Transporting parcels from building provided with elevator

Abstract

There is described a control system (170) for arranging transport of a parcel from a building (130) provided with an elevator system (140), the control system (170) configured to receive (310) an indication that a mobile robot (110) has received a parcel, generate (320) a confirmation to the mobile robot (110), arrange (330) an elevator service to the mobile robot (110), and transmit the elevator service to the building (130). And generating (340) a control signal to a robot controller (145) in response to detecting that the mobile robot (110) leaves the building (130), the control signal including data indicative of assigning responsibilities of control of the mobile robot (110) to the robot controller (160). A method and a computer program are also provided.

Description

Technical Field

[0001] The present invention relates generally to the technical field of building management. More specifically, the present invention relates to the control of the cooperation of different systems for operating a robot provided with a specific task. Background Art

[0002] Developments in various technological fields have enabled autonomous driving of devices such as mobile robots. Such technological developments have allowed the introduction of new service models in various business fields, such as in the field of package transportation, where mobile robots have been involved in the transportation of packages or other goods or food. This approach can improve transportation efficiency and save costs since no human operators are required in transportation.

[0003] However, the utilization of mobile robots in package transportation works satisfactorily to the extent that the mobile robot (such as an autonomous vehicle) operates outdoors and travels, for example, in public streets and follows traffic regulations in the area of ​​operation. In cases where the intention is to arrange the transportation of packages in an end-to-end manner (i.e., from sender to receiver), the transportation becomes more complicated, such that the route combines indoor and outdoor sub-routes. The reason for the complexity - especially in cases where the mobile robot needs to operate in multi-story buildings (such as in block houses) - is that the robot's travel from the source location to the destination may need to utilize and communicate with various systems implemented in the building.

[0004] Therefore, there is a need to introduce solutions that can transport packages from buildings using robots. Summary of the invention

[0005] A simplified overview is presented below to provide a basic understanding of some aspects of various invention embodiments. This overview is not an extensive overview of the present invention. It is neither intended to identify key or important elements of the present invention nor to describe the scope of the present invention. The following overview merely presents some concepts of the present invention in a simplified form as a preface to a more detailed description of exemplary embodiments of the present invention.

[0006] It is an object of the present invention to provide a control system, method and computer program for arranging the transport of packages from a building.

[0007] The objects of the invention are achieved by a control system, a method and a computer program as defined by the respective independent claims.

[0008] According to a first aspect, there is provided a control system for arranging transport of packages from a building provided with an elevator system, the control system being configured to:

[0009] receiving an indication that the mobile robot has received the package from the sender to transport the package from the building,

[0010] generating a confirmation to the mobile robot, the confirmation including data causing the mobile robot to initiate transport of the package,

[0011] placing elevator service to the mobile robot by generating an elevator call to the elevator system to request an elevator car to arrive at the floor where the mobile robot resides and for the elevator car to travel to a destination floor including an entry door of the building, and

[0012] In response to detecting that the mobile robot has exited the building, a control signal is generated to a robot controller, the control signal including data indicating that responsibility for control of the mobile robot is assigned to the robot controller.

[0013] The control system may be arranged to receive an indication describing that the mobile robot has received a package from a sender to transport the package from the building from at least one of: the mobile robot; the sender of the package.

[0014] The control system can be configured to monitor the waiting time for the mobile robot to receive the package in response to the mobile robot arriving at the collection point for the package. For example, the control system can be configured to release the mobile robot from the task of transporting the package in response to detecting that the mobile robot has not received the package within a predefined time window set as an acceptable waiting time.

[0015] The control system may also be configured to generate a confirmation including route data of the mobile robot leaving the building.

[0016] The control system may be configured to trigger the generation of an elevator call based on at least one of: generation of a confirmation; detection of the mobile robot residing at a predefined location in the building.

[0017] In addition, the control system can be configured to:

[0018] A control signal is generated to the monitoring system to initiate monitoring of the mobile robot in a floor including an entry door for exiting the building.

[0019] For example, the control system can be configured to generate a control signal to initiate monitoring of the mobile robot in response to detecting that the elevator car arrives at a floor including an entrance door. Further, the control system can be configured to perform detection of the mobile robot leaving the building based on data received from the monitoring system.

[0020] Furthermore, the control system can also be configured as:

[0021] monitoring a duration between generating the elevator call and the mobile robot's departure from the building by comparing whether the duration is within a predefined duration limit, and

[0022] In response to detecting that the predefined duration limit is exceeded, an alert is generated to the robotic controller to indicate a delay in package transportation.

[0023] According to a second aspect, there is provided a method for arranging for transport of a package from a building provided with an elevator system, performed by a control system, the method comprising:

[0024] receiving an indication that the mobile robot has received the package from the sender to transport the package from the building,

[0025] generating a confirmation to the mobile robot, the confirmation including data causing the mobile robot to initiate transport of the package,

[0026] arranging elevator service for the mobile robot by generating an elevator call to the elevator system to request an elevator car to arrive at the floor where the mobile robot resides and for the elevator car to travel to a destination floor including an entry door of the building, and

[0027] In response to detecting that the mobile robot has exited the building, a control signal is generated to a robot controller, the control signal including data indicating that responsibility for control of the mobile robot is assigned to the robot controller.

[0028] The indication describing that the mobile robot has received a package from a sender to transport the package from the building may be received from at least one of: the mobile robot; the sender of the package.

