Patent Description:
In addition to people, elevators can be used to carry various autonomously operated vehicles that may autonomously navigate within a building. A control system may be associated with these autonomously operated vehicles. In order to enable the autonomously operated vehicles to utilize elevators of an elevator system, an integration between the control system and the elevator system may need to be implemented. This can be a laborious task and may unnecessarily complicate the operation of the elevator system. Thus, an alternative solution for enabling the autonomously operated vehicles to utilize the elevators of the elevator system would be desirable. <CIT> discloses an apparatus according to the preamble of claim <NUM>.

According to a first aspect, there is provided a method according to claim <NUM>.

In an implementation form of the first aspect, the parameter data comprises at least one of a size and moving speed of the automated guided vehicle.

In an implementation form of the first aspect, obtaining the information indicating a destination floor for the automated guided vehicle based on the image data comprises obtaining the information indicating the destination floor for the automated guided vehicle by recognizing, based on the image data, the information indicating the destination floor from a display of the automated guided vehicle.

In an implementation form of the first aspect, causing transmission of information identifying the allocated elevator car to the automated guided vehicle comprises causing transmission of the information identifying the allocated elevator car to the automated guided vehicle using a display associated with the elevator system.

In an implementation form of the first aspect, obtaining image data associated with an area associated with a plurality of elevators comprises obtaining the image data from at least one camera.

According to a second aspect, there is provided an apparatus according to claim <NUM>.

In an implementation form of the second aspect, the parameter data comprises at least one of a size and moving speed of the automated guided vehicle.

In an implementation form of the second aspect, the means for obtaining the information indicating a destination floor for the automated guided vehicle based on the image data are configured to obtain the information indicating the destination floor for the automated guided vehicle by recognizing, based on the image data, the information indicating the destination floor from a display of the automated guided vehicle.

In an implementation form of the second aspect, the means for causing transmission of information identifying the allocated elevator car to the automated guided vehicle are configured to cause transmission of the information identifying the allocated elevator car to the automated guided vehicle using a display associated with the elevator system.

In an implementation form of the second aspect, the means for obtaining image data associated with an area associated with a plurality of elevators are configured to obtain the image data from at least one camera.

According to a third aspect, there is provided an elevator system comprising a plurality of elevators and the apparatus of the second aspect.

In an implementation form of the third aspect, the elevator system further comprises at least one camera configured to provide the image data about the area associated with the plurality of elevators.

According to a fourth aspect, there is provided a computer program comprising program code, which when executed by at least one processing unit, causes the apparatus of the second aspect to perform the method of the first aspect.

According to a fifth aspect, there is provided a computer-readable medium comprising a computer program comprising program code which when executed by at least one processing unit, causes the apparatus of the second aspect to perform the method of the first aspect.

The following description illustrates example embodiments for allocating an elevator of an elevator system for an automated guided vehicle. The example embodiments illustrate a solution by which the allocation can be implemented without making an integration between a control system of the automated guided vehicle and the elevator system.

The term "automated guided vehicle" may refer to movable, driverless item that follows along marked long lines or wires on the floor, or uses radio waves, vision cameras, magnets, or lasers for navigation. In an example embodiment, the automated guided vehicle may be a fully autonomously operating vehicle. In another example embodiment, some operations of the automated guided vehicle may be handled by a human controller.

<FIG> illustrates a flow chart of a method for allocating an elevator according to an example embodiment.

At <NUM> image data associated with an area associated with a plurality of elevators is obtained. The area associated with a plurality of elevators may refer, for example, to an elevator lobby or other area in vicinity of the elevators. The image data may originate from one or more cameras associated with the elevator system. Alternatively, the image data may originate from a camera system that is external to the elevator system.

At <NUM> an automated guided vehicle is detected based on the image data. The detection may be based, for example, on image recognition based on the image data. The automated guided vehicle may have a shape that is detected and recognized, or some identifying feature associated with the automated guided vehicle may be identified based on the image data, for example, based on an identifier appearing on the automated guided vehicle, for example, a QR code.

At <NUM> parameter data associated with the automated guided vehicle is determined based on the image data. The parameter data may comprise, for example, a size and moving speed of the automated guided vehicle. In an example embodiment, the size of the automated guided vehicle may be determined directly from the image data. In another example embodiment, the parameter data may be obtained based, for example, on the identifier appearing on the automated guided vehicle.

At <NUM> information indicating a destination floor for the automated guided vehicle is obtained.

