Patent Description:
A position of a conveyance apparatus within a conveyance systems, such as, for example, elevator systems, escalator systems, and moving walkways is often difficult to determine. <CIT> relates to a method and system to determine the location and/or speed of an object configured to move along a controlled trajectory by fitting a device on the object configured to measure the magnetic field acting on the object in its different locations. The location of the object is determined by comparing real-time measurements of the magnetic field with a magnetic footprint recorded in a teaching run.

According to claim <NUM>, there is provided a method of monitoring a conveyance apparatus within a conveyance system.

Optionally, further embodiments may include: tracking an acceleration of the conveyance apparatus of a selected period of time including the first time or tracking a pressure data of the conveyance apparatus of a selected period of time including the first time; determining a plurality of locations of the conveyance apparatus over the selected period of time based on the acceleration or the pressure data; and confirming the location of the conveyance apparatus at the first time using the plurality of locations of the conveyance apparatus over the selected period of time that was determined based on the acceleration or the pressure data.

Technical effects of embodiments of the present disclosure include detecting a location of the elevator car through magnetic signatures.

Conveyance systems, such as, for example, elevator systems, escalator systems, and moving walkways may require positional monitoring to determine the location of the elevator apparatus at a given moment in time. Embodiments disclosed herein seek to address this issue through the use of magnetism.

When moving up or down within the elevator shaft <NUM> along guide rail <NUM>, the elevator car <NUM> may stop at one or more landings <NUM> (e.g., floors) as controlled by the controller <NUM>.

In other embodiments, the system comprises a conveyance system that moves passengers between floors.

Referring now to <FIG>, with continued referenced to <FIG>, a view of a sensor system <NUM> including a sensing apparatus <NUM> is illustrated. The sensing apparatus <NUM> is configured to detect sensor data <NUM> of the elevator car <NUM> and transmit the sensor data <NUM> to a remote device <NUM>. The sensing apparatus <NUM> may be utilized in conjunction with the position reference system <NUM> or the sensing apparatus <NUM> may replace the position reference system <NUM>. Sensor data <NUM> may include but is not limited to magnetic signatures <NUM>, pressure data <NUM>, vibratory signatures (i.e., vibrations over a period of time) or accelerations <NUM> and derivatives or integrals of accelerations <NUM> of the elevator car <NUM>, such as, for example, distance, velocity, jerk, jounce, snap. etc. The magnetic signatures <NUM> may include magnetic signatures <NUM> detected within the elevator shaft <NUM> from the earth <NUM> and/or magnets of varying or same strength <NUM> placed along the elevator shaft <NUM>. Each landing <NUM> may have a different magnetic signature <NUM> from the earth impacted by ferromagnetic content of beams and columns used in the building structure. During a learn run a magnetic signature <NUM> of each landing <NUM> along the elevator shaft <NUM> may be detected and saved in a magnetic signature lookup table <NUM>. Each magnetic signature <NUM> may be broken down into an X-magnetic signature component 314a, a Y-magnetic signature component 314d, and a Z-magnetic signature component 314c for each landing <NUM>. The magnetic signature lookup table <NUM> may be saved locally on the sensing apparatus <NUM> and/or the controller <NUM> of the elevator system <NUM>. Alternatively, or additionally, the magnetic signature lookup table <NUM> may be saved on the network <NUM> or the remote device <NUM>.

The pressure data <NUM> may include atmospheric air pressure within the elevator shaft <NUM>. It should be appreciated that, although particular systems are separately defined in the schematic block diagrams, each or any of the systems may be otherwise combined or separated via hardware and/or software. For example, the sensing apparatus <NUM> may be a single sensor or may be multiple separate sensors that are interconnected.

According to the invention, in the event that a magnetic signature <NUM> of the earth <NUM> cannot be differentiated amongst multiple landings <NUM>, a magnet <NUM> is placed at that location along the elevator shaft <NUM>.

It should be appreciated that, although particular systems are separately defined in the schematic block diagrams, each or any of the systems may be otherwise combined or separated via hardware and/or software. For example, the sensing apparatus <NUM> may be a single sensor or may be multiple separate sensors that are interconnected wirelessly or through wires (e.g., a separate acceleration sensor and a separate magnetometer).

