Systems and methods for automated access elevator for autonomous systems

Abstract

The disclosed techniques provide an elevator car with a passenger compartment and a robot-dedicated compartment that includes a charging interface, a containment structure with fire suppression, and an access control assembly with a multi -panel door to admit and release an autonomous robotic device without exposing the passenger compartment. A control unit monitors sensors and interlocks to verify car-to-landing alignment and safe transfer, operates the door system, and coordinates car travel and deployment of the autonomous device to designated locations. The techniques include staging and recharging the autonomous device in the robot-dedicated compartment, monitoring environmental and battery conditions using the containment structure, commanding verified transfer through the access control assembly, coordinating movement of the car and the autonomous device, and recording status and exceptions while transporting the device to a designated location.

Description

SYSTEMS AND METHODS FOR AUTOMATEDACCESS ELEVATOR FOR AUTONOMOUS SYSTEMSCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application Serial No. 63 / 690,827, filed September 5, 2025, entitled AUTOMATED ACCESS ELEVATOR FOR AUTONOMOUS ROBOTIC SERVICES, which is hereby incorporated in its entirety by reference herein.FIELD OF THE DISCLOSURE

[0002] The disclosure relates to building transportation and automation, and more specifically to elevator systems that provide automated access and payload exchange with autonomous platforms.BACKGROUND

[0003] Buildings with conventional elevators lack a fast and reliable way to move first-response resources, such as fire gear, AEDs, or medical supplies, directly to incident floors. Dispatch often depends on human runners, stairwells, or attended elevator operation, which introduces delays, congestion, and uncertainty during fires and medical emergencies.

[0004] Typical elevator control systems are designed for human riders and attended use. They also do not natively accommodate autonomous platforms. Devices cannot place car calls or select floors, cannot authenticate for access without human intervention, and cannot recharge or exchange data through standardized power and networking interfaces. Hoistways and surrounding structure attenuate radio signals and create multipath, which degrades command and telemetry and limits auditability. Cars and rooms typically lack purpose-built compartments with appropriate containment, detection, and suppression forlithium-ion battery incidents, which further limits safe staging and transport of robotic devices.BRIEF DESCRIPTION OF THE DISCLOSURE

[0005] This brief description is provided to introduce a selection of concepts in a simplified form that are further described in the detailed description below. This brief description is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Other aspects and advantages of the present disclosure will be apparent from the following detailed description of the embodiments and the accompanying figures.

[0006] In various aspects, a multi-compartment elevator system is provided. The system includes an elevator car having a passenger compartment and a robot-dedicated compartment. The robot-dedicated compartment includes a charging interface configured to recharge an autonomous robotic device, a containment structure including a fire suppression system adapted to mitigate a fire risk associated with the autonomous robotic device, and an access control assembly including an elevator multi-panel door system operable to selectively permit entry and exit of the autonomous robotic device from the robot-dedicated compartment without exposing the passenger compartment. The system also includes an elevator control unit coordinating operation of the elevator car and the autonomous robotic device for deployment within a building.

[0007] In various aspects, a method of deploying an autonomous robotic device using a multi-compartment elevator system is provided. The method includes providing an elevator car having a passenger compartment and a robot-dedicated compartment. The method includes staging the autonomous robotic device within the robot-dedicated compartment. In addition, the method includes recharging the autonomous robotic device via a charging interface disposed within the robot-dedicated compartment. Furthermore, the method includes monitoring the robot-dedicated compartment with a containment structure including a fire suppression system adapted to mitigate a fire risk associated withthe autonomous robotic device. Additionally, the method includes operating access control assembly including an elevator multi-panel door system operable to selectively permit entry and exit of the autonomous robotic device from the robot-dedicated compartment without exposing the passenger compartment. Moreover, the method includes coordinating, via the elevator control unit, movement of the elevator car and deployment of the autonomous robotic device to a designated location within a building.

[0008] A variety of additional aspects will be set forth in the detailed description that follows. These aspects can relate to individual features and to combinations of features. Advantages of these and other aspects will be apparent to those skilled in the art from the following description of the exemplary embodiments which have been shown and described by way of illustration. As will be realized, the present aspects described herein may be capable of other and various aspects, and their details are capable of modification in various respects. Accordingly, the figures and description are to be regarded as illustrative in nature and not as restrictive.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The figures described below depict various aspects of systems and methods disclosed therein. It should be understood that each figure depicts an embodiment of a particular aspect of the disclosed systems and methods, and that each of the figures is intended to accord with a possible embodiment thereof. Further, wherever possible, the following description refers to the reference numerals included in the following figures, in which features depicted in multiple figures are designated with consistent reference numerals.

[0010] FIG. l is a block diagram of a robotic services system using an elevator car with a passenger compartment, a robot compartment, a control platform, building systems, and supporting networks, in accordance with an aspect of the invention;

[0011] FIG. 2 is a schematic of the elevator car of FIG. 1, depicting structure showing the passenger compartment and a robot-dedicated compartment with charging, sensing, and containment features;

[0012] FIG. 3 is a block diagram of coordinated landing and car multi-panel door systems of the system of FIG. 1;

[0013] FIG. 4 is a plan view of a rotating landing deck in a service room that cooperates with a dispensing mechanism and an automated access point;

[0014] FIG. 5 is a schematic diagram showing data exchange among the control platform, building systems, and supporting networks of FIG. 1; and

[0015] FIG. 6 is a flowchart of a method for staging, deploying, monitoring, and resupplying robots from the multi-compartment elevator.

[0016] Unless otherwise indicated, the figures provided herein are meant to illustrate features of embodiments of this disclosure. These features are believed to be applicable in a wide variety of systems comprising one or more embodiments of this disclosure. As such, the figures are not meant to include all conventional features known by those of ordinary skill in the art to be required for the practice of the embodiments disclosed herein.DETAILED DESCRIPTION OF THE DISCLOSURE

[0017] The following detailed description of embodiments of the invention references the accompanying figures. The embodiments are intended to describe aspects of the invention in sufficient detail to enable those with ordinary skill in the art to practice the invention. The embodiments of the invention are illustrated by way of example and not by way of limitation. Other embodiments may be utilized, and changes may be made without departing from the scope of the claims. The following description is, therefore, not limiting.The scope of the present disclosure is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0018] Referring to FIG. 1, a robotic services system 100 includes a multicompartment elevator car 102 having a passenger compartment 104 and a robot-dedicated compartment 106. As used herein, a “multi-compartment elevator car” refers to an elevator car having at least two distinct compartments, vertically arranged relative to each other.

[0019] An elevator control unit 108 is communicatively coupled to the multicompartment elevator car 102 and coordinates car movement and door operations. The elevator control unit 108 communicates with a building management system (BMS) 110 and a control platform 112 over communication network 114. In various examples, the BMS 110 includes building automation systems (e.g., BACnet, LONworks, API-accessible platforms). The control platform 112 represents local edge and / or cloud services providing orchestration, monitoring, artificial intelligence (Al) and machine learning (ML) functions, and optional teleoperation over wired and wireless transports (e g., Ethernet, TCP-IP, MQTTZHTTP(S), Wi-Fi, Bluetooth, Zigbee, cellular, 5G, and / or satellite bridges). In various examples, the control platform 112 includes a processor, memory, and a transceiver. Firmware stored in the memory instructs the processor to perform orchestration, artificial intelligence or machine learning, data logging, and supervisory networking, as discussed further herein.

[0020] In various examples, a landing multi -panel door system 116 installed at each building landing cooperates with an elevator multi-panel door system 118 mounted to the robot-dedicated compartment 106 to form a secured transfer aperture for robot (also referred to herein as an “autonomous device”) ingress / egress while isolating the passenger compartment 104. The two multi-panel door systems 116, 118 are mechanically and logically interlocked to cooperate during aligned opening and closing for robot ingress and egress while maintaining isolation from the passenger compartment 104, as discussed herein.

