A robot configured to perform self-assessment on its outer surface

Abstract

A system is disclosed that includes: a robot having a controller configured to perform a self-assessment by being configured to: command an external sensor spaced apart from the robot to obtain and transmit sensor data indicative of a condition of an external surface of the robot; determine that the robot needs servicing based on the sensor data; and transmit a service request or schedule a service in response to determining that the robot needs servicing.

Description

Technical Field

[0001] The present disclosure relates to a robot, and more particularly, to a robot configured to perform a self - assessment on its external surface. Background Art

[0002] Robots can be used in the hospitality industry. These robots may be able to perform a self - assessment of their electrical systems from time to time. However, these robots may not be able to determine when their outer surfaces are dirty or damaged. Summary of the Invention

[0003] A system is disclosed that includes: a robot having a controller configured to perform a self - assessment by being configured to: command an external sensor spaced apart from the robot to obtain and transmit sensor data indicative of the condition of the robot's external surface; determine that the robot needs service based on the sensor data; and transmit a service request or schedule service in response to determining that the robot needs service.

[0004] In addition to, or as an alternative to, one or more aspects of the system disclosed herein, the robot is configured to: perform the self - assessment periodically or according to a predetermined schedule.

[0005] In addition to, or as an alternative to, one or more aspects of the system disclosed herein, the robot is configured to: identify and enter a predetermined sensor coverage area of the external sensor.

[0006] In addition to, or as an alternative to, one or more aspects of the system disclosed herein, the robot is configured to: move within the sensor coverage area, whereby the sensor data indicates the condition of multiple sides of the robot.

[0007] In addition to, or as an alternative to, one or more aspects of the system disclosed herein, the robot is configured to communicate with the external sensor via a wireless protocol.

[0008] In addition to, or as an alternative to, one or more aspects of the system disclosed herein, the robot is configured to: determine the position of the external sensor and move to the external sensor to perform the self - assessment.

[0009] In addition to, or as an alternative to, one or more aspects of the system disclosed herein, the robot is configured to determine the position of the external sensor via a look - up table, a cloud service, or by monitoring beacon signals emitted from the external sensor.

[0010] In addition to, or as an alternative to, one or more aspects of the systems disclosed herein, the robot is configured to: compare the sensor data with data stored on the robot or in a cloud service to determine whether the difference therebetween is greater than a threshold, and thereby determine that the robot needs servicing based on the sensor data.

[0011] In addition to, or as an alternative to, one or more aspects of the systems disclosed herein, the robot is configured to: apply machine learning to the sensor data to determine that the robot needs servicing.

[0012] In addition to, or as an alternative to, one or more aspects of the systems disclosed herein, the robot is configured to: utilize the sensor data that has been at least partially processed on one or more of the external sensors or in a cloud service to determine that the robot needs servicing.

[0013] Disclosed is a method for a robot to perform self-evaluation, including: commanding an external sensor spaced apart from the robot to obtain and transmit sensor data indicating the condition of the external surface of the robot; determining that the robot needs servicing based on the sensor data; and transmitting a service request or scheduling a service in response to determining that the robot needs servicing.

[0014] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes the robot: performing self-evaluation regularly or on a schedule.

[0015] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes the robot: identifying and entering a predetermined sensor coverage area of the external sensor.

[0016] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes the robot: moving within the sensor coverage area, whereby the sensor data indicates the condition of multiple sides of the robot.

[0017] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes the robot: communicating with the external sensor via a wireless protocol.

[0018] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes the robot: determining the location of the external sensor and proceeding to the external sensor to perform the self-evaluation.

[0019] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes the robot: determining the location of the external sensor via a look-up table, a cloud service, or by monitoring beacon signals emitted from the external sensor.

[0020] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes a robot: comparing the sensor data with data stored on the robot or a cloud service to determine whether the difference therebetween is greater than a threshold, and thereby determining, based on the sensor data, that the robot needs servicing.

