if the method steps described below are carried out, for example, at a shift change, for example every eight hours. Of course, a different time interval is also possible. The following method steps are started and carried out independently, preferably by the control unit 15. At the beginning of the following method steps, the cable 20 does not have to be completely wound or unwound, but can also be in an intermediate position between the starting point 95 and the end 105 on the sensor device 25.

[0072] In a sixth method step 330, a cable section 110 of the cable 20 is preferably guided past the sensor device 25 at the minimum speed. The cable section 110 can be located between the starting point 95 and an end 105 of the cable 20. The cable section 110 can be shorter than the maximum cable length of the cable 20 between the starting point 95 and the end 105 of the cable 20. However, the cable section 110 can also extend over the maximum cable length of the cable 20 between the starting point 95 and the end 105 of the cable 20. The cable section 110 begins at a cable section start point 111 and ends at a cable section end point 112.

[0073] Analogous to the third method step 315, based on the interaction between the first sensor unit 70 and the cable 20 passing by, the first sensor unit 70 provides a second sensor signal instead of the first sensor signal. The second sensor signal is transmitted via the third data connection 60 to the data interface 45 and from the data interface 45 via the first data connection 50 to the evaluation device 40. The evaluation device 40 detects the second sensor signal. The minimum speed ensures that the second sensor signal can be further processed by the evaluation device 40. The second sensor signal correlates with a leakage flux change D of the magnetic flux at a second cable position p2(l) in the cable section 110 of the cable 20.The leakage flux change D of the second sensor signal corresponds to an interruption and / or weakening and / or a change in the magnetic flux, for example due to one or more wire breaks, within the cable 20.

[0074] In the sixth method step 330, the unwinding element 80 rolls on the cable 20 offset from the cable section 110, and the speed sensor 90, driven by the unwinding element 80, provides, as part of a second speed signal, information about a second speed of the cable 20, for example, via the third data connection 60 to the data interface 45 and via the first data connection 50 to the evaluation device 40. The evaluation device 40 detects the second speed signal.

[0075] In a seventh method step 335 following the sixth method step 330, the evaluation device 40 determines the second cable position p2(l) based on the distance a and the speed information of the second speed signal. In the seventh method step 335, the second cable position p2(l) maps information from the cable section 110 already guided past the first sensor unit 70 to the cable section start point 111. In the seventh method step 335, the second cable position p2(l), the cable section start point 111, and the cable section end point 112 do not yet have an assignment to the start point 95 of the first reference characteristic 100, but rather refer only to the determined cable section start point 111 of the cable section 110 guided past the first sensor unit 70.

[0076] At the end of the cable section 110 passing the first sensor unit 70, the cable section end point 112 is reached. In the sixth and seventh method steps 330, 335, the beginning of the detection of the second speed signal at the cable section start point 111 on the cable section 110 thus serves as a reference for the second cable position p2(l).

[0077] In an eighth method step 340 following the seventh method step 335, the evaluation device 40 compares the second speed at the second cable position p2(l) with the minimum speed stored in the data memory 35. If the minimum speed is undershot, the further method steps are not continued for the respective second sensor signal assigned to the second cable position p2(l). If the minimum speed is exceeded by the second speed at the second cable position p2(l), the evaluation device 40 continues with the ninth method step 345. In the ninth method step 345, the evaluation device 40 determines a second signal curve 120 of the second sensor signal for the respectively assigned second cable position p2(l) of the cable region 110.

[0078] Furthermore, based on the second speed signal, the evaluation device 40 checks a second running direction in which the cable 20 was guided past the sensor device 25 in the sixth method step 330. If the second running direction corresponds to the first running direction of the first reference characteristic 100, the evaluation device 40 continues with the determined second signal profile 120. If the second running direction is opposite to the first running direction, the evaluation device 40 inverts the second speed signals and accordingly updates the second signal profile 120 of the second sensor signals via the second cable position p2(l) within the cable range 110.

[0079] In a tenth method step 350 following the ninth method step 345, the evaluation device 40 compares the second signal profile 120 of the second sensor signal with the first reference characteristic 100, for example as part of a pattern recognition. If the second signal profile 120 substantially matches the first reference characteristic 100 with respect to the second cable region 110, the evaluation device 40 assigns the second signal profile 120 to a subsection 116 of the first reference characteristic 100. In particular, the evaluation device 40 can assign the second signal profile 120 to the first reference characteristic 100 using recurring patterns or motifs. In this case, deviations between the second signal profile 120 and the first reference characteristic 100 may exist. The deviations may be caused, for example, by wire breaks that have occurred in the meantime.

[0080] To account for rope elongation, the evaluation device 40 can apply a time-warping algorithm, in particular a dynamic time-warping algorithm, to achieve improved agreement between the second signal curve 120 of the second sensor signal relative to the rope length 110 and the first reference characteristic 100 within the framework of pattern recognition. This allows the evaluation device 40 to, for example, compensate for a rope elongation of the rope 20 over the service life of the rope 20. Additionally or alternatively, a cross-correlation and / or a self-learning algorithm can also be used for this purpose.