[0029] In response to the mobile robot arriving at the collection point for the package, the waiting time for the mobile robot to receive the package can be monitored. For example, in response to detecting that the mobile robot has not received the package within a predefined time window set as an acceptable waiting time, the mobile robot can be released from the task of transporting the package.

[0030] A confirmation may be generated including route data for the mobile robot to exit the building.

[0031] The generation of an elevator call may be triggered based on at least one of: generation of a confirmation; detection of the mobile robot residing at a predefined location in the building.

[0032] The method may further include:

[0033] A control signal is generated to the monitoring system to initiate monitoring of the mobile robot in a floor including an entry door out of the building.

[0034] For example, a control signal for initiating monitoring of the mobile robot may be generated in response to detecting an elevator car arriving at a floor comprising an entrance door. Detection of the mobile robot leaving the building may be performed, for example, based on data received from a monitoring system.

[0035] The method may further include:

[0036] monitoring a duration between generating the elevator call and the mobile robot's departure from the building by comparing whether the duration is within a predefined duration limit, and

[0037] In response to detecting that the predefined duration limit is exceeded, an alert is generated to the robotic controller to indicate a delay in package transportation.

[0038] According to a third aspect, a computer program comprising computer readable program code configured to cause the performance of the method according to the second aspect as defined above when the computer readable program code is run on one or more computing devices.

[0039] The expression "many" herein refers to any positive integer from one, for example, to one, two or three.

[0040] The expression "plurality" herein refers to any positive integer starting from two, for example, to two, three or four.

[0041] Various exemplary and non-limiting embodiments of the invention, both as to constructions and methods of operation, together with additional objects and advantages thereof, will be best understood from the following description of specific exemplary and non-limiting embodiments when read in connection with the accompanying drawings.

[0042] The verbs "comprise" and "include" are used in this document as open limitations, neither excluding nor requiring the presence of unrecited features. The features recited in the dependent claims are mutually freely combinable unless expressly stated otherwise. Furthermore, it should be understood that the use of "a" or "an" throughout this document, i.e. the singular, does not exclude a plurality. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Embodiments of the invention are illustrated by way of example and not limitation in the figures of the accompanying drawings.

[0044] FIG1 schematically shows an application environment according to an example.

[0045] FIG. 2 schematically illustrates a mobile robot according to an example.

[0046] FIG3 schematically illustrates a method according to an example.

[0047] FIG4 schematically illustrates a control system according to an example. DETAILED DESCRIPTION

[0048] The specific examples provided in the description given below should not be construed as limiting the scope and / or applicability of the appended claims.The lists and groups of examples provided in the description given below are not exhaustive unless explicitly stated otherwise.

[0049] FIG. 1 schematically illustrates an application environment of the present invention according to an exemplary embodiment. The present invention can be implemented in such an environment in which a package or the like is transported from a building 130 by using a robot 110 that is essentially mobile and capable of traveling in an autonomous manner according to instructions provided to it. In the following description, the robot 110 is referred to as a mobile robot and is represented by the reference numeral 110. As described, the transport of a package or any similar transport is arranged according to the present solution so that the mobile robot 110 transports the package from a building 130 that includes multiple systems, and wherein the building 130 is a multi-story building, wherein the travel between at least some floors can occur using an elevator system 140. Therefore, for the purpose of describing at least some aspects of the present invention, it is assumed that the sender 120 of the package resides in a floor that needs to travel to an entrance door 150 with the elevator 140, and the mobile robot 110 can leave the building 130 from the entrance door 150.

[0050] Elevator system 140 may be any type of elevator configured to provide transportation service between at least some floors in building 130. Elevator system 140 may include one or more elevators for serving visitors to building 130. Elevator system 140 is controlled by elevator controller 145, which is configured to generate control signals based on input received from a number of sources in order to manage the provision of service by elevator system 140 in building 130.

[0051] The building 130 may also be provided with other systems, at least one of which may be an access control system managed by the access controller 135. The access control system may be configured to control many entities in the building, such as at least some doors, some gates, and / or similar entities. In other words, the access control system may be configured, for example, to generate control signals to lock and unlock entities under its control, as well as to generate additional control signals, such as for opening and closing the same entity. As a non-limiting example, the access controller 135 may generate control signals to unlock the door 150 of the building 130 and open it without any physical interaction required by the user or party using the door (such as the mobile robot 110). Accordingly, the access controller 135 may generate control signals for closing the door 150 and for locking the door 150. As described, the access controller 135 may be configured to also control other entities in addition to the entrance door 150, such as in the path of travel of the mobile robot 110 in the building 130.

[0052] The access control system may also include a subsystem for monitoring events in predefined areas of the building. The monitoring system, denoted 137 in FIG. 1 , may include a number of sensors, such as image capture devices, readers, and / or the like, for monitoring various areas or spaces of the building, such as the area in front of the entrance door 150 and areas inside the building, such as the lobby area of ​​the building. For the sake of completeness, it is worth mentioning that the monitoring system 137 may be a subsystem of the access control system or a separate system configured to perform as described in the upcoming description. The monitoring system 137 may, for example, be configured to generate various signals, such as access requests described in the upcoming description, either alone or in cooperation with an access controller.

[0053] The building 130 may also be equipped with various additional systems, such as different kinds of communication systems, such as wireless local area networks based on Wi-Fi, and indoor positioning systems available to entities that are allowed to access them.

