Elevator interactive mobile service robot capable of autonomous delivery in multi-storey buildings

Abstract

An elevator interactive mobile service robot that provides autonomous delivery in an unmanned manner without requiring an additional push - button design with an elevator for use in multi-storey residential areas, characterised by comprising the user interface (10) that enables the end user to perform operations, the emergency button (15) that provides sudden stop in case of emergency, the transport area (20) that enables the transportation of materials, the depth camera (30) that detects obstacles during autonomous movement, the wheel system (40) that ensures the transmission of forces from the ground to the robot body at a minimum level, the lidar (50) that provides obstacle and position detection with laser, the charging unit (60) that provides autonomous charging in battery consumption, the computer (100) that forms the main operating system, the control unit (1 10) that enables the management of all control operations of the robot, the battery management system (120) that monitors the temperature and operating parameters of the batteries, the sensors (123) that detect height differences, the internal sensors (124) that control the temperature and humidity parameters of the control unit (110), the motor driver (130) that provides autonomous movement, the modem (140) that provides internet access, data transfer and data evaluation, the data communication server (150) that enables communication with the elevator over the cloud, the lora module (160) used for communication with the elevator in areas without internet.

Description

[0001] DESCRIPTION

[0002] ELEVATOR INTERACTIVE MOBILE SERVICE ROBOT CAPABLE OF AUTONOMOUS DELIVERY IN MULTI-STOREY BUILDINGS

[0003] Technical Field

[0004] The invention relates to an elevator interactive mobile service robot which provides autonomous delivery in an unmanned manner without the need for an additional pushbutton design with an elevator for use in multi-storey residential areas.

[0005] Prior Art

[0006] Nowadays, when the present systems are examined, it is seen that mobile service robots are widely used in the areas of delivery, service and guidance. In present applications, mobile service robots generally carry out tasks such as carrying cargo packages and transporting packaged products to the specified target by placing them in the compartment in its structure. Service robots are generally developed to move in the horizontal plane. Models that perform tasks such as getting on the elevator to perform delivery service in vertical structures and performing delivery are limited. In multi-storey buildings, the movement from the lower floor to the upper floor and from the upper floor to the lower floor is realized by pressing the button of the floor to be visited with a push apparatus added to the service robot. The software - controlled mechanical movement causes mechanical jams and additional push - button system costs. In vertical structures, the process of calling the elevator to the floor where the robot is located in order to go to the target floor can cause time losses as it is done with an additional call button. Since these service robots work in environments with a high density of people, robot - human compatibility comes to the fore. While the present elevator service robots press the button of the target floor with a mechanical push button, they may be exposed to the pressing movements of the people who will use the same elevator cabin.

[0007] By means of the development of elevator technologies and in anticipation of against security problems, many elevators have special card reading systems instead of push buttons. With the absence of push buttons in new types of elevators, the present mechanical push - button delivery robots cannot fulfill their function.

[0008] The summary of the application 2020 / 07199, which emerged as a result of technical research; "This invention relates to a cargo system robot with a multifunctional sterilization unit that can bring and take products in hospitals, polyclinics, medical centers, restaurants, hotels, logistics service sector, laboratories, libraries."

[0009] As can be seen, the system is about a service support robot, but it does not mention a structure that can provide a solution to the disadvantages mentioned above.

[0010] As a result, it has become necessary to make a development in the relevant technical field due to the above - mentioned problems and the inadequacy of the present solutions on the subject.

[0011] Purpose of the Invention

[0012] The invention aims to present a structure with different technical features that brings a new opening in this field, unlike the structures used in the current technique.

[0013] With the developed delivery robots, it is to set forth a system and method in which swarm communication and elevator interaction software are developed in autonomous service robots in order to ensure cooperation with robots for routine tasks in the service sector, which is a labor - intensive sector by means of the developed delivery robots.