[0021] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes a robot: applying machine learning to the sensor data to determine that the robot needs servicing.

[0022] In addition to, or as an alternative to, one or more aspects of the methods disclosed herein, the method further includes a robot: using the sensor data that is at least partially processed on one or more of the external sensors or a cloud service to determine that the robot needs servicing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present disclosure is illustrated by way of example and is not limited to the drawings, in which like reference numerals indicate similar elements.

[0024] Figure 1 is a schematic illustration of an elevator system in which various embodiments of the present disclosure can be employed;

[0025] Figure 2A shows a robot in an elevator, where the robot is configured to perform a self-evaluation of its external surface using a camera in the elevator;

[0026] Figure 2B is Figure 2A a top view of the robot in the elevator;

[0027] Figure 3 shows a robot in a corridor, where the robot is configured to perform a self-evaluation using a camera in the corridor;

[0028] Figure 4 is a flowchart of a method in which a robot performs a self-evaluation of its external surface; and

[0029] Figure 5 is another flowchart showing additional details of the method in which a robot performs a self-evaluation of its external surface. DETAILED DESCRIPTION

[0030] Figure 1is a perspective view of an elevator system 101 that includes an elevator car 103, a counterweight 105, a tension member 107, a guide rail (or rail system) 109, a machine (or machine system) 111, a position reference system 113, and an electronic elevator controller (controller) 115. The elevator car 103 and the counterweight 105 are connected to each other by the tension member 107. The tension member 107 can include or be configured as, for example, a rope, a steel cable, and / or a coated steel band. The counterweight 105 is configured to balance the load of the elevator car 103 and is configured to urge the elevator car 103 to move within an elevator shaft (or hoistway) 117 and along the guide rail 109 relative to the counterweight 105 simultaneously and in opposite directions.

[0031] The tension member 107 engages with the machine 111, and the machine 111 is part of an overhead structure of the elevator system 101. The machine 111 is configured to control the movement between the elevator car 103 and the counterweight 105. The position reference system 113 can be mounted on a fixed portion at the top of the elevator shaft 117, such as on a support or a guide rail, and can be configured to provide position signals related to the position of the elevator car 103 within the elevator shaft 117. In other embodiments, the position reference system 113 can be directly mounted to a moving component of the machine 111, or can be located in other positions and / or configurations known in the art. The position reference system 113 can be any device or mechanism known in the art for monitoring the position of the elevator car and / or the counterweight. For example but not limited to, the position reference system 113 can be an encoder, a sensor, or other systems, and can include speed sensing, absolute position sensing, etc., as will be appreciated by those skilled in the art.

[0032] As shown, the controller 115 is located in a controller room 121 of the elevator shaft 117 and is configured to control the elevator system 101 and in particular the operation of the elevator car 103. For example, the controller 115 can provide drive signals to the machine 111 to control the acceleration, deceleration, leveling, stopping, etc. of the elevator car 103. The controller 115 can also be configured to receive position signals from the position reference system 113 or any other desired position reference device. The elevator car 103 can stop at one or more landings 125 as controlled by the controller 115 when moving up or down along the guide rail 109 within the elevator shaft 117. Although shown in the controller room 121, those skilled in the art will appreciate that the controller 115 can be located and / or configured elsewhere within the elevator system 101. In one embodiment, the controller can be located remotely or in the cloud.

[0033] Machine 111 may include a motor or similar drive mechanism. According to an embodiment of the present disclosure, machine 111 is configured to include an electric drive motor. The power supply for the motor can be any power source, including the power grid, which is supplied to the motor in combination with other components. Machine 111 may include a traction pulley that transfers force to a tension member 107 to move elevator car 103 within elevator shaft 117.

