Autonomous Car Separation Assurance for Ropeless Elevator Collision Avoidance
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Solution Overview
Problem
In multi-car elevator systems with autonomous elevator cars, there is a need for effective collision avoidance mechanisms since traditional central control systems are not applicable, and physical connections like ropes are absent, making local collision prevention crucial.
Innovation Solution
The implementation of an Autonomous Car Separation Assurance (ACSA) system, which includes sensors providing positional and velocity data, a State Observe Filter for estimating operational states, and a motion control system to autonomously control the car movers, ensuring collision avoidance with other cars or hoistway termini, using a combination of on-board and cloud-based processing and communication networks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If autonomous car movers are used without central control, then system independence and automation are improved, but collision avoidance capability deteriorates
Solution Approach 1:
The system divides collision avoidance responsibility into two segments: primary avoidance through autonomous sensing and decision-making on each car mover, and secondary assurance through cloud-based monitoring and intervention. This segmentation allows high automation while maintaining reliability through distributed intelligence.
Solution Approach 2:
The system implements continuous feedback loops where car movers share real-time position and status data with both local sensors and cloud services. This multi-layered feedback mechanism enables autonomous cars to detect potential collisions and adjust their behavior dynamically, maintaining safety without central control.
2Device complexity
If physical connections like traveling cables are removed, then system complexity and maintenance are reduced, but control precision and safety deteriorate
Solution Approach 1:
The system replaces mechanical connection-based control (traveling cables, governors) with sensor-based autonomous detection and cloud-based communication. Car movers use cameras, LIDAR, and other sensors to perceive their environment and communicate status wirelessly, eliminating the need for physical connections while maintaining control precision.
Solution Approach 2:
The cloud service acts as an intermediary between autonomous car movers, providing a virtual coordination layer that enables collision avoidance without physical connections. The cloud receives data from multiple cars, processes their positions and trajectories, and provides guidance commands, replacing the mediating role of physical traveling cables.
3Productivity
If multiple autonomous cars operate in one hoistway, then productivity is improved, but collision risk increases
Solution Approach 1:
The system performs preliminary collision detection and resolution before actual collisions can occur. Car movers continuously predict potential collision scenarios using sensor data and shared position information, and take preventive actions such as adjusting speed or changing trajectories, allowing multiple cars to operate safely in the same hoistway.
Solution Approach 2:
The system dynamically adjusts the operational parameters of each car mover based on real-time conditions. When multiple cars are present, the system continuously modifies their speeds, trajectories, and separation distances to maintain safe operation, enabling high productivity while managing collision risk through adaptive control.
Data Source
AI summary
Disclosed is ropeless elevator system having: a car mover operationally connected to an elevator car, the car mover configured to move the elevator car along a hoistway lane and to operate autonomously, wherein the car mover has an Autonomous Car Separation Assurance (ACSA) system that has: a sensor configured to provide sensor data representing positional information of the elevator car, a motion control system configured to control motion of the car mover, wherein the ACSA system is configured to estimate an operational state of the elevator car by processing the sensor data and velocity data, representing velocity of the car mover within the hoistway lane, via a State Observe Filter, and wherein the ACSA system is configured to control the car mover to avoid a collision between the elevator car and another object in response to estimating the operational state of the elevator car.