Method for maintenance of an elevator

Abstract

A method of maintaining an elevator (100) is proposed. The method comprises: (i) placing a robot (104) on a car (110) of the elevator (100); (ii) positioning the car (110) with the robot (104) at a landing (106) to allow at least one operator (102) to enter the car (110); (iii) positioning the car (110) with the robot (104) and the operator (102) at a maintenance location (122); (iv) performing the maintenance with the robot (104) in response to an operator input (124); (v) positioning the car (110) with the robot (104) and the operator (102) at a landing (106) to release the operator (102) from the car; (vi) removing the robot (104) from the car (110).

Description

Technical Field

[0001] The invention relates to a method for maintaining an elevator. Background Art

[0002] An elevator has a car that travels in an elevator shaft between landings of a building or structure. Each landing has at least one landing door. To maintain the elevator, a technician may enter the elevator shaft through a passage door or a landing door and perform maintenance on the parts of the elevator arranged in the elevator shaft. In particular, the landing doors may need to be regularly maintained. The technician may use the top of the car as a working platform. The technician may move the car up and down in the elevator shaft to reach different parts of the elevator.

[0003] However, it has been found that performing maintenance work within an elevator shaft can be dangerous. While the car is in motion, moving parts may be within the reach of a technician. Maintenance is also labor intensive, and routine maintenance work can instead be done by a robot. The robot can be located on top of the car or under the bottom of the car and can be transported from one floor to another by the car.

[0004] EP 3 498 649 A1 describes an elevator inspection and maintenance system comprising a mechatronic body for performing maintenance operations.

[0005] Therefore, there may be a need for an improved method of performing maintenance on elevators. Summary of the invention

[0006] This need is met by the subject matter of the independent claims. Advantageous embodiments are defined in the dependent claims and in the following description.

[0007] According to an aspect of the present invention, a method for maintaining an elevator is provided. The method comprises at least the following steps, preferably in a specified order:

[0008] - Placing the robot on the elevator car, i.e. arranging the robot at the car;

[0009] - positioning the car with the robot at a landing to allow at least one operator to enter the car, i.e. positioning the car and the robot together at a landing so that the operator can enter the car through an open landing door;

[0010] - Positioning the car with the robot and operator at the maintenance position;

[0011] - Perform maintenance using robots in response to operator input;

[0012] - positioning the car with the robot and the operator at a landing to release the operator from the car, i.e. to allow the operator to leave the car via a landing door;

[0013] - Take the robot out of the car, i.e. remove the robot from the car.

[0014] The idea on which embodiments of the present invention are based can be explained as being based inter alia on the following observations and recognitions.

[0015] An elevator may be referred to as a people mover. An elevator has at least one car that travels along tracks in a shaft of a building. Safety reasons require that the elevator be regularly maintained. As has already been briefly noted above, maintenance may need to be performed from inside the shaft but outside the car. In order to keep people out of the shaft, at least one robot may be placed in the shaft. The functions of the robot may be controlled by a human operator. The operator of the robot should stay in a safe place. In the proposed method, the safe place is in an enclosed space in the car. Since the robot and the operator are in close proximity here, the robot and the operator may cooperate closely and complement each other.

[0016] The operator may be called a maintenance technician. The robot may be placed on top of the car of the elevator. The robot may also be placed below the car of the elevator, for example by hanging the robot from the floor of the car. The operator may monitor the movements of the robot safely from inside the car. The robot may be moved to the car from a trolley on the landing of the elevator. The robot may be self-powered or, alternatively, may be placed on the car by an operator. The car is a means of transport for the robot and the operator. Control equipment for controlling the robot may be placed inside the car. The control equipment may be arranged on a trolley. The interior of the car may be used as a control room for the robot. Therefore, a dedicated control room in the building is not necessary.

[0017] The maintenance position may be related to a landing when the robot was previously placed on the car. The maintenance position may also be related to any other landing of the building. The maintenance position is usually different from the position of the landing, for example by at least a few centimeters or at most a few meters along the longitudinal direction of the elevator shaft. The maintenance position may be a position at which a specific function of the elevator is activated or enabled when the car reaches the maintenance position. Thus, when the car is positioned in the maintenance position, specific maintenance operations can be performed.