[0081] By assigning the second signal curve 120 to the subsection 116 of the first reference characteristic 100, the evaluation device 40 can reliably assign the second cable position p2(l) of the second sensor signal to the respective first cable position p1(l) of the first reference characteristic 100 on the basis of the first reference characteristic 100.

[0082] In the eleventh method step 355 (see FIG. 6), the evaluation device 40 replaces the subsection 116 of the first reference characteristic 100 with the second signal curve 120 of the second sensor signal and thereby updates the first reference characteristic 100 by the second signal curve 120 in the corresponding subsection 116 to a second reference characteristic 125.

[0083] The evaluation device 40 stores the updated reference characteristic 125 as a second reference characteristic 125 in the data memory 35 with a second time information item that essentially corresponds to the time of detection of the second sensor signal. The first reference characteristic 100 remains stored in the data memory 35 with the first time information item and is preferably not deleted.

[0084] The evaluation device 40 can automatically repeat the sixth to eleventh method steps 330 to 355 after a predefined time interval has elapsed, for example, including 1 hour to 12 hours, or after a predefined number of lifting cycles have been performed over the life of the rope. In this case, the currently created second reference characteristic 125 becomes the first reference characteristic 100 in the case of repetition, which is updated based on a newly detected rope area 110. The rope area 110 newly detected in the case of repetition can be different both in its position relative to the first rope position p1 (I) and in its length from the previously detected rope area 110. Thus, for example, the sixth to eleventh method steps 330 to 355 can be repeated regularly at a time interval of 1 to 12 hours over the life of the rope 20.

[0085] By updating the previously created first reference characteristic 100 to the second reference characteristic 125, reliable pattern recognition is ensured during further runs of the rope section 110 as the rope 20 continues to wear, and reliable assignment of the rope section 110 is enabled.

[0086] In a twelfth method step 360, the evaluation device 40 evaluates, for example, the updated reference characteristic—in the embodiment, for example, the second reference characteristic 125—against the (first) original reference characteristic 100, for example, as part of a comparison. During the evaluation, for example, at least one wire break and / or multiple wire breaks and a cable position p1 (I) corresponding to the wire break can be determined. The wire break can be determined, for example, by a deviation of the amplitude of the second reference characteristic 125 from the first reference characteristic 100.

[0087] The wire break can be stored in the data memory 35 with an assignment to the first cable position p1 (I) and, if desired, output by the evaluation device 40 via the data interface 45.

[0088] In particular, the evaluation device 40 can determine a number of wire breaks per reference length based on the predefined reference length. The reference length can, for example, correspond to six times the outer diameter or, for example, thirty times the outer diameter of the cable 20. To do this, the evaluation device 40, for example, sums up the wire breaks and / or multiple wire breaks detected within the predefined reference length.

[0089] Based on the determined number of wire breaks per reference length, the evaluation device 40 can further determine a failure probability of the rope 20 or an updated remaining service life of the rope 20 based on the first and second time information.

[0090] The number of wire breaks or the respective rope position p1 (I) associated with the wire breaks can be output by the evaluation device 40 as part of a rope report via the rope 20 to the data interface 45, so that a manual inspection of the respective critical points can be carried out by an appropriate expert.

[0091] The evaluation device 40 can regularly repeat the sixth to twelfth method steps 330 to 360, for example, with different cable sections 110 being guided past the sensor device 25, so that the corresponding second sensor signal is different in each case. The evaluation device 40 can thus update the most current second reference characteristic 125 piece by piece over the service life of the cable 20, so that the cable aging is reflected, for example, in the updated version of the second reference characteristic 125 (see, for example, FIG. 6).

[0092] FIG. 7 shows a second reference characteristic 125 of a rope 20 ready for discard. It is clearly evident that the most recent second reference characteristic 125 exhibits numerous strong amplitudes in the flux leakage change D, which correlate with a large number of wire breaks. Because with each pass through a different rope section 110, the present last reference characteristic is updated by the second signal curve 120 to the updated second reference characteristic 125, and the outdated reference characteristic 100 continues to be stored, a type of epigenetic fingerprint of the rope 20 results. The reference characteristics 100 stored in the data memory 35 each represent an aging curve of the rope 20.

[0093] As the rope 20 is used, it changes and ages. Rope anomalies, particularly wire breaks, occur. Wire breaks can accumulate, particularly in frequently used areas of the rope 20, until the load-bearing capacity of the rope 20 is limited by the frequent wire breaks or the rope 20 is no longer load-bearing. Such aging, particularly in the area shortly before the end 105 of the rope 20, is evident in FIG. 7 from the significant change in the flux leakage change D compared to the first reference characteristic 100.