The information indicating the destination floor for the automated guided vehicle is obtained based on the image data. For example, the automated guided vehicle may comprise a display, and information displayed on the display may be determined by one or more cameras. The destination floor may be indicated on the display in a textual form, for example, "To floor <NUM>". Alternatively or additionally, frequency of the display may be modulated so that it is possible to determine the destination based on the modulation. At <NUM> an elevator car is allocated for the automated guided vehicle by taking into account at least the parameter data and the destination floor. The elevators in the elevator system may have different sizes and only some of the elevators may be able to accommodate the automated guided vehicle. Thus, if the parameter data comprises the size of the automated guided vehicle, the elevator system is able to determine which one or ones of the elevators is/are big enough to accommodate the automated guided vehicle. In another example embodiment, if the parameter data comprises, for example, a moving speed of the automated guided vehicle, the elevator system may be able to determine how long it takes for the automated guided vehicle to reach the elevators, and thus take also this into account when allocating the elevator car.

At <NUM> information identifying the allocated elevator car is caused to be transmitted to the automated guided vehicle. In an example embodiment, the information may be provided to the automated guided vehicle by at least one display associated with the elevator system. As the automated guided vehicle may be equipped with a machine vision system, it is able to detect the information provided by the at least one display. The display may display, for example, "AGV Elevator D to Floor <NUM>". In another example embodiment, an audible indication about the elevator allocation may be provided to the automated guided vehicle. Yet in another example embodiment, the information identifying the allocated elevator car may be transmitted to the automated guided vehicle by using a radio frequency transmission.

In an example embodiment, the steps discussed above may be performed by at least one apparatus or controller associated with an elevator system, for example, an elevator controller.

<FIG> and <FIG> illustrate elevator system elements associated with an elevator car allocation according to an example embodiment. One or more of the elevator system elements may implement the method discussed earlier relating to <FIG>, for example, an elevator controller <NUM> or another controller connected to the elevator controller <NUM>.

An automated guided vehicle <NUM> may be used to carry objects or articles and deliver them to intended recipients. The course taken by the automated guided vehicle <NUM> may necessitate the use of one or more elevators before reaching the intended recipient. The automated guided vehicle <NUM> may have a control connection to a control system <NUM>, but at the same time, it may be equipped with abilities to autonomously navigate to a set destination. The abilities may comprise, for example, machine vision capabilities, radars, sound analysis capabilities etc..

When the automated guided vehicle <NUM> approaches elevators 202A-202F, there may be arranged means for making a destination call, for example, using destination operating panels (DOP) 208A-208D. However, the automated guided vehicle <NUM> may not have abilities to connect to a destination operating panel, and other means for enabling a destination call to be made associated with the automated guided vehicle may need to be implemented. Further, in an example embodiment, not all of the elevators 202A-202F may be capable of transporting the automated guided vehicle <NUM>.

Thus, as illustrated in <FIG>, one or more cameras <NUM>, <NUM> may be arranged, for example, in vicinity of the elevators 202A-202F. The cameras <NUM>, <NUM> may be internal elements of the elevator system, or alternatively, they may be part of a camera system connected to the elevator system. <FIG> illustrates an example in which the cameras <NUM>, <NUM> may be associated with elevators 202B, 202D. They can be integrated, for example, with a landing display above the landing doors. In another example, a camera may be integrated into one or more destination operating panels 208A-208D. Further, one or more cameras may be standalone cameras positioned into appropriate locations in an elevator lobby. Further, even if <FIG> may illustrate that the cameras <NUM>, <NUM> are arranged in close proximity of the landing doors associated with the elevators, one or more cameras may be arranged farther away from the elevators so that the automated guided vehicle <NUM> may be detected already earlier.

When multiple cameras <NUM>, <NUM> are used, it enables providing a more accurate determination relating to one or more parameters associated with the automated guided vehicle. For example, the size of the automated guided vehicle may be accurately determined based on the image data obtained from the cameras <NUM>, <NUM>. Further, the moving speed of the automated guided vehicle <NUM> may be determined based on the image data.

When the automated guided vehicle <NUM> can be detected by the cameras <NUM>, <NUM>, information indicating a destination floor for the automated guided vehicle <NUM> is obtained. The information indicating the destination floor for the automated guided vehicle <NUM> is obtained based on the image data. For example, the automated guided vehicle <NUM> may comprise a display, and information displayed on the display may be detected by one or more of the cameras <NUM>, <NUM>. The destination floor may be indicated on the display in a textual form, for example, "To floor <NUM>". Alternatively or additionally, frequency of the display may be modulated so that it is possible to determine the destination based on the modulation based on the image data obtained from the cameras <NUM>, <NUM>.