[0018] In the method proposed herein, the robot outside the car cooperates closely with the operator inside the car. Thus, in particular, the car is brought into the maintenance position by the operator. The robot can work at least partially autonomously. Operator inputs (i.e. input data controlled and / or input by a human operator) can be transcribed or rewritten as control commands for the robot. The operator inputs can define maintenance actions for the robot. The operator inputs can define a whole sequence of maintenance actions. The control commands can be referred to as maneuvering signals. The control commands for the robot can be sent wirelessly.

[0019] After the maintenance is complete, the car interior can be vacated, the control equipment can be removed from the car, and the car can be used again as a people mover. The robot can move from the car onto the trolley. The loaded trolley can then be moved to the next elevator and the maintenance procedure can be repeated.

[0020] To place the robot on the car, the car can be positioned at a mounting position where the roof of the car can be accessed from the landing, the landing door at the landing can be opened, and the robot can be moved from the landing to the roof. In the mounting position, the roof can be aligned with the landing. Alternatively, the roof can be aligned with the loading surface of the trolley.

[0021] The robot may be connected to the car after being placed on the car. The robot may be mechanically connected to the car. The robot and the car may have matching interfaces. The robot may be fixed by a positive lock. The robot may also be electrically connected to the car. The car and / or the robot may have matching electrical connectors. The robot may also be connected to a socket of the car by an extension cable. Removing the robot from the car may be done in reverse to placing the robot on the car.

[0022] After the robot is placed on the car, the landing door can be closed. The car can then be called to the landing to allow the operator access. Allowing the operator access usually means enabling the operator to have access to the car, such as into the interior of the car. The closed door can ensure the operator's safety by isolating the operator from the moving car. The car can be called to the landing by standard operating commands of the elevator. For example, the car can be called to the landing by using the landing operating panel (LOP). When the car is at the landing, the landing door is unlocked and opened by the open car door of the car. Thus, the operator is allowed access and can enter the car.

[0023] In the maintenance position, the car can be positioned below the landing with an offset so that the robot can access the upper parts of the landing door of the landing. Maintenance can then be performed on the upper parts. The top of the car can be arranged partially along the landing door. Spare parts and / or tools for maintenance for the robot can be transported in the car. Spare parts and tools can be transported on a trolley. In the maintenance position, the landing door of the landing and the car door of the car can be opened. The robot can enter the car through the opened landing door and car door. Through the open door, the operator can change the tools on the robot to perform specific maintenance tasks. Through the door, the operator can provide the robot with the necessary spare parts.

[0024] During maintenance, the robot can set the lock mechanism of the landing door close to the car to the unlocked state. Then, the movement command can be given to the elevator. If the drive system of the elevator remains deactivated when the lock mechanism is in the unlocked state, the safety check can be passed. When the car is aligned with the landing, the lock mechanism of the landing door is usually unlocked by the car and / or the car door. Then, by forced locking with the car door, the landing door opens against the closing spring. The lock mechanism has a switch for sending a signal of the locked or unlocked state of the lock mechanism to the control system of the elevator. If the lock mechanism is in the unlocked state, the control system should prevent the drive system of the elevator from starting even if a movement command is issued. For example, the movement command can be given at the car panel or the landing panel of the elevator. By unlocking the lock mechanism using the robot, a safety check can be performed on the switch of the unlocked landing door.

[0025] The elevator can be switched to inspection mode to place the robot on the car. The elevator can be switched to operating mode for safety inspection. By using the normal operating mode for safety inspection, safety inspection can be performed in realistic situations. The original safety wiring of the elevator can be checked with the safety inspection.

[0026] The robot can open the landing door for a security check. The robot can set the locking mechanism in the unlocked state and can at least partially open the landing door by moving the locking mechanism in the opening direction of the landing door. Unlocking and opening can be done in one continuous action. The final position of the unlocking action and the starting position of the opening action may be difficult to define. If the landing door can be moved in the opening direction, the locking mechanism must be in the unlocked state.

