Control of access to an elevator car

Abstract

There is provided a method for controlling access to an elevator car (110), the method comprising: receiving (210) an elevator service request for a mobile robot (150), the request comprising data describing at least one feature of the mobile robot (150); and generating (220) a control signal to cause opening of the elevator door (130), the control signal comprising data defining an opening width of the elevator door (130) in accordance with data describing at least one characteristic of the mobile robot (150). A computing device, system, and computer program are also provided.

Description

TECHNICAL FIELD

[0001] The present invention relates generally to the field of elevators. More specifically, the present invention relates to control of operation of elevators. BACKGROUND

[0002] Mobile robots are increasingly integrated to serve humans in various tasks. Coexistence of mobile robots and humans in various environments requires arrangements that enable both parties to exist smoothly and safely.

[0003] One environment in which mobile robots and humans collide is various types of people conveyor systems present in a premises, such as a building. In particular, fitting passengers together with mobile robots to elevator cars is a task that requires special attention. For example, due to limited mobility of mobile robots, an elevator system can need to adjust the opening time of the elevator door at the landing so that the mobile robot has enough time to enter the elevator car. Another example here is that in some approaches, people and mobile robots are required not to travel with the same elevator car, and this requires complex service allocation by the elevator system.

[0004] Generally speaking, coexistence of people and mobile robots is a field in which novel approaches for improving the quality of service of elevator systems can be introduced. For example, there is always a need for solutions that optimize the loading time of elevator cars as well as the expected quality of service of protecting humans. SUMMARY

[0005] The following presents a simplified summary in order to provide a basic understanding of some aspects of various application embodiments. The summary is not an extensive overview of the application. It is neither intended to identify key or critical elements of the application nor to delineate the scope of the application. The sole purpose of the summary is to present some concepts of the application in a simplified form as a prelude to the more detailed description of example embodiments of the application.

[0006] It is an object of the present invention to present a method, a computing device, a system and a computer program for controlling entry to an elevator car.

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

[0008] According to a first aspect, there is provided a method for controlling entry to an elevator car, the method being performed by a computing device, comprising:

[0009] receiving a request for an elevator service for a mobile robot, the request comprising data describing at least one characteristic of the mobile robot,

[0010] a control signal is generated to cause the elevator door to open, the control signal comprising data defining an opening width of the elevator door in dependence on data describing at least one feature of the mobile robot.

[0011] The at least one feature may, for example, be a width of the mobile robot.

[0012] The method can further comprise:

[0013] controlling a speed of movement of the elevator door.

[0014] The speed of movement of the elevator door may, for example, be adjusted based on a speed of travel of the mobile robot. The speed of travel of the mobile robot can be received from at least one of: the request; a data store.

[0015] The method can further comprise:

[0016] a control signal is generated to cause the elevator door to open, the control signal comprising data defining an opening width of the elevator door in dependence on data describing at least one feature of the mobile robot.

[0017] The position can be defined as at least one of: a position inside the elevator car that at least partially obstructs the opening width of the elevator door; a position outside the elevator car that at least partially obstructs the opening width of the elevator car.

[0018] Further, the method can further comprise:

[0019] a control signal is generated to cause the elevator door to open, the control signal comprising data defining an opening width of the elevator door in dependence on data describing at least one feature of the mobile robot.

[0020] The method can further comprise, in response to receiving the request:

[0021] a control signal is generated to cause the elevator door to open, the control signal comprising data defining an opening width of the elevator door in dependence on data describing at least one feature of the mobile robot.

[0022] The request can be received from the mobile robot.

[0023] According to a second aspect, there is provided a computing device for controlling access to an elevator car, the computing device being configured to:

[0024] receive a request for elevator service for a mobile robot, the request comprising data describing at least one feature of the mobile robot,

[0025] a control signal is generated to cause the elevator door to open, the control signal comprising data defining an opening width of the elevator door in dependence on data describing at least one feature of the mobile robot.

[0026] The computing device may, for example, be configured to apply a width of the mobile robot as the at least one feature.

