# US 12,769,327 B2 · System and method for autonomous mobile robot to ride and co-share elevator with human(s)

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- Number: US 12,769,327 B2
- Document ID: US12769327B2
- Status: Granted
- Kind: B2
- Application number: 18/611,618
- Filed: 2024-03-20
- Published: 2024-09-26
- Granted: 2026-10-20
- Earliest claimed: 2023-03-22
- Assignees: Delta Electronics Int'l (Singapore) Pte Ltd
- Applicants: Delta Electronics Int'l (Singapore) Pte Ltd
- Inventors: Chun-Lin Chen; Srikiran Rao Surathi; Prem Manoharan; Yongjun Wee; Qing Liu
- Web page: https://patentgrep.com/patent/US12769327B2

## CPC

- G05D 1/633: Dynamic obstacles
- G05D 2107/60: Open buildings, e.g. offices, hospitals, shopping areas or universities
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

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.

## Claims

### Claim 1

A method for an autonomous mobile robot to ride and co-share an elevator with humans, comprising steps of:
(a) navigating an autonomous mobile robot to an elevator lobby, and detecting and locating at least one human relative to the autonomous mobile robot, and identifying and estimating a state of the at least one human by the autonomous mobile robot;
(b) pressing a button on a call panel by the autonomous mobile robot so as to start an elevator riding task;
(c) detecting whether the elevator is in a door-open state or a door-close state by the autonomous mobile robot;
(d) detecting the at least one human inside and outside the elevator, and counting the at least one human by the autonomous mobile robot in response to the elevator is in the door-open state; and
(e) carrying out a space positioning inside the elevator according to a result of detecting and counting the at least one human by the autonomous mobile robot, wherein the autonomous mobile robot performs an elevator occupancy state estimation to identify an available position with at least one traversable path, and chooses to enter the elevator or restart another elevator riding task,
wherein the step (e) further comprises determining an elevator floor panel to use by the autonomous mobile robot and determining an optimal position to wait in the elevator with considerations of at least the elevator occupancy state and the elevator floor panel to use.

### Claim 2 (depends on 1)

The method according to claim 1, further comprising a step of (f1) determining the at least one human inside and outside the elevator and determining positions and counts of the at least one human.

### Claim 3 (depends on 1)

The method according to claim 1, further comprising a step of (f2) estimating an occupancy state of the elevator with reference to a 2D map related to a space inside the elevator and determining which elevator floor panel to use.

### Claim 4 (depends on 1)

The method according to claim 1, further comprising a step of (f3) navigating the autonomous mobile robot into the elevator.

### Claim 5 (depends on 1)

The method according to claim 1, further comprising a step of (f6) interacting with the at least one human for exception handlings in one or more conditions of: the at least one human is blocking the call panel, the at least one human enters/exits the elevator, or the at least one human is blocking a floor panel.

### Claim 6 (depends on 5)

The method according to claim 5, wherein the step of interacting with the at least one human comprises providing visual displays on an HMI/LED or voice commands.

### Claim 7 (depends on 6)

The method according to claim 6, further comprising a step of (g1) stopping motion in response to the at least one human entering a safety stop zone of the autonomous mobile robot, and alerting the at least one human by using the visual display on HMI/LED or the voice commands.

### Claim 8 (depends on 6)

The method according to claim 6, further comprising a step of (g2) notifying the at least one human in the elevator of the autonomous mobile robot's intended motion by using the visual display on HMI/LED or the voice commands.