[0027] After the safety check, the landing door can be locked in the open position. The car door can also be locked in the open state. The robot can use a blocking tool to lock at least the landing door. The operator can open the car door. Alternatively, the operator can manually block the landing door in the open position from inside the car.

[0028] During maintenance, the robot may inspect at least one predetermined component of the elevator. The state of the inspected component may be registered and compared with a desired state. Deviations from the desired state may be recorded. Deviations may be reported to an operator. The robot may have a camera and may aim the camera at points of interest within the hoistway. Points of interest may be predefined for different types of elevators. Points of interest may also be defined by an operator through operator input. The recording of the camera may be compared with pre-stored recordings of points of interest in a desired state and / or an undesired state. The recordings may be compared using image analysis and machine learning. Differences and similarities between the recordings may represent deviations from the desired state. Points of interest may be marked and an operator may be notified of deviations. Deviations may be highlighted in the current recording.

[0029] During maintenance, the robot can clean at least one predetermined surface of the elevator. For example, the predetermined surface can be located on the track of the elevator and / or on the track of the door mechanism of the landing door. The same surface can be cleaned from landing to landing and throughout the elevator. Alternatively or additionally, the surface can be predetermined by the operator. The robot can use a cleaning device on the predetermined surface. The cleaning device can be stored in the car. The robot can take out the cleaning device from inside the car through the open door.

[0030] The details of the maintenance can be automatically recorded for further reference. The robot can work according to the maintenance protocol. The execution of the maintenance steps can be checked on the protocol. By recording the maintenance, it can be ensured that no steps are missed and the maintenance is performed as expected.

[0031] After performing maintenance, the car with the robot and operator can be positioned at a different maintenance location, and subsequent maintenance can be performed using the robot. The robot can have a limited range of motion. The car can be repositioned to allow the robot to reach other parts of the elevator. The car can be moved step by step to cover a large portion of the elevator with the robot.

[0032] Different maintenance positions can be located at different landings of the elevator. The elevator can move from landing to landing to perform maintenance on all landings of the elevator. At each landing, the maintenance steps can be repeated.

[0033] It should be noted that possible features and advantages of embodiments of the present invention are described herein. Those skilled in the art will recognize that features can be appropriately transferred from one embodiment to another, and features can be modified, adjusted, combined and / or replaced, etc., in order to derive other embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In the following, advantageous embodiments of the present invention will be described with reference to the accompanying drawings. However, neither the drawings nor the description should be interpreted as limiting the present invention.

[0035] Figure 1 The following is a sequence of steps for performing maintenance on an elevator according to an embodiment of the present invention.

[0036] The figures are schematic only and are not drawn to scale. Like reference numerals refer to like or similar features. DETAILED DESCRIPTION

[0037] Figure 1 A sequence of steps for performing maintenance on an elevator 100 is shown. The steps can be performed in the order presented. For example, the sequence can also be at least partially adapted to different prerequisites, such as different types of elevators 100 and / or different maintenance requirements. Steps can also be omitted from the sequence if not necessary.

[0038] In a first step, an operator 102 (also referred to as a technician) approaches the elevator 100 using a robot 104. The robot 104 is configured to cooperate with the operator 102 to collaboratively perform maintenance on the elevator 100. The robot 104 may be transported on a trolley, a truck, a transporter, or the like. Alternatively, the robot 104 may have wheels or tracks. The operator 102 approaches the elevator 100 on a landing 106.

[0039] In a second step, the operator 102 sets the elevator 100 to a maintenance mode and sends the elevator 100 downward so that the top 108 of the car 110 of the elevator 100 is at the floor level of the landing 106. The car 110 is now in the installation position 112. Alternatively, in the installation position 112, the car 110 can be positioned offset from the floor level to facilitate the subsequent step of placing the robot 104 from a cart or the like onto the top 108.

