Patent Description:
Conveyance systems such as, for example, elevator systems, escalator systems, and moving walkways are typically only able to collect limited data using sensors hardwired to the conveyance system, which limits the ability of the conveyance system to collect data.

<CIT> discloses devices, systems and methods related to controlled interaction between a mobile robot and another entity in an operating environment.

<CIT> discloses a method and corresponding arrangement for controlling a mobile cleaning robot for cleaning of a building.

<CIT> discloses a method for controlling an elevator in which a data center generates at least one control signal to at least one mobile robot for instructing the at least one mobile robot to a predetermined position. The at least one mobile robot generates at least one control signal to the elevator controller for controlling an elevator in response to an interaction with at least one user in the predetermined position. An elevator system and a mobile robot implementing at least portions of the method are also disclosed.

<CIT> discloses a robotic destination dispatch system for elevators comprising a destination dispatch module configured to determine an optimal elevator for a passenger, and a guide robot in wireless data communication with the destination dispatch module.

According to the invention, a method of collecting data using a robot data collection system is provided according to claim <NUM>.

Some embodiments may include: moving the robot around the landing to collect the data.

Some embodiments may include: moving the robot within an elevator lobby on the landing to collect the data.

Some embodiments may include: receiving an elevator call from the robot for the elevator car to transport the robot from the landing to a destination; detecting a location of the robot; detecting a travel speed of the robot; determining a distance from the location of the robot to the elevator system; determining a time of arrival of the robot at the elevator system in response to the location of the robot, the travel speed of the robot, and the distance from the location of the robot to the elevator system; and moving the elevator car to arrive at the landing at or before the time or arrival of the robot.

Some embodiments may include: detecting when the robot is located within the elevator car; and moving the elevator car to the destination.

Some embodiments may include: determining an identity of an individual; determining a destination of the individual in response to the identity; and transmitting an elevator call to a dispatcher of the elevator system for the elevator car to transport the individual from the landing to the destination.

Some embodiments may include that the identity of the individual is determined using at least one of: a voice of an individual captured using a microphone of the sensor system, an image of an individual captured using a camera of the sensor system, and a wireless signal indicating an identity of the individual detected using a communication module of the robot.

Some embodiments may include: detecting a number of individuals within an elevator lobby using at least one of a people detection system of the sensor system and a people counter device of the building; and transmitting an elevator call to a dispatcher of the elevator system in response to the number of individuals.

Some embodiments may include: detecting a fire using a fire detection system of the sensor system; notifying a dispatcher of the elevator system of the fire; and operating the elevator system in an occupant evacuation operation mode.

Some embodiments may include: detecting a fire using a fire detection system of the sensor system; notifying the building system manager of the fire; and activating a fire alarm of the building system manager.

Some embodiments may include: detecting a problem condition using the sensor system; and notifying the building system manager of the problem condition.

Some embodiments may include: capturing an image of an individual using a camera of the sensor system; determining an identity of the individual in response to the image; determining whether the individual is an intruder in response to the identity; and activating an intruder alert of the building system manager.

Some embodiments may include detecting an individual within the building at an unauthorized time using a people counting system of the sensor system; and activating an intruder alert of the building system manager.

Some embodiments may include: transmitting the data to a conveyance system of the building; and adjusting operation of the conveyance system in response to the data.

Technical effects of embodiments of the present invention include using a robot to collect sensor data throughout the building and relay back the data to the conveyance system.

The elevator system <NUM> also includes one or more elevator doors <NUM>. The elevator door <NUM> may be integrally attached to the elevator car <NUM> and/or the elevator door <NUM> may be located on a landing <NUM> of the elevator system <NUM>. Embodiments disclosed herein may be applicable to both an elevator door <NUM> integrally attached to the elevator car <NUM> and/or an elevator door <NUM> located on a landing <NUM> of the elevator system <NUM>. The elevator door <NUM> opens to allow passengers to enter and exit the elevator car <NUM>.

Referring now to <FIG>, with continued reference to <FIG>, a robot data collection system <NUM> is illustrated, in accordance with an embodiment of the present disclosure. It should be appreciated that, although particular systems are separately defined in the schematic block diagrams, each or any of the systems may be otherwise combined or separated via hardware and/or software. The robot data collection system <NUM> comprises and/or is in wireless communication with a robot <NUM>. It is understood that one robot <NUM> is illustrated, the embodiments disclosed herein may be applicable to a data collection system <NUM> having one or more robots <NUM>. The robot <NUM> may be configured to act as an extension of the building elevator system <NUM> and/or building system manager <NUM> by collecting data for at least one of the building elevator system <NUM> and/or building system manager <NUM>.

It is understood that while elevator systems <NUM> are utilized for exemplary illustration, embodiments disclosed herein may be applied to other conveyance systems utilizing conveyance apparatuses for transportation such as, for example, escalators, moving walkways, etc..

