CN116710384A - Moving on a transport device by means of an autonomous robot - Google Patents

Abstract

The invention relates to a method for moving a transport device (3) back and forth by means of an autonomous robot (1). The invention also relates to a system (17) comprising means for performing the steps of the method. The invention also relates to the robot (1) and the transport device (3). Furthermore, the invention relates to a computer program comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method. The invention further relates to a data carrier signal, which is conveyed by the computer program. Furthermore, the invention relates to a computer readable medium comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method.

Description

Moving on a transport device by means of an autonomous robot

Technical Field

The invention relates to a method for moving an autonomous robot on a transport device having at least one pallet which can be moved at least partially horizontally.

The invention also relates to a system comprising means for performing the steps of the method.

The invention also relates to a robot.

The invention further relates to a transport system.

Furthermore, the invention relates to a computer program comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method.

The invention further relates to a data carrier signal, which is conveyed by the computer program.

Furthermore, the invention relates to a computer readable medium comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method.

Background

More and more robots are used in fields such as urban logistics and transportation of goods. New personal follower robots are now used in office buildings, shopping centers or outdoors to provide assistance to carry heavy objects or to assist people with limited mobility. In shopping centers, the use of flat or inclined travelators and escalators is known as a primary transport system for people due to their high transport capacity.

The aforementioned generation of robots must share space with people and interact with escalators/moving walkways, follow an optimal trajectory and reach an optimal positioning at all times.

Disclosure of Invention

Starting from this situation, the object of the present invention is to provide a technical environment that enables an improved and safe transport of robots in a moving walkway or escalator without endangering the person. In particular, the technical environment may comprise a method, a system, a robot, a computer program, a data carrier signal and/or a computer readable medium for solving the above mentioned object.

The object of the invention is solved by the features of the independent main claim. Advantageous features are indicated in the dependent claims. The teachings of the dependent claims may be combined with the teachings of the main and dependent claims wherever technically possible.

In particular, this object is thus achieved by a method for moving and preferably also lowering an autonomous robot, which has at least one pallet which can be moved at least partially horizontally. The method comprises at least the following steps:

-detecting, by means of a detection system, environmental data of the mobile unit on a stationary floor, the stationary floor being adjacent to the transportation means;

-determining, by the computing system, robot transport data taking into account the environmental data, the robot transport data comprising at least one of:

-a trajectory of a robot;

-robot properties;

-a selected pallet of the transport means on which the robot should move;

-a conveying speed of the transport device;

-determining, by the computing system, a common travel speed for the transfer speed of the transporter and the robot movement speed taking into account the robot transport data;

-synchronizing the transfer speed of the transport device and the robot movement speed to a common travel speed;

-moving the robot onto a selected pallet;

-braking the robot on the selected pallet.

Preferably, the order of the method steps may be varied unless a clear order is technically required. However, the sequence of the above-described method steps is particularly preferred.

Hereinafter, advantageous aspects of the claimed invention are explained, and preferred modified embodiments of the present invention are further described hereinafter. The explanations, in particular with regard to the advantages and the characteristic definitions, are basically descriptive and preferred, but not limiting examples. If the explanation is limiting, it will be explicitly mentioned.

Thus, the environmental data is first detected. The environment data is then used to generate determined robot transport data, respectively. The robot transport data should include at least one of the measures mentioned in the context, which are: the trajectory of the robot, the robot properties, the selected pallet of the transport device on which the robot should move, and/or the transfer speed of the transport device are determined. Based on the robot transport data, a common travel speed may be determined. The common travel speed is used to ensure that the robot can be moved onto the transport without swinging or tilting. Once the robot has moved onto the selected pallet, the robot brakes and the autonomous robot movement is complete. Next, after the transport of the robot is completed, the robot leaves the selected pallet. For this purpose, the method steps are applied as similarly as possible.

In the context of the above list, as a separate example, the determination of the trajectory of the robot may not be required.

Alternatively or additionally, in the context of the above list, as a separate example, determination of robot properties may not be required.

Alternatively or additionally, in the context of the above list, as a separate example, the determination of the selected pallet of the transporter on which the robot should move may not be required.

Alternatively or additionally, in the context of the above list, as a separate example, the determination of the conveying speed of the transport device may not be required.

In other words, it is provided in particular that the transport speed of the transport device and the robot movement speed of the robot are coordinated. For convenience of understanding, the transportation devices in the following sections are all escalator and moving walkway. In principle, these explanations also apply to similar transport devices.

The escalator or moving walkway preferably communicates with the robot to show the best trajectory into the corresponding escalator/moving walkway, the best position on the pallet and the best route out of the escalator/moving walkway.

The escalator or moving walkway preferably interacts with any kind of robot, including autonomous robots and robots that follow people, to send synchronized data to enter and leave and avoid impeding the passage of people. In this case, it is important that both the escalator/moving walkway and the robot have information to solve the next action in order to achieve better performance.

The escalator/moving walkway interacts with the robot in some way. First, the robot and surrounding people can be detected to set a predefined trajectory to enter the escalator/moving walkway. The trajectory may be predefined by the initial settings of the robot or modified in real time by the escalator/moving walkway, e.g. according to the empty space and/or according to the flow of people at each moment.