[0027] The computing device can further be configured to:

[0028] control the speed of movement of the elevator door.

[0029] The computing device can be configured to control the speed of movement of the elevator door by adjusting the speed of movement of the elevator door based on the speed of travel of the mobile robot. For example, the computing device can be arranged to receive the speed of travel of the mobile robot from at least one of: a request; from a data store.

[0030] The computing device can further be configured to:

[0031] generate a control signal to the mobile robot, the control signal comprising data defining a position of the mobile robot relative to the entrance to the elevator car.

[0032] Furthermore, the computing device can be configured to define the position as at least one of: a position inside the elevator car that at least partially obstructs an opening width of the elevator door; a position outside the elevator car that at least partially obstructs an opening width of the elevator car.

[0033] Still further, the computing device can be configured to:

[0034] generate a control signal to the elevator door in response to detecting that the mobile robot resides in the elevator car, the control signal comprising data causing a closing of the elevator door.

[0035] The computing device can further be configured to generate a control signal to the elevator door in response to receiving a request:

[0036] the control signal preventing the closing of the elevator door.

[0037] The request can be received from the mobile robot.

[0038] According to a third aspect, there is provided a system, the system comprising:

[0039] an elevator door,

[0040] an elevator car, the elevator car being accessible through the elevator door,

[0041] a mobile robot, and

[0042] a computing device according to the second aspect as defined above.

[0043] According to a fourth aspect, there is provided a computer program comprising instructions causing a computing device according to the second aspect as defined above to perform the steps of the method according to the first aspect as defined above.

[0044] The expression "several" refers herein to any positive integer from the beginning, e.g. to one, two or three.

[0045] The expression "a plurality" refers herein to any positive integer from two onwards, e.g. two, three or four.

[0046] The various exemplary and non-limiting embodiments of the present application (as to structure and method of operation) and the additional objects and advantages thereof will best be understood from the following description of specific, exemplary and non-limiting embodiments thereof, read in conjunction with the accompanying drawings.

[0047] The verbs "comprise" and "include" are used herein as open-ended limitations that neither exclude nor require the existence of also un-recited features. The features recited in dependent claims are mutually freely combinable unless otherwise explicitly stated. Furthermore, it is to be understood that the use of "a" or "an", i.e. a singular form, throughout this document does not exclude a plurality. BRIEF DESCRIPTION OF DRAWINGS

[0048] In the drawings of the attached figures, embodiments of the present application are illustrated by way of example and not limitation, in which:

[0049] Figure 1 An entity belonging to the field of application is schematically illustrated according to an example.

[0050] Figure 2 A method according to an example is schematically illustrated.

[0051] Figure 3 An implementation according to an example is schematically illustrated.

[0052] Figure 4 An apparatus according to an example is schematically illustrated. DETAILED DESCRIPTION

[0053] The specific examples provided in the description given hereinabove should not be construed as limiting the scope and / or applicability of the appended claims. Rather, the examples provided in the description given hereinabove are illustrative only and not intended to exhaustively enumerate all possible examples.

[0054] In order to provide insight into the field of application of the present application, reference is hereby made to Figure 1There exists an elevator configured to operate in certain premises, for example in a building, in a vessel, etc. The operation of the elevator comprises serving passengers by transporting them from one floor to another. The elevator is equipped with an elevator 110 and its operation, such as travelling between floors, is controlled by an elevator controller 120. The elevator controller 120 can also control the opening of elevator doors 130, either directly or indirectly, where the elevator doors 130 can consist of elevator car doors or elevator shaft doors or both. The elevator controller 120 can also receive inputs from various sources, for example from input devices, for example from call giving devices, and from various sensors of the elevator. According to the invention, the elevator controller 120 can be provided with an interface, for example an application programming interface (API), to communicate with external entities. According to the invention, external entities refer to entities in the robot domain. As Figure 1 a non-limiting example shown includes a robot domain consisting of a robot controller 140 and several mobile robots 150. The mobile robots 150 can operate in the same premises as the elevator. The mobile robots 150 and the robot controller 140 are communicatively connected to each other in any known manner, for example through a mobile communication network 160.