[0034] Although shown and described with a suspension rope system including a tension member 107, elevator systems employing other methods and mechanisms for moving an elevator car within an elevator shaft may employ embodiments of the present disclosure. For example, embodiments may be employed in a rope-free elevator system that uses a linear motor to transfer motion to the elevator car. Embodiments may also be employed in a rope-free elevator system that uses a hydraulic lift to transfer motion to the elevator car. Embodiments may also be employed in a rope-free elevator system that uses a self-propelled elevator car (e.g., an elevator car equipped with friction wheels, pinch wheels, or traction wheels). Figure 1 These are non-limiting examples presented for illustrative and explanatory purposes only.

[0035] Steering Figure 2A -B and Figure 3 A system 150 is disclosed in which a robot 160 has an internal controller 165 for controlling the operation of the robot 160. The robot 160 can be used in a hospitality environment (e.g., a building such as a hotel) where the robot 160 can utilize an elevator 103 ( Figure 2A -B) and travel along a corridor 170 ( Figure 3 ) to deliver items to hotel guests. These items may include trays containing food. The robot 160 can be configured to perform a self-assessment of its external surface 180 and determine when it needs maintenance. Such maintenance may be due to a dirty or damaged external surface 180. When the self-assessment is complete, the robot 160 can transmit a service request in response to determining that it needs service. The service request can be transmitted to a help or maintenance center 190.

[0036] To enable the robot 160 to perform a self-assessment of its external surface 180, the system 150 may include one or more external sensors (generally labeled 200) located within the building, e.g., in the elevator 103 ( Figure 2A -B), or along the corridor 170 ( Figure 3 ). In Figure 2A-B, there are three external sensors 200A-C, one on each wall of the elevator 103. The external sensors 200 can be image sensors, such as cameras. In addition to assisting the robot 160 in performing self-evaluation, the external sensors 200 can be used for various purposes such as safety. Alternatively, the external sensors 200 are dedicated to the purpose of assisting the robot 160 in performing self-evaluation. To perform self-evaluation, the robot 160 can be configured to wirelessly communicate with the external sensors 200 via the wireless network 210 using one or more of the protocols identified below. The external sensors 200 can be equipped for wireless communication or can be connected to the control hub 220 via a wired connection 215 ( Figure 2A ) which can include a wireless access point 230 as described below. In one embodiment, communication between the robot 160 and the external sensors 200 can be via the cloud service 240.

[0037] The robot 160 can be configured to command the external sensors 200 to obtain and transmit sensor data indicating the condition of its external surface 180. In one embodiment, the processing of the sensor data can occur at least in part on the external sensors 200 via edge computing, on the cloud service 240, and / or on the robot 160. The processed data can be stitched together to enable the robot 160 to make a determination about its condition.

[0038] In one embodiment, the robot 160 can be configured to perform self-evaluation periodically or at a predetermined scheduled time. When performing self-evaluation, the robot 160 can be configured to locate the external sensors 200 by comparing the current position of the robot 160 with the positions of the external sensors 200 via the cloud service 240 or otherwise, for example, using a look-up table 250. As another example, the robot 160 can be configured to monitor beacon signals emitted from the external sensors 200. Then, the robot 160 can be configured to travel to the nearest one of the external sensors 200, which can be in the elevator 130 ( Figure 2A -B), along the corridor 170 ( Figure 3 ) or at another location equipped with sensors to perform self-evaluation by communicating with the nearest one of the external sensors 200 to obtain sensor data.