As illustrated in <FIG>, a building elevator system <NUM> within a building <NUM> may include multiple different individual elevator systems <NUM> organized in an elevator bank <NUM>. The elevator systems <NUM> include an elevator car <NUM> (not shown in <FIG> for simplicity). It is understood that while two elevator systems <NUM> are utilized for exemplary illustration, embodiments disclosed herein may be applied to building elevator systems <NUM> having one or more elevator systems <NUM>. Further, the elevator systems <NUM> illustrated in <FIG> are organized into an elevator bank <NUM> for ease of explanation but it is understood that the elevator systems <NUM> may be organized into one or more elevator banks <NUM>. Each of the elevator banks <NUM> may contain one or more elevator systems <NUM>. Each of the elevator banks <NUM> may also be located on different landings <NUM>.

The landing <NUM> in the building <NUM> of <FIG> may have an elevator call device <NUM> located proximate the elevator systems <NUM>. The elevator call device <NUM> transmits an elevator call <NUM> to a dispatcher <NUM> of the building elevator system <NUM>. It should be appreciated that, although the dispatcher is separately defined in the schematic block diagrams, the dispatcher <NUM> may be combined via hardware and/or software in any controller <NUM> or other device. The elevator call <NUM> may include the source of the elevator call <NUM>. The elevator call device <NUM> may include a destination entry option that includes the destination of the elevator call <NUM>. The elevator call device <NUM> may be a push button and/or a touch screen and may be activated manually or automatically. For example, the elevator call <NUM> may be sent by an individual <NUM> or a robot <NUM> entering the elevator call <NUM> via the elevator call device <NUM>. The elevator call device <NUM> may also be a mobile device configured to transmit an elevator call <NUM> and a robot <NUM> may be in possession of said mobile device to transmit the elevator call <NUM>. The mobile device may be a smart phone, smart watch, laptop, or any other mobile device known to one of skill in the art. As illustrated in <FIG>, the robot <NUM> may utilize a communication module <NUM> to communicate either directly to the building elevator system <NUM> and/or indirectly with the building elevator system <NUM> through a computing network <NUM>.

The controllers <NUM> can be combined, local, remote, cloud, etc. The dispatcher <NUM> may be local, remote, cloud, etc. The dispatcher <NUM> is in communication with the controller <NUM> of each elevator system <NUM>. Alternatively, there may be a single controller that is common to all of the elevator systems <NUM> and controls all of the elevator system <NUM>, rather than two separate controllers <NUM>, as illustrated in <FIG>. The dispatcher <NUM> may be a 'group' software that is configured to select the best elevator car <NUM> to be assigned to the elevator call <NUM>. The dispatcher <NUM> manages the elevator call devices <NUM> related to the elevator bank <NUM>.

The dispatcher <NUM> is configured to control and coordinate operation of multiple elevator systems <NUM>. The dispatcher <NUM> may be an electronic controller including a processor <NUM> and an associated memory <NUM> comprising computer-executable instructions that, when executed by the processor <NUM>, cause the processor <NUM> to perform various operations. The processor <NUM> may be, but is not limited to, a single-processor or multi-processor system of any of a wide array of possible architectures, including field programmable gate array (FPGA), central processing unit (CPU), application specific integrated circuits (ASIC), digital signal processor (DSP) or graphics processing unit (GPU) hardware arranged homogenously or heterogeneously. The memory <NUM> may be but is not limited to a random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic or any other computer readable medium.

The dispatcher <NUM> is in communication with the elevator call devices <NUM> of the building elevator system <NUM>. The dispatcher <NUM> is configured to receive the elevator call <NUM> transmitted from the elevator call device <NUM> and/or the robot <NUM>. The dispatcher <NUM> is configured to manage the elevators calls <NUM> coming in from the elevator call device <NUM> and/or the robot <NUM> then command one or more elevator systems <NUM> to respond to elevator call <NUM>.

The robot <NUM> may be configured to operate fully autonomously using a controller <NUM> to control operation of the robot <NUM>. The controller <NUM> may be an electronic controller that includes a processor <NUM> and an associated memory <NUM> including computer-executable instructions that, when executed by the processor <NUM>, cause the processor <NUM> to perform various operations. The processor <NUM> may be but is not limited to a single-processor or multi-processor system of any of a wide array of possible architectures, including field programmable gate array (FPGA), central processing unit (CPU), application specific integrated circuits (ASIC), digital signal processor (DSP) or graphics processing unit (GPU) hardware arranged homogenously or heterogeneously. The memory <NUM> may be a storage device such as, for example, a random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic or any other computer readable medium.

The robot <NUM> includes a power source <NUM> configured to power the robot <NUM>. The power source <NUM> may include an energy harvesting device and/or an energy storage device. In an embodiment, the energy storage device may be an onboard battery system. The battery system may include but is not limited to a lithium ion battery system. The robot <NUM> may be configured to move to an external power source (e.g., electrical outlet) to recharge the power source <NUM>.

The robot <NUM> includes a speaker <NUM> configured to communicate audible words, music, and/or sounds to individuals <NUM> located proximate the robot <NUM>. The robot <NUM> also includes a display device <NUM> configured to display information visually to individuals <NUM> located proximate the robot <NUM>. For example, the display device <NUM> may be a flat screen monitor, a computer tablet, or smart phone device. In an embodiment, the display device <NUM> may be located on the head of the robot <NUM> or may replace the head of the robot <NUM>. In an embodiment, the display device <NUM> a computer tablet or similar display device that is carried by the robot <NUM>.

