1. A method of operating a first elevator system including a first elevator car, the method comprising:

detecting a person using a sensor system of a first robot; and

notifying a dispatcher of the first elevator system to: the individual has been detected.

2. The method of claim 1, further comprising:

detecting the individual approaching the first elevator system using the sensor system of the first robot;

determining that the individual wants to utilize the first elevator system; and

transmitting an elevator call to the first elevator system.

3. The method of claim 1, further comprising:

detecting the individual entering the first elevator car using the sensor system of the first robot; and

notifying the dispatcher of the first elevator system to: the individual has entered the first elevator car.

4. The method of claim 3, further comprising:

determining that the individual has not requested the first elevator car through an elevator call.

5. The method of claim 3, further comprising:

determining that the individual did request the first elevator car through an elevator call.

6. The method of claim 1, further comprising:

detecting the individual exiting the first elevator car using the sensor system of the first robot; and

notifying the dispatcher of the first elevator system to: the individual has left the elevator car.

7. The method of claim 1, further comprising:

detecting the individual within the first elevator car using the sensor system of the first robot; and

notifying the dispatcher of the first elevator system to: the individual is within the elevator car.

8. The method of claim 1, further comprising:

detecting a number of individuals within the first elevator car using the sensor system of the first robot; and

notifying the dispatcher of the first elevator system of the number of individuals within the elevator car.

9. The method of claim 7, further comprising:

detecting a fullness percentage of the first elevator car using the sensor system of the first robot; and

notifying the dispatcher of the fullness percentage.

10. The method of claim 1, further comprising:

receiving an elevator call from the person via an elevator call device of the first robot; and

communicating the elevator call from the robot to a dispatcher of the first elevator system.

11. The method of claim 10, further comprising:

determining that the first elevator car can accommodate the first elevator call; and

instructing the first elevator car to move to a landing where the person is located.

12. The method of claim 11, further comprising:

determining when the individual enters the first elevator car using the sensor system of the first robot; and

instructing the first robot to enter the first elevator car after the individual has entered the first elevator car.

13. The method of claim 11, further comprising:

determining when the individual enters the first elevator car using the sensor system of the first robot;

determining, using the sensor system of the first robot, that no other individual is entering the first elevator car; and

indicating entry of the first robot into the first elevator car after the individual has entered the first elevator car and it has been determined that no other individuals are entering the first elevator car.

14. The method of claim 11, further comprising:

moving the first elevator car to a destination of the elevator call when the individual has entered the first elevator car.

15. The method of claim 14, further comprising:

determining, using the sensor system of the first robot, when the individual has left the first elevator car at the landing; and

instructing the first robot to exit the first elevator car after the individual has exited the first elevator car.

16. The method of claim 14, further comprising:

determining, using the sensor system of the first robot, when the individual has left the first elevator car at the landing;

determining, using the sensor system of the first robot, that no other individual is leaving the first elevator car; and

indicating the first robot to leave the first elevator car after the individual has left the first elevator car and it has been determined that no other individuals are leaving the first elevator car.

17. The method of claim 1, further comprising:

detecting a number of individuals within an elevator lobby of the first elevator system using the sensor system of the first robot; and

transmitting an elevator call to the first robot to use the first elevator system when the number of individuals in the elevator lobby is less than the selected number of individuals.

18. The method of claim 1, further comprising:

detecting a number of individuals within an elevator lobby of the first elevator system using the sensor system of the first robot; and

delaying transmission to cause the first robot to use elevator calls of the first elevator system when the number of individuals of the elevator lobby is greater than the selected number of individuals.

19. A computer program product embodied on a non-transitory computer readable medium, the computer program product comprising instructions that, when executed by a processor, cause the processor to perform operations comprising:

detecting a person using a sensor system of a first robot; and

notifying a dispatcher of the first elevator system: the individual has been detected.

20. A method of operating a first elevator system including a first elevator car, the method comprising:

transporting an elevator call device using a first robot, the elevator call device configured to transmit an elevator call for the first elevator system.

21. The method of claim 20, further comprising

Detecting a traffic condition of the first elevator system, wherein the first robot is configured to transport the elevator call device in response to the traffic condition of the elevator system.

22. The method of claim 21, wherein the robot is configured to transport the elevator call device away from the first elevator system when the traffic condition indicates increased use of the first elevator system or to transport the elevator call device toward the elevator system when the traffic condition indicates decreased use of the first elevator system.

23. The method of claim 20, further comprising

Detecting a number of individuals in an elevator lobby of the first elevator system, wherein the first robot is configured to transport the elevator call device in response to the number of individuals in the elevator lobby.

24. The method of claim 23, wherein the robot is configured to: removing the elevator call device from the first elevator system when the number of individuals is greater than the selected number of individuals.

25. The method of claim 20, further comprising

Communicating with an individual using at least one of the robot and the elevator call device.

Background

The subject matter disclosed herein relates generally to the field of conveyor systems, and in particular to methods and apparatus for coordinating conveyor system interaction with robots.

Transport systems, such as, for example, elevator systems, escalator systems, and moving walkways, are typically configured only to carry humans individually.

