Collaborative robot for performing service tasks in elevator hoistway and method of operating collaborative robot

Abstract

A collaborative robot (45) for performing service tasks in an elevator hoistway (24) is proposed. The robot (45) comprises: a sensor device (51) configured for capturing at least one step of a task performed by an operator of the robot (45) in a safe environment (58) external to the elevator hoistway (24); at least one actuator device (49) configured for performing one or more actions upon receiving a respective actuator signal; a control unit (54) for operating the robot (45), the control unit (54) being communicatively coupled to the sensor means (51) and the actuator means (49), and the control unit (54) being configured to: receive at least a first sensor signal from the sensor means (51) when the robot (45) is arranged in the safe environment (58), the first sensor signal representing a step of performing a task by an operator; determining at least one actuator signal, the actuator signal being determined such that the actuator device (49) emulates the step of the task upon receipt of the actuator signal; and send an actuator signal to the actuator device (49) when the robot (45) is arranged in the elevator hoistway (24).

Description

Technical Field

[0001] The technology described herein generally relates to collaborative robots for performing maintenance tasks in elevator hoistways and methods of operating the collaborative robots. Background Art

[0002] Elevators are used to transport passengers throughout a building using an elevator car. Typically, multiple passengers can be accommodated inside the car, and the passengers can then be transported from the first floor of the building to the second floor. In this specification, the terms "first" and "second" are used in this context only to distinguish one floor from another, and do not indicate that, for example, the first floor is actually the first floor of the building. Thus, the first floor and the second floor can be any two different floors of the building. During this journey, other passengers can enter or exit the car during stops at other floors. The car moves vertically from one floor to another through the building's elevator shaft.

[0003] Such elevators must be regularly maintained by maintenance workers, for example, according to scheduled maintenance intervals or due to elevator malfunctions. While maintaining the elevators, maintenance workers may be exposed to various hazardous situations that pose a threat to them. For example, to maintain the elevator, workers may need to access or approach the roof of the car or the pit of the elevator shaft. Accessing the roof of the car or the pit can be dangerous due to the depth of the elevator shaft, the movement of the car, the movement of other cars in the elevator shaft, other moving objects in the elevator shaft (e.g., the counterweight of the elevator or other elevators), and / or hazardous equipment within the elevator shaft (e.g., equipment operating with high voltage and / or high-voltage current).

[0004] Therefore, it is known to use robots, particularly collaborative robots (cobots), within elevator hoistways to replace service or maintenance workers in the hazardous environment of the elevator hoistway, at least for some of the tasks typically performed by service or maintenance workers. For example, EP 3 498 649 A1 describes an elevator inspection and maintenance system comprising an electromechanical body that can be moved remotely or automatically, an inspection and maintenance head mounted on the body, wherein the inspection and maintenance head is equipped with sensors or manipulation tools for remotely or automatically performing inspection or maintenance operations on at least one component of the elevator system. A collaborative robot may be referred to as a robot or a cobot hereinafter. A service or maintenance worker may be referred to as a worker hereinafter. The service or maintenance work may be referred to as a service task, where a service task refers to at least one service task.

[0005] Furthermore, it is known to program a robot by demonstrating to it one or more steps of a task to be performed by the robot in an elevator shaft, where each step may include one or more actions. Demonstration of the task can be performed by the robot's operator (in other words, the programmer). A corresponding teaching method is described in "TEAM: a parameter-free algorithm to teach collaborative robots motions from user demonstrations," Lorenzo Panchetti, Jianhao Zheng, Mohamed Bouri, and Malcolm Mielle, arXiv:2209.06940v1 [cs.RO] 14 Sep. 2022. Optionally, the operator's teaching through demonstration can be supplemented by source code (e.g., also programmed by the operator) for at least partially manually operating the robot.

