US 11,702,316 B2
Elevator inspection system with robotic platform configured to develop hoistway model data from sensor data
Tadeusz Pawel Witczak, Farmington, CT (US); and Joseph Crute, Cromwell, CT (US)
Assigned to OTIS ELEVATOR COMPANY, Farmington, CT (US)
Filed by OTIS ELEVATOR COMPANY, Farmington, CT (US)
Filed on Mar. 16, 2020, as Appl. No. 16/819,558.
Prior Publication US 2021/0284496 A1, Sep. 16, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B66B 5/00 (2006.01); B64C 39/02 (2023.01); B64D 47/08 (2006.01); G01C 21/20 (2006.01); G05B 17/02 (2006.01); B64U 10/13 (2023.01); B66B 19/00 (2006.01); B64U 101/30 (2023.01)
CPC B66B 5/0025 (2013.01) [B64C 39/024 (2013.01); B64D 47/08 (2013.01); B66B 19/00 (2013.01); G01C 21/20 (2013.01); G05B 17/02 (2013.01); B64U 10/13 (2023.01); B64U 2101/30 (2023.01); B64U 2201/20 (2023.01)] 10 Claims
OG exemplary drawing
 
1. An elevator system, comprising:
a hoistway,
an elevator inspection system disposed within the hoistway, the system including:
a sensor implement configured to capture sensor data, the sensor implement is any one of: a video sensor; an acoustic sensor; a LIDAR sensor; a camera; a laser sensor, a photogrammetry sensor, and a time of flight sensor;
a robotic platform supporting the sensor, the robotic platform configured to inspect the hoistway, wherein the robotic platform is a drone or a robotic arm on a platform that is operationally coupled to guiderails;
a controller operationally connected to the robotic platform and the sensor implement, the controller being configured to control movement of the robotic platform in the hoistway,
wherein:
the controller is configured to define hoistway model data for the hoistway, from the sensor data, corresponding to locations and shape boundaries of the hoistway and doorway openings formed in the hoistway,
wherein from the hoistway model data, the controller is configured to define a three-dimensional hoistway model of the hoistway while the robotic platform travels in the hoistway,
which includes wall to wall measurements including tilt and twist of the hoistway, locations and sizes of doorway openings, sill to sill distances, guide rail to guide rail distances, and sill to guide rail distances for each of the doorway openings, and from the hoistway model data, the controller is configured to determine installation locations within the hoistway model data for elevator components; and
the controller is configured to utilize the hoistway model data as a reference point for installing and/or maintaining one or more components in the hoistway and for determining maintenance needs; ride quality; a motion profile; and door performance requirements.