[0054] FIG. 2 schematically illustrates an example of a mobile robot 110 that may be configured to perform transport of a package from a building 130 to a destination according to an example embodiment. The mobile robot 110 may include at least the following entities: a processing unit 210, a memory unit 220, a communication unit 230, a user interface (UI) unit 240, a sensor unit 250, and a motor unit 260. The mentioned entities may include one or more operating units (e.g., one or more microprocessors or the like), one or more memories, one or more communication devices (such as modems), one or more user interface devices, one or more sensors, and one or more motors, as well as other components of the corresponding entities (if any). In addition to the mentioned entities, the mobile robot 110 may also include additional devices and entities, such as a battery for storing energy to be used by other entities. The entities belonging to the mobile robot 110 may be communicatively coupled to each other using, for example, a communication bus. The processing unit 210 may be configured to control the operation of the mobile robot 110 and communication with external entities, for example in a manner as described in the upcoming description. Communication with external entities may be performed, for example, in a wireless manner. According to at least some example embodiments, the user interface unit 240 of the mobile robot 110 may include a container for a package arranged to be transported by the mobile robot 110. In general, a container should be understood as any space in which a package can be positioned so as to be transported. In some embodiments, the container may be lockable so as to prevent a third person from accessing the package during transport. As described in the upcoming description, various methods of unlocking the container may be implemented. The sensor unit 250 may include any sensor by means of which the mobile robot 110 can obtain information about the environment, but the sensor unit 250 may also include a sensor that enables positioning and / or navigation within the location. This may refer to a device that is capable of utilizing one or more indoor positioning systems (e.g., those implemented in the building 130). For completeness, in some embodiments, indoor positioning may be based on communication implemented through the communication interface 230 of the mobile robot 110. The processing unit 210 may also be configured to generate a control signal to the motor unit 260 so as to move the mobile robot 110. In addition, the mobile robot 110 may include a device that enables the robot to move, such as any applicable transportation device, such as wheels with other required elements and devices. The operation of the processing unit 210 may be implemented by executing, for example, portions of a computer program code stored in the memory unit 220 for generating control signals and thus causing the mobile robot 110 to operate in the manner described. The memory unit 220 may also be used to store the obtained and received information permanently or temporarily together with any other data.Furthermore, it is worth mentioning that, as already mentioned, the communication unit 230 may include a number of devices configured to implement the selected communication technology, preferably in a wireless manner, in order to enable the mobile robot 110 to communicate with various parties.

[0055] The mobile robot 110 may be communicatively connected to the robot controller 160 via a communication network 165, which may be a mobile communication network that enables wireless communication with the mobile robot 110. The robot controller 160 may be a computing device that generates control signals to the mobile robot 110 and that may receive signals from the mobile robot 110. In addition, the robot controller 160 may be communicatively connected to other entities, as described in the upcoming description. The robot controller 160 may, for example, deliver control signals to the mobile robot 110, wherein the control signals may, for example, carry data indicating the destination of the package and other instructions related to the transportation of the package. As a result, the mobile robot 110 may, for example, travel in an autonomous manner in the building 130 and request the utilization of many systems and devices in order to perform transportation, as described in the upcoming description. According to some example embodiments, the sender 120 of the package may be communicatively connected to the robot controller 160 from their own system in order to arrange the transportation of the package from the building 130 using the mobile robot 110 managed by the robot controller 160. In other words, the operator of the mobile robot system may provide transportation services to other entities.

[0056] According to an example embodiment, the system may include a control system 170 configured to coordinate the transport of packages by the mobile robot 110 in the building 130. The control system 170 may be accessed via a communication network 175, which may be a data network, such as the Internet. The communication network 175 may operate in communication with another communication network 165 in a known manner. In some example embodiments, the communication networks denoted by 165 and 175 in FIG. 1 may be the same network. Thus, the control system 170 may be communicatively connected to other entities, such as the elevator controller 145, the access controller 135, and the robot controller 160, directly or indirectly, via the communication networks 165, 175. In some example embodiments, the mobile robot 110 may be provided with an application that enables communication with the control system 170 without directing the communication between the mobile robot 110 and the control system 170 through the robot controller 160. In other words, the control system 170 is provided with an interface, such as an application programming interface (API), that enables communication between the mentioned entities. For the sake of clarity, it is worth mentioning that the functionality of the control system 170 may be integrated into at least one of the other controllers 135 , 145 , 160 introduced in the previous description.

[0057] The following other aspects related to the present invention are described by referring to FIG3. FIG3 schematically shows an example embodiment of a method according to the present invention. In FIG3, the method is described from the perspective of a control system 170. As can be derived from the previous description, the mobile robot 110 is provided with a task of transporting a package from a building 130 to a destination, and as a starting point for describing at least some aspects related to the present invention, the mobile robot 110 has arrived at a collection point for the package, which may be, for example, a door of an apartment in the building 130. However, before the mobile robot 110 arrives at the collection point in the building 130, the mobile robot 110 may be provided with a transport task in response to an order for a transport service. The order may have been provided by the sender 120, for example, by using her / his user device (such as a mobile phone). For example, the user device may be configured to execute an application software, through which a transport order may be provided. Providing a transport order may require providing the location of the collection point and / or the destination of the package and information identifying the sender 120 with the required accuracy. In addition, the sender 120 may be requested to arrange payment for the transport service before assigning the task to the mobile robot 110. By providing the required pieces of information in the transport service, the task can be provided to the mobile robot 110 from the robot controller 160, which in turn may have received a transport service order from the transport service if the entities are separate. As a conclusion of the ordering process, the mobile robot 110 is provided with the necessary information in order to arrive at the collection point defined, for example, in the manner described.