When the destination floor has been identified, an elevator car is allocated by the elevator controller <NUM> for the automated guided vehicle <NUM> by taking into account at least the parameter data and the destination floor. In <FIG>, there are two elevator 202C, 202F within which the automated guided vehicle <NUM> would fit to be transported to a destination floor. The elevators 202A, 202B, 202D and 202E cannot be considered for the allocation as they are too small for the automated guided vehicle <NUM>. The elevator 202F is already occupied by a group of people and thus cannot be selected. Thus, the elevator 202C is allocated for the destination call as it has room <NUM> available for the automated guided vehicle <NUM>.

Further, in another example embodiment, if the parameter data comprises, for example, moving speed of the automated guided vehicle, the elevator system may be able to determine how long it takes for the automated guided vehicle to reach the elevators, and thus take also this into account when allocating the elevator car.

Information identifying the allocated elevator car is to be delivered to the automated guided vehicle <NUM> so that it can be transported to the destination floor. In an example embodiment, the information may be provided to the automated guided vehicle <NUM> by at least one display associated with the elevator system. As the automated guided vehicle <NUM> may be equipped with a machine vision system, it is able to detect the information provided by the at least one display. The display may display, for example, "AGV Elevator D to Floor <NUM>". A display arranged above the door of the serving elevator may provide the information. Alternatively or additionally, any other display arranged in the elevator lobby may provide the information. Alternatively or additionally, frequency of the display may be modulated so that the automated guided vehicle <NUM> is able to determine the allocated elevator based on the modulation. Yet in another example embodiment, the elevator system may comprise a speaker that is configured to provide an audible indication about the elevator allocation to the automated guided vehicle <NUM>.

In an example embodiment of <FIG> and <FIG>, a separate display or a display already used for another purpose, for example, a display of a destination operating panel, may be used for providing information used by the autonomous guided vehicle. For example, the display may display a code, for example, a QR code or an image which the automated guided vehicle can later use for making the destination call. For example, there can be separate floor maps for people and for automated guided vehicles. The display may display an automated guided vehicle related floor map after identifying the automated guided vehicle. In another example embodiment, the automated guided vehicle may request the floor map using a predetermined identifier or an image. The identifier or image may also identify a common language between the automated guided vehicle and the elevator controller. In this way, the automated guided vehicle and the elevator controller may agree on the format used to transfer information between the automated guided vehicle and the elevator controller. After requesting the floor map, the automated guided vehicle may be provided the floor map from which the automated guided vehicle may be able to identify a desired destination floor and read a code or an image associated with the destination floor so that the automated guided vehicle is able to later make/activate the destination call with the code or image.

In an example embodiment of <FIG> and <FIG>, the automated guided vehicle may visit a specific location at a building, for example, at a reception type location to obtain a service label for the elevator system. The service label may include as built-in information the destination floor for the automated guided vehicle. In an example embodiment, a simple form of a service label is a queuing/running number or a QR code to which the destination floor has been associated with in the elevator system. Then, when the automated guided vehicle wishes to make the actual destination call, the automated guided vehicle may activate the destination call with the service label in the elevator lobby, for example, by displaying the service label on the display of the automated guided vehicle or by using some other means for transmitting the service label to the elevator system.

In an example embodiment of <FIG> and <FIG>, the automated guided vehicle may be provided with an invitation, for example, from a tenant or some other building occupant. The invitation may be, for example, a code (for example, a QR code) or an image which can understood by the elevator system. Again, the invitation may comprise as built-in information the destination floor for the automated guided vehicle. Then, when the automated guided vehicle wishes to make the actual destination call, the automated guided vehicle may activate the destination call with the invitation in the elevator lobby, for example, by displaying the invitation on the display of the automated guided vehicle or by using some other means for transmitting the invitation to the elevator system.

In an example embodiment of <FIG> and <FIG>, when it is identified based on the image data provided by the cameras that the automated guided vehicle resides in the elevator lobby area, the elevator controller or some other controller of the elevator system may start tracking whether the display of the automated guided vehicle identifies a request or an identifier for the elevator system. The request or identifier may also identify a common information transfer format between the automated guided vehicle and the elevator system.

In an example embodiment of <FIG> and <FIG>, when it is identified based on the image data provided by the cameras that the automated guided vehicle resides in the elevator lobby area, the elevator controller or some other controller of the elevator system may activate short-range signaling, for example, near field communication (NFC) signaling or other short range wireless signaling to be used between the automated guided vehicle and the elevator system. The short-range signaling could then be used to direct the automated guided vehicle towards the allocated elevator.