In an embodiment, the sensing apparatus <NUM> is configured to transmit sensor data <NUM> that is raw and unprocessed to the controller <NUM> of the elevator system <NUM> for processing. In another embodiment, the sensing apparatus <NUM> is configured to process the sensor data <NUM> prior to transmitting the sensor data <NUM> to the controller <NUM> (i.e., edge processing). In another embodiment, the sensing apparatus <NUM> is configured to transmit sensor data <NUM> that is raw and unprocessed to a remote device <NUM> for processing. In yet another embodiment, the sensing apparatus <NUM> is configured to process the sensor data <NUM> prior to transmitting the sensor data <NUM> to the remote device <NUM> (i.e., edge processing).

The processing of the sensor data <NUM> may also reveal data, such as, for example, a number of elevator door openings/closings, elevator door time, vibrations, vibratory signatures, a number of elevator rides, elevator ride performance, elevator flight time, probable car position (e.g. elevation, floor number), releveling events, rollbacks, elevator car <NUM> x, y acceleration at a position: (i.e., rail topology), elevator car <NUM> x, y vibration signatures at a position: (i.e., rail topology), door performance at a landing number, nudging event, vandalism events, emergency stops, etc..

The remote device <NUM> may be a computing device, such as, for example, a desktop or cloud computer. The remote device <NUM> may also be a mobile computing device that is typically carried by a person, such as, for example a smartphone, PDA, smartwatch, tablet, laptop, etc. The remote device <NUM> may also be two separate devices that are synced together, such as, for example, a cellular phone and a desktop computer synced over an internet connection. The remote device <NUM> may also be a cloud computing network.

The sensing apparatus <NUM> is configured to transmit the sensor data <NUM> to the controller <NUM> or the remote device <NUM> via short-range wireless protocols <NUM> and/or long-range wireless protocols <NUM>. Short-range wireless protocols <NUM> may include but are not limited to Bluetooth, Wi-Fi, HaLow (<NUM>. 11ah), Wireless M-Bus, zWave, Zigbee, or other short-range wireless protocol known to one of skill in the art. Using short-range wireless protocols <NUM>, the sensing apparatus <NUM> is configured to transmit the sensor data <NUM> to directly to the controller <NUM> or to a local gateway device <NUM> and the local gateway device <NUM> is configured to transmit the sensor data <NUM> to the remote device <NUM> through a network <NUM> or to the controller <NUM>. The network <NUM> may be a computing network, such as, for example, a cloud computing network, cellular network, or any other computing network known to one of skill in the art. Using long-range wireless protocols <NUM>, the sensing apparatus <NUM> is configured to transmit the sensor data <NUM> to the remote device <NUM> through a network <NUM>. Long-range wireless protocols <NUM> may include but are not limited to cellular, LTE (NB-IoT, CAT M1), LoRa, Ingenu, SigFox, Satellite, or other long-range wireless protocol known to one of skill in the art.

The sensing apparatus <NUM> may be configured to detect sensor data <NUM> including accelerations <NUM> or magnetic signatures <NUM> in any number of directions. In an embodiment, the sensing apparatus <NUM> may detect sensor data <NUM> including accelerations <NUM> along three axis, an X axis, a Y axis, and a Z axis, as show in in <FIG>. The X axis may be perpendicular to the doors <NUM> of the elevator car <NUM>, as shown in <FIG>. The Y axis may be parallel to the doors <NUM> of the elevator car <NUM>, as shown in <FIG>. The Z axis may be aligned vertically parallel with the elevator shaft <NUM> and pull of gravity, as shown in <FIG>. Vibratory signatures may be generated along the X axis and the Y axis as the elevator car <NUM> moves along the Z-axis.

The sensing apparatus <NUM> may also be located on a top 103a of the elevator car <NUM>, a bottom 103b of the elevator car <NUM>, and any side wall 103c of the elevator car <NUM>.