[0058] The mobile robot 110, upon arrival at the building 130, may be provided with access to the building 130 through the entry door 150 and connected to various systems available in the building 130, such as an indoor positioning system, etc. In addition, the mobile robot 110 may be arranged to communicate with the control system 170 via the robot controller 160, so that the roaming of the mobile robot 110 in the building may be at least partially controlled. For example, the mobile robot 110 may notify the robot controller 160 of the arrival at the entry door 150, or the robot controller 160 may be configured to monitor the position of the mobile robot 110 during the mission and detect that the mobile robot 110 has arrived at the building 130 and resides in a predefined vicinity of the entry door 150. In response to the arrival, the robot controller 160 may generate an access request to the control system 170 in response to receiving a confirmation signal indicating the arrival from the mobile robot 110 or in response to an internal detection as described, for requesting access to the building 130. The decision whether the mobile robot 110 is allowed to access the building 130 may include a number of security-related operations, and upon a positive outcome of the security operations, access rights may be granted to the mobile robot 110.

[0059] In case the access right is granted to the mobile robot 110, it may be transmitted to the mobile robot 110. In case the communication connection can be established directly, the communication may be performed by the robot controller 160 or directly to the mobile robot 110. The communication may include data generated by the control system 160 indicating that the mobile robot 110 may access the building 130 through the entrance door 150. In addition to this, the control system 170 may have generated further data to be included in the communication with the mobile robot 110. The further data may include data defining instructions on how the mobile robot 110 may find its way to the sender 120 in the building 130 (i.e. route data to the collection point). In other words, the further data may include so-called driving instructions to the collection point in the building 130. Such data may, for example, define a route that the mobile robot 110 should follow in the building 130, for example in the map data of the building 130. The data generated by the control system 170 may also include additional data defining at least one system that may be used for communication to keep track of the position relative to the defined route in the building 130. For example, the additional data may define an indoor positioning system to which the mobile robot 110 is to be connected and any access information (such as a password, if applicable therein). Furthermore, the further data may include data describing a communication network (such as a Wi-Fi network) available in the building 130, with any access credentials thereto, enabling the mobile robot 110 to connect to the communication network provided in the building 130. According to some example embodiments, the mobile robot 110 is required to connect to a communication network available in the building 130 in order to access the building 130. This approach improves security, since the roaming of the mobile robot 110 in the building can be monitored, for example, by the control system 170 in real time or at least with an acceptable degree of accuracy. In further embodiments, the communication connection of the mobile robot 110 can be used to control the movement of the mobile robot 110 in the building 130 by the control system 170. In other words, control of the movement of the mobile robot 110 can be granted to the control system 170, which generates instructions to the mobile robot 110, for example in a continuous manner, in order to guide the mobile robot 110 to the collection point of the package in a controlled manner. Traveling to the collection point may require utilizing a system implemented in the building 130 that is at least partially controlled by the control system 170 , such as an elevator system.

[0060] With regard to the entry phase in the building 130 and with regard to the travel of the mobile robot 110 to the collection point, the sender 120 of the parcel may be arranged to be informed of the progress of the travel. For example, the progress of the mobile robot 110 in the route in the building 130 may be monitored in various ways, such as by receiving status updates from the mobile robot 110 by the robot controller 160, which is also configured to deliver information to the control system 170. Alternatively or additionally, the control system 170 may receive status data, such as position data, from a system implemented in the building, such as using sensor data, based on which detection of the presence of an object (such as the mobile robot 110) in the building 110 may be generated. With this data, data indicating the progress of the mobile robot 110 in reaching the collection point may be generated and delivered to the sender's user terminal, for example via an application software for ordering a transport service. For example, the data may indicate the time it takes for the mobile robot 110 to reach the collection point, and it may be updated at regular intervals. In this way, the sender 120 can prepare to deliver the package to the mobile robot 110 at the collection point in order to initiate the transportation of the package from the building 130.

[0061] Next, aspects related to transporting packages from a building 130 are described with reference to FIG. 3 , which schematically illustrates a method according to an exemplary embodiment of the present invention. The starting point of the method as shown in FIG. 3 is that the mobile robot 110 has arrived at a collection point for packages, which is, for example, an entrance door to an apartment where a sender 120 lives or an office in a building 130. As described, the mobile robot 110 and the systems in the building 130 can be at least partially controlled by a control system 170, as described in the upcoming description, where the control operation can involve monitoring, communication and control of various systems and the mobile robot 110. In response, the mobile robot 110 has arrived at the collection point, and it begins to wait for the sender 120 to provide the package to be transported to the mobile robot 110. At a certain moment, the sender 120 can reach the mobile robot 110, and the mobile robot 110 receives the package. The receipt of the package can include the operation that the mobile robot 110 has opened a container dedicated to the package and the user enters the package there and the mobile robot 110 closes the container. Alternatively or additionally, the input of the package may include a manual interaction of the sender 120 with the container, which may include opening and closing the lid of the container in a predetermined manner. According to some exemplary embodiments, the security of the system is improved so that an access code is provided to the user to open the lid of the container. The access code may be provided to the user when the transport order is allocated, and the mobile robot 110 is provided with a user interface, such as a touch screen and / or a keyboard, through which the sender 120 may enter the access code, and if the code is valid, the lid of the container is opened. When the sender 120 has entered the package into the container, the sender 120 closes the lid and the lid is locked again. This prevents third parties from accessing the package during transportation. When the mobile robot 110 receives the package, the control system 170 may receive 310 an indication that the mobile robot 110 has received the package from the sender 120 to transport the package from the building 130. The indication may be received from various sources, wherein the first possible source of the indication may be the mobile robot 110, wherein the mobile robot 110 generates a message to the robot controller 160, and the robot controller 160 may be configured to generate a signal to the control system 170 to notify the message. According to another method, the sender 120 can provide instructions to the mobile robot 110 about providing the package, for example, using an application for transporting orders. Signals received from the application, such as instructions, can be analyzed, and corresponding entities related to the received instructions can be notified in one way or another. Therefore, if the application is provided to a transport company, the corresponding system can be communicatively connected to the control system 170 to continue the operation as described in the upcoming description. The control system 170 can at least confirm 320 the indication of the receipt 310 of the package to indicate to the mobile robot 110 that the transportation of the package can be initiated.