[0055] As has been discussed, the coexistence of people and mobile robots 150 in the same premises, especially as users of the elevator, can cause conflicts, which can have a negative impact on people, but also in terms of the overall operability of the elevator system. Therefore, according to the invention, a solution is introduced to control access to the elevator car 110. The solution according to embodiments of the invention will now be described as a method by referring to Figure 2 The solution according to embodiments of the invention will now be described as a method.

[0056] First, the controller device, which is considered herein as the elevator controller 120, receives 210 a request for elevator service for the mobile robot 150 over a communication channel. The request comprises data describing at least one characteristic of the mobile robot 150. The request can be received 210 e.g. from the robot controller 140. The robot controller 140 can e.g. know the route each robot 150 controlled by the robot controller 140 is instructed to perform and the location of each robot 150. Thus, in response to detecting that the mobile robot 150 in question has entered the premises and needs elevator service in its route, the robot controller 140 can generate a request to the elevator controller 120 e.g. based on its location relative to the elevator. According to another embodiment, the mobile robot 150 can monitor its location by itself and operate autonomously or semi-autonomously in response to receiving a task to perform from the robot controller 140. The definition of the task can e.g. comprise a definition of a route for the mobile robot 150 to follow with other necessary information. In the approach where the mobile robot 150 operates autonomously or semi-autonomously, the mobile robot 150 can e.g. detect a moment when it makes sense to generate a request for elevator service based on its location relative to the elevator doors 130 in the premises. The mobile robot 150 can also take other parameters into account in the generation of the request and its timing, such as the crowding of the floor or a predefined area at the floor, such as a predefined area in front of the elevator doors 130 in the lobby. By taking one or more of the criteria described into account, the mobile robot 150 can be configured to generate an elevator service request to the robot controller 140, which indicates the service request to the elevator controller 120 in order to generate an elevator call. In some embodiments, the mobile robot 150 can also be arranged to communicate directly with the elevator controller 120 without involving the robot controller 140. This can be implemented by arranging a suitable interface, e.g. a user interface or a communication interface of the elevator in the premises, which can be operated by the mobile robot 150. For example, the user interface can be a button that can be manually operated by the mobile robot 150 e.g. with a suitable arm or the like. The communication interface can be configured to implement the communication technology the mobile robot 150 is equipped with and thus convey the service request and other requests to the elevator controller 120. It can also be arranged to detect the mobile robot 150 in the premises with a detection system that automatically generates a service request under predetermined conditions, e.g. the mobile robot 150 resides in a certain location, which results in the generation of an elevator call. The service request conveyed to the elevator controller 120 e.g. in the described manner carries at least one piece of data indicating the floor where the elevator service is requested to. In other words, the elevator controller 120 receives data based on which it can determine the floor where the service is requested to enter. The service request also carries data indicating the destination floor to enable the elevator controller 120 to determine the route the elevator car 110 is instructed to travel in order to provide the requested service to the mobile robot 150.

[0057] As already mentioned, the service request also comprises data defining at least one feature of the mobile robot 150 the requested service is directed to. The at least one feature is such that it defines or based on which at least one predefined parameter related to the mobile robot 150 can be derived, e.g. related to the appearance of the mobile robot 150 or related to the operation of the mobile robot 150 or related to the door operation required by the mobile robot 150. According to embodiments of the present application, the service request comprises as the at least one feature a parameter defining at least the width of the mobile robot 150 in the direction of movement of the mobile robot 150. Alternatively or additionally, the parameter as the at least one feature can be an identifier of the mobile robot 150, e.g. defining the type of the mobile robot 150, by which the controller can query at least one parameter related to the mobile robot 150 from a data storage arranged to store information about the mobile robot(s) 150 in question. The respective controller receiving the service request, such as the elevator controller 120, can be directly or indirectly communicatively connected to such a data storage. Thus, the elevator controller 120 can acquire and then have data defining the features of the mobile robot 150, which data can e.g. be the width of the mobile robot 150. In embodiments where all mobile robots 150 operating in the premises of the elevator are robots of the same type, e.g. having the same appearance (see the dimensions in terms of width in the direction of movement of the mobile robot 150), it is enough that the at least one feature or other information in the service call indicates that the service call is from a mobile robot 150. In such an approach, the elevator controller 120 can be configured to know the at least one feature described, e.g. by arranging access to such data stored in an accessible data storage, or as a default value, i.e. e.g. defining the width of all robots 150. Further, the data in the request defining at least one feature of the mobile robot 150 can comprise a definition of the required opening width of the elevator door 130. In other words, the mobile robot 150 can be provided with data describing the opening width of the elevator door 130 sufficient for the mobile robot 150 to enter the elevator door 130, i.e. the data describes at least one feature of the mobile robot 150. The respective data can be obtained from a data storage arranged to store such data, e.g. by using the identifier of the mobile robot 150.