<FIG> shows additional possible installation locations of the sensing apparatus <NUM> within the elevator system <NUM>. The sensing apparatus <NUM> may include a magnet (not shown) to removably attach to the elevator car <NUM>. In the illustrated embodiment shown in <FIG>, the sensing apparatus <NUM> may be installed on the door hanger 104a and/or the door <NUM> of the elevator system <NUM>. It is understood that the sensing apparatus <NUM> may also be installed in other locations other than the door hanger 104a and the door <NUM> of the elevator system <NUM>. It is also understood that multiple sensing apparatus <NUM> are illustrated in <FIG> to show various locations of the sensing apparatus <NUM> and the embodiments disclosed herein may include one or more sensing apparatus <NUM>. In another embodiment, the sensing apparatus <NUM> may be attached to a door header 104e of a door <NUM> of the elevator car <NUM>. In another embodiment, the sensing apparatus <NUM> may be located on a door header 104e proximate a top portion 104f of the elevator car <NUM>. In another embodiment, the sensing apparatus <NUM> is installed elsewhere on the elevator car <NUM>, such as, for example, directly on the door <NUM>.

As shown in <FIG>, the sensing apparatus <NUM> may be located on the elevator car <NUM> in the selected areas <NUM>, as shown in <FIG>. The doors <NUM> are operably connected to the door header 104e through a door hanger 104a located proximate a top portion 104b of the door <NUM>. The door hanger 104a includes guide wheels 104c that allow the door <NUM> to slide open and close along a guide rail 104d on the door header 104e. Advantageously, the door hanger 104a is an easy to access area to attach the sensing apparatus <NUM> because the door hanger 104a is accessible when the elevator car <NUM> is at landing <NUM> and the elevator door <NUM> is open. Thus, installation of the sensing apparatus <NUM> is possible without taking special measures to take control over the elevator car <NUM>. For example, the additional safety of an emergency door stop to hold the elevator door <NUM> open is not necessary as door <NUM> opening at landing <NUM> is a normal operation mode. The door hanger 104a also provides ample clearance for the sensing apparatus <NUM> during operation of the elevator car <NUM>, such as, for example, door <NUM> opening and closing. Due to the mounting location of the sensing apparatus <NUM> on the door hanger 104a, the sensing apparatus <NUM> may detect open and close motions (i.e., acceleration) of the door <NUM> of the elevator car <NUM> and a door at the landing <NUM>. Additionally, mounting the sensing apparatus <NUM> on the hanger 104a allows for recording of a ride quality of the elevator car <NUM>.

<FIG> illustrates a block diagram of the sensing apparatus <NUM> of the sensing system of <FIG>. It should be appreciated that, although particular systems are separately defined in the schematic block diagram of <FIG>, each or any of the systems may be otherwise combined or separated via hardware and/or software. As shown in <FIG>, the sensing apparatus <NUM> may include a controller <NUM>, an inertial measurement unit (IMU) sensor <NUM> in communication with the controller <NUM>, a magnetometer <NUM> in communication with the controller <NUM>, a communication module <NUM> in communication with the controller <NUM>, a power source <NUM> electrically connected to the controller <NUM>, and a pressure sensor <NUM>.

The IMU sensor <NUM> is configured to detect sensor data <NUM> including accelerations <NUM> of the sensing apparatus <NUM> and the elevator car <NUM> when the sensing apparatus <NUM> is attached to the elevator car <NUM>. The IMU sensor <NUM> may be a sensor, such as, for example, an accelerometer, a gyroscope, or a similar sensor known to one of skill in the art. The accelerations <NUM> detected by the IMU sensor <NUM> may include accelerations <NUM> as well as derivatives or integrals of accelerations, such as, for example, velocity, jerk, jounce, snap. etc. The IMU sensor <NUM> is in communication with the controller <NUM> of the sensing apparatus <NUM>. The IMU sensor <NUM> may work as the primary or secondary means of detecting a location of the elevator car <NUM>.

The magnetometer <NUM> is configured to detect sensor data <NUM> including magnetic signatures <NUM>. The magnetometer <NUM> is in communication with the controller <NUM>. The magnetometer <NUM> may work as the primary or secondary means of detecting a location of the elevator car <NUM>. The magnetometer <NUM> may work in combination with the IMU sensor <NUM> to detect a location of the elevator car <NUM>.

The pressure sensor <NUM> is configured to detect sensor data <NUM> including pressure data <NUM>, such as, for example, atmospheric air pressure within the elevator shaft <NUM>. The pressure sensor <NUM> may be a pressure altimeter or barometric altimeter in two non-limiting examples. The pressure sensor <NUM> is in communication with the controller <NUM>.