[0094] The epigenetic fingerprint and the first reference characteristic, each of which is further stored in the data memory 35 as part of the update of the last reference characteristic, along with the respective time information, make it possible to provide a history of the rope 20, which can, on the one hand, be further evaluated by the evaluation device 40 as part of the rope report. On the other hand, inspection runs for analyzing the rope 20 can be dispensed with. This eliminates the need for breaks during which the transport system 10 is unavailable, so that the transport system 10 is continuously available, and at the same time, an evaluation and analysis option for the transport system 10 is available using the reference characteristics created in each case.

[0095] Due to the slow changes in the rope 20 and the deterioration of the rope due to wire breaks, the stored reference characteristics form the epigenetic fingerprint. The collection of the stored reference characteristics 100, 125 offers a good opportunity for non-destructive analysis of the rope 20 and a possibility for predicting the number of wire breaks to be expected at specific points on the rope 20 within a predefined period of time. In particular, advanced algorithms, particularly within the framework of artificial intelligence, can be used to generate a prediction of the wire breaks at specific rope positions p1 (I) based on the reference characteristics stored in the data memory 35.Furthermore, a quasi two-factor identification of the rope position p1 (I) of the respectively assigned second sensor signal can be enabled regularly on a routine basis or cyclically or even at specific times during the use of the transport system 10.

[0096] In addition to the pattern recognition, as carried out in the tenth method step 350, the evaluation device 40 can additionally check via the second sensor unit 75 and the second speed signal whether the first cable position p1 (I) determined for the second sensor signal is plausible.

[0097] The pattern recognition and the time-warping algorithm, if used, also have the advantage of providing a quasi-auto-calibration of the control unit 15, so that the respective first rope position p1 (I) of the second sensor signal can be reliably determined even with a further elongation of the rope 20. In particular, it has been shown that the combination of pattern recognition and the time-warping algorithm can enable reliable detection of the respectively assigned rope area of ​​at least 98% locally and at least 99% globally based on the entire rope length of the rope 20.

[0098] The control unit 15 can further be designed to provide a report on the current reference characteristic at the data interface 45 at regular intervals, whereby a prediction can also be generated based on the current rope condition of the rope 20.

[0099] Because the historical data of the epigenetic fingerprint of the rope 20 continues to be stored in the data storage 35, the basis is provided for providing detailed information for a rope inspector over the course of the rope's lifespan through the numerous stored reference characteristics. This allows, for example, trend graph projections or comparisons of local areas with wire breaks to be determined and viewed based on the numerous determined reference characteristics. This detailed information offers an additional possibility for providing a reliable prediction of the failure of the rope 20. The rope inspector can better evaluate the rope 20 locally based on the reference characteristics and, if necessary, can visually inspect the critical points of the rope 20 where, according to the most recent reference characteristics, numerous wire breaks are likely to be present.FIG. 8 shows a schematic representation of a transport system 10 according to a second embodiment. FIG. 9 shows a perspective view of the sensor device 25 of the transport system 10 shown in FIG. 8.

[0100] The second embodiment of the transport system 10 shown in FIG. 8 essentially corresponds to the first embodiment of the transport system 10 shown in FIGS. 1, 2A and 2B. In the following, only the differences between the transport system 10 shown in FIG. 8 and the transport system 10 shown in FIGS. 1 and 2A, 2B will be discussed.

[0101] In contrast to FIGS. 1 and 2A, 2B, in which the rolling element 80 is designed as a speedometer wheel 81, the rolling element 80 shown in FIGS. 8 and 9 is designed as a cable drum 82. The speedometer wheel 81 is omitted in the second embodiment. The speed sensor 90 is arranged, for example, on the rolling element 80 designed as a cable drum 82. The cable 20 has the distance a between the contact point 85 on the cable drum 82 and the first sensor unit 70.

[0102] The method described in FIG. 3 can also be applied to the transport system 10 shown in FIGS. 8 and 9, although in FIGS. 8 and 9, in the third method step 315, during winding and / or unwinding of the cable 20, the first speed and / or the second speed of the cable 20 is determined by the speed sensor 90 on the cable drum 82. It is particularly advantageous if the cable 20 is wound in only one layer on the cable drum 82.

[0103] FIG 10A and FIG 10B show different perspective views from different angles of a transport system 10 according to a third embodiment.

[0104] The third embodiment of the transport system 10 shown in FIGS. 10A and 10B essentially corresponds to the first embodiment of the transport system 10 shown in FIGS. 1, 2A and 2B. In the following, only the differences between the transport system 10 shown in FIGS. 10A and 10B and the transport system 10 shown in FIGS. 1 and 2A, 2B will be discussed.

[0105] In contrast to FIGS. 1 and 2A, 2B, in which the rolling element 80 is designed as a speedometer wheel 81, the rolling element 80 is omitted in the third embodiment shown in FIGS. 10A and 10B. The speed sensor 90 is arranged contactlessly and at a distance from the cable 20. The speed sensor 90 can, for example, have a transmitting unit 400, a receiving unit 405, and an evaluation unit 410. The transmitting unit 400 and the receiving unit 405 are each connected to the evaluation unit 410 for data transmission. The transmitting unit 400 and the receiving unit are directed toward a common detection area 415 on the cable.