[0039] In one embodiment, to perform self-evaluation, the robot 160 can be configured to identify and enter a predetermined sensor coverage area or region 260 of the external sensors 200. All external sensors 200 can share a common sensor coverage area 260 in the elevator 103 ( Figure 2A ) In the corridor 170 ( Figure 3), each of the external sensors 200A-C may have an associated sensor coverage area 260A-C. The size and shape of the sensor coverage area 260 may be obtained, for example, from information stored in the look-up table 250, from a cloud service, or from the external sensor 200. In one embodiment, the robot 160 may be configured to spin about its vertical axis 270 within the sensor coverage area 260, or otherwise move within the sensor coverage area 260 while the external sensor 200 is collecting sensor data. The spinning motion may be accomplished via the wheels 275. By doing so, the sensor data will indicate the condition of multiple sides (generally labeled 280) of the robot 160 ( Figure 2B , with a door 285 shown for reference), such as the front side 280A, the rear side 280B, the left side 280C, the right side 280D, and the top side 280E of the robot 160. The sides of the robot 160 are shown as cross-sections of a cylinder since the robot 160 is shown as a can-shaped. However, this is not intended to limit the scope of the embodiments. It is to be appreciated that due to the spinning motion of the robot 170, one of the external sensors 200 can be used to perform a self-evaluation.

[0040] In one embodiment, when performing a self-evaluation, the robot 160 is configured to compare the sensor data with stored data representing the optimal condition of the robot 160 to determine whether the difference between them is greater than a threshold. Based on this comparison, the robot 160 may be configured to determine that the robot 160 needs a maintenance service based on the sensor data. In one embodiment, the robot 160 may be configured to apply machine learning to the sensor data to determine that it needs a service. Using machine learning, the robot 160 may be configured to distinguish between a dirty surface and a clean surface, a damaged surface and an undamaged surface, and identify acceptable surface markings or shapes. For example, using machine learning, the robot 160 may be configured to learn to identify an image of a food tray, which does not represent a dirty or damaged surface and does not require a maintenance call. On the other hand, the robot 160 may be configured to learn to identify a scratch or dent on its external surface 180, which will require a maintenance call. Similarly, the robot 160 may be configured to identify an obvious marking deliberately applied on its external surface 180, such as a logo or product advertisement, which will also not require a maintenance call.

[0041] Turning to Figure 4, the process shows a method for a robot to perform self - assessment. As shown in block 310, the method may include the robot 160 commanding an external sensor 200 spaced apart from the robot 160 to obtain and transmit sensor data indicating the condition of the external surface 180 of the robot 160. As shown in block 320, the method may include the robot 160 determining that the robot 160 needs service based on the sensor data. As shown in block 330, the method may include the robot 160 transmitting a service request or scheduling service in response to determining that the robot 160 needs service.

[0042] Turn Figure 5 , another process shows additional details regarding the method for a robot to perform self - assessment. As shown in block 410, the method may include the robot 160 commanding an external sensor 200 spaced apart from the robot 160 to obtain and transmit sensor data indicating the condition of the external surface 180 of the robot 160. As shown in block 420, the method may include the robot 160 determining that the robot 160 needs service based on the sensor data. As shown in block 430, the method may include the robot 160 transmitting a service request or scheduling service in response to determining that the robot 160 needs service. As can be appreciated, blocks 410 - 440 are otherwise disclosed in Figure 4 . Additionally, as shown in block 440, the method may include the robot 160 performing self - assessment periodically or on schedule. As shown in block 450, the method may include the robot 160 identifying and entering a predetermined sensor coverage area 260 of the external sensor 200. As shown in block 460, the method may include the robot moving within the sensor coverage area 260. Accordingly, the sensor data may indicate the condition of multiple sides 280 of the robot 160.

[0043] As shown in block 470, the method may include the robot 160 communicating with the external sensor 200 via a wireless protocol. As shown in block 480, the method includes the robot 160 determining the location of the external sensor 200 and moving to the external sensor 200 to perform self - assessment. As shown in block 490, the method may include the robot 160 determining the location of the external sensor 200 via a look - up table 250, cloud service 240, or by monitoring beacon signals emitted from the external sensor 200. As shown in block 500, the method may include the robot 160 comparing the sensor data with data stored on the robot 160 or cloud service 240 to determine whether the difference between them is greater than a threshold. Accordingly, the robot 160 may determine that the robot 160 needs service based on the sensor data. As shown in block 510, the method may include the robot applying machine learning to the sensor data to determine that the robot 160 needs service. As shown in block 520, the method may include the robot 160 using sensor data that is at least partially processed on one or more of the external sensor 200 or cloud service 240 to determine that the robot 160 needs service.