The controller <NUM> of the sensing apparatus <NUM> includes a processor <NUM> and an associated memory <NUM> comprising computer-executable instructions that, when executed by the processor <NUM>, cause the processor <NUM> to perform various operations, such as, for example, processing the sensor data <NUM> collected by the IMU sensor <NUM>, pressure sensor <NUM>, and the magnetometer <NUM>. In an embodiment, the controller <NUM> may process the accelerations <NUM>, pressure data <NUM>, and/or the magnetic signatures <NUM> in order to determine a probable location of the elevator car <NUM>, discussed further below. The processor <NUM> may be but is not limited to a single-processor or multiprocessor system of any of a wide array of possible architectures, including field programmable gate array (FPGA), central processing unit (CPU), application specific integrated circuits (ASIC), digital signal processor (DSP) or graphics processing unit (GPU) hardware arranged homogenously or heterogeneously. The memory <NUM> may be a storage device, such as, for example, a random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic or any other computer readable medium.

The power source <NUM> of the sensing apparatus <NUM> is configured to store and supply electrical power to the sensing apparatus <NUM>. The power source <NUM> may include an energy storage system, such as, for example, a battery system, capacitor, or other energy storage system known to one of skill in the art. The power source <NUM> may also generate electrical power for the sensing apparatus <NUM>. The power source <NUM> may also include an energy generation or electricity harvesting system, such as, for example synchronous generator, induction generator, or other type of electrical generator known to one of skill in the art. Alternatively, the power source <NUM> may be connected to the elevator system <NUM> to receive power.

The sensing apparatus <NUM> includes a communication module <NUM> configured to allow the controller <NUM> of the sensing apparatus <NUM> to communicate with the remote device <NUM> or controller <NUM> through at least one of short-range wireless protocols <NUM> and long-range wireless protocols <NUM>. The communication module <NUM> may be configured to communicate with the remote device <NUM> using short-range wireless protocols <NUM>. Using short-range wireless protocols <NUM>, the communication module <NUM> is configured to transmit the sensor data <NUM> to a local gateway device <NUM> and the local gateway device <NUM> is configured to transmit the sensor data to a remote device <NUM> through a network <NUM>, as described above. The communication module <NUM> may be configured to communicate with the remote device <NUM> using long-range wireless protocols <NUM>. Using long-range wireless protocols <NUM>, the communication module <NUM> is configured to transmit the sensor data <NUM> to a remote device <NUM> through a network <NUM>. In an embodiment, the short-range wireless protocol <NUM> is sub GHz Wireless M-Bus. In another embodiment, the long-range wireless protocol is Sigfox. In another embodiment, the long-range wireless protocol is LTE NB-IoT or CAT M1 with <NUM> fallback.

The sensing apparatus <NUM> includes a location determination module <NUM> configured to determine a location (i.e., position) of the elevator car <NUM> within the elevator shaft <NUM>. The location of the elevator car <NUM> may be fixed locations along the elevator shaft <NUM>, such as for example, the landings <NUM> of the elevator shaft <NUM>. The locations may be equidistantly spaced apart along the elevator shaft <NUM> or intermittently spaced apart along the elevator shaft <NUM>.

The location determination module <NUM> may utilize various approaches to determine a location of the elevator car <NUM> within the elevator shaft <NUM>. The location determination module <NUM> may be configured to determine a location of the elevator car <NUM> within the elevator shaft <NUM> using a magnetic signature location determination module <NUM>, an acceleration location determination module <NUM>, and/or pressure location determination module <NUM>.

The acceleration location determination module <NUM> is configured to determine a distance traveled of the elevator car <NUM> within the elevator shaft <NUM> in response to the acceleration of the elevator car <NUM> detected along the Z axis. The sensing apparatus <NUM> may detect an acceleration along the Z axis shown at <NUM> and may integrate the acceleration to get a velocity of the elevator car <NUM> at <NUM>. At <NUM>, the sensing apparatus <NUM> may also integrate the velocity of the elevator car <NUM> to determine a distance traveled by the elevator car <NUM> within the elevator shaft <NUM> during the acceleration <NUM> detected at <NUM>. The direction of travel of the elevator car <NUM> may also be determined in response to the acceleration <NUM> detected or via the pressure data <NUM> (e.g., a change in pressure). The location determination module <NUM> may then determine the location of the elevator car <NUM> within the elevator shaft <NUM> in response to a probable starting location and a distance traveled away from that probable starting location. The probable starting location may be based upon tracking the past operation and/or movement of the elevator car <NUM>.