[0021] In various examples, the elevator control unit 108 includes a microprocessor, memory, power regulation, and input and output interfaces. The microprocessor executes firmware that implements, for example, car positioning, door actuation, safety interlocks, and communications with the BMS 110 and the control platform 112. The memory stores door profiles, mission schedules, and configuration parameters. The input and output interfaces support communication via the communication network 114, for example. The communication network connections may include, for example, Ethernet or serial buses. The connections connect to motor drives for hoisting and leveling, brake solenoids, door motors, and encoder feedback from doors and car movement. The elevator control unit 108 also receives status signals from the elevator multi-panel door system 118 and from the landing multi-panel door system 116. The feedback may include, for example, whether each door panel is closed, locked, or obstructed.

[0022] In various examples, each multi-panel door system 116 and 118 includes one or more door panels hinged or sliding on tracks, a drive mechanism such as a linear actuator or motor, one or more position encoders, one or more edge sensors, and control logic to open only selected subsets aligned with the robot-dedicated compartment 106. The door panels may be fabricated, for example, from steel, aluminum, composite materials, and / or combinations thereof. The doors may include seals to limit smoke and noise penetration. One or more contact or non-contact sensors (e.g., edge switches, photoelectric beams) on each door panel stop the door if an obstruction is detected. Secure communications between the elevator control unit 108, the BMS 110, and the control platform 112 may employ encryption and authentication to prevent tampering or spoofing.

[0023] Optionally, an adjacent service room 120 houses an optional rotating landing deck 122 and a dispensing mechanism 124 for drone-to-ground-robot transfers. The service room 120 may include one or more cameras and / or environmental sensors 126 and wireless charging hardware 128 near the landing deck 122. In various examples, adjacent to or a part of the service room 120, an automated facility (e.g., a micro-fulfillmentmodule or robotic kitchen) may interface with the rotating landing deck 122 and dispensing mechanism 124 to stage, restock, or receive items without human handling.

[0024] A command center 130 supervises deployments of autonomous / teleoperated ground robots 132 and aerial robots 134 through the control platform 112. One or more gateways or application programming interfaces (APIs) 136 connect to building systems, such as the BMS 110. One or more automated access points 138 provide interior or exterior egress. A satellite bridge 140 is optional and may be provided for system resiliency. In various arrangements, one or more wireless access points may be mounted on a roof of the multi-compartment elevator car 102 and at the shaft head, with a point-to-point wireless bridge linking them to maintain backhaul through the elevator shaft.

[0025] In various examples, the platform 112 may employ publish / subscribe messages on a communication network 142 (e.g., via MQTT / HTTPS) to orchestrate elevator / door / robot actions in real time across one or multiple buildings. Controllers participating on the communication network 142 include, for example a door / interlock controller 300 (See FIG. 3) that actuates the elevator multi-panel door system 118 and the landing multi-panel door system 116, a landing deck controller 424 governing the optional rotating landing deck 122 and the dispensing mechanism 124, and robot controller(s) 514 that bridge, via one or more RF links over a wireless communication network 518 (e.g., Wi-Fi, cellular, 5G, and / or the satellite bridge 140), to one or more endpoint devices including the ground robot(s) 132, aerial robot(s) 134, and automated access point(s) 138. As an alternative medium, a projected light (optical) interface may be used for short-range data exchange at the landing deck or door interfaces where RF is constrained.

[0026] The optional service room 120 may include one or more battery racks, uninterruptible power supplies, generators, and edge compute nodes that run local instances of the control platform 112. In some examples, climate control equipment, such as HVAC units, exhaust fans, and dehumidifiers, maintains environmental conditions (e.g., temperature, humidity, and the like) within determined limits for batteries and electronics.One or more environmental sensors 126 in the service room 120 may include thermometers, hygrometers, smoke and gas detectors, and barometric sensors. Additionally, one or more cameras 126 may include visible light cameras for monitoring mechanical operations and verifying robot transfers, infrared cameras for monitoring heat signatures, and / or depth sensors for obstacle detection. The wireless charging hardware 128 may include resonant coil assemblies or inductive pads that transfer electrical energy across an air gap. Control circuits negotiate power delivery with the robot charger using standards such as Qi or proprietary protocols and include metal object detection and over temperature shutdown for safety.

[0027] The command center 130 includes user interfaces such as touch screen displays, joysticks, keyboards, and haptic devices to enable remote operators to control autonomous devices when necessary. Optional audio systems provide two-way voice communication with building occupants or first responders. The command center 130 may also host virtual or augmented reality interfaces for immersive telepresence.

[0028] The control platform 112 executes mission planning software that allocates the autonomous devices, such as the ground robot(s) 132 and / or aerial robot(s) 134, to tasks, monitors mission progress via a robot / status message 528 (see FIG. 5) and adjusts mission parameters based on sensor data and operator input. Gateways or APIs 136 connect the control platform 112 to the BMS 110 using one or more communication protocols, such as REST APIs, BACnet, LonWorks, Modbus, and the like.

[0029] The automated access points 138 may include, for example, powered doors, windows, hatches, or retractable panels with actuators, position encoders, contact switches, and safety photoeyes to prevent collision with persons or objects. The optional satellite bridge 140 provides wide-area connectivity when terrestrial networks fail or are congested, as discussed further herein.

[0030] In various examples, the communication network 142 operates as a publish / subscribe bus over Internet Protocol. For example, controllers and endpointspublish status messages and subscribe to command topics described, for example, in FIG. 5. Quality-of-Service (QoS) parameters (e.g., acknowledgement, at least once delivery, etc.) ensure delivery of critical messages. Transport security includes encryption using, for example, TLS and mutual authentication. The robot controlled s) 514 maintains mission plans, sensor data logs, and failover logic. Each robot controller 514 operates autonomously when disconnected from the control platform 112 by executing preloaded mission scripts and synchronizing state after connectivity is restored. The control platform 112 manages mission queues and ensures that life-safety missions pre-empt non-critical tasks.

[0031] Various examples disclose life-safety services, such as firefighting and emergency medical response. In various examples, the same infrastructure supports cleaning, maintenance, housekeeping, security, humanoid, and quadruped autonomous vehicles. These examples are non-limiting and illustrate the diversity of missions supported by the robotic services system 100. Staging autonomous vehicles within the multicompartment elevator car 102 reduces response time by pre-positioning mission-ready units proximate to operational places.

[0032] In various examples, life-safety robots staged in the robot-dedicated compartment 106 may include a firefighting robot with one or more thermal imaging cameras, visible light cameras, gas detectors (e.g., smoke, CO, CO2), a LiDAR or radar sensor for mapping, an inertial measurement unit for dead reckoning, and a pump connected to onboard extinguishing agent reservoirs or to building standpipes via quick-connect couplings. The firefighting robot may carry a hose reel and adjustable nozzle to deliver a fire extinguishing agent and may include couplings sized to connect to floor standpipe outlets or sprinkler risers. An emergency medical robot may include one or more microphones, speakers, cameras, vital-sign sensors, and compartments for automated external defibrillators and first aid supplies. The robots are configured to perform self-diagnostics to verify sensor and actuator health and report status to the control platform 112 via the robot / status message 528. The robots are configured to monitor battery state ofcharge, battery temperature, and environmental conditions, for example, and may autonomously reposition within the robot-dedicated compartment 106 to facilitate charging or cooling.

[0033] In various examples, the control platform 112 applies artificial intelligence or machine learning to classify events, allocate missions, and verify completion reports received from the elevator control unit 108 and the robot controller 514.

