Patent Grant
8424650
This Patent Application is related to U.S. patent application Ser. No. 12/948,057, “Motion planning for elevator cars moving independently in one elevator shaft” filed by Brand, on Nov. 17, 2010, and incorporated herein by reference.
This invention relates generally to a multi-cars elevator system and more particularly to motion planning for the multi-cars elevator system.
Motion planning for a conventional single-car elevator system, in which one car moves in one elevator shaft, is relatively simple. The elevator car services all requests in a current direction, then reverses and does the same again. However, in some elevator systems, multiple elevator cars move within one elevator shaft. Such systems reduce the number of elevator shafts, and increase the passenger capacity of the elevator systems.
Motion planning for the elevators cars moving in one shaft must prevent collision of the cars. One solution to the collision problem is to move both cars at the same time and in the same direction. Typically, such a solution is implemented in a “double-deck” elevator by arranging one elevator car on top of the other. The double-deck elevator allows passengers on two consecutive floors to use the elevator simultaneously, and significantly increase the passenger capacity of the elevator system. However, the double-deck elevator is only efficient in a building where the volume of traffic normally causes a single elevator to stop at every floor.
Another solution to the collision problem is to designate separate segments of the shaft for each elevator car. However, that approach restricts the flexibility of movement of each elevator car, and thus inefficient. At present, there is not enough computing power in real-time systems to search the space of all motion plans for large group elevator installations.
Accordingly, it is desired to provide a motion planning method for an elevator system that has multiple cars moving independently in one elevator shaft, while eliminating a possibility of collision.
It is an object of the invention to provide a method for planning motion of multiple elevator cars moving independently in one elevator shaft.
It is further object of the invention to provide such a method that prevents collision of the elevator cars.
It is further object of the invention to provide such a method for the motion planning that eliminate undesirable motion of the elevator cars., such as a sudden reversal, in which a non-empty car reverses to make room for the other car, a dead wait, in which a car makes unscheduled stops without opening doors, or a gratuitous stop, which is essentially a dead wait with doors opened to avoid passenger panic.
Embodiments of the invention are based on a realization that the motion plans for each elevator car can be determined deterministically in dependence given knowledge of the motion plans of the other elevator cars. More over, each car, e.g., a lower car and an upper car, in multi-cars elevator system determines motion plans alternately for their respective planning periods. In multi-cars elevator system that employs principles of the invention, the cars in a shaft take turns extending their motion plans further into the future.
The beginning of the planning period for each elevator cars is determined by an end of the planning period of the other car. The end of the planning period of each elevator car is determined in accordance with their respective home positions.
In multi-cars elevator system that employs principles of the invention, the elevator cars plan their motion in turns, i.e., alternately, each car has a fair share of the planning time, and each car considers the motion plans of the other car determined before the beginning of the planning period of the car.
For example, in a double-cars elevator system, planning alternates between the lower car and the upper car, each extending its respective motion plans until the cumulative motion plans reach a planning horizon, usually the point in the future where all known passengers have been serviced.
In one embodiment of the invention, the home positions of the cars are determined in accordance with a configuration of a building, in which the multi-car elevator system is installed and/or an expected traffic pattern. In another embodiment, the home positions of the cars are their respective farthest positions. For example, for a lower car, the farthest position is a lobby. For an upper car, the farthest position is the top floor of the building.
In yet another embodiment, the home position is the last stop in the current schedule of stops of the elevator cars nearest to their respective farthest positions. For example, the lower car is at the home position at the bottom floor of its current schedule of stops, e.g., the lobby. Similarly, the upper car is at the home position at the top floor of its current schedule of stops.
Assigning the home position based on last stop has an additional advantage. In the home position, the car is considered to be “empty” and some motion constrains allows to move the car along the current direction before the last stop to clear the way for another car.
Accordingly, one embodiment of invention discloses a method for controlling a motion of a first car and a second car in a multi-car elevator system, wherein the first car and the second car move independently in an elevator shaft, comprising the steps of determining alternately motion plans for the first car and the second car wherein each part of a motion plan for the first car is determined for a planning period of the first car, wherein a beginning of the planning period of the first car is determined by an end of the planning period of the second car, and an end of the planning period of the first car is determined by a home position of the first car on the motion plan, wherein the part of the motion plan is determined based on motion constraints, a set of requests, and the motion plan of the second car determined by the beginning of the planning period of the first car; and generating a command to control the motion of the elevator cars based on the motion plans.
Another embodiment discloses a method for controlling a motion of elevator cars in a multi-car elevator system, the elevators cars includes a first car and a second car, wherein the elevator cars move independently in an elevator shaft, comprising the steps of: determining, upon receiving a motion plan of the second car until a home position of the second car, a part of a motion plan of the first car from a last scheduled position of the first car till a home position of the first car, wherein the determining is based on motion constraints, a set of requests, and the motion plan of the second car; and generating a command to control the motion of the first car based on the motion plan of the first car.