[0006] However, teaching a cobot a task by demonstration in the field can be difficult because elevator hoistways can be small and it can be difficult for an operator to move or navigate the cobot within the hoistway. Furthermore, teaching in an elevator hoistway can be dangerous due to the depth of the hoistway, the movement of moving objects (e.g., car(s) and / or counterweight(s),) and, in some cases, the need to maneuver around the cobot to teach. Summary of the Invention

[0007] Therefore, there is a need for a collaborative robot for performing maintenance tasks in an elevator shaft, which collaborative robot can be programmed in a simple and / or safe manner and / or helps ensure the safety of an operator who programs and / or controls the robot. Furthermore, there is a need for a method for operating a collaborative robot for performing maintenance tasks in an elevator shaft, which method can be performed in a simple and / or safe manner and / or helps ensure the safety of an operator who programs and / or controls the robot.

[0008] These needs are met by the subject matter of the independent claims. Advantageous embodiments are defined in the dependent claims and in the following description and the associated drawings.

[0009] According to a first aspect of the technology described herein, a collaborative robot for performing maintenance tasks in an elevator hoistway is provided. The collaborative robot comprises: a sensor device configured to capture at least one step of a task performed by an operator of the robot in a safe environment outside the elevator hoistway; at least one actuator device configured to perform one or more actions upon receiving a corresponding actuator signal; and a control unit for operating the robot, wherein the control unit is communicatively coupled to the sensor device and the actuator device, and wherein the control unit is configured to: receive at least a first sensor signal from the sensor device when the robot is positioned in the safe environment, wherein the first sensor signal represents a step of the task performed by the operator; determine at least one actuator signal, wherein the actuator signal is determined such that the actuator device emulates the step of the task upon receiving the actuator signal; and send the actuator signal to the actuator device when the robot is positioned in the elevator hoistway.

[0010] The sensor arrangement may comprise at least one sensor, such as a camera. The sensor may be configured to capture at least one action of the operator while the operator performs a step of a task. The sensor arrangement may comprise two or more other sensors, such as one or more other cameras, a radar sensor, a microphone, a position sensor, an accelerometer and / or a temperature sensor. The sensor arrangement may also comprise a tactile sensor, such as a button or a touchpad, which may be activated by the operator or a service or maintenance worker. The sensor arrangement may also comprise or consist of sensors incorporated into the robot, in particular in or near the joints of the robot. These sensors are used to determine or measure the position of the joints during operation of the robot. In this case, no additional sensors are required.

[0011] According to the present invention, the control unit is configured to receive a second sensor signal from a sensor device, the second sensor signal representing that the robot is arranged in the elevator shaft; and is configured to send an actuator signal to the actuator device after receiving the second sensor signal. The second sensor signal can be automatically generated by the same sensor as the first sensor signal. Alternatively, the second sensor signal can be automatically generated by an accelerometer or another camera of the sensor device. Alternatively, the second sensor signal can be generated by a tactile sensor when the tactile sensor is activated by a maintenance or maintenance worker. For example, the robot can be arranged at a predetermined position in the elevator shaft, and the operator or worker can activate the tactile sensor when the robot is arranged at the predetermined position. Alternatively, the second sensor signal can be remotely triggered via a remote control unit connected to the control unit, for example, by a maintenance or maintenance worker.

[0012] The actuator arrangement may comprise one or more actuators. The actuator may be mechanically coupled to an arm of the robot, wherein the arm may be considered as part of the actuator arrangement. The arm may comprise one or more articulated members and / or gripping tools (e.g., clamps or claws) coupled via corresponding one or more joints, wherein the actuator may be mechanically coupled to the arm, in particular to the articulated members and / or gripping tools, in order to move the arm, in particular to move the articulated members and / or gripping tools. One of the actuators may be configured for moving the robot from one position to another, wherein the actuator may be an electric motor coupled to a wheel of the robot. Each action performed by the actuator arrangement may comprise one or more actions of one or more actuators, in particular actions for emulating the steps of the task and thereby performing the task.