The magnetic signature location determination module <NUM> is configured to detect a magnetic signature <NUM> within the elevator shaft <NUM> when the elevator car <NUM> is in motion and/or stationary using the magnetometer <NUM>. The magnetic signature <NUM> detected by the magnetometer <NUM> may be associated with a location (e.g., height, elevation) within the elevator shaft <NUM> through a look up table, such as, for example the magnetic signature lookup table <NUM> (See <FIG>). The direction of travel of the elevator car <NUM> may also be determined in response to the change in magnetic signatures <NUM> detected via the magnetometer <NUM>.

In one embodiment, the acceleration location determination module <NUM> may be used to verify and/or modify a location of the elevator car <NUM> within the elevator shaft <NUM> determined by the magnetic signature location determination module <NUM>. In another embodiment, the magnetic signature location determination module <NUM> may be used to verify and/or modify a location of the elevator car <NUM> within the elevator shaft <NUM> determined by the acceleration location determination module <NUM>. In another embodiment, the magnetic signature location determination module <NUM> may be prompted to determine a location of the elevator car <NUM> within the elevator shaft <NUM> in response to an acceleration detected by the IMU sensor <NUM>. Advantageously, energy may be saved by only detecting the magnetic signature <NUM> after a zero velocity is detected from the acceleration profile.

The pressure location determination module <NUM> is configured to detect an atmospheric air pressure within the elevator shaft <NUM> when the elevator car <NUM> is in motion and/or stationary using the pressure sensor <NUM>. The pressure detected by the pressure sensor <NUM> may be associated with a location (e.g., height, elevation) within the elevator shaft <NUM> through either a look up table or a calculation of altitude using the barometric pressure change in two non-limiting embodiments. The direction of travel of the elevator car <NUM> may also be determined in response to the change in pressure detected via the pressure data <NUM>. The pressure sensor <NUM> may need to periodically detect a baseline pressure to account for changes in atmospheric pressure due to local weather conditions. For example, this baseline pressure may need to be detected daily, hourly, or weekly in non-limiting embodiments. In some embodiments, the baseline pressure may be detected whenever the elevator car <NUM> is stationary, or at certain intervals when the elevator car <NUM> is stationary and/or at a known location. The acceleration of the elevator car <NUM> may also need to be detected to know when the elevator car <NUM> is stationary and then when the elevator car <NUM> is stationary the sensing apparatus <NUM> may need to be offset to compensate the sensor drift and environment drift.

In one embodiment, the pressure location determination module <NUM> may be used to verify and/or modify a location of the elevator car <NUM> within the elevator shaft <NUM> determined by the acceleration location determination module <NUM> or the magnetic signature location determination module <NUM>. In another embodiment, the acceleration location determination module <NUM> or the magnetic signature location determination module <NUM> may be used to verify and/or modify a location of the elevator car <NUM> within the elevator shaft <NUM> determined by the pressure location determination module <NUM>. In another embodiment, the pressure location determination module <NUM> may be prompted to determine a location of the elevator car <NUM> within the elevator shaft <NUM> in response to an acceleration detected by the IMU sensor <NUM>.

Referring now to <FIG>, while referencing components of <FIG>. <FIG> shows a flow chart of a method <NUM> of monitoring a location of a conveyance apparatus within a conveyance system, in accordance with the invention. The conveyance system is an elevator system <NUM> and the conveyance apparatus is an elevator car <NUM>. In an embodiment, the method <NUM> is performed by the sensing apparatus <NUM>.

At block <NUM>, a magnetometer <NUM> detects a first magnetic signature <NUM> within the conveyance system at a first time. The magnetometer <NUM> is attached to the conveyance apparatus.