[0044] For the above embodiments, the robot 160 is configured to perform a self-assessment when its outer surface is not clean or damaged and schedule a service call as needed. Thus, in a hospitality environment, the robot 160 can maintain an optimal appearance.

[0045] The sensor data identified herein can be obtained and processed separately, or obtained and processed simultaneously and stitched together, or a combination of both, and can be processed in its original or compiled form. The sensor data can be processed on the sensor (e.g., via edge computing), by a controller identified or referred to herein, on a cloud service, or by a combination of one or more of these computing systems. The sensor can transmit data via a wired or wireless transmission line, applying one or more of the protocols indicated below.

[0046] Wireless connections can apply protocols including local area network (LAN or WLAN for wireless LAN) protocols. LAN protocols include WiFi technology based on the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standard. Other applicable protocols include low power wide area network (LPWAN), which is a wireless wide area network (WAN) designed to allow long-range communication at low bit rates so that end devices can operate on battery power for extended periods (years). Long Range WAN (LoRaWAN) is a type of LPWAN maintained by the LoRa Alliance and is a media access control (MAC) layer protocol for delivering management and application messages between a network server and an application server, respectively. LAN and WAN protocols are generally considered TCP / IP protocols (Transmission Control Protocol / Internet Protocol) for managing the connection of computer systems to the Internet. Wireless connections can also apply protocols including personal area network (PAN) protocols. PAN protocols include, for example, Bluetooth Low Energy (BTLE), which is a wireless technology standard designed and sold by the Bluetooth Special Interest Group (SIG) for exchanging data over short distances using short-wavelength radio waves. PAN protocols also include Zigbee, a technology based on the IEEE 802.15.4 standard, representing a set of high-level communication protocols for creating personal area networks with small, low-power digital radios for low-power, low-bandwidth requirements. Such protocols also include Z-Wave, a wireless communication protocol supported by the Z-Wave Alliance that uses a mesh network and applies low-energy radio waves to communicate between devices such as appliances, allowing them to be wirelessly controlled.

[0047] The wireless connection may also include Radio Frequency Identification (RFID) technology for communicating with, for example, an integrated circuit (IC) on an RFID smart card. In addition, sub-1 GHz RF devices operate in the sub-1 GHz Industrial, Scientific, and Medical (ISM) spectrum band - typically in the frequency ranges of 769–935 MHz, 315 MHz, and 468 MHz. This sub-1 GHz spectrum band is particularly useful for RF Internet of Things (IoT) applications. The Internet of Things (IoT) describes a network of physical objects (i.e., "things") that are embedded with sensors, software, and other technologies for the purpose of connecting and exchanging data with other devices and systems over the Internet. Other LPWAN-IoT technologies include NarrowBand Internet of Things (NB-IoT) and Category M1 Internet of Things (M1-IoT). The wireless communication of the disclosed system may include cellular, such as 2G / 3G / 4G, etc. Other wireless platforms based on RFID technology include Near Field Communication (NFC), which is a set of communication protocols for low-speed communication, for example, exchanging data over short distances between electronic devices. The NFC standard is defined by ISO / IEC (defined below), the NFC Forum, and the GSMA (Global System for Mobile Communications) group. The foregoing is not intended to limit the scope of applicable wireless technologies.