[0034] As shown in FIG. 2, an elevator car structure assembly 200 includes and houses the multi-compartment elevator car 102 having the passenger compartment 104 and the robot-dedicated compartment 106 arranged to avoid interference with passenger service. In various embodiments, the robot-dedicated compartment 106 is disposed below the passenger compartment 104. The passenger compartment 104 may include a single door set or front and rear door sets for the robot-dedicated compartment 106 to provide egress to different areas of a building (e.g., interior corridor and service room 120 or exterior opening) while maintaining isolation from the passenger compartment 104.

[0035] Within the robot-dedicated compartment 106, a charging interface 206 can include an inductive pad 208. In various examples, the charging interface 206 includes one or more conductive docking connectors 210 located on a floor, wall, or ceiling surface as alternates. In various examples, one or more alignment aids (e.g., guides, bumpers, fiducials) facilitate coupling and charge initiation and termination.

[0036] In various examples, the elevator car structure assembly 200 comprises a car frame, floor plates, side walls, a roof, and a car top, constructed from steel, aluminum, composite materials, and / or combinations thereof. The robot-dedicated compartment 106 includes a dedicated platform, which may include, without limitation, non-slip flooring, one or more anchor points for tie-down straps, one or more alignment markers, and one or more integrated sensors. The integrated sensors may include, for example, one or more proximity sensors, docking sensors, weight sensors, and / or limit switches to facilitate and verify when a robot is positioned for transport. The alignment markers or aids, such asguide rails, tapered bumpers, or fiducial markers on the floor, walls, or ceiling, assist the robot controller 514 in docking with the charging interface 206.

[0037] In various examples, the inductive pad 208 integrates near-field communication (NFC) circuits for negotiation of charging parameters. In some examples, the conductive docking connectors 210 are shielded and biased to accommodate misalignment and to protect against short circuits. Electrical isolation and ground-fault detection ensure that power is applied only when the robot is fully docked.

[0038] The robot-dedicated compartment 106 may include one or more environmental sensors, such as temperature, humidity, and gas sensors, connected to a compartment controller 224 to monitor environmental conditions and to alert if water ingress or contaminant levels exceed thresholds. All sensors and power devices within the robot-dedicated compartment 106 are rated to operate under vibration, shock, and elevated temperature conditions typical of elevator operations.

[0039] In various examples, a containment structure 212 includes a firesuppression subsystem 214 and a fire-resistant liner 216. One or more environmental sensors 218 and / or cameras 220 trigger suppression. Suppression devices may be placed within the robot-dedicated compartment 106 and / or in adjacent connected locations. In various examples, the multi-compartment elevator car 102 may include an embedded disinfecting system (e.g., UV-C or chemical mist) for decontamination of the robot- dedicated compartment 106 and adjacent service room 120 surfaces under control of the compartment controller 224.

[0040] The fire-suppression subsystem 214 may discharge water or water-mist for knock-down and continued cooling, and may employ clean agents, inert gas, foam concentrate, or condensed aerosol generators as appropriate. Discharge nozzles are positioned to saturate the robot area. Valves or actuators control agent flow from pressurized cylinders or an optional supply reservoir 222. The fire-resistant liner 216 lines interior surfaces and may include intumescent, ceramic, and / or multilayer compositematerials to contain and insulate heat. Embedded temperature sensors in the liner can trigger secondary suppression if wall temperature rises.

[0041] In various examples, sensor events initiate coordinated response by the elevator control unit 108 and the control platform 112. For robots using lithium-ion batteries, the containment structure 212 supports early detection and suppression tailored to such hazards, including water or water-mist cooling for knock-down and propagation mitigation with continued post-suppression cooling.

[0042] The environmental sensors 218 may include thermocouples, resistance temperature detectors, thermistors, smoke detectors (photoelectric or ionization), optical particle counters, carbon monoxide sensors, carbon dioxide sensors, hydrogen sensors, volatile organic compound sensors, and the like. Cameras 220 may include visible, infrared, thermal, and / or multispectral imagers, and the like.

[0043] In various examples, each environmental sensor 218 produces an analog or digital signal representing a measured parameter. The compartment controller 224 samples, filters, and compares these signals to stored thresholds (e.g., at 50 ms intervals). The cameras 220 stream video or still images over the communication network 142 to the control platform 112. One or mor vision algorithms executed by the control platform 112 or local edge computing classify frames for smoke, flame, or thermal anomalies.

[0044] When a measured parameter exceeds a threshold or camera analysis indicates a hazard, the compartment controller 224 alerts the elevator control unit 108 and the control platform 112. The control platform 112 correlates sensor and camera evidence to reduce false positives, and upon confirmation issues coordinated commands that may include stopping the elevator car 102, locking door systems 116 and 118, activating the fire-suppression subsystem 214, and instructing the robot controller 514 to shut down or withdraw the robot.

[0045] In various examples, the control platform 112 notifies the BMS 110 to update alarms and may generate notifications for occupants, remote operators, andemergency services. The multi-compartment elevator car 102 may be directed to a predetermined safe floor for access by responders. Passenger compartment 104 isolation is maintained and occupant safety is prioritized during mitigation. After suppression, the elevator control unit 108 disables the charging interface 206 and isolates affected circuits; ventilation may exhaust smoke and vapors as conditions permit.

[0046] Data from the environmental sensors 218 and cameras 220 are logged for diagnostics and future threshold or algorithm tuning. F eedback from the sensors 218 and / or cameras 220 continues through the suppression event to confirm effectiveness and detect re-ignition. Manual overrides and suppression status changes are recorded.

[0047] As noted above, in various examples, the robot-dedicated compartment 106 may include the optional supply reservoir 222. The supply reservoir 222 and / or an automated dispensing station (see the dispensing mechanism 124) replenishes robot consumables (e.g., suppressant media, medical supplies). Alternatively, replenishment occurs in an adjacent service room 120 (discussed above) via automated transfer coordinated by the elevator control unit 108 and the control platform 112. The compartment controller 224 interfaces the foregoing elements to the elevator control unit 108 and the control platform 112.

[0048] In various examples, the supply reservoir 222 may be configured as one or more tanks or cartridge modules fabricated from a corrosion-resistant material such as stainless steel, aluminum alloy, composite laminate, polymer-lined vessel, and the like. The tank includes level sensors (e.g., float switches, capacitive probes), temperature sensors, and pressure sensors to monitor contents. A pump and valve assembly connected to the reservoir delivers liquids or foams through flexible hoses and quick-disconnect couplings to the robot, such as the ground robot(s) 132 and / or aerial robot(s) 134. One or more flow sensors (not shown) verify delivery rates.

[0049] One or more valves or pumps control the dispensation of the consumable through flexible hoses or rigid pipes to a docking port accessible within the robot-dedicatedcompartment 106 or at the dispensing mechanism 124. Quick-disconnect couplings with bias valves prevent spillage and allow the robots to couple and decouple without manual intervention. One or more weight sensors verify that the expected quantity of material has been delivered.

[0050] For firefighting robots, the supply reservoir 222 may contain water, foam concentrate, or clean-agent cylinders. For medical robots, the supply reservoir 222 may hold intravenous fluids, disinfectants, or pharmaceuticals.

[0051] When a robot requests a refill via a resupply / command message 534 (See FIG. 5), the compartment controller 224 verifies that the robot is properly aligned and secured (e.g., via mechanical guides, hooks, magnetic latches, etc.) before actuating the appropriate pump or valve. One or more pumps or metering valves dispense measured quantities of consumables through the quick-disconnect couplings to the robot. The compartment controller 224 coordinates the supply reservoir 222 and the dispensing mechanism 124, publishing status on the resupply topic 534.