[0058] In response to receiving a request for the described elevator service, elevator controller 120 is configured to generate control signal 220 to open elevator door 130. The control signal has data defining at least one parameter regarding the opening of elevator door 130 based on data describing at least one characteristic of mobile robot 150. For example, the at least one parameter could be, for example, the opening width of elevator door 130 defined in a predetermined manner. The generation of control signal 220 can be scheduled according to the state of the elevator. For example, it can be generated immediately to a door controller that controls the operation of the elevator door. Thus, the door controller is configured to control the door accordingly, for example, in response to elevator car 110 arriving at the floor in question (i.e., the floor where mobile robot 150 is located). Alternatively, the scheduling of control signal generation 220 can be implemented such that elevator controller 120 generates control signal 220 as described above in response to receiving confirmation that elevator car 110 has arrived at or is about to land at the floor. In other words, in the context of this invention, known mechanisms for scheduling control signal generation 220 can be used.

[0059] As described above, the control signal has (i.e. carries) data defining at least one parameter regarding the opening of elevator door 130 based on data describing at least one feature. This corresponds to a method in which at least one parameter regarding the opening of elevator door 130 is defined to allow mobile robot 150 to enter elevator car 110 through the door opening. In other words, at least one operational factor of elevator door 130 is adjusted based on at least one feature of mobile robot 150. For example, the opening width of elevator door 130 can be defined by elevator controller 120, which is configured to set it to be greater than the width of mobile robot 150, where the width of mobile robot 150 is defined in the direction of movement, and can be received as at least one feature of the described mobile robot 150. However, in embodiments where at least one controlled parameter is the opening width of elevator door 130, it is generally defined as less than the normal opening width of elevator door 130 to the ground, as discussed in the following description. Of course, a specific case may be that the width of mobile robot 150 requires elevator door 130 to open to its normal opening width, but even in this case, the opening width is defined based on at least one feature of the described mobile robot 150. Figure 3 An example of the described method is schematically illustrated, where the illustration is drawn from the lobby towards the elevator car 110, with the mobile robot 150 positioned in front of the elevator door 130. Figure 3As shown, the elevator door 130 has a predefined normal opening width (which can also be considered as a default opening width), but according to the present application, the performed opening width is adjusted based on at least one feature of the mobile robot 150. For example, the control of the opening width as described above can be implemented such that the elevator controller 120 generates a control signal carrying data defining several parameters defining the opening width of the elevator door 130, and the door controller applies the several parameters to control the door motor to open the elevator door 130 accordingly. In other words, in case the elevator door 130 is a sliding door, the control of the opening of the elevator door 130 causes the sliding of at least one door leaf of the elevator door 130 such that a defined opening width is reached. As a non-limiting example, Figure 3 The arrow in Fig. 1 1 indicates that the opening of the two door leaves of the sliding door can be controlled. For the sake of completeness, it is worth mentioning that the opening width of the elevator door 130 can be defined as an exact distance expressed in a form suitable for application by the door controller or directly by the door motor. Alternatively or additionally, the opening width of the elevator door 130 can be expressed in terms of the opening speed of the elevator door 130 to be applied and the duration of the opening phase of the elevator door 130. The application of these parameters results in the desired opening width of the elevator door 130.