Disclosure of Invention

According to an embodiment, a method of operating a first elevator system including a first elevator car is provided. The method comprises the following steps: detecting a person using a sensor system of a first robot; and notifying a dispatcher of the first elevator system to: the individual has been detected.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting the individual approaching the first elevator system using the sensor system of a first robot; determining that the individual wants to utilize the first elevator system; and transmitting an elevator call to the first elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting the individual entering the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the first elevator system to: the individual has entered the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining that the individual has not requested the first elevator car through an elevator call.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining that the individual did request the first elevator car through an elevator call.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting the individual exiting the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the first elevator system to: the individual has left the elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting the individual within the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the first elevator system to: the individual is within the elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a number of individuals within the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the first elevator system of the number of individuals within the elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a fullness percentage of the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the fullness percentage.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: receiving an elevator call from the person via an elevator call device of the first robot; and transmitting the elevator call from the robot to a dispatcher of the first elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining that the first elevator car can accommodate the first elevator call; and instructing the first elevator car to move to a landing where the person is located.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining when the individual enters the first elevator car using the sensor system of the first robot; and instructing the first robot to enter the first elevator car after the individual has entered the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining when the individual enters the first elevator car using the sensor system of the first robot; determining, using the sensor system of the first robot, that no other individual is entering the first elevator car; and instructing the first robot to enter the first elevator car after the individual has entered the first elevator car and it has been determined that no other individuals are entering the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: moving the first elevator car to a destination of the elevator call when the individual has entered the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining, using the sensor system of the first robot, when the individual has left the first elevator car at the landing; and instructing the first robot to exit the first elevator car after the individual has exited the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining, using the sensor system of the first robot, when the individual has left the first elevator car at the landing; determining, using the sensor system of the first robot, that no other individual is leaving the first elevator car; and instructing the first robot to exit the first elevator car after the individual has exited the first elevator car and it has been determined that no other individuals are exiting the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a number of individuals within an elevator lobby of the first elevator system using the sensor system of the first robot; and transmitting an elevator call to the first robot to use the first elevator system when the number of individuals in the elevator lobby is less than the selected number of individuals.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a number of individuals within an elevator lobby of the first elevator system using the sensor system of the first robot; and delaying transmission to cause the first robot to use elevator calls of the first elevator system when the number of individuals of the elevator lobby is greater than the selected number of individuals.

According to another embodiment, there is provided a computer program product embodied on a non-transitory computer readable medium, the computer program product comprising instructions that, when executed by a processor, cause the processor to perform operations comprising: detecting a person using a sensor system of a first robot; and notifying a dispatcher of the first elevator system to: the individual has been detected.

In accordance with another embodiment, a method of operating a first elevator system including a first elevator car is provided. The method comprises the following steps: transporting an elevator call device using a first robot, the elevator call device configured to transmit an elevator call for the first elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a traffic (traffic) condition of the first elevator system, wherein the first robot is configured to transport the elevator call device in response to the traffic condition of the elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: the robot is configured to transport the elevator call device away from the first elevator system when the traffic condition indicates increased use of the first elevator system or to transport the elevator call device toward the elevator system when the traffic condition indicates decreased use of the first elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a number of individuals in an elevator lobby of the first elevator system, wherein the first robot is configured to transport the elevator call device in response to the number of individuals in the elevator lobby.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: the robot is configured to remove the elevator calling device from the first elevator system when the number of individuals is greater than the selected number of individuals.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: communicating with an individual using at least one of the robot and the elevator call device.

Technical effects of embodiments of the present disclosure include detecting a person using a robot.

The foregoing features and elements may be combined in various combinations without exclusion, unless expressly indicated otherwise. These features and elements, as well as their operation, will become more apparent in view of the following description and the accompanying drawings. It is to be understood, however, that the following description and drawings are intended to be illustrative and explanatory in nature, and not restrictive.

Drawings

The present disclosure is illustrated by way of example and is not limited by the accompanying figures, in which like references indicate similar elements.

Fig. 1 is a schematic illustration of an elevator system that can employ various embodiments of the present disclosure;

FIG. 2 shows a schematic diagram of a robot coordination system, in accordance with an embodiment of the present disclosure, and;

fig. 3 is a flow diagram of a method of controlling a first elevator system including a first elevator car using the robot coordination system of fig. 2, according to an embodiment of the present disclosure.

Detailed Description

Fig. 1 is a perspective view of an elevator system 101, the elevator system 101 including an elevator car 103, a counterweight 105, a tension member 107, a guide rail 109, a machine 111, a position reference system 113, and a controller 115. The elevator car 103 and counterweight 105 are connected to each other by a tension member 107. Tension members 107 may comprise or be configured as, for example, ropes, cables, and/or coated steel belts. The counterweight 105 is configured to balance the load of the elevator car 103 and to facilitate movement of the elevator car 103 within the hoistway 117 and along the guide rails 109 simultaneously and in an opposite direction relative to the counterweight 105.

The tension member 107 engages a machine 111, the machine 111 being part of an overhead structure of the elevator system 101. The machine 111 is configured to control movement between the elevator car 103 and the counterweight 105. The position reference system 113 may be mounted on a fixed part of the top of the hoistway 117, such as on a support (support) or guide rail, and may be configured to provide a position signal related to the position of the elevator car 103 within the hoistway 117. In other embodiments, position reference system 113 may be mounted directly to a moving component of machine 111, or may be located in other locations and/or configurations as known in the art. The position reference system 113 can be any device or mechanism for monitoring the position of an elevator car and/or counterweight as is known in the art. For example, but not limiting of, the position reference system 113 may be an encoder, sensor, or other system, and may include velocity sensing, absolute position sensing, or the like, as will be appreciated by those skilled in the art.

The controller 115 is positioned in a controller room 121 of the hoistway 117 as shown and is configured to control operation of the elevator system 101 and, in particular, the elevator car 103. For example, the controller 115 may provide drive signals to the machine 111 to control acceleration, deceleration, leveling, stopping, etc. of the elevator car 103. The controller 115 may also be configured to receive position signals from the position reference system 113 or any other desired position reference device. The elevator car 103 can stop at one or more landings 125 as controlled by the controller 115 as it moves up or down along guide rails 109 within the hoistway 117. Although shown in the controller room 121, those skilled in the art will appreciate that the controller 115 can be located and/or configured in other locations (positions) within the elevator system 101. In one embodiment, the controller may be remotely located or located in the cloud.