[0052] The control platform 112 maintains an inventory database for consumables and schedules refilling operations by building maintenance staff, building logistics, or external suppliers. When supply levels fall below thresholds, the platform 112 generates maintenance requests via the BMS 110. In embodiments with the service room 120, a robotic arm or linear actuator (not shown) may transfer cartridges or packages between the supply reservoir 222 and the robot, using machine-vision guidance and RFID or barcode identification to ensure correct matching.

[0053] The elevator may be traction (electric motor, cables, pulleys) or hydraulic (piston, fluid) and assembled using welded, bolted, riveted, and / or mixed fasteners. The shaft can include guide rails, switches, cameras, sensors, ventilation, and instrumented access points. Opposite-side doors may include a single door set or front and rear door sets connecting the robot-dedicated compartment 106 to the service room 120 and / or to exterior openings.

[0054] In a traction elevator embodiment, the multi-compartment elevator car 102 is suspended by steel ropes or belts that loop around a traction sheave driven by an electric motor. A counterweight balances the car weight to reduce motor load and enables the elevator control unit 108 to drive the car using a variable-frequency drive for smooth acceleration and deceleration. Overspeed governors and safety brakes actuated by centrifugal mechanisms engage a safety gear if the car exceeds a speed threshold or if a rope breaks. Guide rails mounted in the shaft maintain vertical alignment. Roller or sliding safety shoes ride along the rails. Sensors mounted on the guide rails or on the car detect misalignment, overspeed, rail temperature, and vibration. Limit switches at the top and bottom of the shaft prevent overtravel.

[0055] In a hydraulic elevator embodiment a hydraulic cylinder supports the multicompartment elevator car 102. The control unit 108 controls a pump and valve assembly to raise and lower a piston. Pressure transducers and valve position sensors monitor system pressure, and a rupture valve prevents uncontrolled descent. A hydraulic piston temperature sensor and fluid temperature sensor may feed back to the control unit 108 to prevent overheating.

[0056] When the robot-dedicated compartment 106 includes front and rear door sets, mechanical linkages or independent door drives ensure that opposite-side doors operate synchronously or according to the control logic of the door / interlock controller 300. Each door set has its own encoder, motor, and interlocks coordinated by the door / interlock controller 300. Structural reinforcement and vibration damping are incorporated in the car frame and shaft to manage the additional weight and dynamic loads introduced by robot cargo and equipment in the robot-dedicated compartment 106. Emergency brakes or parking brakes may engage if the car stops outside the normal landing zone, preventing unintended movement during robot transfer.

[0057] FIG. 3 shows the door / interlock controller 300 that supervises the elevator multi-panel door system 118 and the landing multi-panel door system 116. Car position sensors 302, such as proximity or limit switches, and alignment or photoelectric sensors304 confirm that the multi-compartment elevator car 102 is aligned with the landing before either door system 116, 118 opens. Door-state encoders 308a and 308b confirm that the door systems 116, 118 are closed or open as expected. A safe corridor 314 may be provided as a monitored path for robot transfer. The alignment sensors 304 and interlock lines 316 are used for verified transfer. The interlock lines 316 ensure that one door set 116 or 118 does not open unless the other door set 118 or 116, respectively, is in a locked state. After a robot transfer is completed, both the elevator door system 118 and the landing door system 116 close and lock. Collectively, the door system 116, 118, together with the door / interlock controller 300, interlock lines 316, car position sensors 302, alignment or photoelectric sensors 304, door-state encoders 308a and 308b, and any safe corridor sensors defining the safe corridor 314, are referred to herein as an “access control assembly” configured to verify alignment and selectively actuate a subset of aligned panels to create a monitored transfer path while the passenger compartment remains closed and locked.

[0058] In various examples, the door / interlock controller 300 includes a microcontroller or microprocessor, memory, and input and output interfaces for a plurality of sensors and actuators. The door / interlock controller 300 connects to the car position sensors 302 to confirm a position of the multi-compartment elevator car 102, the alignment sensors 304 to check door threshold alignment, the door-state encoders 308a, 308b to measure door panel movement, and one or more optional safe corridor sensors (not shown).

[0059] In various examples, the door / interlock controller 300 runs a state machine with states such as idle, align, unlock, open, transfer, close, and lock. Each state transition depends on one or more sensor readings and confirmation from the elevator control unit 108. The door / interlock controller 300 publishes door status on a doors / state channel 522 (See FIG. 5) and publishes transfer completion on a transfer / verify channel 524 (See FIG. 5). If a misalignment, obstruction, or fault is identified or found, the door / interlock controller 300 halts door motion, locks the doors, and notifies the elevator control unit 108 and the control platform 112.

[0060] The safe corridor 314, when included, defines a monitored path between the robot-dedicated compartment 106 and the landing. The safe corridor 314 may be marked with floor stripes, rails, or bollards, and may use photoelectric beams, pressure mats, ultrasonic sensors, or infrared sensors to detect objects. If the path is blocked while a robot enters or exits, the door / interlock controller 300 halts the doors and alerts the elevator control unit 108 and the control platform 112. The safe corridor 314 may include lights or alarms to warn nearby people when a robot is moving.

[0061] The interlock lines 316 are safety circuits that connect door switches, locks, and encoders of the door systems 116 and 118 to the door / interlock controller 300 and the elevator control unit 108. In various examples, the interlock lines 316 are normally-closed low-voltage circuits. In some example, the interlock lines 316 may be duplicated for redundancy. The interlock lines 316 provide a continuous and predetermined voltage before the door / interlock controller 300 allows door motion. A broken or shorted interlock line 316 opens the circuit and forces the robotic services system 100 into a safe stop. The interlock lines 316 may also tie into one or more emergency stop relays so that unsafe door states prevent elevator movement. The door / interlock controller 300 reports interlock line status over the communication network 142 to the control platform 112 for monitoring.

[0062] In various examples, a robot transfer includes identity and authorization, position and alignment checks, monitored transfer, a transfer complete signal, and synchronized safe close. This pattern is applied to the cooperating multi-panel door systems 116 and 118.

[0063] In various examples, robots may be allowed to operate during a fire service mode when authorized by a local authority having jurisdiction. In various examples, the robotic services system 100 allows incident command to recall or disable robots immediately through the control platform 112 and the elevator control unit 108.

[0064] In various examples, identity and authorization rely on digital credentials such as certificates or cryptographic keys stored in the robot controller 514 and the controlplatform 112. A robot, such as the ground robot(s) 132 and / or aerial robot(s) 134, presents credentials over an encrypted channel, for example, and the control platform 112 checks that the mission is valid and current. The door / interlock controller 300 confirms that the identity of the robot matches the mission and that the interlock lines 316 indicate a safe state. Additional checks may include weight sensors, battery charge level, and cross-checks of robot sensor data against building maps. A monitored transfer uses, for example, beams and cameras along the safe corridor 314 to track the robot, while the encoders 308a, 308b confirm that only the correct door panels are open. When the robot clears the sensors, the door / interlock controller 300 sends a transfer complete signal on transfer / verify channel 524. Both door systems 116 and 118 close in coordination until the encoders 308a, 308b, for example, confirm closure and the interlock lines 316 verify the locks. The control platform 112 may log each transfer with time, identity, and outcome, and may audit for security.

[0065] FIG. 4 shows the rotating landing deck 122 positioned in the service room 120. In various examples, the rotating landing deck 122 is driven by a deck motor 402 through a transmission 404. The landing deck 122 is paired with the dispensing mechanism 124. In various examples, the dispensing mechanism 124 may include a tray traveling within a vertical chute, wherein the tray may extend and retract. In various embodiments, the dispensing mechanism 124 may include a split tray mounted within the vertical chute with each half-tray being hinged to a support frame and held closed by electrically actuated solenoids. Upon command, the solenoids may release to drop the halves for dispensing operations. Auxiliary solenoids may re-close the halves for a next cycle.

