Motion planning for elevator cars moving independently in one elevator shaft
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United States of America Patent
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Apr 23, 2013
Grant Date -
May 17, 2012
app pub date -
Nov 17, 2010
filing date -
Nov 17, 2010
priority date (Note) -
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Abstract
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, determines alternately motion plans for the first the second cars 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.
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