And yet another embodiment discloses a control system for controlling an operation of a multi-cars elevator system, wherein a first car and a second car move independently in an elevator shaft of the elevator system, comprising:
a first planning period module for determining a planning period for the first car; a second planning period module for determining a planning period for the second car; a first motion planning module for determining a motion plan for the planning period of the first car; a second motion planning module for determining a motion plan for the planning period of the second car, wherein a beginning of the planning period of respectively the first car and the second car is determined by an end of the planning period of respectively the second car and the first car, and an end of the planning period of respectively the first car and the second car is determined by a home position of respectively the first car and the second car on respective motion plans, wherein the respective motion plans are determined based on motion constraints, a set of requests, and the motion plans determined before the planning period of the first car and the planning period of the second car; and an operation control module for generating a command to control motion of the first car and the second car based on the respective motion plans.
Definitions
In describing embodiments of the invention, the following definitions are applicable throughout (including above).
A “computer” refers to any apparatus that is capable of accepting a structured input, processing the structured input according to prescribed rules, and producing results of the processing as output. Examples of a computer include a computer; a general-purpose computer; a supercomputer; a mainframe; a super mini-computer; a mini-computer; a workstation; a microcomputer; a server; an interactive television; a hybrid combination of a computer and an interactive television; and application-specific hardware to emulate a computer and/or software. A computer can have a single processor or multiple processors, which can operate in parallel and/or not in parallel. A computer also refers to two or more computers connected together via a network for transmitting or receiving information between the computers. An example of such a computer includes a distributed computer system for processing information via computers linked by a network.
A “central processing unit (CPU)” or a “processor” refers to a computer or a component of a computer that reads and executes software instructions.
A “memory” or a “computer-readable medium” refers to any storage for storing data accessible by a computer. Examples include a magnetic hard disk; a floppy disk; an optical disk, like a CD-ROM or a DVD; a magnetic tape; a memory chip; and a carrier wave used to carry computer-readable electronic data, such as those used in transmitting and receiving e-mail or in accessing a network, and a computer memory, e.g., random-access memory (RAM).
“Software” refers to prescribed rules to operate a computer. Examples of software include software; code segments; instructions; computer programs; and programmed logic. Software of intelligent systems may be capable of self-learning.
A “module” or a “unit” refers to a basic component in a computer that performs a task or part of a task. It can be implemented by either software or hardware.
A “control system” refers to a device or a set of devices to manage, command, direct or regulate the behavior of other devices or systems. The control system can be implemented by either software or hardware, and can include one or several modules. The control system, including feedback loops, can be implemented using a microprocessor. The control system can be an embedded system.
A “computer system” refers to a system having a computer, where the computer comprises computer-readable medium embodying software to operate the computer.
A “network” refers to a number of computers and associated devices that are connected by communication facilities. A network involves permanent connections such as cables, temporary connections such as those made through telephone or other communication links, and/or wireless connections. Examples of a network include an internet, such as the Internet; an intranet; a local area network (LAN); a wide area network (WAN); and a combination of networks, such as an internet and an intranet.
At least one shaft in the multi-cars elevator system includes at least two elevators car, e.g., a first car and a second car, moving independently in the shaft. In one embodiment, all shafts include multiple elevator cars.
For example, the elevator shaft #A has elevator cars A1 and A2 for moving in the shaft, wherein A1 represents a lower car and A2 represents an upper car. Similarly, the elevator shaft #B has elevator cars B2 and B2, wherein B1 represents a lower car and B2 represents an upper car. The elevator shaft #C has elevator cars C1 and C2, wherein C1 represents a lower car and C2 represents an upper car. The elevator shaft #D has elevator cars D1 and D2, wherein D1 represents a lower car and D2 represents an upper car. Although
As shown in
A communications interface 4 communicates data between hall buttons 3 and each of the controllers 2A1 to 2D2. The hall buttons are input devices for receiving a set of requests 31 from passengers using the elevator system. The hall buttons are typically arranged near the entrances to the elevator car at each floor.
A first planning period module 5 determines a planning period for a first car, e.g., the lower car A1. Similarly, a second planning period module 6 determines a planning period for a second car, e.g., the upper car A2. The planning modules determine the planning period of their respective elevators cars based on the requests received from the communication interface, and planning periods of other elevators cars. As described in more details below, the beginning of the planning period for each elevator car is determined by an end of the planning period of the other car. The end of the planning period of each elevator car is determined in accordance with their respective predetermined home positions.