[0066] The deck area and / or adjacent landing plane integrates cameras and sensors 126, a transmitter for radio-wave communications, and wireless charging hardware 128 that may be embedded in the deck plane 416 and / or provided in proximity as deck-adjacent hardware. Infrared illumination and / or cameras / scanners 126 (2D or 3D) assist approach guidance, identity verification, and transfer confirmation of one or more autonomous vehicles, such as the ground robot(s) 132 and aerial robot(s) 134. The deck plane 416rotates, for example, up to a full three hundred and sixty degrees (360°) to align for entry and exit of aerial robot(s) 134 through the automated access point 138.

[0067] In various examples, the landing deck controller 424 (wired or wireless) operates the rotating landing deck 122, for example, via the deck motor 402 and transmission 404, so the landing deck 122 can index to an orientation for entry / egress of the aerial robot(s) 134. The landing deck controller 424 executes the dispensing mechanism 124 by implementing a dispensing sequence with camera / sensor confirmation. One or more alignment and / or proximity / photoelectric sensors may provide alignment feedback when coordinating with the automated access doors 116, 138. The service room 120 includes a power source with power control to power the rotating landing deck 122 and the landing deck controller 424.

[0068] In various examples, the rotating landing deck 122 supports fixed-wing drones using VTOL / hybrid propulsion. For example, the rotating landing deck 122 provides the takeoff / landing surface via the deck plane 416. In examples, an aerial robot, such as the aerial robot 134, lifts vertically from the deck plane 416, then transitions to forward thrust and standard airplane-type control (ailerons, rudder, elevators).

[0069] In various examples, it is contemplated that a multi-deck (stacked) rotating landing deck may be used to increase throughput. In such instances, each deck is rotated by a motor via gear or belt drive and controlled by the landing deck controller 424 to align to the access point 138. In addition, in various examples, the rotating landing deck 122 can be located adjacent to a humanoid-robot handling space with a transfer chute for delivery to a teleoperated or autonomous ground robot.

[0070] FIG. 5 is a schematic diagram of a messaging topology 500 for the exchange of data and information among the controllers and platforms described herein. In various examples, the elevator control unit 108, the door / interlock controller 300, the landing deck controller 424, and the robot controller(s) 514 interoperate with the control platform 112 and the BMS 110 (via the gateway / APIs 136). The controllers and platforms 108, 110, 112,136, 300, 424, and 514 communicate over the communication network 142 and the wireless communication network 518 (e.g., Wi-Fi, Bluetooth, cellular, 5G). The optional satellite bridge 140 provides resiliency.

[0071] In various examples, the messaging topology 500 is a publish / subscribe communication model. It is contemplated, however, that any communication model that enables the robotic services system 100 to function as described herein may be used. In the example embodiment, the controllers and platforms 108, 110, 112, 136, 300, 424, and 514 exchange data over one or more structured messaging channels, or topics (like subjects or categories). Each topic is a named subject that carries a defined set of fields (e.g., elevator / position, doors / state, robot / status). The controllers and platforms 108, 110, 112, 136, 300, 424, and 514 publish data on topics relevant to their function. Other nodes subscribe to the topics to receive the associated data. The publish / subscribe approach allows the elevator control unit 108, the door / interlock controller 300, the landing deck controller 424, the robot controlled s) 514, the control platform 112, and the BMS 110 (and its gateway / APIs 136) to exchange information without point-to-point wiring between each device. Table 1 includes representative messaging topics as shown in FIG. 5. Each topic is a publish / subscribe channel with a defined set of data fields.TABLE 1EXEMPLARY COMPUTER-IMPLEMENTED METHODS

[0072] FIG. 6 is a flowchart illustrating an exemplary computer-implemented method 600 for an exemplary sequence of operations for scheduling and managing a fleet of robots across elevator-equipped buildings, according to various aspects of the present disclosure. The operations described herein may be performed in the order shown in FIG. 6 or, according to certain inventive aspects, may be performed in a different order. Furthermore, some operations may be performed concurrently as opposed to sequentially, and / or some operations may be optional, unless expressly stated otherwise or as may be readily understood by one of ordinary skill in the art.

[0073] The computer-implemented method 600 is described below, for ease of reference, as being executed by exemplary devices and components introduced with the embodiments illustrated in Figures 1-5. In various examples, the computer-implemented method 600 relates to novel techniques for scheduling and managing a fleet of robots across elevator-equipped buildings, including dispatch, verified transfer, mission execution, resupply, and return. While operations within the computer-implemented method 600 are described below regarding the controllers and platforms 108, 110, 112, 136, 300, 424, and 514, according to some aspects of the present disclosure, the computer-implementedmethod 600 may be implemented using any other computing devices and / or systems through the utilization of processors, transceivers, hardware, software, firmware, or combinations thereof. A person having ordinary skill will also appreciate that responsibility for all or some of such actions may be distributed differently among such devices or other computing devices without departing from the spirit of the present disclosure.

[0074] One or more computer-readable medium(s) may also be provided. The computer-readable medium(s) may include one or more executable programs stored thereon, wherein the program(s) instruct one or more processors or processing units to perform all or certain of the steps outlined herein. The program(s) stored on the computer- readable medium(s) may instruct the processor or processing units to perform additional, fewer, or alternative actions, including those discussed elsewhere herein.

[0075] In various examples, at operation 602, initialization begins when a robot, such as the ground robot(s) 132, is staged in the robot-dedicated compartment 106. For example, the elevator control unit 108 powers the compartment controller 224. The compartment controller 224 reads status from one or more of the environmental sensors 218 and cameras 220. Connectivity with the door / interlock controller 300, landing deck controller 424, and robot controller 514 is verified over the communication network 142. The compartment controller 224 polls the charging interface 206, the inductive pad 208, and / or the conductive connectors 210 to ensure no faults or residual voltage are present. The control platform 112 establishes a secure session with the elevator control unit 108 and collects diagnostic data from all subsystems, including a battery state of charge, sensor calibration, and communication link quality. If anomalies occur, the control platform 112 logs the event and may block dispatch until maintenance is performed.

[0076] In various examples, at operation 604, charging occurs during staging and after missions. For example, the elevator control unit 108 commands the charging interface 206 to energize the inductive pad 208 or enable the docking connectors 210 after the robot controller 514 confirms docking with the ground robot(s) 132. Control circuits measure current, voltage, and temperature to ensure safety during charging. The compartmentcontroller 224 and the control platform 112 receive the measurements. The control platform 112 compares the data to one or more charging profiles and adjusts or terminates charging if overheating, overvoltage, or misalignment is detected. Charging may be scheduled or throttled based on mission priority and building power availability received from the BMS 110.

[0077] In various examples, at operation 606, the robotic services system 100 monitors and contains hazards. For example, the containment structure 212, suppression subsystem 214, sensors 218, and cameras 220 operate continuously. Sensor data and video streams are analyzed for abnormal conditions. If hazards are detected, the compartment controller 224 alerts the elevator control unit 108, which stops the multi-compartment elevator car 102, locks the doors 116, 118, and activates suppression. The control platform 112 logs the event, triggers alarms through the BMS 110, and notifies operators via command center 130 or first responders.

[0078] In various examples, at operation 608, the robotic services system 100 dispatches the ground robot(s) 132. Triggers include a BMS alarm 530, operator request, scheduled task, or emergency threshold. The control platform 112 prioritizes missions, allocates a multi-compartment elevator car 102, and sends dispatch commands to the elevator control unit 108 and robot controller 514. The elevator control unit 108 secures the compartment, disengages charging, and locks doors 116, 118 before moving the multicompartment elevator car 102.