The robot <NUM> may be stationed (i.e., located) permanently or temporarily within an elevator lobby <NUM> that is located on the landing <NUM> proximate the elevator system <NUM>. The robot <NUM> may include a propulsion system <NUM> to move the robot <NUM>. The robot <NUM> may move throughout the elevator lobby <NUM>, move away from the elevator lobby <NUM> throughout the landing <NUM>, and/or may move to other landings via the elevator system <NUM> and/or a stair case (not shown). The propulsion system <NUM> may be a leg system, as illustrated in <FIG>, that simulates human legs. As illustrated in <FIG>, the propulsion system <NUM> may include two or more legs <NUM>, which are used to move the robot <NUM>. It is understood that while the leg system is utilized for exemplary illustration, embodiments disclosed herein may be applied to robots having other propulsion systems for transportation such as, for example, a wheel system, a rotorcraft system, a hovercraft system, a tread system, or any propulsion system may be known of skill in the art may be utilized. It is also understood that a robot <NUM> having a humanoid appearance is utilized for exemplary illustration, embodiments disclosed herein may be applied to robots that do not have a humanoid appearance.

The robot <NUM> includes a sensor system <NUM> to collect sensor data. The sensor system <NUM> may include, but is not limited, to an inertial measurement unit (IMU) sensor <NUM>, a camera <NUM>, a microphone <NUM>, a location sensor system <NUM>, a fire detection system <NUM>, and a people counter system <NUM>. The IMU sensor <NUM> is configured to detect accelerations of the robot <NUM>. The IMU sensor <NUM> may be a sensor such as, for example, an accelerometer, a gyroscope, or a similar sensor known to one of skill in the art. The IMU sensor <NUM> may detect accelerations as well as derivatives or integrals of accelerations, such as, for example, velocity, jerk, jounce, snap.

The camera <NUM> may be configured to capture images of areas surrounding the robot <NUM>. The camera <NUM> may be a still image camera, a video camera, depth sensor, thermal camera, and/or any other type of imaging device known to one of skill in the art. In one embodiment, the controller <NUM> may be configured to analyze the images captured by the camera <NUM> using image recognition to identify an individual <NUM>. In another embodiment, the controller <NUM> may be configured to transmit the images as raw data for processing by the building system manager <NUM>. The image recognition may identify the individual <NUM> using facial recognition. When an individual <NUM> is identified as a specific person, then the robot <NUM> may transmit an elevator call <NUM> to the dispatcher <NUM>. For example, the image recognition may identify the individual <NUM> is a very important person (VIP), such as the CEO of the company, that works on the seventh floor and then the robot <NUM> may transmit an elevator call <NUM> so that an elevator car <NUM> and ready to pick up the CEO when the CEO arrives at the elevator bank <NUM>.

The microphone <NUM> is configured to detect sound. The microphone <NUM> is configured to detect audible sound proximate the robot <NUM>, such as, for example, language spoken an individual <NUM> proximate the robot <NUM> or sound that is outside the range of human hearing produced by non-humans. In one embodiment, the controller <NUM> may be configured to analyze the sound captured by the microphone <NUM> using language recognition software and respond accordingly. In another embodiment, the controller <NUM> may be configured to transmit the sound as raw data for processing by the building system manager <NUM>. The sound (i.e., voice) from an individual <NUM> may be analyzed to identify the individual <NUM> using voice recognition.

In one embodiment, the controller <NUM> may be configured to analyze the sound captured by the microphone <NUM> using voice recognition to identify an individual <NUM>. In another embodiment, the controller <NUM> may be configured to transmit the sound as raw data for processing by the building system manager <NUM>. When an individual <NUM> is identified as a specific person, then the robot <NUM> may transmit an elevator call <NUM> to the dispatcher <NUM>. For example, the voice recognition may identify the individual <NUM> as the CEO of the company that works on the seventh floor and then the robot <NUM> may transmit an elevator call <NUM> so that an elevator car <NUM> and ready to pick up the CEO when the CEO arrives at the elevator bank <NUM>.

The robot <NUM> also includes a location sensor system <NUM> configured to detect a location <NUM> of the robot <NUM>. The location <NUM> of the robot <NUM> may also include the location <NUM> of the robot <NUM> relative to other objects in order allow the robot <NUM> to navigate through hallways of a building <NUM> and prevent the robot <NUM> from bumping into objects or individuals <NUM>. The location sensing system <NUM> may use one or a combination or 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 one of skill in the art. The location sensor system <NUM> may utilize GPS in order to detect a location <NUM> of the robot <NUM>. The location sensor system <NUM> may utilize triangulation of wireless signals within the building <NUM> in order to determine a location <NUM> of the robot <NUM> within a building <NUM>. For example, the location sensor system <NUM> may triangulate the position of the robot <NUM> within a building <NUM> utilizing received signal strength (e.g., RSSI) of wireless signals from WAPs <NUM> in known locations throughout the building <NUM>. In order to avoid colliding with objects, the location sensor system <NUM> may additionally use SONAR, RADAR, LIDAR, or image recognition (Convolutional Neural Networks). Upon initial deployment or a location reset, the robot <NUM> may perform a learn mode, such that the robot <NUM> may become familiar with the environment.