[0106] The method described in FIG. 3 can also be applied to the transport system 10 shown in FIGS. 10A and 10B, although in FIGS. 10A and 10B, in the third method step 315 during winding and / or unwinding of the cable 20, the first speed and / or the second speed of the cable 20 is determined contactlessly by the speed sensor 90.

[0107] For contactless determination of the first speed in the third method step 315 and the second speed in the sixth method step 330, as well as preferably the first running direction in the fourth method step 320 and the second running direction in the sixth method step 330, the transmitting unit 400 preferably emits waves 420, in particular electromagnetic waves, for example laser radiation, or sound waves, for example ultrasonic waves, directed at the cable 20.

[0108] The cable 20 reflects the emitted wave 420 at least in the detection range 415 of the receiving unit 405. For example, a frequency shift of the wave 425 reflected by the cable 20 compared to the wave 420 emitted by the transmitting unit 400 can occur. The receiving unit 405 of the speed sensor 90 at least partially detects the reflected wave 425. Both the transmitting unit 400 and the receiving unit 405 each provide information about the emitted wave 420 or the reflected wave 425 to the evaluation unit 410, wherein the first speed and / or the second speed is determined by the evaluation unit 410 based on the reflected waves 425.

[0109] For example, the transmitting unit 400 and the receiving unit 405 can be designed as Doppler LIDAR (Light Detection and Ranging), in which the transmitting unit 400 emits laser radiation onto the rope 20, for example, at an oblique angle of, for example, 30° up to and including 60° onto the rope 20 in the detection area 415. The laser radiation is reflected in the detection area 415 by the rope 20 running through the detection area 415 and detected by the receiving unit 405, wherein, due to the Doppler effect, a speed-dependent frequency shift occurs between the reflected laser radiation and the emitted laser radiation. From this frequency shift, the evaluation unit 415 determines the speed of the rope 20. This design has the advantage that the speed sensor 90 is very robust and can measure both very low and very high speeds.

[0110] Instead of designing the transmitting and receiving unit 400, 405 as a LIDAR, it would also be possible in a further development of the third embodiment for the transmitting and receiving unit 400, 405 to be designed as a radar, and thus, instead of laser radiation, for example, the transmitting unit 400 emits electromagnetic waves 420 with a wavelength of 1 mm to 1 m, and the receiving unit 405 accordingly detects waves 425 reflected from the cable 20. This design has the advantage that the speed sensor 90 is very reliable under different environmental conditions and can also be used in steamy, dust-laden environments, for example, above a steel converter or a continuous casting machine.

[0111] It would also be possible for the transmitting unit 400 to emit sound waves 420, in particular at a frequency of 20 kHz to 100 kHz, instead of electromagnetic waves 420, and for the receiving unit 405 to receive sound waves 425 reflected from the cable 20 in order to determine the first and / or second speed using the evaluation described above. This design has the advantage of being very robust and cost-effective and can be easily integrated into existing systems. The design is also very resistant to dust and dirt.

[0112] In a further development, the speed sensor 90 can determine the first speed based on laser Doppler velocimetry. The transmitting unit 400, for example, emits the above-described laser beam with electromagnetic waves 420, which is split into two partial beams. This can be done, for example, by a beam splitter. The partial beams are focused on a point in the detection area 415. At this point, the partial beams overlap and generate an interference pattern.

[0113] The rope 20 reflects scattered light in the detection area 415 as a reflected wave 425 with a scattered light frequency that depends on the first speed or the second speed of the rope 20. The reflected scattered light is detected by the receiving unit 405, and the evaluation unit 410 determines the first speed and / or the second speed of the rope 20 in the detection area 415 based on the frequency shift that occurs due to the Doppler effect. This development has the advantage that it can be used reliably even with a heavily soiled rope 20. This eliminates the need to clean the rope 20.

[0114] In the aforementioned embodiments, the first speed and the second speed are determined via a speed-dependent frequency shift during the reflection / scattering of the emitted wave on the cable 20 compared to the wave 420 emitted by the transmitting unit 400. The evaluation unit 410 can apply the Doppler equations known from the prior art and determine the first speed and the second speed.

[0115] Alternatively, it is also possible for the first speed and / or the second speed to be determined based on a travel time of the shaft and a known distance of the speed sensor 90 from the cable 20.

[0116] In particular, the first and / or second speed of the cable 20 can be determined, for example, by means of laser triangulation. This configuration has the advantage that the first speed and / or the second speed can be determined very precisely and very quickly, almost in real time, using the speed sensor 90.

[0117] In a further development, the receiving unit 405 can also be designed as a camera that provides a camera image of the rope 20 guided through the detection area 415. The speed sensor 90 determines the first speed and / or the second speed, for example, using image processing techniques to track the movement of patterns on the rope surface, e.g., a lay length of the rope. In this case, the transmitting unit 400 can be omitted, or the transmitting unit 400 can be used to illuminate the detection area 415.

[0118] This embodiment has the advantage that the first speed and / or the second speed can be determined continuously. Furthermore, the speed sensor 90 in this embodiment is insensitive to various environmental conditions.