[0079] In various examples, at operation 610, the multi-compartment elevator car 102 is positioned. For example, the elevator control unit 108 commands the traction machine or hydraulic pump to move the multi-compartment elevator car 102 to the designated floor. Position sensors 302 provide feedback. The control loop aligns the multicompartment elevator car floor with the landing sill precisely. The control platform 112 monitors motion and issues a stop if abnormal conditions occur.

[0080] In various examples, at operation 612, the multi-panel door systems 116 and 118 are opened in aligned and interlocked fashion. The door / interlock controller 300 confirms alignment with sensors 304 and checks encoders 308a, 308b. The door / interlock controller 300 unlocks and actuates only the subset of door panels for the robot-dedicated compartment 106 while keeping passenger doors locked. The landing multi-panel door system 116 opens the corresponding subset of doors. Cameras 126 and corridor sensors 314 monitor for obstacles, and door motion halts if misalignment is detected.

[0081] In various examples, at operation 614, the robotic services system 100 verifies transfer of the ground robot(s) 132. For example, the robot passes through the opened multi-panel door systems 116 and 118 while light beams, alignment sensors 304, and / or cameras 126 track progress. The robot controller 514 reports movement data. The control platform 112 cross-checks that pose data matches threshold sensors and confirms clearance. After transfer is complete, the door / interlock controller 300 closes and locks the multi-panel door systems 116 and 118 and logs completion.

[0082] In various examples, at operation 616, the ground robot(s) 132 performs the assigned mission. For example, the robot controller 514 manages autonomy or teleoperation via wireless network 518. The ground robot(s) 132 navigates the building using one or more sensors and maps received from the control platform 112. The control platform 112 monitors telemetry, adjusts tasks, and updates queues. In various examples, if wireless links fail, the ground robot(s) 132 continues on a pre-programmed route with local autonomy.

[0083] In various examples, at operation 618, the robotic services system 100 resupplies the ground robot(s) 132. For example, the ground robot(s) 132 returns to the robot-dedicated compartment 106 or service room 120. The supply reservoir 222 replenishes suppression agents via one or more pumps and hoses. The dispensing mechanism 124 may deliver packaged items or replacement batteries, for example. In various examples including an aerial robot 134, the landing deck 122 rotates and the traymoves via motor 410. The compartment controller 224 manages the actions and notifies the control platform 112 when resupply is complete.

[0084] In various examples, at operation 620, the ground robot(s) 132 returns. For example, the robot controller 514 navigates the ground robot(s) 132 back to a robot- dedicated compartment 106 or service room 120. The control platform 112 issues return commands and monitors progress. At the robot-dedicated compartment 106, the aligned and interlocked opening sequence 612 is repeated in reverse. Once inside, the door / interlock controller 300 closes and locks the multi-panel door systems 116 and 118, and the elevator control unit 108 may reposition the multi-compartment elevator car 102.

[0085] In various examples, at operation 622, the ground robot(s) 132 is recharged. For example, the robot controller 514 aligns the ground robot(s) 132 with the charging interface 206. Proximity sensors confirm position of the ground robot(s) 132. The elevator control unit 108 energizes the inductive pad 208 or engages connectors 210. Charging follows appropriate phases. The control platform 112 records the session and updates status on topic 528.

[0086] In various examples, at operation 624, the robotic services system 100 logs readiness. For example, the control platform 112 records mission outcomes, recharge data, consumable usage, and faults. The control platform 112 may clears mission flags, run diagnostics, and receive subsystem checks. Reports are sent to building staff, for example, via the BMS 110 and / or remote operators, for example, via the command center 130.

[0087] In various examples, at operation 626, the robotic services system 100 updates readiness. For example, the control platform 112 aggregates reports from all controllers, computes one or more readiness scores, and updates one or more tables marking robots, such as the ground robot(s) 132 and / or aerial robot(s) 134, and the multicompartment elevator car(s) 102 as ready, maintenance required, or out of service. Maintenance or predictive alerts may be generated. Updated readiness is published to mission queues and dashboards.

[0088] In various examples, at operation 628, the robotic services system 100 coordinates fleets of robots, such as the ground robot(s) 132 and / or aerial robot(s) 134. For example, multiple multi-compartment elevator car(s) 102 and buildings are managed. The control platform 112 allocates missions and staggers landings. If cloud connectivity fails, the controllers continue with local logic and buffer data. The satellite bridge 140 provides an alternate backhaul path when the wireless communication network 518 is impaired or unavailable. The satellite bridge 140 includes, for example, a satellite modem, an antenna mounted on or near the building, and a network interface to the robot controller 514. When the robot controller 514 detects prolonged loss of connectivity on the wireless communication network 518 (e.g., due to infrastructure damage or congestion), the controller automatically fails over to the satellite bridge 140, for example, by opening a VPN tunnel or secure socket to the control platform 112 through the satellite modem. The satellite link is typically higher latency and lower bandwidth than terrestrial links, thus the robot controller 514 may adjust message rates and prioritize critical commands (e.g., status updates, recall instructions) over non-critical telemetry. The control platform 112 monitors link quality metrics (e.g., round-trip time, packet loss) and may command a return to the wireless communication network 518 when connectivity is restored. The satellite bridge 140 may use geostationary or low-earth-orbit satellites and includes pointing and tracking functions to maintain alignment with the satellite. The control platform 112 schedules missions using priority rules, ensuring life-safety missions preempt routine tasks.

[0089] As described above, the robotic services system 100 provides technical advantages in safety, reliability, and scalability by tightly integrating elevator-based staging with sensor-verified transfer, publish / subscribe messaging, and automated resupply. A robot-dedicated compartment with containment and suppression hardware may isolate hazards from the passenger compartment and reduce response time through early detection via environmental sensors and camera analytics. Multi-panel, interlocked door subsets and a rotating landing deck with indexed alignment enable precise, corridor-safe egress / ingress while minimizing mechanical exposure and dwell time at the building landing. The decoupled topics architecture allows controllers to publish and subscribe only to relevantdata, simplifying integration across elevators, doors, decks, robots, and building systems and enabling graceful degradation under network impairments (with local buffering and optional satellite backhaul). Automated charging and resupply (including chute / tray delivery and on-deck charging) may shorten turnaround between missions, while readiness logging and scored post-mission health reports support predictive maintenance and faster redeployment. Fleet scheduling across multiple cars and buildings can prioritize life-safety tasks, reduce contention at doors and landings, and improve overall throughput without expanding floor area. The robotic services system 100 facilitates reducing false positives in hazard response, enhancing occupant safety, and increasing mission reliability and tempo relative to ad hoc or manually staged robotic operations.ADDITIONAL CONSIDERATIONS

[0090] In this description, references to “one embodiment,” “an embodiment,” or “embodiments” mean that the feature or features being referred to are included in at least one embodiment of the technology. Separate references to “one embodiment,” “an embodiment,” or “embodiments” in this description do not necessarily refer to the same embodiment and are also not mutually exclusive unless so stated and / or except as will be readily apparent to those skilled in the art from the description. For example, a feature, structure, act, etc. described in one embodiment may also be included in other embodiments but is not necessarily included. Thus, the current technology can include a variety of combinations and / or integrations of the embodiments described herein.

[0091] Although the present application sets forth a detailed description of numerous different embodiments, the legal scope of the description is defined by the words of the claims and equivalent language. The detailed description is to be construed as exemplary only and does not describe every possible embodiment because describing every possible embodiment would be impractical. Numerous alternative embodiments may be implemented, using either current technology or technology developed after the filing date of this patent, which would still fall within the scope of the claims.