In an embodiment, where the dispatcher <NUM> and/or elevator system <NUM> receives an initialization of the elevator call <NUM>, by knowing which device is placing the call and where that device is initiated a call from, the conveyance system can adjust its operation in response.

The location <NUM> of the robot <NUM> may also be communicated to the dispatcher <NUM> when the robot <NUM> desires to use the elevator system <NUM>. By knowing the location <NUM> of the robot <NUM>, the distance away from the elevator bank <NUM> (e.g., elevator system <NUM>) along a probable path <NUM>, and the movement speed of the robot <NUM>, then the dispatcher <NUM> may call an elevator car <NUM> to arrive at the elevator bank <NUM> at or before the robot <NUM> arrives at the elevator bank <NUM>. Use of the elevator systems <NUM> may be limited to learnt periods of low traffic of individuals <NUM>. The traffic patterns of individuals <NUM> may be learnt using the people counter system <NUM> or a people counter device <NUM> that may detect movement of individuals over a period of time to learn traffic patterns.

The robot <NUM> includes a communication module <NUM> configured to allow the controller <NUM> of the robot <NUM> to communicate with the building system manager <NUM> and the dispatcher <NUM>. The communication module <NUM> is capable of transmitting and receiving data to and from the dispatcher <NUM> through a computer network <NUM>. The computer network <NUM> may be a cloud computing network. The communication module <NUM> is capable of transmitting and receiving data to and from the building system manager <NUM> through the computer network <NUM>. In another embodiment, the communication module <NUM> is capable of transmitting and receiving data to and from the dispatcher <NUM> by communicating directly with the dispatcher <NUM>.

The communication module <NUM> may communicate to the computer network <NUM> through a wireless access protocol device (WAP) <NUM> using short-range wireless protocols. Short-range wireless protocols may include, but not are limited to, Bluetooth, Wi-Fi, HaLow (<NUM>. 11ah), zWave, ZigBee, or Wireless M-Bus. Alternatively, the communication module <NUM> may communicate directly with the computer network <NUM> using long-range wireless protocols. Long-range wireless protocols may include, but are not limited to, cellular, LTE (NB-IoT, CAT M1), LoRa, satellite, Ingenu, or SigFox.

The communication module <NUM> may communicate to the dispatcher <NUM> through a WAP <NUM> using short-range wireless protocols. Alternatively, the communication module <NUM> may communicate directly with the dispatcher <NUM> using short-range wireless protocols.

The building system manager <NUM> may communicate to the computer network <NUM> through a WAP <NUM> using short-range wireless protocols. the building system manager <NUM> may communicate directly with the computer network <NUM> using long-range wireless protocols.

The building system manager <NUM> is an electronic controller that includes a processor <NUM> and an associated memory <NUM> including computer-executable instructions that, when executed by the processor <NUM>, cause the processor <NUM> to perform various operations. The processor <NUM> may be but is not limited to a single-processor or multi-processor system of any of a wide array of possible architectures, including field programmable gate array (FPGA), central processing unit (CPU), application specific integrated circuits (ASIC), digital signal processor (DSP) or graphics processing unit (GPU) hardware arranged homogenously or heterogeneously. The memory <NUM> may be a storage device such as, for example, a random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic or any other computer readable medium.

The building system manager <NUM> may be configured to obtain, store, and provide to the robot <NUM> information that may be useful to the robot <NUM>. The information may include a directory of the building <NUM> processor including images of individuals <NUM> that may be used for facial recognition or voice signatures of individuals <NUM> that may be used for voice recognition of individuals <NUM> to call an elevator cars <NUM> for the individuals <NUM>, as described above. The information may also include directory information of people or locations within the building <NUM> and/or in the area surrounding the building <NUM>. The building system manager <NUM> may also perform climate control within the building <NUM> and/or building access control for the building <NUM>.

The building system manager <NUM> may also be in communication with a fire alarm system <NUM> within the building <NUM>. The fire alarm system <NUM> is configured to detect a fire and the fire alarm system <NUM> may report this fire to the building system manager <NUM>. The fire alarm system <NUM> may include a plurality of fire sensors <NUM> configured to detect a fire. The fire sensors <NUM> may include a smoke detector, a heat sensor, a manual pull fire station, or any similar device known to one of skill in the art. The fire sensors <NUM> may be located on each landing <NUM> of the building <NUM>. The fire alarm system <NUM> may also include a plurality of fire alarms <NUM> configured to activate an alarm when a fire is detected by the fire sensors <NUM>. The alarm produced by the fire alarms <NUM> may be audible and/or visual (e.g., flashing lights and/or a siren).

The fire detection system <NUM> of the robot <NUM> may include similar equipment to that of the fire sensors <NUM>, however, advantageously the robot <NUM> is free to move throughout the building <NUM> rather than being tied to a particular location. Advantageously, this leads to earlier detection of a fire and more coverage of overall fire detection within the building <NUM>. The fire detection system <NUM> of the robot <NUM> may include a smoke detector, a heat sensor, or any similar device known to one of skill in the art that may be used to detect a fire. When the fire detection system <NUM> of the robot <NUM> detects a fire, the robot <NUM> is configured to notify the building systems manager <NUM> and the building system manager <NUM> may notify the fire alarm system <NUM> to activate the fire alarm <NUM>. The robot <NUM> may also transmit the location where the fire was detected to the building system manager <NUM>. In one embodiment, the controller <NUM> may be configured to analyze the data captured by the fire detection system <NUM> to determine whether a fire is present. In another embodiment, the controller <NUM> may be configured to transmit the data captured by the fire detection system <NUM> as raw data for processing by the building system manager <NUM> to determine whether a fire is present.