[0119] In a further development, the speed sensor 90 can determine the first speed and / or the second speed, for example, based on eddy currents induced in the cable 20. The transmitting unit 400 provides a time-varying magnetic field that acts on the cable 20. The cable 20 is preferably made of steel, as explained above, and is thus electrically conductive. The time-varying magnetic field induces at least one eddy current in the cable 20 running along the sensor device 25. This eddy current generates its own eddy current magnetic field, which is opposite to the original, time-varying magnetic field according to Lenz's law. The strength of the induced eddy current is speed-dependent, with the receiving unit 405 detecting the induced eddy current magnetic field, and the first speed and / or the second speed being determined based on the induced eddy current magnetic field.This design is very robust, especially against vapors and dust, and the first and / or second speed can be determined very precisely.

[0120] It is also possible that, instead of determining the first running direction and / or the second running direction contactlessly as explained above, the first running direction and / or the second running direction can be determined, for example, as explained in FIGS. 1 to 9, by contact with the cable 20. Information from the drive device, for example, a direction of rotation of a drive motor, can also be used to determine the running direction.

[0121] It should also be noted that the embodiments described in the figures can be combined with one another. In particular, it is possible to provide two speed sensors 90, with at least one of the two determining the speed contactlessly, for example.

[0122] FIG 11 shows a schematic representation of a transport system 10 according to a fourth embodiment.

[0123] The fourth embodiment of the transport system 10 shown in FIG. 11 essentially corresponds to the first embodiment of the transport system 10 shown in FIGS. 1, 2A and 2B. In the following, only the differences between the transport system 10 shown in FIG. 11 and the transport system 10 shown in FIGS. 1 and 2A, 2B will be discussed.

[0124] The transport system 10 shown in FIG. 11 can also be designed as a further development of the first embodiment shown in FIGS. 1, 2A, and 2B in combination with the second embodiment shown in FIGS. 8 and 9. The transport system 10 is designed in FIG. 11 as a cable car 500, in particular as an aerial cable car. Of course, the cable car 500 can also be designed as a rail cable car.

[0125] The cable car 500 does not have a crane bridge 33. The support device 31 can, for example, have one or more supports 505 arranged at a distance from one another. The transport device 30 has at least two stations 510, 515, with the support 505 being arranged between the two stations 510, 515. A first station 510 can, for example, be designed as a valley station, and a second station 515 can, for example, be designed as a mountain station.

[0126] The cable car 500 can, for example, be designed as a single-cable revolving cable car having only one circulating cable 20 spliced ​​into a loop, which can also be referred to as an endless cable.

[0127] Alternatively, as shown in FIG. 10, the cable car 500 can have at least one support cable 530 and one traction cable 535. The support cable 530 is, for example, fixedly stretched between the two stations 510, 515, while the traction cable 535 is guided as an endless cable in a loop and is driven. An arrangement of transport devices 540, for example, gondolas for transporting materials and / or people, can be connected to the traction cable 535.

[0128] In one of the two stations 510, 515, for example, the first station 510, the control unit 15, the sensor device 25, and, for example, the drive unit 520 are arranged. The drive unit 520 is mechanically coupled to a first deflection wheel 550, which is arranged in the first station 510, and drives the first deflection wheel 550. The traction cable 535 is guided around the first deflection wheel 550 and is deflected and driven by the first deflection wheel 550.

[0129] A second deflection wheel 555 is arranged in the second station 515 and tensions the traction cable 535. The traction cable 535 is also deflected at the second deflection wheel 555.

[0130] Between the first deflection wheel 550 and the second deflection wheel 550, the transport device 540 is clamped, for example, reversibly detachably, to the traction cable 535. The clamping can be released, for example, in front of the deflection wheel 550, 555, and the traction cable 535 is deflected on the deflection wheel 550, 555 without the transport device 540 clamped on. In the embodiment, for example, the sensor device 25 can be arranged on the traction cable 535, for example in the first station 510. The sensor device 25 can be arranged between a clamping point 560 and the first deflection wheel 550. At the clamping point 560, the transport device 540 can be detached from the traction cable 535 and guided around the first deflection wheel 550 separately from the traction cable 535 in the first station 510, for example, for loading or unloading the transport device 540. At a clamping point 565, the transport device 540 can be re-clamped to the traction cable 535.

[0131] The sensor device 25 can also be arranged between the first deflection wheel 550 and the clamping point 565 on the traction cable 535.

[0132] The speed sensor 90 is arranged, for example, on the unwinding element 80, which is designed as a cable drum 82. The traction cable 535 has the distance a between the contact point 85 on the first deflection wheel 550 and the first sensor unit 70. The speed sensor 90 can also be designed to be contactless, as explained above.

[0133] The method described in FIG. 3 can also be applied to the transport system 10 shown in FIG. 11, wherein the traction cable 535 is evaluated here as the cable 20. In the first method step 305, the traction cable 535 is mounted as an endless cable.