The machine 111 may include a motor or similar drive mechanism. According to an embodiment of the present disclosure, the machine 111 is configured to include an electrically driven motor. The power supply for the motor may be any power source, including a power grid, which in combination with other components is supplied to the motor. The machine 111 may include a traction sheave that applies a force to the tension member 107 to move the elevator car 103 within the hoistway 117.

Although shown and described with a roping system including tension members 107, elevator systems employing other methods and mechanisms of moving an elevator car within a hoistway can employ embodiments of the present disclosure. For example, embodiments may be employed in a ropeless elevator system that uses a linear motor to impart motion to an elevator car. Embodiments may also be employed in ropeless elevator systems that use a hydraulic hoist to impart motion to an elevator car. FIG. 1 is a non-limiting example presented for purposes of illustration and explanation only.

In other embodiments, the system includes a transport system that moves passengers between floors and/or along a single floor. Such transport systems may include escalators, people mover (passenger mover), and the like. Thus, the embodiments described herein are not limited to elevator systems, such as the elevator system shown in fig. 1. In one example, the embodiments disclosed herein can be applicable transport systems (such as the elevator system 101) and transport equipment of the transport system (such as the elevator car 103 of the elevator system 101). In another example, the embodiments disclosed herein may be applicable transport systems (such as escalator systems) and transport devices of transport systems (such as moving stairs of escalator systems).

Elevator system 101 also includes one or more elevator doors 104. Elevator doors 104 may be integrally attached to elevator car 103 and/or elevator doors 104 may be located on landings 125 of elevator system 101. Embodiments disclosed herein may be applicable to both elevator doors 104 integrally attached to elevator car 103 and/or elevator doors 104 located on landings 125 of elevator system 101. Elevator doors 104 open to allow passengers to enter and exit elevator cab 103.

With continued reference to fig. 1 and now to fig. 2, a robot coordination system 200 is illustrated in accordance with an embodiment of the present disclosure. It should be appreciated that although particular systems are defined separately in the schematic block diagrams, each or any of the systems may be otherwise combined or separated via hardware and/or software. The robot coordination system 200 includes a robot 202 and/or is in wireless communication with the robot 202. It should be understood that although one robot 202 is shown, the embodiments disclosed herein may be applicable to a robot coordination system 200 having one or more robots 202. The robot 202 may desire to utilize the elevator system 101, and the robot coordination system 200 may coordinate use of the elevator system 101 by the robot 202 and the individual 190.

It should be understood that although the elevator system 101 is used for exemplary illustration, the embodiments disclosed herein are applicable to other transport systems that use transport devices for transportation, such as, for example, escalators, moving walkways, and the like.

As shown in fig. 2, a building elevator system 100 within a building 102 can include a plurality of different individual elevator systems 101 organized in an elevator bank 112. Each elevator system 101 includes an elevator car 103 (one elevator car 103 is not shown in fig. 2 for simplicity). It should be understood that although two elevator systems 101 are used for exemplary illustration, the embodiments disclosed herein are applicable to a building elevator system 100 having one or more elevator systems 101. In addition, the elevator system 101 shown in fig. 2 is organized into elevator groups 112 for ease of illustration, but it should be understood that the elevator system 101 can be organized into one or more elevator groups 112. Each of the elevator banks 112 may contain one or more elevator systems 101. Each of the elevator groups 112 can also be located on a different landing 125.

There may also be elevator calling devices 89 located near the elevator system 101 at the landing 125 and/or elevator calling devices 89 of a robot 202 that may move with the robot 202. The elevator calling device 89 may be attached to the robot 202 or the robot 202 may hold the elevator calling device 89. The elevator call device 89 communicates an elevator call 380 to a dispatcher (dispatcher) 350 of the building elevator system 100. It should be appreciated that although the dispatcher is defined separately in the schematic block diagram, the dispatcher 350 may be combined in any controller 115 or other device via hardware and/or software. Elevator call 380 may include a source of elevator call 380. The elevator call device 89 may include destination entry options including the destination of the elevator call 380. The elevator call device 89 may be a button and/or touch screen and may be activated manually or automatically. For example, an elevator call 380 may be transmitted by a person 190 or robot 202 entering the elevator call 380 via elevator call device 89. As shown in fig. 2, the robot 202 can utilize the communication module 280 to communicate directly with the building elevator system 100 and indirectly with the building elevator system 100 through the computing network 232.

The elevator call 89 located on the robot 202 may be incorporated into the display 240 of the robot 202 or associated with the display 240 of the robot 202. For example, the display device 240 may be a touch screen, allowing the individual 190 to enter the elevator call 230 by touching the touch screen of the display device 240. The robot 202 and associated elevator call device 89 may move based on traffic conditions including traffic volume and traffic direction (e.g., morning entry versus evening exit, etc.). The robot 202 may transport the elevator call device 89 in response to a flow condition detected in the elevator system 101. The robot 202 can transport the elevator call device 89 away from the first elevator system 101 when the flow condition indicates increased use of the first elevator system 101 or transport the elevator call device 89 toward the elevator system 101 when the flow condition indicates decreased use of the first elevator system 101. The number of individuals 190 may be detected in the elevator lobby 310 of the first elevator system 101 (e.g., using the robot 202 and/or the people counting device 92), and the robot 202 is then configured to transport the elevator call device 89 in response to the number of individuals 190 in the elevator lobby 310. For example, the robot 202 is configured to remove the elevator call device 89 from the first elevator system 101 when the number of individuals 190 is greater than a selected number of individuals (e.g., a large group of people has formed). For example, the robot 202 is configured to move the elevator call device 89 toward the first elevator system 101 when the number of individuals 190 is less than a selected number of individuals (e.g., no people or people have dissipated).