[0048] The wired connection may include a connection (cable / interface) under RS (Recommended Standard)-422, also known as TIA / EIA-422, which is a technical standard supported by the Telecommunications Industry Association (TIA) and initiated by the Electronic Industries Alliance (EIA) that specifies the electrical characteristics of digital signaling circuits. The wired connection may also include a (cable / interface) under the RS-232 standard for data serial communication transmission, which officially defines the signal connection between a Data Terminal Equipment (DTE), such as a computer terminal, and a Data Circuit-Terminating Equipment or Data Communication Equipment (DCE), such as a modem. The wired connection may also include a connection (cable / interface) under the Modbus serial communication protocol administered by the Modbus organization. Modbus is a master / slave protocol designed to be used with its Programmable Logic Controller (PLC) and is a common means of connecting industrial electronic devices. The wireless connection may also include a connector (cable / interface) under the PROFibus (Process Field Bus) standard administered by PROFIBUS & PROFINET International (PI). PROFibus is a standard for fieldbus communication in automation technology and is published as part of IEC (International Electrotechnical Commission) 61158. Wired communication may also be through a Controller Area Network (CAN) bus. CAN is a vehicle bus standard that allows microcontrollers and devices to communicate with each other in an application without a host computer. CAN is a message-based protocol issued by the International Organization for Standardization (ISO). The foregoing is not intended to limit the scope of applicable wired technologies.

[0049] As identified herein, when data is transmitted between terminal processors over a network, the data can be transmitted in its original form or can be processed in whole or in part at any one of the terminal processors or intermediate processors (e.g., at a cloud service (e.g., where at least a portion of the transmission path is wireless) or other processor). The data can be parsed at any one of the processors, processed or compiled in part or in whole, and then can be stitched together or maintained as separate information packets. Each processor or controller identified herein can be, but is not limited to, a single-processor or multi-processor system of any one of a variety of possible architectures, including field-programmable gate arrays (FPGAs), central processing units (CPUs), application-specific integrated circuits (ASICs), digital signal processors (DSPs), or graphics processing units (GPUs) hardware, arranged homogeneously or heterogeneously. The memory identified herein can be, but is not limited to, random access memory (RAM), read-only memory (ROM), or other electronic, optical, magnetic, or any other computer-readable medium.

[0050] In addition to the processor and non-volatile memory, the controller can further include one or more input and / or output (I / O) device interfaces that are communicatively coupled via an on-board (local) interface to communicate between other devices. The on-board interface can include, for example but not limited to, an on-board system bus, including a control bus (for inter-device communication), an address bus (for physical addressing), and a data bus (for delivering data). That is, the system bus can enable electronic communication between the processor, memory, and I / O connections. The I / O connections can also include wired and / or wireless connections identified herein. The on-board interface can have additional elements, such as controllers, buffers (caches), drivers, repeaters, and receivers, omitted for simplicity to enable electronic communication. The memory can execute programs, access data or lookup tables, or combinations thereof, to facilitate its processing, all of which can be pre-stored or received during its execution by other computing devices, e.g., via a cloud service or other network connections to other processors identified herein.

[0051] An embodiment may be in the form of a process implemented by a processor and an apparatus (such as a processor) for practicing those processes. An embodiment may also be in the form of a module based on computer code, such as computer program code containing instructions (e.g., a computer program product), the instructions being embodied in a tangible medium (e.g., a non-transitory computer-readable medium), such as a floppy disk, a CD ROM, a hard disk drive, as firmware in a processor register, or any other non-transitory computer-readable medium, wherein when the computer program code is loaded into a computer and executed by the computer, the computer becomes an apparatus for practicing the embodiment. An embodiment may also be in the form of, for example, the following computer program code: whether stored in a storage medium, loaded into a computer and / or executed by a computer, or transmitted through some transmission medium (such as through a wire or cable, through an optical fiber, or via electromagnetic radiation), wherein when the computer program code is loaded into a computer and executed by the computer, the computer becomes an apparatus for practicing the exemplary embodiment. When implemented on a general-purpose microprocessor, the computer program code segments configure the microprocessor to create special logic circuits.