[0134] In the second method step 310, the traction cable 535 is completely conveyed through once and guided past the sensor device 25. The maximum cable length is the loop formed by the cable 20, for example, starting from the splice. For example, the starting point 95 and the end can coincide, or the splice can be located only between the starting point 95 and the end 105.

[0135] The method according to FIG 3 can also be carried out in a regular cycle for the transport system 10 shown in FIG 11 in order to determine the second reference characteristic of the traction cable 535.

[0136] FIG 12 shows a schematic representation of a transport system 10 according to a fifth embodiment.

[0137] The fifth embodiment of the transport system 10 shown in FIG. 12 essentially corresponds to the fourth embodiment of the transport system 10 shown in FIG. 11. In the following, only the differences between the transport system 10 shown in FIG. 12 and the transport system 10 shown in FIG. 11 will be discussed.

[0138] In contrast to FIG 11, the sensor device 25 is arranged, for example, on one of the transport devices 540 and is designed such that when the transport device 540 is clamped to the traction cable 535, the support cable 530 is guided into the sensor device 25 and when it is disconnected, the support cable 530 is guided out of the sensor device 25.

[0139] The method described in FIG. 3 can also be carried out accordingly for the transport system 10 shown in FIG. 12 in order to determine the second reference characteristic of the support cable 530 at regular intervals.

[0140] The sensor device 25 is permanently mounted, for example, on one of the transport devices 540 and remains on the transport device 540. The third data connection 60 can be designed, for example, as a wireless data connection 60. The sensor device 25 can also be equipped with an internal buffer to temporarily store the acquired sensor data and transmit it to the control device 15 in the vicinity of the control device 15, for example, in the first station 510.

[0141] In the second method step 310, the support cable 530 is guided through the sensor device 25 between the clamping point 565 and the clamping point 560 at the minimum speed. The transport device 540 can be moved from the first station 510 to the second station along the support cable 530 by the traction cable 535.

[0142] The second reference characteristic for the suspension cable 530 is created by means of the further process steps 320 to 360.

[0143] It is pointed out that the transport systems 10 shown in FIGS. 11 and 12 can also be combined with one another, so that, for example, both sensor devices 25 shown in FIGS. 11 and 12 are provided and thus both the second reference characteristic for the traction cable 535 and for the support cable 530 can be determined.

[0144] FIG 13 shows a schematic representation of a transport system 10 according to a sixth embodiment.

[0145] The sixth embodiment of the transport system 10 shown in FIG. 13 essentially corresponds to the first embodiment of the transport system 10 shown in FIGS. 1, 2A and 2B. In the following, only the differences between the transport system 10 shown in FIG. 13 and the transport system 10 shown in FIGS. 1 and 2A, 2B will be discussed.

[0146] The transport system 10 comprises a strip storage device 600 for temporarily storing a thin-rolled strip 610, for example, from a combined casting and rolling plant. The strip 610 can, for example, be a sheet produced in a continuous strand.

[0147] The strip storage device 600 comprises a carriage 620 guided on rails 615, the support device 31, a storage access 605, and a tensioning station 625. The tensioning station 625 and the support device 31 are arranged in a stationary manner. The carriage 620 is movable along the rails 615 between a first position (shown in FIG. 13) and a second position. In the second position, the carriage 620 is moved relative to the first position toward the tensioning station 625.

[0148] The tensioning station 625 is stationary and has the cable drum 82. The tensioning station 625 is connected to a first side of the carriage 620 by means of the cable 20. Opposite the first side of the carriage 620, the carriage 620 is connected to a tether cable 635. Both the cable 20 and the tether cable 635 are guided via cable deflection pulleys 640 to the cable drum 82, on which both the cable 20 and the tether cable 635 can be wound up and unwound. The winding up of the cable 20 can occur simultaneously with the unwinding of the tether cable 635 on the cable drum 82. Likewise, the unwinding of the cable 20 and the winding up of the tether cable 635 can occur simultaneously on the cable drum 82.

[0149] Several strip deflection rollers 630 are arranged on both the carriage 620 and the tensioning station 625. The strip 610 is fed into and removed from the combined casting and rolling plant via the storage access 605. The strip 610 is guided from the storage access 605 through the carriage 620 to the support device 31. Between the support device 31 and the carriage 620, the strip 610 is guided in several spaced-apart layers and is deflected by several strip deflection rollers 630 before being guided back to the storage access 605. The strip 610 is pre-tensioned due to the process and is both fed into and removed from the strip storage 600 at the storage access 605.

[0150] The tether cable 635 and the cable 20 are guided from the storage access 605 in the strip storage 600 between the strip deflection rollers 630 back to the storage access 605 in the principle of a pulley system between the carriage 620 (loose roller) and the support device 31 (fixed roller). The tensioning station 625 uses the cable 20 to tension the carriage 620 and thus the strip 610 deflected on the carriage. The tensioning station 625 uses the tether cable 635 to keep the carriage 620 on track when, for example, excess strip 610 is stored in the strip storage 600, for example, when coiling of the strip 610 is interrupted, or when the strip storage 600 is emptied and the strip 610 is fed back into the combined casting and rolling plant from the strip storage 600.

