AMR Elevator Co-Riding Using Human Detection and Space Positioning
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Solution Overview
Problem
Autonomous Mobile Robots (AMRs) are limited to single-floor operations due to their inability to access and operate legacy elevators without human intervention or communication interfaces, restricting their use in urban buildings with conventional elevators.
Innovation Solution
A system and method for an AMR to ride and co-share elevators with humans, utilizing modules for human detection, state estimation, interaction, and space positioning, enabling interaction with humans and navigating elevator systems without requiring a communication interface or API, using sensors like cameras, LiDAR, and pressure sensors to manage elevator operations across multiple floors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If AMRs use legacy elevators without communication interface, then compatibility with existing elevators is improved, but automation capability deteriorates (requiring human intervention)
Solution Approach 1:
The patent introduces an intermediary system consisting of sensors (cameras, LiDAR, pressure sensors) and processing units that mediate between the AMR and the legacy elevator system. This intermediary enables automated detection of elevator status, button identification, and interaction without requiring direct communication interfaces, thus resolving the contradiction between compatibility and automation.
Solution Approach 2:
The patent replaces manual mechanical button pressing with automated sensor-based detection and actuation systems. Cameras and image processing algorithms identify button locations and states, while robotic mechanisms automatically press buttons, eliminating the need for human intervention while maintaining compatibility with legacy elevators that lack digital communication interfaces.
2Ease of operation
If AMRs operate in single floor space, then operational simplicity is improved, but productivity deteriorates (cannot access multiple floors)
Solution Approach 1:
The patent implements preliminary action by pre-mapping elevator locations, button configurations, and floor layouts using sensors and vision systems. The AMR预先 learns and stores elevator operation patterns, enabling automated multi-floor navigation without complex real-time decision-making, thus maintaining operational simplicity while achieving multi-floor productivity.
3Reliability
If AMRs require dedicated elevators, then operational reliability is improved, but adaptability deteriorates (cannot co-share with humans)
Solution Approach 1:
The patent applies dynamics by implementing real-time sensor monitoring of elevator occupancy and human presence. The system dynamically adjusts its behavior based on detected conditions - waiting for humans to exit, selecting appropriate entry positions, and adapting navigation paths - enabling reliable automated operation in shared elevators with varying human occupancy patterns.
Solution Approach 2:
The patent incorporates feedback mechanisms using cameras, pressure sensors, and other detectors to monitor elevator interior conditions, human presence, and door states. This feedback loop enables the AMR to adjust its operation in real-time, ensuring safe and reliable co-sharing with humans while maintaining automated control throughout the elevator journey.
Data Source
AI summary
A system and a method for an autonomous mobile robot to ride and co-share an elevator with human(s) are disclosure. The core software modules and method proposed include a human detection and localization module, a human identification and state estimation module, a human-robot-interaction module, and an elevator confined space positioning module. Upon an elevator riding task is started, the human detection and localization module and the human identification and state estimation module detect and count the at least one human inside and/or outside the elevator, and the human-robot-interaction module interacts with the at least one human. The elevator confined space positioning module carries out a space positioning inside the elevator according to a result of detecting and counting the at least one human through the human detection and localization module and the human identification and state estimation module, and chooses to enter the elevator or restart another elevator riding task.