In addition to fires, the robot <NUM> may also be able to report other problems encountered within the building <NUM>, such as, for example flooding, biohazards, or hot/cold spots in a building. The sensor system <NUM> may additionally include a humidity sensor and the robot <NUM> may utilize the humidity sensor and/or the camera <NUM> to detect flooding within the building <NUM>. The sensor system <NUM> may additionally include a biohazard sensor and the robot <NUM> may utilize the biohazard to detect biohazards within the building <NUM>.

The people counter system <NUM> is configured to detect or determine a people count. The people count may be a number of individuals <NUM> located on a landing <NUM> or more specifically a number of individuals <NUM> located in an elevator lobby <NUM> on a landing <NUM>. The people count may be an exact number of individuals <NUM> or an approximate number of individuals <NUM>.

The people counter system <NUM> may utilize the camera <NUM> for people counting. The people counter system <NUM> may be used to determine a number of individuals <NUM> proximate the elevator systems <NUM>, a number of individuals <NUM> within an elevator lobby <NUM> proximate the elevator systems <NUM>, and/or a number of individuals <NUM> on their way to the elevator system <NUM>. Individuals <NUM> being located proximate the elevator system <NUM> and/or within the elevator lobby <NUM> is indicative that the individuals <NUM> would like to board an elevator car <NUM> of the elevator system <NUM>.

The people counter system <NUM> may utilize one or more detection mechanisms of the robot <NUM>, such as, for example the camera <NUM>, a depth sensing device, a radar device, a laser detection device, a mobile device (e.g., cell phone) tracker using the communication device <NUM>, and/or any other desired device capable of sensing the presence of individuals <NUM>. The people counter system <NUM> utilizes the camera <NUM> for visual recognition to identify individual individuals <NUM> and objects in elevator lobby <NUM>. The laser detection device may detect how many passengers walk through a laser beam to determine the number of individuals <NUM>. The thermal detection device may be an infrared or other heat sensing camera that utilizes detected temperature to identify individual individuals <NUM> and objects and then determine the number of individuals <NUM>. The depth detection device may be a <NUM>-D, <NUM>-D or other depth/distance detecting camera that utilizes detected distance to an object and/or individuals <NUM> to determine the number of individuals <NUM>. The communication device <NUM> may act as a mobile device tracker may determine a number of individuals <NUM> on a landing <NUM> or in elevator lobby <NUM> by detecting mobile device wireless signals and/or detecting how many mobile devices are utilizing a specific application on the mobile device within the building <NUM> on the landing <NUM>. As may be appreciated by one of skill in the art, in addition to the stated methods, additional methods may exist to sense the number of individuals <NUM> and one or any combination of these methods may be used to determine the number of individuals <NUM> in the elevator lobby <NUM>, on the landing <NUM>, or on their way to the elevator system <NUM>.

In one embodiment, the people counter system <NUM> is able to detect the people count through image pixel counting. The people count may compare a current image of the elevator lobby <NUM> to a stock image of the elevator lobby <NUM>. For example, the people counter system <NUM> may utilize pixel counting by capturing a current image of the elevator lobby <NUM> and comparing the current image of the elevator lobby <NUM> to a stock image of the elevator lobby <NUM> that illustrates the elevator lobby <NUM> with zero individuals <NUM> present or a known number of individuals <NUM> present. The number of pixels that are different between the stock image of the elevator lobby <NUM> and the current image of the elevator lobby <NUM> may correlate with the people count within the elevator lobby <NUM>. It is understood that the embodiments disclosed herein are not limited to pixel counting to determine a people count and thus a people count may be determined utilizing other method including but not limited to video analytics software. Video analytics may identify individuals <NUM> from stationary objections and count each person separately to determine a total number of individuals <NUM>.

The people count may be determined using a machine learning, deep learning, and/or artificial intelligence module. The artificial intelligence module can be located in the robot <NUM>, within the building system manager <NUM> or dispatcher <NUM>. The people count may alternatively be expressed as a percentage from zero-to-one-hundred percent indicating what percentage of pixels are different between the stock image of the elevator lobby <NUM> and the current image of the elevator lobby <NUM>. The people count of the elevator lobby <NUM> may be expressed as a scale of one-to-ten (e.g., one being empty and ten being full) indicating what percentage of pixels are different between the stock image of the elevator lobby <NUM> and the current image of the elevator lobby <NUM>. The people count may be expressed as an actual or estimated number of individuals <NUM>, which may be determined in response to the number of pixels that are different between the stock image of the elevator lobby <NUM> and the current image of the elevator lobby <NUM>.