In some embodiments, the elevator call device 89 and/or the robot 202 may communicate with the individual 190. The purpose of the communication may be to issue a call instruction. For example, indicating where to stand and issuing other elevator etiquettes/indications (e.g., do not block the door of the departing passenger, do not enter multiple calls, etc.).

The mobile device 192 may also be configured to transmit an elevator call 380. The robot 202 or the individual 190 may own a mobile device 192 to deliver an elevator call 380. Mobile device 192 may be a smart phone, a smart watch, a laptop computer, or any other mobile device known to those skilled in the art. The mobile device 192 may be configured to transmit an elevator call 380 to the dispatcher 350 through the computing network 232. The mobile device 192 may communicate with the computer network 232 through a wireless access protocol device (WAP) 234 using a short-range wireless protocol. Short-range wireless protocols may include, but are not limited to: bluetooth, Wi-Fi, HaLow (801.11 ah), zWave, ZigBee, or wireless M-Bus. Alternatively, the mobile device 192 may communicate directly with the computer network 232 using a long range wireless protocol. Remote wireless protocols may include, but are not limited to: cellular, LTE (NB-IoT, CAT M1), LoRa, satellite, Ingeniu, or SigFox.

The controller 115 may be combined, local, remote, cloud, etc. Dispatcher 350 can be local, remote, cloud, and the like. The dispatcher 350 communicates with the controller 115 of each elevator system 101. Alternatively, there may be a single controller common to all elevator systems 101 and controlling all elevator systems 101, rather than two separate controllers 115 as shown in fig. 2. The dispatcher 350 can be "group" software configured to select the best elevator car 103 to assign to an elevator call 380. The dispatcher 350 manages elevator call devices 89 associated with the elevator group 112.

The dispatcher 350 is configured to control and coordinate the operation of the plurality of elevator systems 101. The dispatcher 350 may be an electronic controller that includes a processor 352 and associated memory 354, the memory 354 including computer-executable instructions that, when executed by the processor 352, cause the processor 352 to perform various operations. The processor 352 may be, but is not limited to, a single-processor or multi-processor system of any of a wide range of possible architectures including Graphics Processing Unit (GPU) hardware, Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), Central Processing Unit (CPU), or Field Programmable Gate Array (FPGA), in either a homogeneous or heterogeneous arrangement. The memory 354 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), or any other electronic, optical, magnetic, or any other computer readable medium.

The dispatcher 350 communicates with the robot 202 and the elevator call devices 89 of the building elevator system 100. The dispatcher 350 is configured to receive elevator calls 380 transmitted from the elevator call devices 89, the mobile devices 192, and/or the robot 202. The dispatcher 350 is configured to manage elevator calls 380 entering from elevator call devices 89, mobile devices 192, and/or robots 202 and then command one or more elevator systems 101 to respond to the elevator calls 380.

The robot 202 may be configured to operate entirely autonomously using a controller 250 that controls operation of the robot 202. The controller 250 may be an electronic controller that includes a processor 252 and associated memory 254, the memory 254 including computer-executable instructions that, when executed by the processor 252, cause the processor 252 to perform various operations. The processor 252 may be, but is not limited to, a single processor or a multi-processor system of any of a wide range of possible architectures including Graphics Processing Unit (GPU) hardware, Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), Central Processing Unit (CPU), or Field Programmable Gate Array (FPGA), in either homogeneous or heterogeneous arrangements. The memory 254 may be a storage device such as, for example, a Random Access Memory (RAM), a Read Only Memory (ROM), or any other electronic, optical, magnetic, or any other computer readable medium.

The robot 202 includes a power supply 260 configured to provide power to the robot 202. The power supply 260 may include an energy harvesting device and/or an energy storage device. In an embodiment, the energy storage device may be an on-board (onboard) battery system. The battery system may include, but is not limited to, a lithium ion battery system. The robot 202 may be configured to move to an external power source (e.g., an electrical outlet) to charge the power source 260.

The robot 202 includes a speaker 292, the speaker 292 configured to communicate audible words, music, and/or sounds to the individual 190 located near the robot 202. The robot 202 also includes a display device 240, the display device 240 configured to visually display information to the individual 190 located in proximity to the robot 202. For example, the display device 240 may be a flat screen monitor, a computer tablet, or a smart phone device. In embodiments, the display device 240 may be located on the head of the robot 202 or may replace the head of the robot 202. In an embodiment, the display device 240 is a computer tablet or similar display device carried by the robot 202.

The robot 202 may be permanently or temporarily positioned (i.e., located) within an elevator lobby 310 that is located on a landing 125 near the elevator system 101. The robot 202 may include a propulsion system 210 for moving the robot 202. The robot 202 may move throughout the elevator lobby 310, move away from the elevator lobby 310 throughout the landing 125, and/or may move to other landings via the elevator system 101 and/or stairs (not shown). The propulsion system 210 may be a leg system that simulates a human leg, as shown in FIG. 2. As shown in fig. 2, the propulsion system 210 may include two or more legs 212 for moving the robot 202. It should be understood that although a leg system is used for exemplary illustration, the embodiments disclosed herein may be applicable to robots having other propulsion systems for transportation, such as, for example, wheel systems, rotor systems, air cushion systems, tread systems, or any propulsion system known to one skilled in the art may be utilized. It should also be understood that the robot 202 having a humanoid appearance is used for illustrative purposes, and that the embodiments disclosed herein may be applied to robots that do not have a humanoid appearance.

The robot 202 includes a sensor system 270 for collecting sensor data. The sensor system 270 may include, but is not limited to, an Inertial Measurement Unit (IMU) sensor 276, a camera 272, a microphone 274, a position sensor system 290, a load detection system 278, and a people counter system 279. The IMU sensor 276 is configured to detect acceleration of the robot 202. The IMU sensor 276 may be a sensor such as, for example, an accelerometer, a gyroscope, or similar sensors known to those skilled in the art. The IMU sensors 276 may detect acceleration as well as derivatives or integrals of acceleration, such as, for example, velocity, jerk (jerk), jerk (jounce), jerk (snap), and the like.