[0013] Before using the robot in the field (i.e., in an elevator shaft), an operator can teach the robot one or more steps of a task through demonstration in a safe environment (e.g., at their desk and / or office and / or laboratory) or outside the field (i.e., outside the elevator shaft). The task can be taught using frames learned from the demonstration, such as described in the prior art mentioned above. Optionally, a custom application can be used to support teaching the robot. For example, using the application, an operator can record a set of demonstrations that can be used to teach the robot each motion of the steps of the corresponding task. The task can include one or more steps. For example, when the robot is used to perform a maintenance operation (e.g., cleaning an elevator door), the operator can teach the robot the motions for opening a simulated elevator door, grabbing a cleaning tool, cleaning the door, returning the robot to its initial position, closing the simulated door, and releasing the cleaning tool.

[0014] Each step may comprise a sequence of more or less complex motions, in particular one or more movements of the respective step. For example, the step of grabbing a cleaning tool may comprise two movements, such as moving the robot's arm to the cleaning tool, and closing the gripper of the robot's arm to grab the cleaning tool. In contrast, the step of driving to the door may comprise only one movement, such as driving directly to the door. Therefore, the sensor device may be configured to capture at least one of the movements, such as capturing all movements belonging to a certain step. Furthermore, the sensor device may be configured to capture all steps belonging to the task, wherein at least some of the steps may be captured in a safe environment, and optionally some of the steps may be captured in the elevator shaft, otherwise all steps performed by the robot may be performed in the elevator shaft. The safe environment may be a laboratory of the manufacturer of the robot or the control unit.

[0015] These movements can be combined into task pipelines. For example, to create a task, an operator can use an application to create a task pipeline, where a task pipeline can be a logical flow of movements and corresponding actions. In a task pipeline, each movement can be represented by the name of the movement being trained and the goal (for example, the location and / or object on which the robot needs to perform the task). A step in a process can be represented by one or more task pipelines. These task pipelines can be used later in the field, for example for maintenance or installation. In addition, the movements and task pipelines trained for a given robot at a given location can be saved in a "movements and pipelines" database. This database can be shared with all operators who program the corresponding robot and can be used by the corresponding robot in the field without additional training.

[0016] Before placing the robot in the elevator shaft, the operator can test the recorded task pipeline by setting up dummy targets and ensuring the robot executes the correct motions to perform the corresponding steps and / or tasks. Once a task pipeline has been created and tested, the operator can deploy the robot on-site, i.e., in the elevator shaft. Alternatively, the operator can manually set one or more targets for the task pipeline in the elevator shaft. The robot can then execute the task by sequentially executing each motion—specifically, the task pipeline, steps, and motions—and thereby perform the task with respect to the target. In this approach, the robot can be taught the motions before entering the shaft. Upon deployment, the robot only needs to input one or more key points (i.e., targets) for navigation, and the operator's time in the elevator shaft is minimal, thereby reducing operator risk. Therefore, the operator's final task when programming the robot may be to set the target objects, specifically the position of one or more target objects between steps in a task (i.e., within a corresponding task pipeline) or between different tasks (i.e., between different task pipelines). For example, a special page in the application can allow the operator to manually move the robot to a specific position for each target object defined in the pipeline and record the corresponding position. Thus, even if programming is done on-site (i.e., in an elevator shaft), it can be executed through demonstration.

[0017] Collaborative robots are trained in a safe environment and deployed in elevator shafts to perform one or more trained tasks. This improves worker safety because the robots perform the tasks in a hazardous environment, rather than the workers. Collaborative robots also improve operator safety because operators do not need to spend significant time training the robots in the elevator shaft. Furthermore, collaborative robots can contribute to high-quality maintenance and / or inspection operations because task pipelines can be easily tested and adjusted as necessary before the robots are deployed in the field. Furthermore, collaborative robots achieve repeatability because task pipelines can be reused in different elevator shafts and easily adjusted by simply changing the target while maintaining the same task, steps, and / or motions (e.g., in the form of robot actions). Collaborative robots also facilitate knowledge sharing. Specifically, the motions and / or task pipelines corresponding to the steps can be trained by one operator in safe conditions and then reused by all other operators. Consequently, a database of motions and task pipelines can be created in a safe environment for all robots to use in the field.