The landing <NUM> in the building <NUM> of <FIG> may also include a people counter device <NUM> that works in collaboration with the people counter system <NUM> of the robot <NUM> to determine the people count. The people counter device <NUM> may include one or more detection mechanisms in the elevator lobby <NUM>, such as, for example a weight sensing device, a visual recognition device, depth sensing device, radar device, a laser detection device, mobile device (e.g., cell phone) tracking, and/or any other desired device capable of sensing the presence of individuals <NUM>. The visual recognition device may be a camera that utilizes visual recognition to identify individual individuals <NUM> and objects in elevator lobby <NUM>. The weight detection device may be a scale to sense the amount of weight in an elevator lobby <NUM> and then determine the number of individuals <NUM>. The laser detection device may detect how many passengers walk through a laser beam to determine the number of individuals <NUM> in the elevator lobby <NUM>. The thermal detection device may be an infrared or other heat sensing camera that utilizes detected temperature to identify individual individuals <NUM> and objects in the elevator lobby <NUM> and then determine the number of individuals <NUM>. The depth detection device may be a <NUM>-D, <NUM>-D or other depth/distance detecting camera that utilizes detected distance to an object and/or individuals <NUM> to determine the number of passengers. The mobile device tracking may determine a number of individuals <NUM> on a landing <NUM> or in elevator lobby <NUM> by detecting mobile device wireless signals and/or detecting how many mobile devices are utilizing a specific application on the mobile device within the building <NUM> on the landing <NUM> or in the elevator lobby <NUM>. As may be appreciated by one of skill in the art, in addition to the stated methods, additional methods may exist to sense the number of individuals <NUM> and one or any combination of these methods may be used to determine the number of individuals <NUM> in the elevator lobby <NUM> or on the landing <NUM>.

In one embodiment, the people counter device <NUM> is able to detect the people count through image pixel counting. The people count may compare a current image of the elevator lobby <NUM> to a stock image of the elevator lobby <NUM>. For example, the people counter device <NUM> may utilize pixel counting by capturing a current image of the elevator lobby <NUM> and comparing the current image of the elevator lobby <NUM> to a stock image of the elevator lobby <NUM> that illustrates the elevator lobby <NUM> with zero individuals <NUM> present or a known number of individuals <NUM> present. The number of pixels that are different between the stock image of the elevator lobby <NUM> and the current image of the elevator lobby <NUM> may correlate with the people count within the elevator lobby <NUM>. It is understood that the embodiments disclosed herein are not limited to pixel counting to determine a people count and thus a people count may be determined utilizing other method including but not limited to video analytics software. Video analytics may identify individuals <NUM> from stationary objections and count each person separately to determine a total number of individuals <NUM>.

The people count may be determined using a machine learning, deep learning, and/or artificial intelligence module. The artificial intelligence module can be located in the people counter device <NUM> or in a separate module in the dispatcher <NUM>. The separate module may be able to communicate with the people counter device <NUM>. The people count may alternatively be expressed as a percentage from zero-to-one-hundred percent indicating what percentage of pixels are different between the stock image of the elevator lobby <NUM> and the current image of the elevator lobby <NUM>. The people count of the elevator lobby <NUM> may be expressed as a scale of one-to-ten (e.g., one being empty and ten being full) indicating what percentage of pixels are different between the stock image of the elevator lobby <NUM> and the current image of the elevator lobby <NUM>. The people count may be expressed as an actual or estimated number of individuals <NUM>, which may be determined in response to the number of pixels that are different between the stock image of the elevator lobby <NUM> and the current image of the elevator lobby <NUM>.

The people count determined by at least one of people counter system <NUM> of the robot <NUM> and the people counter device <NUM> may be transmitted to the dispatcher <NUM> to adjust operation of the elevator systems <NUM>. For example, if the people count is high meaning that there are a large number of individuals <NUM> then the dispatcher <NUM> will send more elevator cars <NUM> to the elevator lobby <NUM>.

Advantageously, the robot <NUM> is able to move away from the elevator lobby <NUM> and thus may be able to detect crowds of individuals <NUM> in advance of the crowd of individuals <NUM> reaching the elevator lobby <NUM>. The crowd of individuals <NUM> the dispatcher <NUM> may then be reported to the dispatcher <NUM> and the dispatcher <NUM> may call elevators cars <NUM> in advance of the crowd of individuals <NUM> reaching the elevator lobby <NUM>, which advantageously saves time by helping to clear out the crowd of individuals <NUM> from the elevator lobby <NUM> faster.

Additionally, the robot <NUM> may also serve as a security guard for the building <NUM> by utilizing the people counter system <NUM> and/or the camera <NUM> to detect individuals <NUM> that should not be located in the building <NUM>. In one example, the camera <NUM> may be utilized identify each individual <NUM> within the building <NUM> through facial recognition and if the individual <NUM> is not authorized to be in the building <NUM> or a specific section/room of the building <NUM> (i.e., determined to be an intruder) then the robot <NUM> may activate an intruder alert and/or contact the building system manager <NUM>. The intruder alert may be a visual light display or an audible alarm of the building system manager <NUM>. The facial recognition determination may be compared to a database images of individuals <NUM> authorized to be within the building <NUM> and/or database images of individuals <NUM> not authorized to be within the building <NUM>. If the building <NUM> has multiple different sections or landings <NUM> with different security requirements then robot <NUM> may be configured to travel throughout the building <NUM> to ensure that individuals <NUM> are authorized to be in the section or room of the building <NUM>. Further, if individuals <NUM> are detected within the building <NUM> at unusual times or unauthorized times, then the robot <NUM> may activate an intruder alert and/or contact the building system manager <NUM>. For example, if an individual <NUM> is detected after the building <NUM> has closed then the robot <NUM> may activate an intruder alert and/or contact the building system manager <NUM>.