The camera 272 may be configured to capture images of the area around the robot 202. The camera 272 may be a still image camera, a video camera, a depth sensor, a thermal camera, and/or any other type of imaging device known to those skilled in the art. In one embodiment, the controller 250 may be configured to analyze images captured by the camera 272 using image recognition for identifying the individual 190. In another embodiment, the controller 250 may be configured to transmit the image as raw data for processing by the building system manager 320. Image recognition may use facial recognition to identify the individual 190. The robot 202 can utilize image recognition to identify the individual 190 boarding the elevator car 103 and then check whether the individual 190 has transmitted an elevator call 380 or "piggy-backing" to the dispatcher 350 on the elevator call 380 of another individual 190. The robot 202 may communicate with the dispatcher 350 in real time to attend to the ride. In addition, the robot 202 may ride in the elevator car 103 to monitor ride.

The microphone 274 is configured to detect sound. The microphone 274 is configured to detect audible sounds in the vicinity of the robot 202, such as, for example, the language spoken by the person 190 in the vicinity of the robot 202. In one embodiment, the controller 250 may be configured to analyze the sound captured by the microphone 274 using speech recognition software and respond accordingly. In another embodiment, the controller 250 may be configured to transmit the sound as raw data for processing by the building system manager 320. The sound (i.e., speech) from the person 190 may be analyzed to identify the person 190 using speech recognition.

In one embodiment, the controller 250 may be configured to analyze the sound captured by the microphone 274 using speech recognition for identifying the individual 190. In another embodiment, the controller 250 may be configured to transmit the sound as raw data for processing by the building system manager 320.

The dispatcher 350 can coordinate one or more robots 202 all to ride a single elevator car 103 together to avoid interaction with the individual 190 (e.g., all robot cars). If the flow from the individual 190 is high at a given time, the dispatcher 350 can cancel the elevator call 380 received from the robot 202 and/or instruct the robot 202 to wait. The dispatcher 350 can also direct the robot 202 to walk stairs or escalators. If a particular elevator bank is busy, the dispatcher 350 can direct the robot 202 to move to another elevator bank.

The robot 202 may utilize a load carrying mechanism 220 to deliver items. In fig. 2, the load carrying mechanism 220 is an arm portion of the robot 202. It should be understood that the arm of the robot 202 is an example, and that the robot 202 may utilize other load carrying mechanisms, such as, for example, a pallet, a crane (crane), a flat bed (flat bed), a safety cabin rack (secure component), or other load mechanisms known to those skilled in the art. In addition, the robot 202 may be utilized to pull or drag an item, such as, for example, a hospital bed or wheelchair. In other embodiments, the robot 202 may be an automated hospital bed or an automated wheelchair.

The load detection system 278 may be configured to detect the weight of a load carried or propelled by the load carrying mechanism 220. The robot 202 may be directed to certain elevator cars 103 based on the weight detected by the load detection system 278. For example, a robot 202 carrying an overload may be directed to ride on a freight elevator configured to handle the overload. Additionally, if the load carried by both robots 202 exceeds the weight limit of the elevator car 103, the robots 202 may be instructed to ride alone.

Each elevator call 380 transmitted by the robot 202 may include a call code that may indicate a type of elevator call 380, including the item being transported by the robot 202 and/or the urgency of the elevator call 380. In one example, the summons code may indicate that the robot 202 is transporting clothing, which may not be considered urgent. In another example, the summoning code may indicate that the robot 202 is transporting a transplanted organ, which may be considered urgent. When dispatcher 350 receives an elevator call 380, dispatcher 350 will analyze the code and determine its urgency as compared to other elevator calls 380 received. The most urgent elevator calls 380 will be assigned first, while those that are not urgent may be downgraded to wait. The call code may also be included and/or applied to elevator calls 380 received from individuals 190. In one example, each elevator call 380 transmitted may receive the same call code, meaning that each elevator call 380 from the individual 190 will be treated with the same priority, and robots 202 with emergency call codes may take a higher priority than the call code of the individual 190, while robots 202 with non-emergency call codes may take a lower priority than the call code of the individual 190. In another example, different individuals 190 may be assigned different summons codes based on VIP status or based on job role. In addition, emergency room physicians may have a summoning code that gives them the highest priority over other summoning codes.

The robot 202 also includes a position sensor system 290, the position sensor system 290 configured to detect the position 302 of the robot 202. The position 302 of the robot 202 may also include the position 302 of the robot 202 relative to other objects in order to allow the robot 202 to navigate through the hallways of the building 102 and prevent the robot 202 from hitting an object or person 190. The location sensing system 290 may use one or a combination of sensing devices including, but not limited to, GPS, wireless signal triangulation, SONAR, RADAR, LIDAR, image recognition, or any other location detection or collision avoidance system known to those skilled in the art. The position sensor system 290 may utilize GPS in order to detect the position 302 of the robot 202. The position sensor system 290 may utilize triangulation of wireless signals within the building 102 in order to determine the position 302 of the robot 202 within the building 102. For example, the position sensor system 290 may utilize the signal strength (e.g., RSSI) of wireless signals received from the WAPs 234 in known locations throughout the building 102 to triangulate the position of the robot 202 within the building 102. To avoid collisions with objects, the position sensor system 290 may additionally use SONAR, RADAR, LIDAR or image recognition (convolutional neural networks). Upon initial deployment or position reset, the robot 202 may execute a learning mode such that the robot 202 may become familiar with the environment.