[0151] In the tensioning station 625, the sensor device 25 can be arranged on the cable 20. Additionally, a further sensor device 25 can be arranged in the tensioning station 625 on the tether cable 635, wherein the sensor device 25 and the further sensor device 25 are connected to the control unit 15. The further sensor device 25 can be configured identically to the sensor device 25.

[0152] The method described in FIG. 3 can also be carried out correspondingly for the transport system 10 shown in FIG. 13 in order to determine the second reference characteristic of the cable 20 and / or the tether cable 635 at regular intervals.

[0153] In the second method step 310, the carriage 620 is moved between the first position, which may correspond to a completely unloaded belt storage 600, and the second position, which may correspond to a completely loaded belt storage 600, in such a way that the cable 20 and / or the tether cable 635 is guided through the associated sensor device 25 at the minimum speed.

[0154] It should be noted that the transport system 10 shown in FIG. 13 can also be combined with the transport system 10 shown in FIGS. 8 and 9, so that the unwinding element 80 is omitted and the cable drum 82 forms the unwinding element 80. This makes the transport system 10 particularly simple.

[0155] List of reference symbols

[0156] 10 Transport system

[0157] 15 Control unit

[0158] 20 rope

[0159] 25 Sensor device

[0160] 30 Transport facility

[0161] 31 Carrier device

[0162] 33 Crane Bridge

[0163] 35 data storage

[0164] 40 Evaluation device

[0165] 45 Data interface

[0166] 50 first data connection

[0167] 55 second data connection

[0168] 60 third data connection

[0169] 65 Guide roller arrangement

[0170] 70 first sensor unit

[0171] 75 second sensor unit

[0172] 80 rolling element

[0173] 81 speedometer wheel

[0174] 82 rope drum

[0175] 85 Investment point

[0176] 90 Speed ​​sensor

[0177] 95 Starting point

[0178] 100 first reference characteristics

[0179] 105 End

[0180] 110 rope sections

[0181] 111 Rope route starting point

[0182] 112 Rope route end point

[0183] 115 rope area

[0184] 116 section

[0185] 120 second signal curve

[0186] 125 second reference characteristic

[0187] 305 first procedural step

[0188] 310 second procedural step

[0189] 315 third procedural step

[0190] 320 fourth process step fifth process step sixth process step seventh process step eighth process step ninth process step tenth process step eleventh process step twelfth process step

[0191] Transmitter unit Receiver unit Evaluation unit

[0192] Detection range emitted wave reflected wave

[0193] cable car

[0194] Support first station second station

[0195] Drive unit carrying rope pulling rope

[0196] Transport device first deflection wheel second deflection wheel

[0197] Clamping point Clamping point

[0198] Tape storage Storage access Tape

[0199] rails

[0200] Dare

[0201] Tensioning station belt pulley shackle rope

[0202] Rope pulley distance

[0203] D Leakage flux change p1 (l) first rope position P2(l) second rope position

Claims

Patent claims 1 . Method for determining a rope condition of a rope (20, 530, 535) of a transport system (10), - wherein a sensor device (25) with at least one first sensor unit (70), a data memory (35) and a cable (20, 530, 535) of the transport system (10) are provided, - wherein the rope (20, 530, 535) is moved past the first sensor unit (70) over an available rope length, - wherein the first sensor unit (70) generates a first sensor signal, which characterises an interaction between the first sensor unit (70) and the cable (20, 530, 535) moving past the first sensor unit (70), as a function of a first cable position (p1 (I)) of the cable (20, 530, 535), - wherein a first signal curve of the first sensor signal is determined as a function of the first cable position (p1 (I)) as a first reference characteristic (100) of the cable (20, 530, 535) and stored in the data memory (35), - wherein a rope section (110) of the rope (20, 530, 535) which is less than or equal to the available rope length is moved past the first sensor unit (70) after the first reference characteristic (100) of the rope (20, 530, 535) has been determined, - wherein the first sensor unit (70) generates a second sensor signal, which characterises an interaction between the first sensor unit (70) and the cable section (110) moved past the first sensor unit (70), as a function of a second cable position (p2(l)) of the cable (20, 530, 535), - wherein a second signal curve (120) of the second sensor signal is determined as a function of the second cable position (p2(l)), - wherein the second signal curve (120) of the second sensor signal is assigned to a subsection (116) of the first reference characteristic (100), - wherein the subsection (116) of the first reference characteristic (100) associated with the second signal curve (120) is updated by the second signal curve (120) of the second sensor signal, - wherein the updated reference characteristic is stored as a second reference characteristic (125) in the data memory (35).