In an example embodiment of <FIG> and <FIG>, when it is identified based on the image data provided by the cameras that the automated guided vehicle resides in the elevator lobby area, the elevator controller or some other controller of the elevator system may control one or more display in the elevator lobby to display guidance information for the automated guided vehicle to reach the allocated elevator.

At least some of the above discussed embodiments may enable an identification of a destination call from an automated guided vehicle and an identification of an allocated elevator to the automated guided vehicle in a simple manner without having to implement an expensive and complicated system integration between the control system of the automated guided vehicle and the elevator system.

<FIG> illustrates an apparatus <NUM> for allocating an elevator according to an example embodiment. The apparatus <NUM> may comprise at least one processor <NUM>. The apparatus <NUM> may further comprise at least one memory <NUM>. The memory <NUM> may comprise program code <NUM> which, when executed by the processor <NUM> causes the apparatus <NUM> to perform at least one example embodiment. The exemplary embodiments and aspects of the subject-matter can be included within any suitable device, for example, including, servers, elevator controllers, workstations, capable of performing the processes of the exemplary embodiments. The exemplary embodiments may also store information relating to various processes described herein. Although the apparatus <NUM> is illustrated as a single device it is appreciated that, wherever applicable, functions of the apparatus <NUM> may be distributed to a plurality of devices.

Example embodiments may be implemented in software, hardware, application logic or a combination of software, hardware and application logic. The example embodiments can store information relating to various methods described herein. This information can be stored in one or more memories <NUM>, such as a hard disk, optical disk, magneto-optical disk, RAM, and the like. One or more databases can store the information used to implement the example embodiments. The databases can be organized using data structures (e.g., records, tables, arrays, fields, graphs, trees, lists, and the like) included in one or more memories or storage devices listed herein. The methods described with respect to the example embodiments can include appropriate data structures for storing data collected and/or generated by the methods of the devices and subsystems of the example embodiments in one or more databases.

The processor <NUM> may comprise one or more general purpose processors, microprocessors, digital signal processors, micro-controllers, and the like, programmed according to the teachings of the example embodiments, as will be appreciated by those skilled in the computer and/or software art(s). Appropriate software can be readily prepared by programmers of ordinary skill based on the teachings of the example embodiments, as will be appreciated by those skilled in the software art. In addition, the example embodiments may be implemented by the preparation of application-specific integrated circuits or by interconnecting an appropriate network of conventional component circuits, as will be appreciated by those skilled in the electrical art(s). Thus, the examples are not limited to any specific combination of hardware and/or software. Stored on any one or on a combination of computer readable media, the examples can include software for controlling the components of the example embodiments, for driving the components of the example embodiments, for enabling the components of the example embodiments to interact with a human user, and the like. Such computer readable media further can include a computer program for performing all or a portion (if processing is distributed) of the processing performed in implementing the example embodiments. Computer code devices of the examples may include any suitable interpretable or executable code mechanism, including but not limited to scripts, interpretable programs, dynamic link libraries (DLLs), Java classes and applets, complete executable programs, and the like.

As stated above, the components of the example embodiments may include computer readable medium or memories <NUM> for holding instructions programmed according to the teachings and for holding data structures, tables, records, and/or other data described herein. In the context of this document, a "computer-readable medium" may be any media or means that can contain, store, communicate, propagate or transport the instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer. A computer-readable medium may include a computer-readable storage medium that may be any media or means that can contain or store the instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer. A computer readable medium can include any suitable medium that participates in providing instructions to a processor for execution. Such a medium can take many forms, including but not limited to, non-volatile media, volatile media, transmission media, and the like.

The apparatus <NUM> may comprise a communication interface <NUM> configured to enable the apparatus <NUM> to transmit and/or receive information, to/from other apparatuses and/or elements associated with an elevator system.

Claim 1:
A method for allocating an elevator car of an elevator system, the method comprising:
obtaining image data associated with an area associated with a plurality of elevators (202A-202F);
detecting, based on the image data, an automated guided vehicle (<NUM>);
determining, based on the image data, parameter data associated with the automated guided vehicle (<NUM>);
obtaining information indicating a destination floor for the automated guided vehicle (<NUM>) based on the image data;
allocating an elevator car for the automated guided vehicle (<NUM>) by taking into account at least the parameter data and the destination floor; and
causing transmission of information identifying the allocated elevator car to the automated guided vehicle (<NUM>).