[0018] According to one embodiment, the task includes at least two steps, the sensor device is configured to capture the steps of the task, and the actuator signal is determined so that the actuator device emulates the steps of the task upon receipt of the actuator signal. For example, the sensor device may be configured to generate a first sensor signal representing one of the steps and another sensor signal representing another of the steps. In this case, the control unit may be configured to receive both sensor signals from the sensor device and determine the actuator signal and, optionally, one or more other actuator signals, wherein the actuator signal(s) may be determined so that the actuator device emulates the steps of the task upon receipt of the actuator signal(s). These steps may be organized into a task pipeline.

[0019] According to one embodiment, the sensor device is configured to capture the first of the steps in a safe environment and to capture the second of the steps after being deployed in the elevator shaft. For example, the first step may include grasping a tool (e.g., a cleaning tool or screwdriver) or using the tool (e.g., wiping or rotating it accordingly), and the second step may include bringing the tool to a location where it can be used, in other words, to a corresponding target object. In this case, the control unit may be configured to receive a first sensor signal representing the first step from the sensor device in the safe environment, receive another sensor signal representing the second step from the sensor device in the elevator shaft, and determine an actuator signal and, optionally, one or more other actuator signals, wherein the actuator signal(s) may be determined such that, upon receiving the actuator signal(s), the actuator device emulates the steps of the task.

[0020] According to one embodiment, a task can be performed at at least two different objects, wherein at least a first of the objects is located in a safe environment, and wherein at least a second of the objects is located in an elevator shaft. A sensor device is configured to capture the steps of the task performed by an operator at the first of the objects in the safe environment, and an actuator signal is determined so that, upon receiving the actuator signal in the elevator shaft, the actuator device emulates the steps of the task at the second of the objects. The first and second objects can be the same object. For example, the object can be a door. Specifically, the first object can be a simulated door in the safe environment, while the second object can be an elevator shaft door. In this case, a robot can be taught how to clean the simulated door in the safe environment, and then the robot can be used to clean elevator shaft doors. Alternatively, the first and second objects can be other similar objects. For example, the first object can be a simulated door in the safe environment, and the second object can be the inner wall of an elevator shaft. In this case, the robot can be taught how to clean a simulated door in a safe environment, and then used to clean the interior walls of an elevator shaft in the same manner as the simulated door. Thus, the task could be "cleaning," and the target could be an elevator door or the interior walls of an elevator shaft. This concept can be easily transferred to other tasks, such as turning a screwdriver, grasping or releasing an object, pressing a button, and / or activating a lever, and / or to other targets, such as different screws, tools, buttons, and / or corresponding levers.

[0021] The above-mentioned features, advantages and / or effects of the collaborative robot can be transferred to the method for operating the collaborative robot explained below. In particular, the above-mentioned features, advantages and / or effects of the embodiments of the technology described herein are described in part with respect to the above-mentioned collaborative robot, and in part with respect to the method for operating the collaborative robot explained below. Those skilled in the art will recognize that these features, advantages and / or effects can be appropriately transferred from one embodiment to another, and / or from the above-mentioned first aspect to the second aspect. Therefore, in order to describe the present invention concisely, repeated explanations of these features, advantages and / or effects will be omitted below, and only reference will be made to the above-mentioned explanations. In addition, in order to form other embodiments of the technology described herein, the features of different embodiments may be modified, adjusted, combined and / or replaced, etc.

[0022] According to a second aspect of the technology described herein, a method for operating a collaborative robot for performing maintenance tasks in an elevator hoistway is provided. The robot includes: at least one sensor device configured to capture at least one step of a task performed by an operator of the robot in a safe environment outside the elevator hoistway; at least one actuator device configured to perform one or more actions upon receiving a corresponding actuator signal; and a control unit for operating the robot, wherein the control unit is communicatively linked to the sensor device and the actuator device. The method includes the following steps: receiving at least a first sensor signal from the sensor device while the robot is positioned in the safe environment, wherein the first sensor signal represents a step of the task performed by the operator; determining at least one actuator signal, wherein the actuator signal is determined such that the actuator device emulates the step of the task upon receiving the actuator signal; and sending the actuator signal to the actuator device while the robot is positioned in the elevator hoistway.