2. Method according to claim 1, - wherein the sensor device (25) has a second sensor unit (75), - wherein the second sensor unit (75) provides information about a first running direction of the cable over the available cable length at the second sensor unit (75) passing rope (20, 530, 535) when determining the first reference characteristic (100), - wherein the second sensor unit (75) provides information about a second running direction of the cable section (110) of the cable (20, 530, 535) guided past the second sensor unit (75), - wherein, depending on the second running direction of the cable section (110), the second sensor signal is further processed such that the first reference characteristic (100) and the second signal curve (120) are determined for the same running direction.

3. Method according to claim 1 or 2, - wherein the sensor device (25) comprises a second sensor unit (75), wherein the second sensor unit (75) comprises a speed sensor (90), - wherein, when the cable (20, 530, 535) moves over the available cable length, the speed sensor (90) provides a first speed signal corresponding to a first speed of the cable (20, 530, 535) guided past the first sensor unit (70), - wherein, upon movement of the cable (20, 530, 535), the speed sensor (90) provides a second speed signal corresponding to a second speed of the cable section (110) guided past the first sensor unit (70).

4. Method according to claim 3, - wherein the speed sensor (90) is arranged at a distance from the cable (20, 530, 535) and the speed sensor (90) determines the first speed of the cable (20, 530, 535) and / or the second speed in a contactless manner.

5. Method according to claim 4, - wherein the speed sensor (90) has at least one receiving unit (405) and preferably one transmitting unit (400), - wherein the transmitting unit (400) preferably emits waves (420), in particular electromagnetic waves or sound waves, - wherein the cable (20, 530, 535) reflects waves, in particular waves (420) emitted by the transmitting unit (400), at least in a detection area (415) of the receiving unit (405), - wherein the receiving unit (405) at least partially detects the reflected waves (425) and the first speed is determined on the basis of the reflected waves (425).

6. Method according to one of claims 3 to 5, - wherein the second sensor unit (75) has a rolling element (80) coupled to the speed sensor (90), - wherein the rolling element (80) rests against the cable (20, 530, 535), - wherein, during the movement of the cable (20, 530, 535), the unwinding element (80) unwinds on the cable (20, 530, 535) and the speed sensor (90) provides the first speed signal or the second speed signal, and / or - wherein the first running direction is determined on the basis of the first speed signal and the second running direction is determined on the basis of the second speed signal.

7. Method according to one of claims 3 to 6, - wherein the second sensor unit (75) is arranged at a predefined distance from the first sensor unit (70), - wherein the detection of the rope (20, 530, 535) is started with the first sensor unit (70) at a starting point (95), - wherein the first rope position (p1 (I)) relative to the starting point (95) is determined as a function of the first speed signal.

8. Method according to one of claims 3 to 7, - wherein the second speed at the second rope position (p2(l)) is compared with a predefined minimum speed, - wherein, if the minimum speed is exceeded by the second speed at the second cable position (p2(l)), the second sensor signal is taken into account for determining the second signal curve (120), - wherein, in particular, if the second speed at the second cable position (p2(l)) falls below the minimum speed, the second sensor signal is not taken into account for determining the second signal curve (120).

9. Method according to one of the preceding claims, - wherein the second signal curve (120) of the sensor signal is assigned to the first reference characteristic (100) by means of pattern recognition, in particular a cross-correlation and / or a time-warping algorithm, in particular a dynamic time-warping algorithm, and / or a self-learning algorithm.

10. Method according to one of the preceding claims, - wherein the first reference characteristic (100) is connected to a first time information of the temporal detection of the first sensor signal and is stored with the first time information, - wherein the second reference characteristic (125) is connected to a second time information of the temporal detection of the second sensor signal and stored.

11. Method according to one of the preceding claims, - wherein the second reference characteristic (125) is evaluated on the basis of the first reference characteristic (100), - wherein a state of the rope (20, 530, 535) is determined and output on the basis of a result of the evaluation.

12. Method according to one of the preceding claims, - wherein the first sensor signal and / or the second sensor signal is smoothed and / or pre-filtered before the first sensor signal and / or the second sensor signal is evaluated, - wherein, in particular, a Fast Fourier Transformation and / or a Wavelet Transformation, in particular a Direct Wavelet Transformation, and / or a low-pass filter is applied, - and / or wherein the first sensor signal and / or the second sensor signal is compared with a predefined minimum threshold value, - wherein the first signal curve is determined on the basis of the first sensor signal that exceeds the predefined minimum threshold value, - wherein the second signal curve is determined on the basis of the second sensor signal which exceeds the predefined minimum threshold value.

13. Method according to one of the preceding claims, - wherein the cable section (110) for determining the second signal profile (120) after a predefined time interval, for example from including 1 hour up to and including 12 hours, or after a predefined number of lifting cycles have been carried out.

14. Method according to one of the preceding claims, - wherein the available rope length is advanced at at least a predefined minimum speed on the first sensor unit (70), - wherein the minimum speed is preferably at least 0.1 m / s, in particular at least 0.2 m / s.

15. Transport system (10) for a large-scale industrial plant, in particular a rolling mill and / or a continuous casting machine and / or steelworks, - wherein the transport system (10) is designed to carry out a method according to one of the preceding claims.

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