A first motion planning module 7 and a second motion planning module 8 determine motion plans, i.e., a schedule of stops, for the first and the second cars, respectively. The motion plans are determined for the planning periods of each elevator car based on the set of requests, motion plans of another elevator car determined before the beginning of the planning period of the elevator car and motion constrains provided by a constraints module 10. The motion plans are used by an operation control module 11 for generating a command to the controllers to control the motion of the elevator cars based on the motion plans.
In one embodiment, an optional collision avoidance module 9 determines a safety zone to avoid collision of the elevator cars. This module account for a fact that even if the motions of elevator cars are planed to avoid the collisions, a possibility of collision can occur if the motion plans of the elevator cars are altered by unforeseen events. For example, the motion plans are altered if a passenger holds the doors of an elevator car open for unspecified period of time. Consequently, the collision avoidance module is designed to prevent collisions.
The beginning of the planning period of the first car is determined 320 based on the end of the planning period of the second car, which is indicated by the motion plan 350 of the second car. For example, in one embodiment, the beginning of the planning period 325 is determined based on and/or upon receiving the motion plan of the second car. In another embodiment, a time instant of the beginning of the planning period 325 is received from the second planning period module.
The part 310 of the motion plan is determined from a last scheduled position until a home position of the first car. The home position 316 of the first car varies among embodiments and is determined based on the set of requests 315, as described below. The last scheduled position 317 corresponds to the home position determined in a previous execution of the method 300 and is retrieved from a memory 318 for a current execution of the method 300. The end of the planning period 335 is determined 330 based on the home position 316.
In one embodiment of the invention, the home positions of the cars are assigned randomly or predetermined in accordance with a scheme of a building, in which the multi-car elevator system operate and/or an expected traffic pattern. In another embodiment, the home positions of the cars are their respective farthest positions. For example, for a lower car, the farthest position is a lobby. For an upper car, the farthest position is the top floor of the building.
In yet another embodiment, the home position is the last stop in the current schedule of stops of the elevator cars closest to their respective farthest positions. For example, the lower car is at the home position at the bottom floor of its current schedule of stops, which is still usually the lobby. Similarly, the upper car is at the home position at the top floor of its current schedule of stops.
Assigning the home position based on last stop has an additional advantage. In that position, the car is considered assumed to be empty, and some motion plan constrains allow pushing the car along the direction of the motion before the last stop to clear the way for another car.
A deadlock is a situation where the lower car is carrying a passenger whose destination is at or above the upper car, and the upper car is carrying a passenger whose destination is at or below the lower car. A deadlock can only be resolved by reversing the motion of one car, which is undesirable for the passengers. The embodiments of the invention ensure that no deadlocks are introduced into the motion plans by preserving deadlock invariants 361.
The motion plan 350 and the deadlock invariants 361 are used for determining 360 constraints 365 of the motion plan. The motion constraints regulate possible schedules of stops of the first car. The motion constraints insure that the first car is outside of a deadlock zone of the second car, and a minimum distance is maintained between the cars. In various embodiments, the deadlock zone of the second car is determined based on the motion plan of the second car. For example, in one embodiment, the deadlock zone is all floors in a current direction of the motion of the second car. In another embodiment the deadlock is limited by the schedule of actual stops of the second car.
In various embodiments, if the schedule of stops of the second car is known, then the first car does not enter the deadlock zone of the second car and waits, e.g., at a last stop outside the deadlock zone of the second car, until scheduled home-ward motion of the second car makes the motion of the first car safe to move to the next stop. Similarly if the first car is following the second car and can reach and collide with the second car, the motion constrains make the motion of the first car to be slowed, usually by pausing the first car at its most recent stop.
Additionally or alternatively, the deadlock invariants define that the first car can be in the deadlock zone of the second car, if either first or the second car is empty, or both cars are moving in the same direction. In another embodiment, the first car can enter the deadlock zone of the second car, if the motion plan of the second car ensures that the first car leaves the deadlock zone of the second car timely to avoid collision.
Based on the motion constraints and the set of request from the passengers, the path 310 from the last scheduled position till the home position of the first car is determined 340. After the part of the motion plan is determined, the motion plan is communicated to the modules responsible for determining the motion plans of the second car, and the part 310 is the motion plan 350 for determining the motion plans of the second car.
For example, the first car is the lower elevator car and the second car is the upper elevator car, and a trajectory 410 of the second car from the lobby to a top floor 18 is the motion plan 350 known the method 300 for determining the motion plan of the first car. Also, for the illustration purposes, the home position of the car is the farthest position of the car according to the scheduled stops.
The motion plan for the second car is determined for the home position 420 of the second car. At this point, the motion period of the second car ends, and the motion period of the first car begins. The motion plan for the first car determines the scheduled of stops 430 until the schedule stop reaches a reversal position 440. The schedule of stops 430 considers the known motion plan of the second car and the deadlock invariants to prevent collisions of the elevator cars.