Referring now to <FIG>, while referencing components of <FIG> and <FIG>. <FIG> shows a flow chart of method <NUM> of collecting data using a robot data collection system <NUM> of <FIG>, in accordance with an embodiment of the disclosure. In an embodiment, the method <NUM> is performed by the robot data collection system <NUM> of <FIG>.

At block <NUM>, data is collected on a landing <NUM> of a building <NUM> using a sensor system <NUM> of a robot <NUM>. The robot <NUM> may move around the landing <NUM> to collect the data. In an embodiment, the conveyance system is an elevator system <NUM> comprising an elevator car <NUM>. The robot <NUM> may be moved within an elevator lobby <NUM> on the landing <NUM> to collect the data.

At block <NUM>, the data is transmitted to a conveyance system of the building <NUM>. At block <NUM>, operation of the conveyance system is adjusted in response to the data.

The method <NUM> may further comprise that an elevator call <NUM> is received from the robot <NUM> for the elevator car <NUM> to transport the robot <NUM> from the landing <NUM> to a destination (i.e., a landing <NUM> that the robot <NUM> would like to travel to), a location <NUM> of the robot <NUM> is detected, a travel speed of the robot <NUM> is detected, a distance from the location <NUM> of the robot <NUM> to the elevator system <NUM> is determined, a time of arrival of the robot <NUM> at the elevator system <NUM> is determined in response to the location <NUM> of the robot <NUM>, the travel speed of the robot <NUM> is detected, and the distance from the location <NUM> of the robot <NUM> to the elevator system <NUM>, and the elevator car <NUM> is moved to arrive at the landing <NUM> at or before the time or arrival of the robot <NUM>. The method <NUM> may further comprise that it is detected when the robot <NUM> is located within the elevator car <NUM> and then the elevator car <NUM> is moved to the destination.

The method <NUM> may also comprise that an image of an individual <NUM> is captured using a camera <NUM> of the sensor system <NUM>, an identity of the individual <NUM> is determined in response to the image, a destination of the individual <NUM> is determined in response to the identity, and an elevator call <NUM> is transmitted to a dispatcher <NUM> of the elevator system <NUM> for an elevator car <NUM> to transport the individual <NUM> from the landing <NUM> to the destination.

The method <NUM> may also comprise that a voice of an individual <NUM> is captured using a microphone <NUM> of the sensor system <NUM>, an identity of the individual <NUM> is determined in response to the voice, a destination of the individual <NUM> is determined in response to the identity, and an elevator call <NUM> is transmitted to a dispatcher <NUM> of the elevator system <NUM> for an elevator car <NUM> to transport the individual <NUM> from the landing <NUM> to the destination.

The method <NUM> may also comprise that a wireless signal indicating an identity of the individual <NUM> is captured using a communication module <NUM> of the robot <NUM>, an identity of the individual <NUM> is determined in response to the wireless signal, a destination of the individual <NUM> is determined in response to the identity, and an elevator call <NUM> is transmitted to a dispatcher <NUM> of the elevator system <NUM> for an elevator car <NUM> to transport the individual <NUM> from the landing <NUM> to the destination. The wireless signal may be from a radio frequency identification (RFID) tag being carried by the individual <NUM> or from a mobile device (e.g., smart phone) being carried by the individual <NUM>.

The method <NUM> may further comprise that a number of individuals <NUM> is detected within the elevator lobby <NUM> using a people detection system <NUM> of the sensor system <NUM>, an elevator call <NUM> is transmitted to a dispatcher <NUM> of the elevator system <NUM> in response to the number of individuals <NUM>.

The method <NUM> may further comprise that a number of individuals <NUM> is detected approaching the elevator lobby <NUM> using a people detection system <NUM> of the sensor system <NUM> and an elevator call <NUM> is transmitted to a dispatcher <NUM> of the elevator system <NUM> in response to the number of individuals <NUM>. It is additionally determined that a crowd has formed when the number of individuals is greater than or equal to a selected crowd size.

The method <NUM> may further comprise that a fire is detected using a fire detection system <NUM> of the sensor system <NUM>, a dispatcher <NUM> of the elevator system <NUM> is notified of the fire, and the elevator system <NUM> is operated in an occupant evacuation operation mode, which coordinates the evacuation of individuals <NUM> from the building <NUM>.

Referring now to <FIG>, while referencing components of <FIG> and <FIG>. <FIG> shows a flow chart of method <NUM> of collecting data using a robot <NUM> data collection system <NUM> of <FIG>, in accordance with an embodiment of the disclosure. In an embodiment, the method <NUM> is performed by the robot <NUM> data collection system <NUM> of <FIG>.