[0062] According to some example embodiments, it may be arranged to monitor or even limit the waiting time for the mobile robot 110 to receive the package to be transported. That is, the control system 170 may be configured, for example, in response to receiving an indication that the mobile robot 110 has arrived at the collection point, to start a timer for monitoring that the package is received by the mobile robot 110 in a suitable process defined by the running time of the timer. In other words, the running time of the timer defines the acceptable waiting time for the mobile robot 110 to receive the package. Naturally, the running of the timer may be triggered based on another moment, for example, based on the transmission of a message sent to the sender 120 to indicate that the mobile robot 110 has arrived at the collection point. In the case where the control system 110 identifies that the timer has run out before describing the indication that the mobile robot 110 has received 310 the package, the control system 170 may be configured to initiate a predefined operation. The predefined operation may include, but is not limited to, generating a reminder message to the sender 120, which may re-trigger the timer again. Alternatively or additionally, the control system 170 may be configured to generate a signal to the robot controller 160 to release the mobile robot 110 from the assigned task of transporting the package. The release of the mobile robot 110 may occur directly when the timer runs out for the first time, or may be triggered if the package is not received even if the timer runs out several times, for example due to the generation of a reminder message, or the release may be triggered in another way. An advantage of monitoring the waiting time of the mobile robot 110 and arranging the release of the task is that in this way the utilization of resources related to the transportation of the package can be optimized. In the case of the release of the mobile robot 110 from the task, for example using a control signal generated by the robot controller 160, the trip of the mobile robot 110 may be arranged in the same way as in the case of the mobile robot 110 receiving a package.

[0063] As described above, in response to the control system 170 receiving 310 the indication, it may be arranged to generate 320 a confirmation to the mobile robot 110, wherein the confirmation includes data enabling the mobile robot 110 to initiate the transport of the package. For example, the control system 170 may be configured to generate the confirmation to the robot controller 160, which in turn notifies the mobile robot 110 of the situation and enables the mobile robot 110 to initiate the transport of the package. In the case where the control system 170 and the mobile robot 110 are in direct communication connection, for example by utilizing a wireless communication network available in the building, the control system 170 may directly generate the confirmation to the mobile robot 110, but advantageously, the robot controller 160 may also be kept informed of the status of the mobile robot 110.

[0064] Furthermore, in some example embodiments, the control system 170 may be configured to determine the route of the mobile robot 110 out of the building 130 in response to the receipt 310 of the indication, and include the route data in the data transmitted to the mobile robot 110 in the confirmation. The route data is provided in a format that the mobile robot 110 can utilize in its travel with the aid of any necessary systems, such as an indoor positioning system and / or any other system arranged in the building 130. The route data may also include so-called route point data indicating special states or situations during the route. It may define, for example, position and / or timing information in which the mobile robot 110 may behave in a special manner, such as stopping during the route and communicating with a certain system derivable from the upcoming description.

[0065] Since the mobile robot 110 resides on a floor where it is necessary to use the service provided by the elevator system 140 in order to leave the building 130, the control system 170 is configured to arrange 330 the elevator service to the mobile robot 110. The arrangement 330 of the elevator service can be achieved by generating an elevator call to the elevator system 140. According to the present invention, the service call is generated so that it includes a request describing the arrival of the elevator car 142 to the floor where the mobile robot 110 resides and data for the travel of the elevator car 142 to the destination floor including the entrance door of the building 130. Therefore, according to an example, the elevator call can advantageously carry both data defining at least the departure floor of the trip of the mobile robot 110 and data defining the destination floor. According to some other example embodiments, the request can be generated in two stages, wherein the first stage generates a first request defining the departure floor and the second stage generates a second request defining the destination floor. For example, the second request can be generated, for example, using a wireless interaction between the mobile robot 110 and a reader device residing in the elevator car 110. Alternatively, the mobile robot 110 may indicate to the robot controller 160 that the robot has entered the elevator car 142, and the robot controller 160 requests the control system 160 to arrange travel to the floor with the entry door 150. Accordingly, the control system 160 may generate such a request to the elevator controller 145.