[0014] The developed mobile robot loads the order received through the mobile application into its clamshell compartment for use in service sectors. The autonomous delivery robot provides delivery in multi-storey buildings by performing tasks such as calling and using the elevator to the targeted location without the need for any mechanical push button. The compartment of the service robot is locked with designed lids for safety precautions. The interaction with the elevator can be provided via the data communication server or by direct connection with the lora module integrated into the robot. With the developed algorithm, when the delivery reaches the target location, the end user enters the screen of the service robot with the password sent via the application and the relevant covers are opened to access the product in the compartment.

[0015] The developed service robot starts to communicate with the elevator when it is a certain distance away from the elevator and performs the calling process. Thereby, time losses due to waiting in front of the elevator are prevented.

[0016] Since the elevator calling process is carried out by integration with the elevator system, there is no need for an additional call and push button design. Thereby, the cost of an additional part is avoided. The developed service robot can also be used in new generation elevators without buttons.

[0017] The service robot uses the same elevator with humans. Therefore, robot - human interaction comes to the fore in crowded environments. The service robot detects the number of people in the elevator by means of Lidar and sensors in its structure and initiates a new call by not getting on the elevator when necessary. Thereby, it can work in harmony with the environment in multi-storey buildings with a high density of people.

[0018] In order to fulfill the aforementioned objects, the invention relates to an elevator interactive mobile service robot for autonomous delivery in an unmanned manner without requiring an additional push - button design with an elevator for use in multistorey residential areas, characterised in that it comprises the following;

[0019] • the user interface that enables the end user to take action,

[0020] • emergency button for sudden stop in case of emergency,

[0021] • transportation area for the transportation of materials,

[0022] • depth camera for obstacle detection during autonomous movement,

[0023] • the wheel system that ensures that the forces coming from the ground are transmitted to the robot body at a minimum level,

[0024] • lidar for obstacle and position detection with laser,

[0025] • charging unit that provides autonomous charging at battery drain,

[0026] • the computer that creates the main operating system,

[0027] • the control unit that manages all control operations of the robot,

[0028] • battery management system that monitors the temperature and operating parameters of batteries,

[0029] • sensors that detect height differences, • internal sensors controlling the temperature, humidity parameters of the control unit,

[0030] • a motor drive that enables autonomous movement,

[0031] • modem that provides internet access, data transfer and data evaluation,

[0032] • data communication server that enables communication with the elevator via the cloud,

[0033] • the lora module used for communication with the elevator in areas without internet.

[0034] The structural and characteristic features and all advantages of the invention will be more clearly understood by means of the figures given below and the detailed description written with references to these figures, and therefore, the evaluation should be made by considering these figures and detailed description.

[0035] Figures to Help Understanding of the Invention

[0036] Figure 1 is a general representation of the inventive system.

[0037] Figure 2 is a schematic representation of the inventive system.

[0038] Figure 3 is a schematic representation of the inventive method.

[0039] The figures are not necessarily to scale and details that are not necessary to understand the present invention may be omitted. Furthermore, elements that are at least substantially identical or have at least substantially identical functions are indicated by the same number.

[0040] Description of Part References

[0041] 10. User Interface

[0042] 15. Emergency Button

[0043] 20. Transport Area

[0044] 25. Covers 30. Depth Camera

[0045] 40. Wheel System

[0046] 50. Lidar

[0047] 60. Charging Unit

[0048] 35. Other inputs I outputs

[0049] 100. Computer

[0050] 1 10. Control Unit

[0051] 120. Battery Management System

[0052] 123. Sensors

[0053] 124. Internal Sensors

[0054] 130. Motor Driver

[0055] 140. Modem

[0056] 150. Data communication server

[0057] 160. Lora module

[0058] A. Emergency exit

[0059] E. Yes

[0060] H. No

[0061] Detailed Description of the Invention

[0062] In this detailed description, the preferred embodiments of the invention are described only for the purpose of a better understanding of the subject matter and without limiting effect.

[0063] The invention relates to an elevator interactive mobile service robot that provides autonomous delivery unmanned without requiring an additional push button design with an elevator for use in multi-storey residential areas.

[0064] The elements used in the inventive system and their functions are as follows; User interface (10) is the screen that allows the end user to perform operations.