The position 302 of the robot 202 can also be communicated to the dispatcher 350 when the robot 202 desires to use the elevator system 101. By knowing the location 302 of the robot 202, the distance from the elevator bank 112 along the possible path 304 (e.g., the elevator system 101), and the speed of movement of the robot 202, the dispatcher 350 can then call the elevator car 103 to the elevator bank 112 at or before the time the robot 202 arrives at the elevator bank 112. The use of the elevator system 101 may be limited to a low traffic learning period of the individual 190. The flow patterns of the individual 190 may be learned using the people counter system 279 or the people counter device 92.

The robot 202 includes a communication module 280 configured to allow the controller 250 of the robot 202 to communicate with the building system manager 320 and the dispatcher 350. The communication module 280 can transmit data to the dispatcher 350 and receive data from the dispatcher 350 over the computer network 232. The computer network 232 may be a cloud computing network. The communication module 280 is capable of transmitting data to and receiving data from the building system manager 320 via the computer network 232. In another embodiment, communication module 280 can transmit data to dispatcher 350 and receive data from dispatcher 350 by communicating directly with dispatcher 350.

The communication module 280 may communicate with the computer network 232 via a wireless access protocol device (WAP) 234 using a short-range wireless protocol. Alternatively, the communication module 280 may communicate directly with the computer network 232 using a long range wireless protocol.

Communication module 280 may communicate with dispatcher 350 via WAP 234 using a short-range wireless protocol. Alternatively, communication module 280 may communicate directly with dispatcher 350 using a short-range wireless protocol.

The building system manager 320 may communicate with the computer network 232 through the WAP 234 using a short-range wireless protocol. The building system manager 320 may communicate directly with the computer network 232 using a long range wireless protocol.

The building system manager 320 is an electronic controller that includes a processor 322 and associated memory 324, the memory 324 including computer-executable instructions that, when executed by the processor 322, cause the processor 322 to perform various operations. The processor 322 may be, but is not limited to, a single processor or a multi-processor system of any of a wide range of possible architectures including Graphics Processing Unit (GPU) hardware, Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), Central Processing Unit (CPU), or Field Programmable Gate Array (FPGA), in either homogeneous or heterogeneous arrangements. The memory 324 may be a storage device such as, for example, a Random Access Memory (RAM), a Read Only Memory (ROM), or other electronic, optical, magnetic, or any other computer readable medium.

The building system manager 320 may be configured to obtain, store, and provide information to the robots 202 that may be useful to the robots 202. The information may include a directory of the building 102 that includes images of the individual 190 that may be used for facial recognition or voice signatures of the individual 190 that may be used for voice recognition of the individual 190 to summon the elevator cab 103 for the individual 190, as described above. The information may also include directory information for people or locations in the building 102 and/or in areas surrounding the building 102. The building system manager 320 may also perform climate control within the building 102 and/or building access control for the building 102.

The people counter system 279 is configured to detect or determine a number of people. The number of people may be the number of individuals 190 located within the elevator car 103, the number of individuals 190 boarding or leaving the elevator car 103, the number of individuals 190 located on the landing 125, or the number of individuals 190 located in an elevator lobby 310 on the landing 125. The number of people may be the exact number of individuals 190 or the approximate number of individuals 190.

The people counter system 279 may use the camera 272 for people counting. The people counter system 279 can be used to determine the number of individuals 190 near the elevator system 101, the number of individuals 190 in the elevator lobby 310 near the elevator system 101, the number of individuals 190 on their way to the elevator system 101, the number of individuals 190 boarding the elevator car 103, the number of individuals 190 leaving the elevator car 103, and/or the number of individuals 190 in the elevator car 103. An individual 190 located near the elevator system 101 and/or within an elevator hall 310 indicates that the individual 190 wants to board an elevator car 103 of the elevator system 101.

The people counter system 279 may utilize one or more detection mechanisms of the robot 202, such as, for example, a camera 272, a depth sensing device, a radar device, a laser detection device, a mobile device (e.g., a cellular phone) tracker using the communication device 280, and/or any other desired device capable of sensing the presence of the person 190. The people counter system 279 may use the camera 272 for visual recognition to identify the person 190 and the object. The fullness (fullness) percentage of the elevator car 103 can be determined based on detection of individuals 190 and/or objects within the elevator car 103. The laser detection device can detect how many passengers walk through the laser beam to determine the number of individuals 190. The heat detection means may be an infrared or other thermal sensing camera that utilizes the detected temperature to identify individual individuals 190 and objects and then determines the number of individuals 190. The depth detection means may be a 2-D, 3-D or other depth/distance detection camera that uses the detected distance to the object and/or person 190 to determine the number of persons 190. The communication device 280 may act as a mobile device tracker that can determine the number of individuals 190 on the landing 125, in the elevator lobby 310, or in the elevator car 103 by detecting mobile device wireless signals and/or detecting how many mobile devices 192 are utilizing a particular application on the mobile device 192 on the landing 125, in the elevator lobby 310, or in the elevator car 103. As can be appreciated by those skilled in the art, there may be additional methods of sensing the number of individuals 190 in addition to the methods set forth, and one or any combination of these methods may be used to determine the number of individuals 190 on the landing 125, in the elevator lobby 310, in the elevator car 103, or on their way to the elevator system 101.

In one embodiment, the people counter system 279 is capable of detecting the number of people by image pixel counting. For example, the number of people may compare the current image of the elevator lobby 310 with the inventory image of the elevator lobby 310. For example, the people counter system 279 may utilize a pixel count by capturing a current image of the elevator lobby 310 and comparing the current image of the elevator lobby 310 to an inventory image of the elevator lobby 310, which shows that there are zero individuals 190 or there are a known number of individuals 190 in the elevator lobby 310. The number of pixels that differ between the inventory image and the current image may be related to the number of people in the elevator lobby 310. It should be understood that the embodiments disclosed herein are not limited to determining a pixel count of a population, and thus other methods including, but not limited to, video analysis software may be utilized to determine a population. The video analysis may identify individuals 190 from a fixed objection (objection) and count each individual individually to determine the total number of individuals 190.