[0066] The generation of the elevator call may be arranged to depend on one or more predefined conditions. According to an embodiment, the elevator call may be generated in response to the generation 320 of the confirmation of the mobile robot 110. This has the advantage that the efficiency of the travel is improved due to both the mobile robot 110 and the elevator car 142 being made to go to the landing area of ​​the elevator car 142 at the same time. According to another example embodiment, the generation of the elevator call may be triggered in dependence on a predefined position of the mobile robot 110 in the building 130, wherein the position may be defined based on the distance of the mobile robot 110 from the elevator door at the floor where the mobile robot 110 resides and the departure of the elevator system 140 from the floor where the travel occurs. The determination of the position where the mobile robot 110 resides may be based on data obtainable from an indoor positioning system or from any sensor system suitable for generating data from which the position of the mobile robot 110 may be determined with the desired accuracy.

[0067] According to an embodiment, it may be arranged that when the elevator car 142 arrives at the floor where the mobile robot 110 resides, the elevator controller 145 is configured to notify this to the control system 170, which then generates a confirmation to the robot controller 160. The robot controller 160 may then generate a signal to the mobile robot 110 carrying the package so that the mobile robot 110 may, for example, perform a predefined operation to access the elevator car 142. The predefined operation may, for example, include controlling the speed of the mobile robot 110 to match the settings defined for the mobile robot 110 for accessing the elevator car 142. Furthermore, the predefined operation may include establishing a communication connection with the elevator car 142, for example through a communication facility arranged in the elevator car 142, to provide a control signal to the car operating panel of the elevator car 142, such as a destination call for travel.

[0068] With the above operations, the mobile robot 110 is arranged to travel with the package to the destination floor, the entrance floor of the building 130 resides in the destination floor and it can be detected. For example, the elevator controller 145 can be configured to generate a confirmation signal to the control system 170 in response to detecting that the elevator car 110 has arrived at the destination floor. Alternatively or additionally, it can notify that the elevator door is opened and / or the mobile robot 110 has left the elevator car 142. In response to such a confirmation, the control system 170 can generate a control signal to the robot controller 160 to update the state of the mobile robot 110 to the control entity. In some other embodiments, the control system 170 can be configured to generate a control signal to the monitoring system 137 to request monitoring of the travel of the mobile robot 110 in the entrance floor. In particular, it is of most interest to detect that the mobile robot 110 is present in the building 130, and in response to such a detection, the control system 170 can generate 340 a control signal to the robot controller 160, which includes data indicating that the responsibility for the control of the mobile robot 110 is assigned to the robot controller 160. Detection of the mobile robot 110 leaving the building 130 can be based on monitoring the doorway of the entry door 150, and in response to detection from sensor data (such as from image data), it can be inferred that the mobile robot 110 carrying the package has left the building 130, and a control signal assigning responsibility can be generated 340.

[0069] For the sake of completeness, it is worth mentioning that in the case where the entrance door 150 is not automatic in nature, i.e. the entrance door 150 does not automatically open when an object within the building 130 is detected in the sensor area of ​​the entrance door 150, some further operation may be required for exit. For example, the position of the mobile robot 110 may be monitored in the manner already described, and the control system 170 may trigger the access controller 135 to initiate communication with the mobile robot 110, directly or indirectly (e.g. via the robot controller 160), to determine whether the mobile robot 110 in question may leave the building 110. The communication between these entities may include the sharing of information, such as data identifying the mobile robot 110 in order to determine whether the entrance door 150 may be opened. Alternatively or additionally, this may simply refer to communication in order to receive a notification from the mobile robot 110 that it has left the building 110 in order to update the records of the control system 170.

[0070] In some example embodiments, the transport of packages in the building 130 by the mobile robot 110 may be monitored in various ways. For example, it may be arranged that the control system 170 is configured to monitor the duration between the generation of an elevator call and the detection of the departure of the mobile robot 110 from the building 130 by comparing whether the duration is within a predefined duration limit. Here, the purpose is to detect that the mobile robot 110 is not stuck in the elevator car 142 or lost. In response to detecting that the predefined duration limit is exceeded, i.e., the mobile robot 110 has not left the building within the duration limit from the generation of the elevator call, an alarm signal is issued to the robot controller 160 to indicate a delay in the transport of the package. The robot controller 160 may be configured to generate further signals, such as notifying the recipient of the package of the delay.

[0071] Generally speaking, assigning responsibility for control of the mobile robot 110 from the control system 170 to the robot controller 160 may correspond to the control system 170 notifying the robot controller 160 that the mobile robot 110 has left the building 130 and is not permitted to utilize any resources available in the building 130. Accordingly, the robot controller 160 may take the necessary steps to begin managing the movement of the mobile robot 110 outdoors as it transports packages to a destination, where the destination may refer to a final destination, i.e., a recipient of the package, or a distribution center into which the packages carried by the mobile robot 110 may be collected for further processing.

[0072] In addition, it is clear that the building 130 in which the mobile robot 110 provides a transport service for packages may include internal doors and gates and any similar. In the case where the inner doors and the like are so-called automatic doors, the mobile robot 110 can automatically pass through the door position because the door is opened when an object (i.e., the mobile robot 110) is detected in a predefined vicinity relative to the corresponding door. On the other hand, if the door is not automatic, the control of the opening of these doors can be arranged remotely, for example, by monitoring the position of the mobile robot 110 in the building 130 and comparing it with any inner door, and similarly, and in response to detecting that the mobile robot 110 resides in a position where the door blocks forward in the route, a control signal to open the door can be generated by the control system 170, for example, through the access control system 135. In order to generate the control signal, another control method can be associated with it. That is, according to some example embodiments, the mobile robot 110 can be identified at the location of the corresponding door. For example, a reader device can be positioned at the door area, and the mobile robot 110 can be requested to interact with the reader device in a predefined manner in order to access the door. For example, the interaction may be performed wirelessly, for example using some short-range communication technology, by which the mobile robot 110 may be configured to provide identification data, for example in the form of a previously mentioned code (such as a QR code or the like), and the control system 170 is configured to analyze whether the received identification data qualifies the mobile robot 110 to access the corresponding door. Alternatively or additionally, the mobile robot 110 may be identified using a camera solution or any other sensor solution configured to monitor the door area. In response to a positive result of the evaluation of whether the mobile robot 110 can access the corresponding door or the like, a control signal is generated from the control system 170 to the door controller to open the corresponding door.