At block <NUM>, data is collected on a landing <NUM> of a building <NUM> using a sensor system <NUM> of a robot <NUM>. The robot <NUM> may be moved around the landing <NUM> to collect the data. At block <NUM>, the data is transmitted to a building system manager <NUM> of the building <NUM>. At block <NUM>, operation of the building system manager <NUM> is adjusted in response to the data.

The method <NUM> may also comprise that a fire is detected using a fire detection system <NUM> of the sensor system <NUM>, the building manager <NUM> is notified of the fire, and a fire alarm <NUM> is activated.

The method <NUM> may also comprise that a problem condition is detected using the sensor system <NUM> and the building manager <NUM> is notified of the problem condition. A problem condition may include a fire, flooding, smoke, spill, mess, necessary repair or any other problem condition within the building <NUM> that may be encountered by the robot <NUM>.

The method <NUM> may further comprise that a dispatcher <NUM> of an elevator system <NUM> within the building <NUM> is notified of the fire and then the elevator system <NUM> is operated in an occupant evacuation operation mode, which coordinates the evacuation of individuals <NUM> from the building <NUM>.

The method <NUM> may further comprise that an image of an individual <NUM> is captured using a camera <NUM> of the sensor system <NUM> and an identity of the individual <NUM> is determined in response to the image. It may be determined that the individual <NUM> is an intruder in response to the identity and then an intruder alert of the building system manager <NUM> may be activated.

The method <NUM> may further comprise that an individual <NUM> is detected within the building <NUM> at an unauthorized time using a people counting system <NUM> of the sensor system <NUM> and then an intruder alert of the building system manager <NUM> is activated.

The method <NUM> may further comprise that the data is transmitted to a conveyance system of the building <NUM> and then operation of the conveyance system is adjusted in response to the data. In an embodiment, the conveyance system is an elevator system <NUM> comprising an elevator car <NUM>.

Referring now to <FIG>, while referencing components of <FIG> and <FIG>. <FIG> shows a flow chart for a non-claimed method <NUM> of calling an elevator car <NUM> of an elevator system <NUM> for a robot <NUM>, in accordance with an embodiment of the disclosure. In an embodiment, the method <NUM> is performed by the robot data collection system <NUM> of <FIG>.

At block <NUM>, an elevator call <NUM> from the robot <NUM> at a first time. The elevator call <NUM> being for the elevator car <NUM> to transport the robot <NUM> from the landing <NUM> to a destination (e.g., another landing).

At block <NUM>, a known schedule of the robot <NUM> or a known location of the robot <NUM> at the first time is obtained. For example, the known schedule of the robot <NUM> may depict where the robot <NUM> should be in the building <NUM> at any given time. The known schedule may be stored in the building system manager <NUM>.

At block <NUM>, a location <NUM> of the robot <NUM> at the first time is determined in response to the known schedule of the robot <NUM> or the known location of the robot <NUM> at the first time.

At block <NUM>, a known travel speed of the robot <NUM> of the robot is obtained. The known travel speed of the robot <NUM> may be stored in the building system manager <NUM>.

At block <NUM>, a time of arrival of the robot <NUM> at the elevator system <NUM> is determined in response to at least the location of the robot <NUM> at the first time, the travel speed of the robot <NUM>, and a location of the elevator system.

At block <NUM>, the elevator car <NUM> is moved to arrive at the landing <NUM> at or before the time or arrival of the robot <NUM>.

The non-claimed method <NUM> may further comprise that it is determined whether the robot <NUM> arrived at the location of the elevator system <NUM> and operation of the elevator system <NUM> is adjusted in response to whether (and when) the robot <NUM> arrived at the location of the elevator system <NUM>. For example, if it is determined that the robot <NUM> arrived at the location of the elevator system <NUM>, then the elevator system <NUM> may take the robot <NUM> to the destination via an elevator car <NUM>. In another example, if it is determined that the robot <NUM> has not arrived at the location of the elevator system <NUM>, an alarm may be activated indicating that the robot <NUM> is lost/missing or for potential unauthorized use of a credential of the robot <NUM>. In yet another example, if it is determined that the robot <NUM> has arrived at the location of the elevator system <NUM> extremely early then the elevator system <NUM> may determine that another elevator car <NUM> has already transported the robot <NUM>.

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

Claim 1:
A method of collecting data using a robot data collection system (<NUM>), the method comprising:
collecting data on a landing (<NUM>) of a building (<NUM>) using a sensor system (<NUM>) of a robot (<NUM>);
transmitting the data to a conveyance system (<NUM>) of the building (<NUM>), wherein the conveyance system (<NUM>) is an elevator system comprising an elevator car (<NUM>); and
adjusting operation of the elevator system (<NUM>) in response to the data;
characterized in that the method further comprises:
detecting a number of individuals (<NUM>) approaching an elevator lobby (<NUM>) using at least one of a people detection system (<NUM>) of the sensor system (<NUM>) and a people counter device (<NUM>) of the building (<NUM>);
determining that a crowd has formed when the number of individuals (<NUM>) is greater than or equal to a selected crowd size; and
transmitting an elevator call to a dispatcher (<NUM>) of the elevator system (<NUM>) in response to the number of individuals (<NUM>).