Machine learning, deep learning, and/or artificial intelligence modules may be used to determine the number of people. The artificial intelligence module may be located within the robot 202, the building system manager 320, or the dispatcher 350. The number of people may alternatively be expressed as a percentage from zero percent to one hundred percent, which indicates how many percentages of pixels differ between the inventory image and the current image. The number of people may be represented as a numerical range of one to ten (e.g., one empty and ten full) that indicates what percentage of pixels are different between the inventory image and the current image. The number of people may be represented as an actual or estimated number of individuals 190, which may be determined in response to the number of pixels that differ between the inventory image and the current image.

The landings 125 or elevator cars 103 in the building 102 of fig. 2 may also include a people counter device 92 that cooperates with a people counter system 279 of the robot 202 to determine the number of people. The people counter device 92 may be located within the elevator car 103 to capture the number of individuals 190 within the elevator car 103. The people counter device 92 may be located within the elevator lobby 310 to capture the number of individuals 190 within the elevator lobby 310. It should be understood that more than one people counter device 92 may be utilized in the building elevator system 100. The people counter device 92 may communicate in real time with the people counter system 279 of the robot 202 to accurately determine the people count.

The people counter device 92 may include one or more detection mechanisms, such as, for example, a weight sensing device, a visual recognition device, a depth sensing device, a radar device, a laser detection device, a mobile device (e.g., a cellular phone) tracking, and/or any other desired device capable of sensing the presence of the person 190. The visual recognition device may be a camera that utilizes visual recognition to identify individual individuals 190 and objects in the elevator lobby 310 or elevator car 103. The percentage of fullness of the elevator car 103 can be determined based on detection of individuals 190 and/or objects within the elevator car 103. The weight detection means may be a scale (scale) for sensing the weight in the elevator lobby 310 or elevator car 103 and then determining the number of individuals 190. The laser detection device can detect how many passengers walk through the laser beam to determine the number of individuals 190 in the elevator lobby 310 or elevator car 103. The heat detection device may be an infrared or other thermal sensing camera that utilizes the detected temperature to identify individual individuals 190 and objects in the elevator lobby 310 or elevator car 103 and then determines the number of individuals 190. The depth detection means may be a 2-D, 3-D or other depth/distance detection camera that uses the detected distance to the object and/or person 190 to determine the number of persons 190. The mobile device tracking may determine the number of individuals 190 on the landing 125, in the elevator lobby 310, or in the elevator car 103 by detecting mobile device wireless signals and/or detecting how many mobile devices 192 are utilizing a particular application on the mobile device 192 on the landing 125, in the elevator lobby 310, or in the elevator car 103. As can be appreciated by those skilled in the art, there may be additional methods for sensing the number of individuals 190 in addition to the methods set forth, and one or any combination of these methods may be used to determine the number of individuals 190 on the landing 125, in the elevator lobby 310, or in the elevator car 103.

In one embodiment, the people counter device 92 is capable of detecting the number of people by image pixel counting. For example, the number of people may compare the current image of the elevator lobby 310 with the inventory image of the elevator lobby 310. For example, the people counter device 92 may utilize a pixel count by capturing a current image of the elevator lobby 310 and comparing the current image of the elevator lobby 310 to an inventory image of the elevator lobby 310, which shows that there are zero individuals 190 or there are a known number of individuals 190 in the elevator lobby 310. The number of pixels that differ between the inventory image and the current image may be related to the number of people in the elevator lobby 310. It should be understood that the embodiments disclosed herein are not limited to determining a pixel count of a population, and thus other methods including, but not limited to, video analysis software may be utilized to determine a population. The video analysis may identify individuals 190 from the fixed objection and count each individual individually to determine the total number of individuals 190.

Machine learning, deep learning, and/or artificial intelligence modules may be used to determine the number of people. The artificial intelligence module may be located in the people counter device 92 or in a separate module in the dispatcher 350. The independent module may be capable of communicating with the people counter device 92. The number of people may alternatively be expressed as a percentage from zero percent to one hundred percent, which indicates how many percentages of pixels differ between the inventory image and the current image. The number of people may be represented as a numerical range of one to ten (e.g., one empty and ten full) that indicates what percentage of pixels are different between the inventory image and the current image. The number of people may be represented as an actual or estimated number of individuals 190, which may be determined in response to the number of pixels that differ between the inventory image and the current image.

The number of people determined by at least one of the people counter system 279 and the people counter device 92 of the robot 202 may be communicated to the dispatcher 350 to adjust the operation of the elevator system 101. For example, if there are a large number of people, meaning there are a large number of individuals 190, the dispatcher 350 will transfer more elevator cars 103 to the elevator lobby 310.

Advantageously, the robot 202 is able to move away from the elevator lobby 310 and is therefore able to detect the population of individuals 190 before the population of individuals 190 arrives at the elevator lobby 310. The crowd of individuals 190 may then be reported to the dispatcher 350, and the dispatcher 350 may call the elevator car 103 before the crowd of individuals 190 arrives at the elevator lobby 310, which advantageously saves time by helping to more quickly clear the crowd of individuals 190 from the elevator lobby 310. Also advantageously, in the case where the elevator car 103 does not include the people counting device 92, then the robot 202 can ride the elevator car 103 and communicate the people count back to the dispatcher 350.

With continued reference to fig. 1-2 and now to fig. 3, a flow diagram of a method 400 of operating a first elevator system 101 including a first elevator car 103 is shown, according to an embodiment of the disclosure. In an embodiment, the method 400 is performed by the robot coordination system 200 of fig. 2.

At block 404, the person 190 is detected using the sensor system 270 of the first robot 202. At block 406, the dispatcher 350 of the first elevator system 101 is notified to: the person 190 has been detected.