[0060] In the foregoing description, the present application is described by disclosing how to control the opening width of the elevator door 130 according to data describing at least one feature of the mobile robot 150, wherein the at least one feature can at least be the width of the mobile robot 150 in the direction of movement. In some further embodiments, in addition to controlling the opening width of the elevator door 130, other aspects related to the operation of the elevator door 130 can also be controlled. For example, the method according to embodiments of the present application can comprise controlling the movement speed of the elevator door 130. The movement speed of the elevator door 130 can for example refer to the opening speed of the elevator door 130, the closing speed of the elevator door 130, or both. In case the movement speed of the elevator door 130 is adjusted, this can be performed based on the travel speed of the mobile robot 150. The controller, e.g. the elevator controller 120, can for example receive the information describing the travel speed of the mobile robot 150 in the same request requesting the elevator service, or alternatively, or even additionally, can be queried from a data storage, e.g. using the identifier of the mobile robot 150 in the same manner as already discussed in the foregoing description. The control of the speed of the elevator door 130 can become relevant especially in case the mobile robot 150 enters the elevator car 110 and the elevator door 130 is controlled to close faster than normal, i.e. the closing speed is configured to be faster than the normal closing speed. This optimizes at least partly the time spent at the floor and its impact on the travel time.

[0061] In addition to controlling the opening width of the elevator door 130 in any of the described manners and possibly controlling the speed of operation of the elevator door 130, it is possible to control the opening time, i.e. the duration for which the elevator door 130 remains open. The control can be arranged by including data defining the duration of the opening time to the control signal or by generating another control signal to release the open state, i.e. to cause the elevator door 130 opened with the first control signal to close.

[0062] The foregoing description is based on the consideration that the operation of the elevator door 130 is controlled in dependence on at least one feature of the mobile robot 150. In addition thereto, at least some other aspects of the application can relate to the control of the operation of the mobile robot 150. That is, the elevator controller 120 can be configured to generate a control signal to the mobile robot 150, wherein the control signal comprises data defining a position of the mobile robot 150 in relation to the entry of the elevator car 110. This corresponds to the mobile robot 150 can be instructed to reside at one or more positions, i.e. positions in the respective floor, during the service provision. According to embodiments of the application, the control signal to the mobile robot 150 can be generated by the elevator controller 120 and communicated to the mobile robot 150, e.g. through the robot controller 140 or directly between the elevator controller 120 and the mobile robot 150, if such a communication channel is available. The definition of the position is established so that the mobile robot 150 can interpret the information about the position and travel to the respective position, e.g. by utilizing indoor positioning technology or any similar technology. Alternatively or additionally, the mobile robot 150 can be provided with specific instructions to cause the mobile robot 150 to travel to the position, wherein the instructions can be dedicated commands of electric motors, turning commands, e.g.