[0052] The terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms as well. It will be further understood that the term "comprising", when used in this specification, specifies the presence of the stated features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0053] Those skilled in the art will appreciate that various example embodiments are shown and described herein, each having certain features in a particular embodiment, but the present disclosure is not limited thereby. On the contrary, the present disclosure may be modified to incorporate any number of variations, alterations, substitutions, combinations, sub-combinations or equivalent arrangements that have not been previously described but are commensurate with the scope of the present disclosure. In addition, although various embodiments of the present disclosure have been described, it is to be understood that aspects of the present disclosure may only include some of the described embodiments. Therefore, the present disclosure should not be considered limited by the foregoing description, but only by the scope of the appended claims.

Claims

1. A system, the system comprising: A robot that can travel within a building, the robot having a controller configured to perform a self - assessment by being configured to: Identify and enter a predetermined sensor coverage area of one of a plurality of external sensors disposed in an elevator car within the building and / or along a corridor of the building; Command the one external sensor to obtain and transmit sensor data indicative of the condition of the external surface of the robot; Cause the robot to spin about its vertical axis within the predetermined sensor coverage area; Determine that the robot needs servicing based on the sensor data; And Transmit a service request or schedule a service in response to determining that the robot needs servicing.

2. The system according to claim 1, wherein, The robot is configured to: Perform the self - assessment periodically or according to a predetermined schedule.

3. The system according to claim 1, wherein The robot is configured to: Move within the predetermined sensor coverage area, whereby the sensor data indicates the condition of multiple sides of the robot.

4. The system according to claim 1, wherein, The robot is configured to communicate with the one external sensor via a wireless protocol.

5. The system according to claim 1, wherein, The robot is configured to: Determine the position of the one external sensor and travel to the one external sensor to perform the self - assessment.

6. The system according to claim 5, wherein, The robot is configured to: Determine the position of the one external sensor via a lookup table, a cloud service, or by monitoring a beacon signal emitted from the one external sensor.

7. The system according to claim 1, wherein The robot is configured to: Compare the sensor data with data stored on the robot or in a cloud service to determine whether the difference between them is greater than a threshold, and thereby determine that the robot needs servicing based on the sensor data.

8. The system according to claim 1, wherein, The robot is configured to: Apply machine learning to the sensor data to determine that the robot needs servicing.

9. The system according to claim 1, wherein The robot is configured to: Utilize the sensor data that is at least partially processed on one or more of the one external sensor or a cloud service to determine that the robot needs servicing.

10. A method for a robot that can travel within a building to perform a self - assessment, the method comprising: Identify and enter a predetermined sensor coverage area of one of a plurality of external sensors disposed in an elevator car within the building and / or along a corridor of the building; Command the one external sensor to obtain and transmit sensor data indicative of the condition of the external surface of the robot; Cause the robot to spin about its vertical axis within the predetermined sensor coverage area; Determine that the robot needs servicing based on the sensor data; And Transmit a service request or schedule a service in response to determining that the robot needs servicing.

11. The method according to claim 10, further comprising the robot: Performing the self - assessment periodically or according to a schedule.

12. The method according to claim 10, further comprising the robot: Moving within the predetermined sensor coverage area, whereby the sensor data indicates the condition of multiple sides of the robot.

13. The method according to claim 10, further comprising the robot: Communicating with the one external sensor via a wireless protocol.

14. The method according to claim 10, further comprising, for the robot: Determining the position of the one external sensor and traveling to the one external sensor to perform the self-evaluation.

15. The method according to claim 14, further comprising, for the robot: Determining the position of the one external sensor via a look-up table, a cloud service, or monitoring a beacon signal emitted from the one external sensor.

16. The method according to claim 10, further comprising, for the robot: Comparing the sensor data with data stored on the robot or in a cloud service to determine whether the difference therebetween is greater than a threshold, and thereby determining that the robot needs servicing based on the sensor data.

17. The method according to claim 10, further comprising, for the robot: Applying machine learning to the sensor data to determine that the robot needs servicing.

18. The method according to claim 10, further comprising, for the robot: Determining that the robot needs servicing using the sensor data that is at least partially processed on one or more of the one external sensor or a cloud service.

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