[0023] According to the present invention, the method comprises: receiving a second sensor signal from a sensor device, the second sensor signal representing that the robot is arranged in the elevator shaft; and sending an actuator signal to the actuator device after receiving the second sensor signal.

[0024] In addition to the effects and advantages mentioned above, the method can also promote knowledge sharing. For example, task pipelines can be reused, where in some applications, only the target of the task pipeline needs to be changed between different runs of the robot on site. For example, different starting positions and / or target positions can be used for different runs. This means that a task pipeline created on a robot in a safe environment can be seamlessly transferred to another robot on site. In this context, the taught motions and corresponding task pipelines created for one robot can be saved in a cloud server that is available to all other operators. For example, when an operator trains their robot to perform motion X and task pipeline Y, then motion X and task pipeline Y can be used by all other operators, thereby reducing the training time of all operators by avoiding unnecessary duplication of work.

[0025] The method may be executed by a control unit of the robot. Alternatively, the method may be executed by a computer external to the robot, such as a device running an application. Alternatively, some steps of the method may be executed by the control unit of the robot, while some steps of the method may be executed by a device running an application.

[0026] According to one embodiment, the task comprises at least two steps, the sensor device is configured to capture the steps of said task, and the actuator signal is determined such that the actuator device imitates the steps of said task upon receipt of the actuator signal.

[0027] According to one embodiment, the sensor device is configured for capturing a first of said steps in a safe environment and for capturing a second of said steps after being arranged in the elevator hoistway.

[0028] According to one embodiment, a task can be performed at at least two different targets, wherein at least a first of the targets is located in a safe environment, and wherein at least a second of the targets is located in an elevator shaft, the sensor device is configured to capture steps of the task performed by an operator at a first of the targets in the safe environment, and the actuator signal is determined such that the actuator device emulates the steps of the task at a second of the targets when the actuator signal is received in the elevator shaft.

[0029] According to one embodiment, the method includes: after receiving a first sensor signal in a safe environment and before sending an actuator signal to an actuator device in the elevator hoistway, placing a robot in the elevator hoistway. The robot can be placed in the elevator hoistway by placing the robot on top of an elevator car, below a bottom of the car, in a pit of the elevator hoistway, or in a hoistway head of the elevator hoistway. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Hereinafter, advantageous embodiments of the technology described herein will be described with reference to the accompanying drawings. However, neither the drawings nor the description should be construed as limiting the technology described herein.

[0031] Figure 1 Shown is a side view of an elevator hoistway of an elevator, an elevator car, and a collaborative robot according to an embodiment of the technology described herein.

[0032] Figure 2 Shown according to Figure 1 Side view of the collaborative robot.

[0033] Figure 3 An embodiment according to the technology described herein is shown Figure 1 and Figure 2 Side view of a collaborative robot in a safe environment.

[0034] Figure 4 A flow chart illustrating a method for operating a collaborative robot according to an embodiment of the technology described herein is shown.

[0035] The accompanying drawings are schematic only and are not drawn to scale. Like reference numerals refer to like or similar features. DETAILED DESCRIPTION

[0036] Figure 1 A side view of an elevator shaft 24 of an elevator 20, a car 22 of the elevator 20, and a collaborative robot 45 is shown according to an embodiment of the technology described herein. The elevator 20 includes the car 22, the elevator shaft 24, a car holder 30, a cable 32, a motor 34, a first door 36, and a second door 38. The car 22 has a railing 50 on a top 40 of the car 22.

[0037] Elevator 20 may be arranged in a building having several floors. In particular, the building may have a first floor 26 and a second floor 28, wherein, in this document, the terms "first" and "second" are used only to distinguish one floor from another and may refer to any floor of the building. Elevator 20 may be arranged to transport a load, such as one or more people and / or any other load, from one floor to another, such as from first floor 26 to second floor 28, or vice versa.