[0092] Throughout this specification, plural instances may implement components, operations, or structures described as a single instance. Although individual operations of one or more methods are illustrated and described as separate operations, one or more of the individual operations may be performed concurrently, and nothing requires that the operations be performed in the order recited or illustrated. Structures and functionality presented as separate components in example configurations may be implemented as a combined structure or component. Similarly, structures and functionality presented as a single component may be implemented as separate components. These and other variations, modifications, additions, and improvements fall within the scope of the subject matter herein. The foregoing statements in this paragraph shall apply unless so stated in the description and / or except as will be readily apparent to those skilled in the art from the description.

[0093] Certain embodiments are described herein as including logic or a number of routines, subroutines, applications, or instructions. These may constitute either software (e.g., code embodied on a machine-readable medium or in a transmission signal) or hardware. In hardware, the routines, etc., are tangible units capable of performing certain operations and may be configured or arranged in a certain manner. In example embodiments, one or more computer systems (e.g., a standalone, client or server computer system) or one or more hardware modules of a computer system (e.g., a processor or a group of processors) may be configured by software (e.g., an application or application portion) as computer hardware that operates to perform certain operations as described herein.

[0094] In various embodiments, computer hardware, such as a processor, may be implemented as special purpose or as general purpose. For example, the processor may comprise dedicated circuitry or logic that is permanently configured, such as an application-specific integrated circuit (ASIC), or indefinitely configured, such as a field- programmable gate array (FPGA), to perform certain operations. The processor may also comprise programmable logic or circuitry (e.g., as encompassed within a general-purposeprocessor or other programmable processor) that is temporarily configured by software to perform certain operations. It will be appreciated that the decision to implement the processor as special purpose, in dedicated and permanently configured circuitry, or as general purpose (e.g., configured by software) may be driven by cost and time considerations.

[0095] Accordingly, the term “processor” or equivalents should be understood to encompass a tangible entity, be that an entity that is physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein. Considering embodiments in which the processor is temporarily configured (e.g., programmed), each of the processors need not be configured or instantiated at any one instance in time. For example, where the processor includes a general-purpose processor configured using software, the general-purpose processor may be configured as respective different processors at separate times. Software may accordingly configure the processor to constitute a particular hardware configuration at one instance of time and to constitute a different hardware configuration at a different instance of time.

[0096] Computer hardware components, such as transceiver elements, memory elements, processors, and the like, may provide information to, and receive information from, other computer hardware components. Accordingly, the computer hardware components described may be regarded as being communicatively coupled. Where multiple such computer hardware components exist contemporaneously, communications may be achieved through signal transmission (e.g., over appropriate circuits and buses) that connect the computer hardware components. In embodiments in which multiple computer hardware components are configured or instantiated at separate times, communication between such computer hardware components may be achieved, for example, through the storage and retrieval of information in memory structures to which the multiple computer hardware components have access. For example, one computer hardware component may perform an operation and store the output of that operation in a memory device to which itis communicatively coupled. A further computer hardware component may then, at a later time, access the memory device to retrieve and process the stored output. Computer hardware components may also initiate communications with input or output devices, and may operate on a resource (e.g., a collection of information).

[0097] The various operations of example methods described herein may be performed, at least partially, by one or more processors that are temporarily configured (e g., by software) or permanently configured to perform the relevant operations. Whether temporarily or permanently configured, such processors may constitute processor- implemented modules that operate to perform one or more operations or functions. The modules referred to herein may, in some example embodiments, comprise processor- implemented modules.

[0098] Similarly, the methods or routines described herein may be at least partially processor implemented. For example, at least some of the operations of a method may be performed by one or more processors or processor-implemented hardware modules. The performance of certain of the operations may be distributed among the one or more processors, not only residing within a single machine, but deployed across a number of machines. In some example embodiments, the processors may be located in a specific location (e.g., within a home environment, an office environment or as a server farm), while in other embodiments the processors may be distributed across a number of locations.

[0099] Unless specifically stated otherwise, discussions herein using words such as “processing,” “computing,” “calculating,” “determining,” “presenting,” “displaying,” or the like may refer to actions or processes of a machine (e.g., a computer with a processor and other computer hardware components) that manipulates or transforms data represented as physical (e.g., electronic, magnetic, or optical) quantities within one or more memories (e.g., volatile memory, non-volatile memory, or a combination thereof), registers, or other machine components that receive, store, transmit, or display information.

[0100] As used herein, the terms “comprises,” “comprising,” “includes,” “including,” “has,” “having” or any other variation thereof, are intended to cover a nonexclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0101] Although the disclosure has been described with reference to the embodiments illustrated in the attached figures, it is noted that equivalents may be employed, and substitutions made herein, without departing from the scope of the disclosure as recited in the claims.

[0102] Having thus described various embodiments of the disclosure, what is claimed as new and desired to be protected by Letters Patent includes the following:

Claims

IN THE CLAIMS1. A multi-compartment elevator system comprising: an elevator car having a passenger compartment and a robot-dedicated compartment, the robot-dedicated compartment including: a charging interface configured to recharge an autonomous robotic device, a containment structure including a fire suppression system adapted to mitigate a fire risk associated with the autonomous robotic device, and an access control assembly including an elevator multi-panel door system operable to selectively permit entry and exit of an autonomous robotic device from the robot-dedicated compartment without exposing the passenger compartment; and an elevator control unit coordinating operation of the elevator car and the autonomous robotic device for deployment within a building.

2. The multi-compartment elevator system of claim 1, the charging interface including one or more of the following: a wireless inductive charging pad and a conductive docking connector.

3. The multi-compartment elevator system of claim 1, the containment structure further including a fire-resistant housing enclosing a portion of the robot-dedicated compartment.

4. The multi-compartment elevator system of claim 1, the access control assembly being configured to align with a corresponding landing multipanel door system of a building landing.

5. The multi-compartment elevator system of claim 1, further comprising: an environmental sensor disposed in the robot-dedicated compartment, the environmental sensor including one or more of the following: a temperature sensor, a smoke detector, and a camera.

6. The multi-compartment elevator system of claim 1, the elevator control unit being communicatively coupled to a building automation platform configured to provide access control and deployment instructions.

7. The multi-compartment elevator system of claim 1, the elevator control unit further receiving remote commands via a wireless communication network including one or more of the following: cellular, satellite, and Wi-Fi.

8. The multi-compartment elevator system of claim 1, the robot-dedicated compartment further including a supply reservoir for replenishing one or more consumables of the autonomous robotic device.

9. The multi-compartment elevator system of claim 1, the autonomous robotic device comprising a life-safety robot including one or more of the following: a firefighting robot and an emergency medical robot.

10. The multi-compartment elevator system of claim 1, the elevator control unit being configured to coordinate deployment of a fleet of autonomous robotic devices staged in the robot-dedicated compartment.

11. A method of deploying an autonomous robotic device using a multicompartment elevator system, the method comprising: providing an elevator car having a passenger compartment and a robot-dedicated compartment; staging the autonomous robotic device within the robot-dedicated compartment; recharging the autonomous robotic device via a charging interface disposed within the robot-dedicated compartment; monitoring the robot-dedicated compartment with a containment structure including a fire suppression system adapted to mitigate a fire risk associated with the autonomous robotic device; operating an access control assembly including an elevator multi-panel door system operable to selectively permit entry and exit of the autonomous robotic device from the robot-dedicated compartment without exposing the passenger compartment; and coordinating, via an elevator control unit, movement of the elevator car and deployment of the autonomous robotic device to a designated location within a building.

12. The method of claim 11, the operation of recharging including inductively charging the autonomous robotic device via a wireless charging interface.

13. The method of claim 11, further comprising: containing the autonomous robotic device within a fire-resistant housing in the robot- dedicated compartment.

