Patent Application
20230271806
An elevator call is usually made when a passenger arrives at an elevator lobby and presses a landing call button or makes a destination call. It may also be possible to make an elevator call, for example, a destination call, beforehand before arriving to close proximity of the elevator.
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.
According to a first aspect, there is provided a method for allocating an elevator of an elevator system. The method comprises obtaining image data associated with an area associated with a plurality of elevators; detecting, based on the image data, an automated guided vehicle; determining, based on the image data, parameter data associated with the automated guided vehicle; obtaining information indicating a destination floor for the automated guided vehicle; allocating an elevator car for the automated guided vehicle 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.
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 information indicating a destination floor for the automated guided vehicle comprises obtaining the information indicating the destination floor for the automated guided vehicle based on wirelessly transmitted data from the automated guided vehicle.
In an implementation form of the first aspect, obtaining information indicating a destination floor for the automated guided vehicle comprises obtaining the information indicating a destination floor for the automated guided vehicle based on the image data.
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 for allocating an elevator of an elevator system. The apparatus comprises means for obtaining image data associated with an area associated with a plurality of elevators; means for detecting, based on the image data, an automated guided vehicle; means for determining, based on the image data, parameter data associated with the automated guided vehicle; means for obtaining information indicating a destination floor for the automated guided vehicle; means for allocating an elevator car for the automated guided vehicle by taking into account at least the parameter data and the destination floor; and means for causing transmission of information identifying the allocated elevator car to the automated guided vehicle.
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 information indicating a destination floor for the automated guided vehicle are configured to obtain the information indicating the destination floor for the automated guided vehicle based on wirelessly transmitted data from the automated guided vehicle.
In an implementation form of the second aspect, the means for obtaining information indicating a destination floor for the automated guided vehicle are configured to obtain the information indicating a destination floor for the automated guided vehicle based on the image data.
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.
According to a sixth aspect, there is provided an apparatus for allocating an elevator. The apparatus comprises at least one processor, and at least one memory connected to the at least one processor. The at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to obtain image data associated with an area associated with a plurality of elevators; detect, based on the image data, an automated guided vehicle; determine, based on the image data, parameter data associated with the automated guided vehicle; obtain information indicating a destination floor for the automated guided vehicle; allocate an elevator car for the automated guided vehicle by taking into account at least the parameter data and the destination floor; and cause transmission of information identifying the allocated elevator car to the automated guided vehicle.
The accompanying drawings, which are included to provide a further understanding of the invention and constitute a part of this specification, illustrate embodiments of the invention and together with the description help to explain the principles of the invention. In the drawings:
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.
At 100 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 102 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 104 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 106 information indicating a destination floor for the automated guided vehicle is obtained. In an example embodiment, the information indicating the destination floor for the automated guided vehicle may be obtained based on wirelessly transmitted data from the automated guided vehicle. For example, the automated guided vehicle may transmit a radio frequency signal comprising an indication of the destination floor. In another example embodiment, the information indicating the destination floor for the automated guided vehicle may be 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 8”. Alternatively or additionally, frequency of the display may be modulated so that it is possible to determine the destination based on the modulation.
At 108 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 110 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 8”. 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.
An automated guided vehicle 204 may be used to carry objects or articles and deliver them to intended recipients. The course taken by the automated guided vehicle 204 may necessitate the use of one or more elevators before reaching the intended recipient. The automated guided vehicle 204 may have a control connection to a control system 206, 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 204 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 204 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 204.
Thus, as illustrated in
When multiple cameras 212, 214 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 212, 214. Further, the moving speed of the automated guided vehicle 204 may be determined based on the image data.
When the automated guided vehicle 204 can be detected by the cameras 212, 214, information indicating a destination floor for the automated guided vehicle 204 may be obtained. For example, the automated guided vehicle 204 may transmit a radio frequency signal comprising an indication of the destination floor. The elevator system may thus comprise a receiver that is able to receive the signals transmitted by the automated guided vehicle 204. In another example embodiment, the information indicating the destination floor for the automated guided vehicle 204 may be obtained based on the image data. For example, the automated guided vehicle 204 may comprise a display, and information displayed on the display may be detected by one or more of the cameras 212, 214. The destination floor may be indicated on the display in a textual form, for example, “To floor 8”. 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 212, 214. Yet in another example embodiment, the automated guided vehicle 204 may provide an audible indication about the destination floor.
When the destination floor has been identified, an elevator car is allocated by the elevator controller 202 for the automated guided vehicle 204 by taking into account at least the parameter data and the destination floor. In
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 204 so that it can be transported to the destination floor. In an example embodiment, the information may be provided to the automated guided vehicle 204 by at least one display associated with the elevator system. As the automated guided vehicle 204 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 8”. 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 204 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 204.
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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.
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 304, 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 302 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 304 for holding instructions programmed according to the teachings and for holding data structures, tables, records, and/or other data described herein. In an example embodiment, the application logic, software or an instruction set is maintained on any one of various conventional computer-readable media. 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 300 may comprise a communication interface 308 configured to enable the apparatus 300 to transmit and/or receive information, to/from other apparatuses and/or elements associated with an elevator system.
The apparatus 300 may comprise means for performing at least one method described herein. In one example, the means may comprise the at least one processor 302, the at least one memory 304 including program code 306 configured to, when executed by the at least one processor 302, cause the controller 300 to perform the method.
While there have been shown and described and pointed out fundamental novel features as applied to preferred embodiments thereof, it will be understood that various omissions and substitutions and changes in the form and details of the devices and methods described may be made by those skilled in the art without departing from the scope of the claims. For example, it is expressly intended that all combinations of those elements and/or method steps which perform substantially the same function in substantially the same way to achieve the same results are within the scope of the disclosure. Moreover, it should be recognized that structures and/or elements and/or method steps shown and/or described in connection with any disclosed form or embodiments may be incorporated in any other disclosed or described or suggested form or embodiment as a general matter of design choice. Furthermore, in the claims means-plus-function clauses are intended to cover the structures described herein as performing the recited function and not only structural equivalents, but also equivalent structures.
The applicant hereby discloses in isolation each individual feature described herein and any combination of two or more such features, to the extent that such features or combinations are capable of being carried out based on the present specification as a whole, in the light of the common general knowledge of a person skilled in the art, irrespective of whether such features or combinations of features solve any problems disclosed herein, and without limitation to the scope of the claims. The applicant indicates that the disclosed aspects/embodiments may consist of any such individual feature or combination of features. In view of the foregoing description it will be evident to a person skilled in the art that various modifications may be made within the scope of the disclosure.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/FI2020/050880 | Dec 2020 | WO |
| Child | 18142860 | US |