[0038] The car 22 can be configured to accommodate a load, i.e., one or more people and / or other loads. When the car 22 is on the first floor 26, the load and / or people can enter the car 22 through a first door 36, or when the car 22 is on the second floor 28, the load and / or people can enter the car 22 through a second door 38. The car 22 can include a maintenance flap (not shown) through which a repair and / or maintenance worker (hereinafter referred to as a "worker") can climb onto the top 40 of the car 22. The car 22 can be held by a car holder 30 and a cable 32 and transported vertically within the elevator hoistway 24. The cable 32 can be moved by a motor 34. The motor 34 can be controlled by a control unit (not shown) of the elevator 20. When the car 22 is positioned at the respective floors 24, 26, the front 42 of the car 22 can face the doors 36, 38, while the rear 44 of the car 22 can face away from the doors 36, 38.

[0039] A railing 50 on the roof 40 of the car 22 can be arranged to protect workers from falling from the roof 40 of the car 22. The railing 50 can at least partially surround an interior area of ​​the roof 40 of the car 22. The railing 50 can include one or more rails 56. The railing 50 can include one or more vertical posts 52, wherein each rail 56 can extend from one of the posts 52 to another of the posts 52.

[0040] A collaborative robot 45 (referred to as the "robot") may include wheels 46 for driving the robot 45 to one or more locations within the elevator shaft 24. The collaborative robot 45 may be positioned on the roof 40 of the car 22, on the underside of the car 22, or in a pit of the elevator shaft 24 below the car 22. The robot 45 may include an arm 47, wherein the arm 47 may include one or more articulated members (e.g., two articulated members) and / or a gripping tool 48, which may be coupled to each other and / or to the rest of the robot 45 via one or more corresponding joints (not shown).

[0041] Figure 2 Shown according to Figure 1 Side view of the collaborative robot. Figure 2As can be seen in Figure 4 , robot 45 includes an actuator assembly 49 comprising one or more actuators. For example, each actuator may comprise an electric motor. Actuator assembly 49 may be coupled to arm 47 such that arm 47, including gripping tool 48, may be moved by the actuators of actuator assembly 49. Furthermore, robot 45 includes a sensor assembly 51 comprising one or more sensors, such as one or more cameras, radar sensors, microphones, position sensors, accelerometers, temperature sensors, and / or tactile sensors, such as buttons or touchpads.

[0042] The robot 45 further comprises a control unit 54 for operating the robot 45. The control unit 54 is communicatively coupled to the sensor device 51 and the actuator device 49. The control unit 54 is configured to: when the robot is arranged in a safe environment 58 (see Figure 3 ), receiving at least a first sensor signal from the sensor device 51, wherein the first sensor signal represents a step of a task to be performed by an operator of the robot 45; determining at least one actuator signal, wherein the actuator signal is determined so that the actuator device 49 imitates the step of the task after receiving the actuator signal; and sending the actuator signal to the actuator device 49 when the robot 45 is arranged in the elevator shaft 24. Figure 4 The detailed functionality of the control unit 54 is described, in particular a method for operating the robot 45 , which can at least partially be executed by the control unit 54 .

[0043] Figure 3 An embodiment according to the technology described herein is shown Figure 1 and Figure 2 5 . A side view of a collaborative robot 45 in a safe environment 58 is shown. The safe environment 58 may be the desk, office, or laboratory of an operator (not shown) of the robot 45. The operator teaches the robot 45 one or more actions for performing one or more steps of one or more tasks in the safe environment 58. The safe environment 58 may include one or more simulated objects to mimic the real-world conditions within the elevator hoistway 24. For example, the safe environment 58 may include a simulated car retainer 60 (which may correspond to the car retainer 30), a simulated door 62 (which may correspond to one of the doors 36 or 38), a simulated car roof 64 (which may correspond to the roof 40 of the car 22), a simulated railing 66 (which may correspond to the railing 50), a simulated post 68 (which may correspond to the post 52), and / or a simulated railing 70 (which may correspond to the railing 56). Furthermore, the safe environment 58 may include one or more simulated screws, simulated tools, simulated buttons, and / or simulated levers (not shown) that can be used to teach the robot 45 in the safe environment 58.