14. The method of claim 11, the operation of operating access control assembly further including aligning the elevator multi-panel door system with a corresponding landing multi-panel door system of a building landing.

15. The method of claim 11, further comprising: sensing an environmental condition in the robot-dedicated compartment using an environmental sensor disposed in the robot-dedicated compartment, the environmental sensor including one or more of the following: a temperature sensor, a smoke detector, and a camera.

16. The method of claim 11, further comprising: communicating with a building automation platform to control the access control assembly and deployment of the autonomous robotic device.

17. The method of claim 11, further comprising: receiving remote commands for the autonomous robotic device via a wireless communication network including one or more of the following: cellular, satellite, and Wi-Fi.

18. The method of claim 11, further comprising: replenishing one or more consumables of the autonomous robotic device via a supply reservoir disposed in the robot-dedicated compartment.

19. The method of claim 11, the autonomous robotic device comprising a life-safety robot including one or more of the following: a firefighting robot and an emergency medical robot.

20. The method of claim 11, further comprising: coordinating deployment of a fleet of autonomous robotic devices staged in the robot- dedicated compartment.

21. A robotic services coordination system comprising: a command center that provides teleoperation user interfaces; a control platform communicatively coupled, over a communication network, to an elevator control unit, a door / interlock controller, a robot controller, and a building management system; and a multi-compartment elevator car including a robot-dedicated compartment and a passenger compartment, the door / interlock controller configured to: verify alignment between the robot-dedicated compartment and a landing, and selectively actuate only a subset of panels of an elevator multi-panel door system and a landing multi-panel door system to create a monitored transfer path while the passenger compartment remains closed and locked,the robot controller configured to bridge, via a wireless communication network, to a plurality of autonomous devices comprising ground robots and aerial robots, wherein the control platform: executes mission planning that allocates tasks to the plurality of autonomous devices, issues elevator positioning and door commands, monitors elevator, door, deck, and status of the ground robots and aerial robots in real time via structured messaging channels, and coordinates mission execution for autonomous and teleoperated modes.

22. The system of claim 21, wherein the robot controller communicates over one or more of the following: Wi-Fi, cellular, and 5G, and the system further includes an optional satellite bridge providing wide-area connectivity upon terrestrial network impairment.

23. The system of claim 21, wherein the control platform manages mission queues with priority rules that cause lifesafety missions to preempt non-critical tasks.

24. The system of claim 21, wherein the structured messaging channels include topics comprising elevator / position, doors / state, transfer / verify, deck / index, robot / status, BMS / alarm, charge / control, and resupply / command.

25. The system of claim 21, further comprising: a rotating landing deck; a dispensing mechanism; and a landing deck controller operating the rotating landing deck and the dispensing mechanism to index an aerial robot for entry or egress and to execute a camera-confirmed dispensing sequence.

26. The system of claim 25, wherein the dispensing mechanism includes a split tray mounted within a vertical chute, the split tray including tray halves, the tray halves being hinge-mounted and retained by electrically actuated solenoids that release to drop open for dispensing and re-close for a next cycle.

27. The system of claim 21, wherein the door / interlock controller uses one or more elevator car position sensors, alignment sensors, encoders, and interlock lines to enforce verified transfer and to halt motion upon misalignment or obstruction.

28. The system of claim 21, wherein a safe corridor between the robot-dedicated compartment and the landing is sensor monitored during robot ingress or egress.

29. The system of claim 21, further comprising: one or more wireless access points mounted on a roof of the multi-compartment elevator car and at a shaft head of an elevator shaft; anda point-to-point wireless bridge linking the one or more wireless access points to maintain backhaul through the elevator shaft.

30. The system of claim 21, wherein the command center includes one or more touch screens, joysticks, keyboards, and haptic devices.

31. The system of claim 21 , wherein the communication network employs transport security including encryption and mutual authentication.

32. The system of claim 21, wherein a control platform logs transfers with time, identity, and outcome and audits for security.

33. The system of claim 21, wherein each ground robot and aerial robot performs self-diagnostics and reports status to the control platform over a robot / status topic.

34. A computer-implemented method for coordinating robotic services across elevator-equipped buildings, the method comprising: receiving, at a control platform, a triggering event; scheduling and allocating missions for a plurality of autonomous devices comprising ground robots and aerial robots;issuing commands to position an elevator car having a robot-dedicated compartment; verifying car-to-landing alignment and safe corridor state; actuating only a subset of panels of elevator and landing multi-panel door systems to create a monitored transfer path; deploying one or more of the ground robots and aerial robots through the opened subset of panels for autonomous or teleoperated operation; monitoring robot, elevator, deck, and door status in real time via structured messaging channels; and adjusting mission parameters based on sensor data and operator input.

35. The method of claim 34, further comprising: prioritizing life-safety missions to preempt non-critical tasks.

36. The method of claim 34, further comprising: operating over Wi-Fi, cellular, or 5G links, and failing over to a satellite bridge when terrestrial connectivity is unavailable while maintaining local autonomy at the robot controller.

37. The method of claim 34, further comprising: indexing a rotating landing deck, and executing a camera-confirmed dispensing sequence to transfer an item to or from one or more of the ground robots and aerial robots.

38. The method of claim 34, further comprising: exchanging short-range data using a projected light interface at a landing deck or door interface.

39. The method of claim 34, further comprising: staging, resupplying, and charging one or more of the ground robots and aerial robots in the robot-dedicated compartment, and logging transfer completion with time, identity, and outcome.

40. The method of claim 34, further comprising: maintaining backhaul through an elevator shaft via one or more wireless access points on a roof of the elevator car and at a shaft head bridged by a point-to-point wireless link.

41. A door system for a multi -compartment elevator comprising: an elevator multi-panel door system mounted to a robot-dedicated compartment; a landing multi-panel door system mounted to a building landing; and a door / interlock controller configured to: verify alignment between the robot-dedicated compartment and the building landing, and selectively actuate only a subset of panels of the elevator multi-panel door system and the landing multi-panel door system aligned with the robot-dedicated compartment while maintaining a passenger compartment closed and locked during robot ingress and egress.

42. A remote control system for robotic deployment using a multi-compartment elevator, the remote control system comprising: a control platform communicatively coupled to an elevator control unit, a door / interlock controller, a deck controller, a robot controller, and a building management system, the control platform configured to: receive a triggering event, issue commands to position an elevator, align and open only a subset of panels of an elevator multi-panel door system and a landing multi-panel door system, deploy an autonomous robotic device through the opened subset of panels, maintain operation using local edge logic upon loss of cloud connectivity, and support failover among wired and wireless links including cellular, satellite, and wireless communication networks.

43. A multi-compartment elevator car comprising: a passenger compartment disposed above a robot-dedicated compartment, the robot-dedicated compartment including: an inductive charging pad, one or more conductive docking connectors, a fire-resistant containment structure with a suppression subsystem configured for rechargeable battery hazards, and one or more of a front door set and a rear door set; and an access control assembly configured to expose the robot-dedicated compartment to a building landing while maintaining the passenger compartment isolated.

44. A method comprising: staging an autonomous robotic device in a robot-dedicated compartment below a passenger compartment of a multi-compartment elevator car; upon a triggering event, positioning the multi-compartment elevator car at a building landing; verifying alignment of the multi-compartment elevator car with the building landing using alignment sensors; opening only a subset of panels of an elevator multi-panel door system and a landing multipanel door system aligned with the robot-dedicated compartment; transferring the autonomous robotic device through the opened subset while monitoring with photoelectric sensors and cameras; providing immediate recall and disable commands via an elevator control unit and a control platform during fire service modes; and closing and locking the subset of panels while maintaining the passenger compartment isolated.

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