[0063] In terms of flow, the generation of the control signal defining one or more positions of the mobile robot 150 can depend on other events controlling the entry into the elevator car 110. According to a non-limiting example, the elevator controller 120 can be configured to generate a service call to the elevator system in response to receiving a request for elevator service from the mobile robot 150 in some of the described manners. It can also be configured to determine an estimate of the time instant at which the elevator is able to provide service to the mobile robot 150, which can comprise at least the time instant at which the elevator car 110 arrives at the floor where the mobile robot 150 is located. Now, if the delay in providing the service at the respective floor exceeds a predefined limit, the elevator controller 120 can be configured to instruct the mobile robot 150 to a first position, which can be a position where the mobile robot 150 does not block the utilization of the floor, e.g. by people. On the other hand, if the elevator car 110 can arrive at the floor within a predefined time window, the mobile robot 150 can be instructed to a position in front of the elevator door 130, e.g. as Figure 3The latter case can be chosen such that the mobile robot 150 can prevent other passengers from entering or leaving the elevator car 110. In some example embodiments, the definition of the position can also be defined as a chain of consecutive positions, where the first position is in front of the elevator door 130, as described, and the second position is inside the elevator car 110 such that it stops inside the elevator car 110 in front of the elevator door 130 so that it still blocks the passage inside and outside the elevator car 110. In this respect, the control of the opening width of the elevator door 130 has the same purpose, as the width of the elevator door 130 is adjusted in dependence of at least one feature of the mobile robot 150. In other words, the position of the mobile robot 150 can be defined as at least one of: a position inside the elevator car 110 that at least partially blocks the opening width of the elevator door 130; a position outside the elevator car 110 that at least partially blocks the opening width of the elevator car 110. Furthermore, the elevator controller 120 can be configured to generate a control signal to the elevator door 130 in response to detecting that the mobile robot 150 resides in the elevator car 110, the control signal comprising data causing the elevator door 130 to close. The detection can be based on that a predefined opening time has passed, but it can also be based on detecting that the mobile robot 150 has entered the elevator car 110, e.g. with a sensor arrangement. The sensor arrangement can e.g. reside in the hall or in the elevator car 110, or both. It can e.g. be a camera based solution, but it can also utilize information that discloses the position of the mobile robot 150.

[0064] In some embodiments, the mobile robot 150 can be configured to generate another type of control signal than the request for elevator service as described in the foregoing description. That is, the mobile robot 150 can generate a request to the elevator controller 120 in any of the described ways, wherein the request comprises data indicative of a request regarding elevator operation. According to embodiments of the present application, the data can be indicative of a request by the mobile robot 150 for further control of the elevator door 130, wherein the further control can for example request that the elevator door 130 be prevented from closing. This can for example occur if the mobile robot 150 is for any reason prevented from entering the elevator car 110, even if instructed to do so. For example, the mobile robot 150 can be blocked by a person or any other cause, and it needs more time to enter the elevator car 110. The mobile robot 150 can detect this situation by means of sensors arranged in the mobile robot 150 or in response to receiving data from another entity, for example from a sensor arrangement arranged to monitor the premises. Alternatively or additionally, the robot controller 140 or even the elevator controller 120 can be provided with access to such data. Thus, in response to receiving the request as described, directly or indirectly from the mobile robot 150, the elevator controller 120 can be configured to generate a control signal preventing the elevator door 130 from closing.

[0065] With the above, the elevator door 130 can be controlled in the described manner depending on the environmental factors experienced by the mobile robot 150. In other words, the control of the elevator door 130 can depend on the detection of conditions deviating from the reference conditions. The data describing the conditions can be obtained with sensors arranged in the mobile robot 150 or from sensor devices arranged in the premises or from both. Based on the data, it can be detected, for example, whether there is some deviation in the expected operation of the elevator door 130, whether the elevator car 110 has been docked in such a way that the mobile robot 150 cannot enter the elevator car 110, whether the path of the mobile robot 150 to the elevator car 110 includes a blocking element, such as garbage, and / or whether a human passenger has rushed into the elevator car 110 without permission, etc. The object here is to confirm that the mobile robot 150 can enter the elevator car 110 as planned or, if it is determined that environmental factors can cause a risk of entering the elevator car 110, the entry can be cancelled. The cancellation can mean instructing the mobile robot 150 not to start the travel to the elevator car 110 or to return to the initial location from which the travel has been started. Alternatively or additionally, the cancellation can include the control of the elevator door 130, for example, controlling it to close or open to, for example, its normal open width. In addition, the control can also include instructing the elevator car 110 to travel to a predetermined floor, for example, to the bottom floor. The assessment of the environmental factors can be assigned to a predefined controller, for example, the elevator controller 120, which can be provided with all the data describing the environmental factors obtained in the above-described manner, for example, by the mobile robot 150 and or sensor devices.