[0044] Figure 4A flow chart illustrating a method for operating a collaborative robot (such as robot 45 described above) according to an embodiment of the technology described herein is provided. The method can be executed by the control unit 54 of the robot 45. Alternatively, the method can be executed by a computer external to the robot 45, such as a device running an application, such as a handheld device and / or mobile device. Alternatively, some steps of the method can be executed by the control unit 54 of the robot 45, and some steps of the method can be executed by the device running the application.

[0045] The method is capable of programming the robot 45 in the safe environment 58, for example, by demonstration, as much as possible, and then placing the robot 45 in the hazardous environment (i.e., the elevator shaft 24), where no more than a few minor adjustments to the programming may need to be made in the elevator shaft 24, such as adjustments to one or more targets where the robot 45 may need to perform tasks, such as by demonstration.

[0046] In step S2, when the robot 45 is positioned in the safe environment 58, at least a first sensor signal may be received from the sensor device 51. The first sensor signal may be generated by at least one sensor (e.g., a camera) in the sensor device 51 when the camera captures an operator performing a task in the safe environment 58. Therefore, the first sensor signal may represent a step of the task performed by the operator. The task may include one or more steps. Each step may include a series of more or less complex movements, specifically one or more actions of the corresponding step. The sensor device 51 may be configured to capture at least one of the movements, such as all actions belonging to a particular step. Furthermore, the sensor device 51 may be configured to capture all steps of the task and encode the corresponding movements into the first sensor signal and / or one or more other sensor signals.

[0047] After teaching the robot 45 a task, one or more steps of a task, or at least one or more motions of a step of a task, the robot 45 can be placed in the elevator shaft 24, for example, on the top 40 of the car 22, below the car 22, in the pit, or in the shaft head.

[0048] In optional step S4, a second sensor signal may be received from the sensor device 51. This second sensor signal may indicate that the robot 45 has been positioned in the elevator shaft 24. For example, the control unit 54 of the robot 45 may be configured to automatically detect the positioning of the robot 45 in the elevator shaft 58 using the sensor device 51 (e.g., using a camera and / or accelerometer), for example, by analyzing the corresponding sensor signal. Alternatively, the second sensor signal may be triggered by manually activating a tactile sensor of the robot 45 (e.g., a button or touchpad on the robot 45). For example, an operator may press the tactile sensor after positioning the robot 45 in the elevator shaft 24. Alternatively, the operator may trigger the second sensor signal remotely, for example, via an application used to control the robot 45.

[0049] In optional step S6, one or more additional movements of one of the steps and / or one or more additional steps of one of the tasks can be taught to the robot 45 by demonstration in the elevator shaft 24. Alternatively or additionally, one or more targets at which the task(s) may need to be performed can be shown to the robot 45 in the elevator shaft 24, particularly by demonstration by an operator. For example, a task can be performed at at least two different targets, wherein at least a first target of the targets is located in the safe environment 58, and wherein at least a second target of the targets is located in the elevator shaft 24. The first target and the second target can refer to the same object. Alternatively, the first target and the second target can refer to different objects, optionally similar objects.

[0050] In step S8, at least one actuator signal can be determined by the control unit 54 of the robot 45, wherein the actuator signal is determined so that the actuator device 49 imitates the steps of the task after receiving the actuator signal, in particular the steps of the task at the corresponding target object in the elevator shaft 24.

[0051] In step S10, an actuator signal may be sent to the actuator device 49. The actuator device 49 may perform a task at a target object in the elevator shaft 24 after receiving the actuator signal.

[0052] 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 relation to different embodiments may be combined. Furthermore, the present invention is not limited to the embodiments described above. It should also be noted that reference signs in the claims should not be construed as limiting the scope of the claims.