[0073] As already mentioned, the various aspects of the invention described herein are mainly accomplished by reference to an implementation in which the control entity is a dedicated control system 170 as shown in FIG. 1 . As already mentioned, the functionality of the control system 170 may also be integrated into another computing device. An example of such an apparatus that may be configured to implement the operation of a computing device and, therefore, a control system 170 is schematically shown in FIG. 4 . In other words, the control system 170 may be configured to perform the method according to the invention as described by the example in the previous description. In other words, the apparatus of FIG. 4 may be configured to perform the function of arranging for the transport of a package from a sender 120 residing in a building provided with an elevator system 140. For the sake of clarity, it is worth mentioning that the block diagram of FIG. 4 depicts some components of an entity that may be used to implement the functionality of the apparatus. The apparatus of FIG. 4 includes a processor 410 and a memory 420. The memory 420 may store data, such as the plurality of data described, and a computer program code 425 that enables the transport of a package from the sender 120 to be arranged in the manner described. The apparatus may also include a communication interface 430, such as a wireless communication interface or a communication interface for wired communication or both, to communicate with the other entities described. Thus, the communication interface 430 may include one or more modems, antennas, and any other hardware and software for enabling, for example, communication under the control of the processor 410. In addition, an I / O (input / output) component may be arranged together with the processor 410 and a portion of the computer program code 425 to provide a user interface for receiving input from a user (such as from a technician) and / or providing output to a user of the device when necessary. In particular, the user I / O component may include a user input device, such as one or more keys or buttons, a keyboard, a touch screen or touchpad, etc. The user I / O component may include an output device, such as a speaker, a display, or a touch screen. The components of the device may be communicatively connected to each other via a data bus, which enables data and control information to be transmitted between the components.

[0074] The memory 420 and at least a portion of the computer program code 425 stored therein may also be arranged with the processor 410 to cause the apparatus to perform at least a portion of the method as described herein. The processor 410 may be configured to read from and write to the memory 420. Although the processor 410 is depicted as a respective single component, it may be implemented as a respective one or more separate processing components. Similarly, although the memory 420 is depicted as a respective single component, it may be implemented as a respective one or more separate components, some or all of which may be integrated / removable and / or may provide permanent / semi-permanent / dynamic / cache storage.

[0075] The computer program code 425 may include computer executable instructions that implement functions corresponding to the steps implemented in the method when loaded into the processor 410 of the corresponding control system 170. As an example, the computer program code 425 may include a computer program consisting of one or more sequences of one or more instructions. The processor 410 is capable of loading and executing the computer program by reading one or more sequences of one or more instructions included therein from the memory 420. The one or more sequences of one or more instructions may be configured to cause the device to perform the method as described when executed by the processor 410. Therefore, the device may include at least one processor 410 and at least one memory 420, at least one memory 420 including computer program code 425 for one or more programs, at least one memory 420 and computer program code 425 configured to, together with at least one processor 410, cause the device implementing the control system 170 to perform the method.

[0076] Computer program code 425 may be provided, such as a computer program product including at least one computer-readable non-transitory medium having computer program code 425 stored thereon, which when executed by processor 410 causes the apparatus to perform the method. The computer-readable non-transitory medium may include a memory device or a recording medium, such as a CD-ROM, DVD, Blu-ray disc, or another article of manufacture tangibly embodying the computer program. As another example, the computer program may be provided as a signal configured to reliably transmit the computer program.

[0077] Furthermore, the computer program code 425 may include proprietary applications, such as computer program code for causing the method to be performed in the manner as described in the description herein.

[0078] Any programming functions mentioned may also be performed in firmware or hardware adapted or programmed to perform the necessary tasks.

[0079] For the sake of completeness, it is worth mentioning that the entity executing the method in the role of the control system 170 can also be implemented with multiple devices (such as the devices schematically shown in Figure 4) as a distributed computing environment corresponding to the control system. For example, one of the devices can be communicatively connected to the other devices and, for example, share data of the method so that another device performs at least one other part of the method. Therefore, the method executed in the distributed computing environment generates control signals indicating the allocation of responsibilities as described. For example, some steps of the method can be at least partially shared between the control system 170, the elevator controller 145, the access controller 135 and the robot controller 160.

[0080] Some aspects of the invention may relate to a system comprising entities as described and configured to implement methods as described in the preceding description.

[0081] The specific examples provided in the description given above should not be construed as limiting the applicability and / or interpretation of the appended claims.The lists and groups of examples provided in the description given above are not exhaustive unless expressly stated otherwise.