[0065] Emergency button (15) provides sudden stop in case of emergency.

[0066] The transport area (20) is the area for transporting the materials.

[0067] Covers (25) are protective covers that prevent the materials placed in the compartment I transport area (20) from falling during autonomous movement.

[0068] Depth camera (30) detects obstacles during autonomous movement.

[0069] The wheel system (40) ensures that the forces coming from the ground are transmitted to the robot body at a minimum level.

[0070] Lidar (50) provides obstacle and position detection with laser.

[0071] Charging unit (60) provides autonomous charging in battery consumption.

[0072] Other inputs I outputs (35) are positioned on the controller for optional components and are enabled the integration of external equipment.

[0073] The computer (100) includes the main operating system.

[0074] The control unit (1 10) manages all control operations of the robot.

[0075] The battery management system (120) monitors the temperature and operating parameters of the batteries.

[0076] Sensors (123) are gap sensors that detect height differences.

[0077] Internal sensors (124) control parameters such as temperature and humidity of the control unit.

[0078] The motor driver (130) provides autonomous movement.

[0079] Modem (140) provides internet access, data transfer and data evaluation.

[0080] Data communication server (150) provides communication with the elevator via cloud.

[0081] Lora module (160) is used for communication with the elevator in areas without internet. The working principle of the inventive system is as follows;

[0082] The robot body includes a user interface (10) screen, a transport area (20) where the materials to be transported are positioned, a depth camera (30) for obstacle detection and a wheel system (40). Thanks to the smart algorithms developed during autonomous driving and the depth camera (30) and lidars (50) on the robot, the process of moving to the targeted location by avoiding obstacles is completed. Covers (25) have been developed to prevent the transported products from falling as a result of skidding. The emergency button (15) located at the head of the delivery robot can be used to stop in case of emergency. When the robot charge drops below a certain level, it automatically goes to the charging unit (60) and recharges.

[0083] The delivery robot is managed by the control unit (110) connected to the computer (100). In the control unit (1 10); battery management system (120), motor drivers (130) and modem (140) are in communication. Internal sensors (124) of the control unit (1 10) continuously control parameters such as power monitoring, temperature and humidity. Data from lidar (50) and depth camera (30) are processed by the computer (100) for obstacle detection and position sensing.

[0084] The delivery robot is powered by a charging unit (60) managed by a battery management system (120). Sensors (123) in the system are used to detect height differences and detect gaps such as stairs. Other inputs I outputs (35) are connected to the control unit (1 10) for optional options such as bumper parts to prevent collision with possible sharp edges of obstacles during the mapping phase and during autonomous movement.

[0085] The process steps carried out with the inventive system are as follows;

[0086] • Receiving end - user orders through the developed market application (200),

[0087] • Collecting the ordered products from the shelves by an operator or an autonomous mobile robot with a robot arm integrated, and selecting the appropriate robot among the robots with information in the task management system and sending it to the filling station (202),

[0088] • Loading the products into the compartment of the delivery robot (204), • moving to the elevator area for the target floor and block where the robot will deliver according to the apartment locations determined in the pre-mapping I setup process (206),

[0089] • Initiating the call via the data communication server (150) or the lora module (160) integrated in the robot, while the robot goes to the door of the relevant elevator to reach the targeted location (208),

[0090] • Checking the response that the call has been initiated by the robot (212)

[0091] • Initiating a new call via the data communication server (150) or via the lora module (160) integrated in the robot (210),

[0092] • Waiting of the robot in front of the elevator door, taking into account the arrival time for the elevator to the floor (214),

[0093] • Detecting the arrival of the elevator to the floor with the floor information received via the data communication server (150), and in case of no arrival, a new call is made via the data communication server (150) or with the lora module (160) integrated into the robot (216),

[0094] • Detecting elevator occupancy with lidar (50) and depth camera (30) on the robot (218),

[0095] • In case the elevator is full, initiating a new call and initiating a waiting period of approximately a certain time (preferably 10 - 20 seconds) (220),