[0040] In a third step, the operator 102 opens the landing door 114 of the landing 106 and places the robot 104 onto the car 110. The robot 104 may be fastened to the roof 108. The robot 104 may be mechanically connected to the car 110 and optionally electrically connected to the car 110.

[0041] In a fourth step, the operator 102 closes the landing door 114 and calls the elevator 100 at the landing 106 in a subsequent fifth step.

[0042] In a sixth step, the landing door 114 is opened together with the car door 116 of the car 110 , and the operator 102 enters the elevator 100 .

[0043] In a seventh step, the operator 102 drives the elevator 100 so that the robot 104 can access the landing door mechanism 120. The car 110 is now in the maintenance position 122.

[0044] In an eighth step, the operator 102 initiates maintenance by providing an operator input 124. The robot 104 performs maintenance in response to the operator input 124. The operator input 124 is converted into a control command for the robot 104. The operator input 124 may initiate the entire sequence of maintenance actions. Alternatively, the operator input 124 may directly control the robot 104.

[0045] During maintenance, the robot 104 checks whether the landing door 114 is normal. The robot 104 can have a camera to record a specified area or part of the landing door 114. The picture or video from the camera can be automatically evaluated to diagnose the status of the landing door 114. The evaluation results can be presented to the operator 102. Points of interest can be highlighted for the operator 102. The operator 102 can point the camera to the points of interest. The pictures or videos from the camera can be displayed to the operator for in-depth evaluation of these points of interest.

[0046] In the ninth step, a safety check is performed during maintenance. For the safety check, the robot 104 unlocks the lock mechanism 126 of the landing door 114. Then, the operator 102 issues a movement command 128 to the drive system 130 of the elevator 100.

[0047] If the elevator 100 does not move with the landing door 114 unlocked, the safety check is passed.

[0048] In an embodiment, the robot 104 unlocks and at least partially opens the landing door 114. A safety check is then performed.

[0049] In the tenth step, the operator 102 opens the car door 116 and locks the landing door 114 in the open position. The robot 104 can now release the landing door 114 and prepare for further maintenance.

[0050] In an eleventh step, the robot performs further maintenance on the landing door 114 in response to other operator input 124. For example, the robot 104 may clean the guide surfaces of the landing door 114.

[0051] Prior to the twelfth step, the maintenance of the landing door 114 has been completed. In the twelfth step, the operator 102 closes the landing door 114 and the car door 116, and repositions the car 110 at a new maintenance position to perform further maintenance at another floor, or repositions it at an exit position to leave the car 110. Afterwards, the operator 102 can return the car 110 to the installation position 112 to remove the robot 104 from the car 110.

[0052] In the following, a possible implementation of an embodiment of the method described herein is explained again in slightly different wording.

[0053] A collaborative procedure between a collaborative robot (cobot) and a field technician is presented, for example for door maintenance and safety chain control.

[0054] Traditionally, on-site technicians need to perform manual work to maintain and inspect elevators. In this paper, an automated solution is proposed to improve safety and quality. The solution focuses on a collaborative scenario between collaborative robots (cobots) and technicians. In this scenario, the technician is located inside the elevator car and collaborates with the robot placed on top of the elevator.

[0055] A technician inside an elevator can work with a collaborative robot placed on top of the elevator car to inspect and clean the doors, and control the safety chain. In this way, the technician rides safely inside the elevator car during maintenance inspections. The technician does not need to enter the hoistway.

[0056] A routine is provided for inspecting and maintaining the upper parts of the landing doors and verifying the safety chain so that if the landing doors are unlocked, the elevator should not move.

[0057] In an exemplary routine, a technician approaches an elevator and puts the elevator in inspection mode. The technician then drives the elevator so that the top of the elevator is at floor level. The technician opens the landing door and places a collaborative robot (cobot) on top of the elevator. The technician closes the landing door. The technician then drives the elevator to the floor and enters the car. The technician moves the elevator so that the collaborative robot can access the upper parts of the landing door. For maintenance, the collaborative robot checks whether the landing door is normal. The collaborative robot unlocks and opens the landing door. For safety inspection, the technician attempts to move the elevator. The elevator should be blocked when the safety circuit is open because the landing doors that are opened separately are not locked. The technician then opens the car door and blocks the landing door, which has been kept open by the collaborative robot until then. After the door is blocked, the collaborative robot is now free to clean and operate the opened landing door for further maintenance. After completing the maintenance, the technician drives the elevator to another floor and can repeat the process.