[0066] Figure 4 An example of a computing device configurable to implement the operation of a controller, such as the elevator controller 120, is schematically illustrated in Fig. 1. The device can be configured to perform the method according to the present application, as described by the examples in the foregoing description. Thus, Figure 4 The device of Fig. 1 can be configured to perform the generation of control signals for an elevator system. For the sake of clarity, it is worth mentioning that, Figure 4 The block diagram of Fig. 1 depicts some components of a device that can be used to implement the functionality of a computing entity. Figure 4The apparatus comprises a processor 410 and a memory 420. The memory 420 can store data, such as the described pieces of data, and computer program code 425 causing operation in the described manner. In at least some embodiments, the apparatus can further comprise a communication interface 430, such as a wireless communication interface or a communication interface for wired communication, or both, to communicate with other entities described. The communication interface 430 can thus comprise one or more modems, antennas, and any other hardware and software to enable communication, e.g. under control of the processor 410. Furthermore, an I / O (input / output) component can be arranged with the processor 410 and a part of the computer program code 425 to provide a user interface for receiving input from a user, e.g. from a technician, and / or providing output to a user of the device, if necessary. In particular, the I / O component can comprise user input devices, such as one or more keys or buttons, a keyboard, a touch screen or a touch pad, etc. The I / O component can comprise output devices, such as a loudspeaker, a display, or a touch screen. The components of the device can be communicatively connected to each other via a data bus, which enables transfer of data and control information between the components.

[0067] The memory 420 and at least a part of the computer program code 425 stored therein can also be arranged, together with the processor 410, to cause the apparatus to perform at least a part of the method as described herein. The processor 410 can be configured to read from and write to the memory 420. Although the processor 410 is depicted as a respective single component, it can be implemented as one or more separate processing components accordingly. Similarly, although the memory 420 is depicted as a respective single component, it can be implemented as one or more separate components accordingly, some or all of which can be integrated / removable and / or can provide permanent / semi-permanent / dynamic / cached memory.

[0068] The computer program code 425 can comprise computer executable instructions, which, when loaded into the processor 410 of the respective entity, implement the functions corresponding to the steps implemented in the method. As an example, the computer program code 425 can comprise a computer program consisting of one or more sequences of one or more instructions which, when executed by the processor 410, cause the apparatus, such as a computer, to carry out the described methods. The apparatus can thus include at least one processor 410 and at least one memory 420 including the computer program code 425 for one or more programs, the at least one memory 420 and the computer program code 425 configured to, with the at least one processor 410, cause the apparatus to carry out the method.

[0069] The computer program code 425 or at least a part thereof, e.g. a computer program product comprising at least one computer-readable non-transitory medium having stored thereon a computer program code 425, which, when executed by the processor 410, causes the apparatus to perform the method according to the examples, can be provided. The computer-readable non-transitory medium can comprise a memory device or a recording medium, such as a CD-ROM, a DVD, a Blu-Ray disk, or another article of manufacture that tangibly embodies the computer program. As another example, the computer program can be provided as a signal configured to reliably transfer the computer program.

[0070] Further, the computer program code 425 can comprise a proprietary application, such as a computer program code for causing the method to be performed in a manner as described in the description herein.

[0071] Any of the programming functions mentioned can also be performed in firmware or hardware, as is appropriate.

[0072] For the sake of completeness, it is worth mentioning that the entity performing the method in the role of a computing entity can also be implemented as a distributed computing environment with a plurality of devices (e.g. Figure 4 The devices schematically illustrated in the figures). For example, one of the devices can be communicatively connected with the other devices and share, e.g. data of the method, to cause another device to perform at least one other part of the method. The method performed in the distributed computing environment thus generates the control interface as described. The functions of the computing entities described can also be integrated into an entity that is also configured to perform other operations.

[0073] Generally, the apparatus comprises means for carrying out the steps of the method according to the various embodiments as described herein.

[0074] Some aspects of the invention can relate to a system comprising at least an elevator controller 120 and an elevator car 110 accessible through an elevator door 130. The system can further comprise a mobile robot 150 communicatively connected to the elevator controller 120. The system is configured to operate such that access to the elevator car 110 can be controlled in the described manner.

[0075] The specific examples provided in the description given above should not be construed as limiting the applicability and / or interpretation of the appended claims. Lists and groups of examples provided in the description given above are not exhaustive unless otherwise explicitly stated.