Claims

1. A collaborative robot (45) for performing maintenance tasks in an elevator shaft (24), the robot (45) comprising: - a sensor device (51) configured to capture at least one step of a task performed by an operator of the robot (45) in a safe environment (58) outside the elevator shaft (24); - at least one actuator device (49) configured to perform one or more actions upon receipt of a corresponding actuator signal; and - a control unit (54) for operating the robot (45), wherein the control unit (54) is communicatively coupled to the sensor device (51) and the actuator device (49), and wherein the control unit (54) is configured to: for receiving at least a first sensor signal from the sensor device (51) when the robot (45) is arranged in the safety environment (58), wherein the first sensor signal represents a step of the task performed by the operator; for determining at least one actuator signal, wherein the actuator signal is determined so as to cause the actuator device (49) to imitate a step of the task upon receipt of the actuator signal; for sending the actuator signal to the actuator device (49) when the robot (45) is arranged in the elevator shaft (24); receiving a second sensor signal from the sensor device (51), the second sensor signal representing that the robot (45) is disposed in the elevator shaft (24); and After receiving the second sensor signal, the actuator signal is sent to the actuator device (49).

2. The collaborative robot (45) according to claim 1, wherein: The task includes at least two steps, - the sensor device (51) is configured to capture the steps of the task, and - the actuator signal is determined such that the actuator device (49) imitates a step of the task after receiving the actuator signal.

3. The collaborative robot (45) according to claim 2, wherein: The sensor device (51) is configured to capture a first of the steps in the secure environment (58) and is configured to capture a second of the steps after being arranged in the elevator shaft (24).

4. The collaborative robot (45) according to any one of the preceding claims, wherein - being capable of performing the task at at least two different targets, wherein at least a first of the targets is located in the safe environment (58), and wherein at least a second of the targets is located in the elevator shaft (24); - the sensor device (51) is configured to capture steps of the task performed by the operator at a first one of the objects in the safe environment (58); and - the actuator signal is determined such that the actuator device (49) simulates the steps of the task at a second one of the objects when the actuator signal is received in the elevator shaft (24).

5. A method for operating a collaborative robot (45) for performing maintenance tasks in an elevator shaft (24), the robot (45) comprising: At least one sensor device (51) configured to capture at least one step of a task performed by an operator of the robot (45) in a safe environment (58) outside the elevator shaft (24); at least one actuator device (49) configured to perform one or more actions after receiving a corresponding actuator signal; and a control unit (54) for operating the robot (45), wherein the control unit (54) is communicatively coupled to the sensor device (51) and the actuator device (49), the method comprising the following steps: - receiving at least a first sensor signal from the sensor device (51) when the robot (45) is arranged in the safety environment (58), wherein the first sensor signal represents a step of the task performed by the operator; - determining at least one actuator signal, wherein the actuator signal is determined such that the actuator device (49) imitates a step of the task upon receipt of the actuator signal; - sending the actuator signal to the actuator device (49) when the robot (45) is arranged in the elevator shaft (24); - receiving a second sensor signal from the sensor device (51), the second sensor signal representing that the robot (45) is arranged in the elevator shaft (24); and - After receiving the second sensor signal, sending the actuator signal to the actuator device (49).

6. The method according to claim 5, wherein: The task includes at least two steps, - the sensor device (51) is configured to capture the steps of the task, and - the actuator signal is determined such that the actuator device (49) imitates a step of the task after receiving the actuator signal.

7. The method according to claim 6, wherein: The sensor device (51) is configured to capture a first of the steps in the secure environment (58) and to capture a second of the steps after being arranged in the elevator shaft (24).

8. The method according to claim 6 or 7, wherein: - being capable of performing the task at at least two different targets, wherein at least a first of the targets is located in the safe environment (58), and wherein at least a second of the targets is located in the elevator shaft (24), - the sensor device (51) is configured to capture steps of the task performed by the operator at the first of the objects in the safe environment (58), and - the actuator signal is determined such that the actuator device (49) simulates the steps of the task at the second one of the objects when the actuator signal is received in the elevator shaft (24).

9. The method according to any one of claims 5 to 8, comprising: - After receiving the first sensor signal in the safe environment (58) and before sending the actuator signal to the actuator device (49) in the elevator shaft (24), the robot (45) is arranged in the elevator shaft (24).

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