In an embodiment, the sensor system 270 of the first robot 202 detects the individual 190 approaching the first elevator system 101 and then determines that the individual 190 wants to utilize the first elevator system 101. Once it is determined that the individual 190 wants to utilize the first elevator system 101, an elevator call 380 is transmitted to the first elevator system 101.

In an embodiment, the sensor system 270 of the first robot 202 detects the individual 190 entering the first elevator car 103 and notifies the dispatcher 350 of the first elevator system 101 to: the individual 190 has entered the first elevator car 103. It may be determined that the individual 190 has not requested the first elevator car 103 through an elevator call 380, or in other words, that the individual 190 "boarded" on an elevator call 380 submitted by another individual 190. Alternatively, it may be determined that the individual 190 did request the first elevator car 103 through elevator call 380. Advantageously, this detection capability allows the dispatcher 350 to know in real time how many individuals 190 are actually utilizing the elevator car 103 and adjust operation of the elevator system 101 accordingly.

In an embodiment, the sensor system 270 of the first robot 202 detects the individual 190 leaving the first elevator car 103 and notifies the dispatcher 350 of the first elevator system 101 to: the individual 190 has left the elevator car 103. For example, the robot 202 may have entered the elevator car 103 with the individual 190 and is tracking the movement of the individual 190 to better help guide the dispatcher 350 in the operation of the elevator car 103.

In an embodiment, the sensor system 270 of the first robot 202 detects the individual 190 within the first elevator car 103 and notifies the dispatcher 350 of the first elevator system 101 to: the individual 190 is within the elevator car 103.

In an embodiment, the sensor system 270 of the first robot 202 detects the number of individuals 190 within the first elevator car 103 and notifies the dispatcher 350 of the first elevator system 101 of the number of individuals 190 within the elevator car 103.

In an embodiment, the sensor system 270 of the first robot 202 detects the fullness percentage of the first elevator car 103 and notifies the dispatcher 350 of the fullness percentage. Advantageously, the fullness percentage can help the dispatcher 350 determine whether to make more stops to pick up additional individuals.

In another embodiment, the elevator call 380 is received from the individual 190 via the elevator call device 89 of the first robot 202 and the elevator call 380 is transmitted from the robot 202 to the dispatcher 350 of the first elevator system 101. Advantageously, by locating the elevator call device 89 with the robot 202, the elevator call device 89 can freely move around the elevator lobby 310 with the robot 202 and thus allow the individual 190 to make an elevator call 380 anywhere in the elevator lobby 310. This is helpful when there are a large number of people around the elevator call devices 89 attached to the wall near the elevator bank 112 and an individual 190 may not be able to reach the elevator call devices 89 attached to the wall near the elevator bank 112. The dispatcher 350 can determine that the first elevator car 103 can accommodate the first elevator call 380 and instruct the first elevator car 103 to move to the landing 125 where the individual 190 is located. Once at the landing where the individual 190 is located, the sensor system 270 of the robot 202 can be used to determine when the individual 190 has entered the first elevator car 103, and can then indicate that the first robot 202 entered the first elevator car 103 after the individual 190 has entered the first elevator car 103. The robot 202 may also wait to enter the first elevator car 103 until it is determined using the sensor system 270 of the robot 202 that no other person 190 is entering the first elevator car 103.

When the individual 190 has entered the first elevator car 103, the first elevator car 103 can be moved to the destination of the elevator call 380. The sensor system 207 of the robot 202 can be used to determine when the individual 190 exits the first elevator car 103 at the landing 125 and instruct the robot 202 to exit the first elevator car 103 after the individual 190 has exited the first elevator car 103. The robot 202 may also wait to exit the first elevator car 103 until it has been determined that no other person 190 is exiting the first elevator car 103 using the sensor system 270 of the robot 202.

The method 400 may further include detecting the number of individuals 190 in the elevator lobby of the first elevator system 101 using the sensor system 270 of the first robot 202 and transmitting an elevator call 380 to have the first robot 202 use the first elevator system 101 when the number of individuals 190 in the elevator lobby 310 is less than the selected number of individuals 190. Alternatively, the sensor system 270 using the first robot 202 detects the number of individuals 190 in the elevator lobby 310 of the first elevator system 101 and causes the transmission of the elevator call 380 by the first robot 202 using the first elevator system 101 to be delayed when the number of individuals 190 in the elevator lobby 310 is greater than the selected number of individuals 190. Thus, if there are too many individuals 190 waiting to use the first elevator system 101 in the elevator lobby, the robot 202 may be forced to wait to use the first elevator system 101.

While the above description has described the flow of fig. 3 in a particular order, it should be understood that the order of the steps may be changed unless otherwise specifically claimed in the appended claims.

The present invention may be a system, method and/or computer program product at any possible level of integration detail. The computer program product may include computer-readable storage medium(s) having computer-readable program instructions thereon for causing a processor to perform aspects of the invention.

The computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device such as a punch card or a raised structure in a recess having instructions recorded thereon, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium should not be construed as a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., optical pulses traveling through a fiber optic cable), or an electrical signal transmitted by a wire.

The term "about" is intended to include the degree of error associated with measuring a particular quantity and/or manufacturing tolerances based on the equipment available at the time of filing this application.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, element components, and/or groups thereof.

Those skilled in the art will appreciate that various example embodiments are shown and described herein, each having certain features in particular embodiments, but the disclosure is not so limited. Rather, the disclosure can be modified to incorporate any number of variations, alterations, substitutions, combinations, sub-combinations or equivalent arrangements not heretofore described, but which are commensurate with the scope of the disclosure. Additionally, while various embodiments of the disclosure have been described, it is to be understood that aspects of the disclosure may include only some of the described embodiments. Accordingly, the disclosure is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.