[0096] • When the elevator is empty, boarding the elevator and audible warning by the robot during boarding and alighting (222),

[0097] • Sending information by the robot to the elevator for the targeted floor via the data communication server (150) or via the lora module (160) integrated in the robot (226),

[0098] • Checking whether the elevator is from the specified floor by the robot (228),

[0099] • Realization of landing at targeted floor (230),

[0100] • When the elevator arrives at the relevant floor, detecting the open I closed status of the doors with the depth camera (30) and lidar (50) by the robot, and considering as successful of the landing when the robot reaches the area previously marked on the map (232),

[0101] • Moving the robot in front of the target block (234).

Claims

CLAIMS1. An elevator interactive mobile service robot that provides autonomous delivery in an unmanned manner without requiring an additional push - button design with an elevator for use in multi-storey residential areas, characterized by comprising;• user interface (10) that enables the end user to take action,• emergency button (15) which provides sudden stop in case of emergency,• transport area (20) for the transportation of materials,• depth camera (30) for obstacle detection during autonomous movement,• the wheel system (40) that ensures that the forces coming from the ground are transmitted to the robot body at a minimum level,• lidar (50) for obstacle and position detection with laser,• charging unit (60) that provides autonomous charging at battery depletion,• the computer (100) that generates the main operating system,• the control unit (110) that manages all control operations of the robot,• battery management system (120) that monitors the temperature and operating parameters of batteries,• sensors (123) that detect height differences,• internal sensors (124) controlling the temperature, humidity parameters of the control unit,• motor drive (130) enabling autonomous movement,• modem (140) providing internet access, data transfer and data evaluation,• data communication server (150) that enables communication with the elevator through the cloud,• the lora module (160), which is used for communication with the elevator in areas without internet.

2. The robot according to claim 1 , characterized by comprising protective covers (25) to prevent the materials placed in the compartment I transport area (20) from falling during autonomous movement.

3. The robot according to claim 1 , characterized by comprising other inputs I outputs (35) positioned on the control unit for optional parts and allowing the integration of external equipment.

4. A method for an elevator interactive mobile service robot that enables autonomous delivery in an unmanned manner without requiring an additional push - button design with an elevator for use in multi-storey residential areas, characterized by comprising the following process steps;• Receiving end - user orders through the developed market application (200),• Collecting the ordered products from the shelves by an operator or an autonomous mobile robot with a robot arm integrated, and selecting the appropriate robot among the robots with information in the task management system and sending it to the filling station (202),• Loading the products into the compartment of the delivery robot (204),• moving to the elevator area for the target floor and block where the robot will deliver according to the apartment locations determined in the pre - mapping I setup process (206),• Initiating the call via the data communication server (150) or the lora module (160) integrated in the robot, while the robot goes to the door of the relevant elevator to reach the targeted location (208),• Checking the response that the call has been initiated by the robot (212)• Initiating a new call via the data communication server (150) or via the lora module (160) integrated in the robot (210),• Waiting of the robot in front of the elevator door, taking into account the arrival time for the elevator to the floor (214),• Detecting the arrival of the elevator to the floor with the floor information received via the data communication server (150), and in case of no arrival, a new call is made via the data communication server (150) or with the lora module (160) integrated into the robot (216),• Detecting elevator occupancy with lidar (50) and depth camera (30) on the robot (218),• In case the elevator is full, initiating a new call and initiating a waiting period of approximately a certain time (220),• When the elevator is empty, boarding takes place (222),• Sending information by the robot to the elevator for the targeted floor via the data communication server (150) or via the lora module (160) integrated in the robot (226),• Checking whether the elevator is from the specified floor by the robot (228),• Realization of landing at targeted floor (230),• When the elevator arrives at the relevant floor, detecting the open I closed status of the doors with the depth camera (30) and lidar (50) by the robot, and considering as successful of the landing when the robot reaches the area previously marked on the map (232),• Moving the robot in front of the target block (234)5. The method according to claim 4, characterized by comprising the process step of making an audible warning when boarding and disembarking by the robot.

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