[0058] In an embodiment, the robot performs tasks autonomously. A technician only needs to supervise the robot's actions. Necessary tasks can be taught to the robot. A technician can check at any time whether the robot is working properly. The robot can be stopped at any time.

[0059] The robot has a base that can be easily attached to the elevator car without requiring a technician to actually enter the hoistway.

[0060] The proposed method improves safety since there is no technician in the shaft. This method also improves quality since the robot can always reproduce the required maintenance and inspection tasks. This method further improves traceability since the robot log can be checked to ensure that the task has been performed correctly.

[0061] Finally, it should be noted that the term "comprising" does not exclude other elements or steps, and "a" or "an" does not exclude a plurality. Furthermore, elements described in association with different embodiments may be combined. It should also be noted that reference signs in the claims should not be interpreted as limiting the scope of the claims.

Claims

1. A method for maintaining an elevator (100), wherein the method comprises: (i) placing a robot (104) on a car (110) of the elevator (100); (ii) positioning the car (110) with the robot (104) at a landing (106) to allow at least one operator (102) to enter the car (110); (iii) positioning the car (110) with the robot (104) and the operator (102) at a maintenance position (122); (iv) performing said maintenance with said robot (104) in response to an operator input (124); (v) positioning the car (110) with the robot (104) and the operator (102) at a landing (106) to release the operator (102) from the car; (vi) removing the robot (104) from the car (110).

2. The method according to claim 1, wherein: In order to place the robot (104) on the car (110), the car (110) is positioned at a mounting position (112) where a top (108) of the car (110) can be reached from the landing (106), a landing door (114) at the landing (106) is opened, and the robot (104) is moved from the landing (106) to the top (108).

3. The method according to claim 2, wherein: After the robot (110) is placed on the car (110), the landing door (114) is closed, and the car (110) is called to the landing (106) to allow the operator (102) to enter.

4. The method according to one of the preceding claims, wherein: At the maintenance position (122), the car (110) is positioned below a landing (106) with an offset to enable the robot (104) to reach an upper part of a landing door (114) of the landing (106), wherein the maintenance is performed on the upper part.

5. The method according to one of the preceding claims, wherein: During the maintenance, the robot (104) sets a lock mechanism (126) of a landing door (114) close to the car (110) to an unlocked state and issues a movement command (128) to the elevator (100), wherein if a drive system (130) of the elevator (100) remains disabled while the lock mechanism (126) is in the unlocked state, a safety check is passed.

6. The method according to claim 5, wherein: The elevator (100) is switched to an inspection mode to place the robot (104) on the car (110), wherein the elevator (100) is switched to an operation mode to perform the safety inspection.

7. The method according to claim 5, wherein: The robot (104) opens the landing door (114) to perform the security inspection.

8. The method according to claim 7, wherein: After the security check, the landing door (114) is locked in an open position.

9. The method according to one of the preceding claims, wherein: During the maintenance, the robot (104) checks at least one predetermined component of the elevator (100), wherein the state of the checked component is registered and compared with an expected state, wherein deviations from the expected state are recorded.

10. The method according to one of the preceding claims, wherein: During the maintenance, the robot (104) cleans at least one predetermined surface of the elevator (100).

11. The method according to one of the preceding claims, wherein: Details of the maintenance are automatically recorded for further reference.

12. The method according to one of the preceding claims, wherein: After performing the maintenance, the car (100) with the robot (104) and the operator (102) is positioned at a different maintenance position (122), and subsequent maintenance is performed using the robot (104).

13. The method according to claim 12, wherein: The different maintenance positions (122) are located at different landings (106) of the elevator (100).

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