Claims

1. A control system (170) for arranging the transport of packages from a building (130) provided with an elevator system (140), the control system (170) being configured to: receiving (310) an indication that the mobile robot (110) has received a package from a sender (120) to transport the package from the building (130), generating (320) a confirmation to the mobile robot (110), the confirmation comprising data causing the mobile robot (110) to initiate transportation of the package, arranging (330) elevator service to the mobile robot (110) by generating an elevator call to the elevator system (140) to request that an elevator car (142) arrive at a floor at which the mobile robot (110) resides and that the elevator car (142) travel to a destination floor including an entrance door of the building (130), and In response to detecting that the mobile robot (110) has exited the building (130), a control signal is generated (340) to a robot controller (145), the control signal including data indicating that control responsibility for the mobile robot (110) is assigned to the robot controller (160).

2. A control system (170) according to claim 1, wherein the control system (170) is arranged to receive (310) an indication describing that the mobile robot (110) has received the package from a sender (120) to transport the package from the building (130) from at least one of: the mobile robot (110); the sender (120) of the package.

3. A control system (170) according to any one of the preceding claims, wherein: The control system (170) is configured to monitor the waiting time of the mobile robot (110) receiving the package in response to the mobile robot (110) arriving at the collection point of the package.

4. The control system (170) of claim 3, wherein the control system (170) is configured to release the mobile robot (110) from the task of transporting the package in response to detecting that the mobile robot (110) has not received the package within a predefined time window set as an acceptable waiting time.

5. The control system (170) of any one of the preceding claims, wherein the control system (170) is configured to generate a confirmation including route data for the mobile robot (110) to leave the building (130).

6. A control system (170) according to any of the preceding claims, wherein the control system (170) is configured to trigger the generation of the elevator call based on at least one of: the generation (320) of the confirmation; the detection of the mobile robot (110) residing in a predefined position in the building (130).

7. The control system (170) according to any one of the preceding claims, the control system (170) being further configured to: A control signal is generated to a monitoring system (137) to initiate monitoring of a mobile robot (110) in a floor including an entrance door (150) for exiting the building (130).

8. The control system (170) of claim 7, wherein the control system (170) is configured to generate the control signal to initiate monitoring of the mobile robot (110) in response to detecting that the elevator car (142) arrives at a floor including the entrance door (150).

9. The control system (170) of claim 7 or claim 8, wherein the control system (170) is configured to perform detection of the mobile robot (110) leaving the building (130) based on data received from the monitoring system (137).

10. The control system (170) according to any one of the preceding claims, the control system (170) being further configured to: monitoring the duration between the generation of the elevator call and the departure of the mobile robot (110) from the building (130) by comparing whether the duration is within a predefined duration limit, and In response to detecting that the predefined duration limit is exceeded, an alert is generated to the robotic controller (160) to indicate a delay in package transport.

11. A method for arranging transport of a package from a building (130) provided with an elevator system (140) performed by a control system (170), the method comprising: receiving (310) an indication that the mobile robot (110) has received the package from the sender (120) to transport the package from the building (130), generating (320) a confirmation to the mobile robot (110), the confirmation comprising data causing the mobile robot (110) to initiate transportation of the package, arranging (330) elevator service to the mobile robot (110) by generating an elevator call to the elevator system (140) to request that an elevator car (142) arrive at a floor at which the mobile robot (110) resides and that the elevator car (142) travel to a destination floor including an entrance door of the building (130), and In response to detecting that the mobile robot (110) has exited the building (130), a control signal is generated (340) to a robot controller (145), the control signal including data indicating that control responsibility for the mobile robot (110) is assigned to the robot controller (160).

12. The method of claim 11, wherein an indication describing that the mobile robot (110) has received the package from a sender (120) to transport the package from the building (130) is received (310) from at least one of: the mobile robot (110); the sender (120) of the package.

13. A method according to any one of the preceding claims 11 or 12, wherein: In response to the mobile robot (110) arriving at the collection point of the package, the waiting time of the mobile robot (110) receiving the package is monitored.

14. The method according to claim 13, wherein: In response to detecting that the mobile robot (110) has not received the package within a predefined time window set as an acceptable waiting time, the mobile robot (110) is released from the task of transporting the package.

15. The method according to any of the preceding claims 11 to 14, wherein a confirmation is generated comprising route data for the mobile robot (110) to leave the building (130).

16. The method according to any of the preceding claims 11 to 15, wherein the generation of the elevator call is triggered based on at least one of: the generation (320) of the confirmation; the detection of the mobile robot (110) residing in a predefined position in the building (130).

17. The method according to any one of the preceding claims 11 to 16, further comprising: A control signal is generated to a monitoring system (137) to initiate monitoring of a mobile robot (110) in a floor including an entrance door (150) for exiting the building (130).

18. The method of claim 17, wherein a control signal for initiating monitoring of the mobile robot (110) is generated in response to detecting that the elevator car (142) arrives at a floor including the entry door (150).

19. The method according to claim 17 or claim 18, wherein the detection of the mobile robot (110) leaving the building (130) is performed based on data received from a monitoring system (137).

20. The method according to any one of the preceding claims 11 to 19, further comprising: monitoring the duration between the generation of the elevator call and the departure of the mobile robot (110) from the building (130) by comparing whether the duration is within a predefined duration limit, and In response to detecting that the predefined duration limit is exceeded, an alert is generated to the robotic controller (160) to indicate a delay in package transport.

21. A computer program comprising computer readable program code configured to cause the method according to any one of claims 11 to 20 to be performed when the computer readable program code is run on one or more computing devices.

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