Because the reversal position 440 is not a home position of the first car, the motion period for the first car continues, and the schedule of stops 450 is determined. For the schedule of stops 450 there is no known motion plan of the second car. When the motion plan of the first car is determined until the home position 460 of the first car, the planning period of the first car ends, and the planning period of the second car begins. Accordingly, the second car plans its motion from the last scheduled position 420 until the home position 490. For example, the stop 475 can indicate the wait of the second car because of the known motion plan of the first car.
After the motion plan of the second car is determined until the home position 490, the next part of the motion plan of the first car starts is determined again.
Example of Motion Planning
Accordingly, the embodiments of the invention determine the motion plans of the elevator cars alternately. Each car has a fair share of the planning time, and the motion plan for each car considers the motion plan of another car.
Collision Avoidance Module
Collision-avoidance methods are common in transportation and motion-control applications for objects that move, e.g., vehicles, and robots. Most of those methods are based on sensing, e.g., if sensed distances and/or velocities of the objects under control are unsafe, the method decelerates or stops the objects. Such systems require constant and reliable sensing that may not be cost-effective in the elevator systems. Additionally, the elevator systems have special constraints, i.e., deceleration of the elevator car must avoid passenger alarm. For the same reason, trapping passengers in a car between floors of a building should be avoided.
Some embodiments of the invention use a sensing-free method for controlling motion of the elevator car that guarantees safe and comfortable decelerations. If stops of the elevator cars are necessary for safety reasons, the method ensures that the elevator cars are stopped at floors where the doors can be opened. Each car has an independent motion plan, so sensing and communication are unnecessary.
The safety zone has a width equals or greater than a minimum distance d 640. The minimum distance between the elevator cars is maintained, by forcing the first car to decelerate, when the position and the velocity of the first car corresponds to a value on the first deceleration curve, and/or by forcing the second car to decelerate, when the position and the velocity of the second car corresponds to a value on the second deceleration curve. Typically, the minimum distance d is greater or equals a distance between consecutive floors.
The decelerations of the first and the second cars are performed such that the positions and the velocities of the first and the second cars according to the position-velocity graph do not cross the respective the first and the second deceleration curves. Typically, the deceleration of the first and the second cars are according to the respective deceleration curves. As define herein, a motion of an elevator car according to the deceleration curve is such that at any time during the motion, the elevator car has a position and a velocity corresponding to a value on the deceleration curve. Similarly, the deceleration of the elevator car according to the deceleration curve is the motion according to the deceleration curve such that the velocity is reduced.
For example, if the position and the velocity of the first car correspond to the value 650 on the first deceleration curve, the motion plan of the first car is changed such that the first car moves 655 according to the first deceleration curve.
In one embodiment, the first and the second deceleration curves are determined to facilitate the deceleration according to deceleration curve with a normal deceleration, i.e., similar to a standard rate of deceleration for a scheduled stop of the elevator car, see e.g., ISO 18738. For example, the deceleration curve is determined according to
a sign({dot over (x)}){dot over (x)}2/2,
wherein a is the conventional deceleration, and {dot over (X)} is the velocity of the elevator car.
In one embodiment, the first deceleration curve 610 and/or the second deceleration curve 620 are determined based on the motion plans 710 and 715 of the first and the second cars. For example, if the first car is expected to stop before the second car, the first deceleration curve is determined such the velocity of the first car according to the first deceleration curve is zero at the position corresponding to the scheduled stop of the first car. Similarly, the second deceleration curve is determined such the velocity of the second car according to the second deceleration curve is zero at the position corresponding to the scheduled stop of the second car.
Additionally or alternatively, the first and the deceleration curves are determined to maintain the minimum distance 640. In one embodiment, the minimum distance is predetermined. In alternative embodiment, the minimum distance is determined in correspondence with the velocities of the elevator cars.
Typically, the first and the second deceleration curves are determined such that the safety zone is between the elevator cars. However, when both elevator cars are moving in the same direction, in some situations the safety zone does not separate the cars. However, if a leading car moves at least as fast as a trailing car until either car begins decelerating for the next stop, then the embodiments of the invention maintain the minimum distance between the elevator cars.
Additionally, one embodiment integrates the motion plans of the leading car until one car starts decelerating to a stop, and immediately decelerates another car such that the minimum distance d is maintained.
Although the invention has been described by way of examples of preferred embodiments, it is to be understood that various other adaptations and modifications may be made within the spirit and scope of the invention. Therefore, it is the object of the appended claims to cover all such variations and modifications as come within the true spirit and scope of the invention.
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