Claims

1. A method for controlling entry into an elevator car (110), the method being executed by a computing device (120) comprising: Receive (210) a request for elevator service for the mobile robot (150), the request including data describing at least one characteristic of the mobile robot (150), A control signal (220) is generated to open the elevator door (130), the control signal including data defining the opening width of the elevator door (130) based on the data describing at least one feature of the mobile robot (150).

2. The method according to claim 1, wherein, The at least one feature is the width of the mobile robot (150).

3. The method according to any one of the preceding claims, further comprising: Control the movement speed of the elevator door (130).

4. The method according to claim 3, wherein, The movement speed of the elevator door (130) is adjusted based on the travel speed of the mobile robot (150).

5. The method according to claim 4, wherein, The travel speed of the mobile robot (150) is received from at least one of the following: the request; or from data storage.

6. The method according to any one of the preceding claims, further comprising: A control signal is generated for the mobile robot (150), the control signal including data defining the position of the mobile robot (150) relative to entering the elevator car (110).

7. The method according to claim 6, wherein, The location is defined as at least one of the following: a location inside the elevator car (110) that at least partially obstructs the opening width of the elevator door (130); or a location outside the elevator car (110) that at least partially obstructs the opening width of the elevator car (110).

8. The method according to any one of the preceding claims, further comprising: In response to detecting that the mobile robot (150) is residing in the elevator car (110), a control signal is generated to the elevator door (130), the control signal including data to close the elevator door (130).

9. The method according to any one of the preceding claims, further comprising responding to receiving a request: Generate a control signal to prevent the elevator door (130) from closing.

10. The method according to claim 9, wherein, The request is received from the mobile robot (150).

11. A computing device (120) for controlling entry into an elevator car (110), said computing device (120) being configured to: Receive (210) a request for elevator service for the mobile robot (150), the request including data describing at least one characteristic of the mobile robot (150), A control signal (220) is generated to open the elevator door (130), the control signal including data defining the opening width of the elevator door (130) based on the data describing at least one feature of the mobile robot (150).

12. The computing device (120) according to claim 11, wherein, The computing device (120) is configured to use the width of the mobile robot (150) as the at least one feature.

13. The computing device (120) according to claim 11 or 12, wherein the computing device (120) is further configured to: Control the movement speed of the elevator door (130).

14. The computing device (120) according to claim 13, wherein, The computing device (120) is configured to control the movement speed of the elevator door (130) by adjusting the movement speed of the elevator door (130) based on the travel speed of the mobile robot (150).

15. The computing device (120) according to claim 14, wherein, The computing device (120) is arranged to receive the travel speed of the mobile robot (150) from at least one of the following: the request; or from data storage.

16. The computing device (120) according to any one of claims 11 to 15, wherein the computing device (120) is further configured to: A control signal is generated for the mobile robot (150), the control signal including data defining the position of the mobile robot (150) relative to entering the elevator car (110).

17. The computing device (120) according to claim 16, wherein, The computing device (120) is configured to define the position as at least one of the following: a position inside the elevator car (110) that at least partially obstructs the opening width of the elevator door (130); or a position outside the elevator car (110) that at least partially obstructs the opening width of the elevator car (110).

18. The computing device (120) according to any one of claims 11 to 17, wherein the computing device (120) is further configured to: In response to detecting that the mobile robot (150) is residing in the elevator car (110), a control signal is generated to the elevator door (130), the control signal including data to close the elevator door (130).

19. The computing device (120) according to any one of claims 11 to 18, further configured to respond to receiving a request: Generate a control signal to prevent the elevator door (130) from closing.

20. The computing device (120) according to claim 19, wherein, The request is received from the mobile robot (150).

21. A system comprising: Elevator door (130). The elevator car (110) can be entered through the elevator door (130). Mobile robots (150), and The computing device (120) according to any one of claims 11 to 20.

22. A computer program comprising instructions for causing a computing device (120) according to claim 11 to perform the steps of the method according to any one of claims 1 to 10.

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