At block <NUM>, the first magnetic signature <NUM> detected is compared to a plurality of magnetic signatures <NUM> contained in a magnetic signature lookup table <NUM>. Each of the plurality of magnetic signatures <NUM> in the magnetic signature lookup table <NUM> are assigned to a specific location along a conveyance path of the conveyance system.

The conveyance path is an elevator shaft <NUM>. The specific location along a conveyance path of the conveyance system is a landing <NUM>. Alternatively, the specific location may be any desired location along the elevator shaft <NUM>. In one embodiment, the magnetic signature <NUM> may be from the earth <NUM> and/or a magnet <NUM>. The magnet <NUM> may be placed along the conveyance path of elevator shaft <NUM>.

At block <NUM>, a location of the conveyance apparatus at the first time by matching the first magnetic signature <NUM> to one of the plurality of magnetic signatures <NUM>.

The method <NUM> comprises conducting a learn run through the conveyance path to learn the plurality of magnetic signatures <NUM> contained in the magnetic signature lookup table <NUM>. The learn run further comprises: stopping at each of a plurality of specific locations along the conveyance path to learn the magnetic signature <NUM> at each of the plurality of specific locations for the magnetic signature lookup table <NUM>.

The method <NUM> may further comprise that the location of the conveyance at the first time is verified by determining the location at the first time through acceleration <NUM>. The method <NUM> further comprise the steps of: tracking an acceleration <NUM> of the conveyance apparatus of a selected period of time including the first time; determining a plurality of locations of the conveyance apparatus over the selected period of time based on the acceleration <NUM>; and confirming the location of the conveyance apparatus at the first time using the plurality of locations of the conveyance apparatus over the selected period of time that was determined based on the acceleration <NUM>.

The method <NUM> further comprise the steps of: tracking pressure data <NUM> of the conveyance apparatus of a selected period of time including the first time; determining a plurality of locations of the conveyance apparatus over the selected period of time based on the pressure data <NUM>; and confirming the location of the conveyance apparatus at the first time using the plurality of locations of the conveyance apparatus over the selected period of time that was determined based on the pressure data <NUM>.

Alternatively, the location of the conveyance apparatus at the first time may be determined using acceleration <NUM> or pressure data <NUM> and then verified using the magnetic signatures <NUM>.

As described above, embodiments can be in the form of processor-implemented processes and devices for practicing those processes, such as processor. Embodiments can also be in the form of computer program code (e.g., computer program product) containing instructions embodied in tangible media (e.g., non-transitory computer readable medium), such as floppy diskettes, CD ROMs, hard drives, or any other non-transitory computer readable medium, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes a device for practicing the embodiments. Embodiments can also be in the form of computer program code, for example, whether stored in a storage medium, loaded into and/or executed by a computer, or transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an device for practicing the exemplary embodiments.

Claim 1:
A method (<NUM>) of monitoring a conveyance apparatus within a conveyance system, the method comprising:
detecting, using a magnetometer (<NUM>), a first magnetic signature (<NUM>) within the conveyance system at a first time, the magnetometer (<NUM>) being attached to the conveyance apparatus;
comparing the first magnetic signature (<NUM>) detected to a plurality of magnetic signatures (<NUM>) contained in a magnetic signature lookup table (<NUM>), wherein each of the plurality of magnetic signatures (<NUM>) in the magnetic signature lookup table (<NUM>) are assigned to a specific location along a conveyance path of the conveyance system; and
determining a location of the conveyance apparatus at the first time by matching the first magnetic signature to one of the plurality of magnetic signatures;
wherein the conveyance system is an elevator system and the conveyance apparatus is an elevator car, wherein the conveyance path is an elevator shaft of the elevator system, and wherein the specific location along a conveyance path of the conveyance system is a landing; further comprising:
conducting a learn run through the conveyance path to learn the plurality of magnetic signatures (<NUM>) contained in the magnetic signature lookup table;
wherein the learn run further comprises stopping at each of a plurality of specific locations along the conveyance path to learn a magnetic signature (<NUM>) at each of the plurality of specific locations for the magnetic signature lookup table (<NUM>); and
characterised in that in the event that a magnetic signature (<NUM>) of the earth (<NUM>) cannot be differentiated amongst multiple landings (<NUM>), the method further comprises placing a magnet (<NUM>) at that location along the elevator shaft.