A further measure is to know the transfer speed of the escalator/moving walkway and the type of robot. With this information, as the robot approaches the escalator/moving walkway, speed synchronization of the two systems can be performed to avoid unnecessary stops.

Depending on the robot characteristics, the space required is variable and specific to each robot model. Preferably, the escalator/moving walkway can be detected for the type and size of the robot via a detection system and a computing system to estimate whether the escalator/moving walkway can be used based on the characteristics of the two systems, i.e. the escalator/moving walkway and the robot.

The preferred robot may comprise a sensor capable of interacting with a person. In these cases the robot can share space with people in a flexible way, while the operation of the escalator/moving walkway follows a continuous, constant process. For example, if a robot is to enter an escalator/moving walkway and a person stands between the robot and the escalator/moving walkway, the robot must stop and it needs to wait until the person enters the escalator/moving walkway. It is important to achieve a common speed of travel of the robot and the escalator/moving walkway. Otherwise, due to the limited distance from the next pallet, the robot will have to accelerate very fast to adapt to the transfer speed of the escalator/moving walkway. This can be problematic if the robot is loaded and the load is threatened by a large acceleration. This can also be a problem if the robot is not so fast technically. Finally, problems may occur if a great acceleration endangers an accidentally occurring creature, such as a playing child or a running dog, and it is at risk of collision. It has therefore proved to be particularly advantageous that the transport device can adjust its transport speed so that the robot can safely enter or leave it.

If the term pallet is used, it describes the steps of transporting a transport device of a robot, such as an escalator or a moving walkway, thereon.

To describe the proposed solution, an example of a common existing building is used. The apparatus for performing the method comprises:

a transport means for moving passengers and/or robots, preferably between floors;

-an access area as a claimed stationary floor, wherein the location of the access area is located adjacent to the access of the transportation means; and an exit area that is stationary similar to the stationary floor of the entrance area and is positioned at the exit of the transport device, wherein the robot moves from the entrance area onto a pallet of the transport device, and wherein the robot moves off the same pallet after it is transported into the exit area;

a detection system, which may comprise a camera and/or other sensors for monitoring, i.e. detecting, the entrance area and the exit area. In particular, monitoring is performed in the transition zone from the stationary floor of the entrance zone to the selected pallet and/or from the selected pallet to the corresponding stationary floor of the exit zone;

if necessary, an additional sensor for the transport means is preferred to synchronize the step position with the movement of the robot. This may be preferable, for example, in the case where the system is not capable of performing calculations;

-a computing system, preferably having at least one processor, responsible for:

-a detection of the presence of the robot,

calculating/requesting a robot movement speed,

-calculating/requesting a transfer speed of the transportation device; and/or

-performing calculations, in particular by means of one or more algorithms, to obtain an optimal speed profile for the robot and the transportation device. The computing system may perform only one or some of these aspects. Alternatively or additionally, the same computing system is also responsible for exchanging information with the controller of the transport device in order to control the speed change and/or to receive transport device status data, such as its transmission speed or its direction of movement.

The system comprises a detection system, for example comprising a set of cameras and/or other sensors, which monitor the entrance and/or exit area of the transport means and are connected to a computing system, which continuously checks the presence of the robot, monitors the free space and distance in the area and measures the transport speed of the transport means and the robot movement speed of the robot. The system is connected to the controller of the transport device to send/receive the necessary information to control the movement of the transport device. Additional sensors for the escalator may be considered, if necessary, for example, to check the step position and allow synchronization between the robot and the steps.

The individual method steps are described below as examples and are not limiting, respectively.

The detection of the environmental data of the movable unit on the stationary floor adjacent to the transport means by the detection system means in particular that the environment of the transport means is monitored for a person or person carrying an object, who is to use the transport means or at least in the vicinity thereof and is thus a potential obstacle for a robot that wants to use the transport means.

The detection system may be an integral part of the transport system.

The detection system may be part of a separate system according to different solutions.

The detection system itself may be a separate system according to different solutions.

Preferably, the detection system can be replaced or upgraded as desired.

The computing system may determine the robot transport data through one or more measurements to ensure that the robot can be safely moved onto the transport system. If multiple measurements are combined, the overall safety of the robot movement can be improved.

Determining a trajectory of the robot by the computing system particularly means determining a trajectory that allows the robot to be safely moved onto the transport system. In this example, the expression "safely" means that the trajectory moves the robot away from the potential collision obstacle. It is not excluded that such trajectory determination is combined with other measurements such as robot property determination. For example, if a technically induced maximum acceleration is determined, the trajectory may be modified accordingly. For example, the trajectory may be slightly longer so that the robot has more distance to accelerate so that a common travel speed may be achieved. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

Determining the robot properties by means of the computing system means in particular that one information or a plurality of different data of the robot can be determined. These robot properties may be transferred to the computing system, for example, by the robot itself. Alternatively or additionally, the robot properties may be derived from a specific robot type. For example, the model name may generate a database request so that technical data of the robot may be obtained, which may be used for synchronizing to the common travel speed. For example, the identified maximum speed and acceleration of the separately determined robot may be lower than the standard transfer speed and acceleration of the transport system. Thus, for example, the transfer speed of the transport system and/or the trajectory of the robot may be determined based on these robot properties, so that the robot may be safely moved onto the transport system. Other data, such as the size of the robot, can also be obtained by model name. The model name can be detected by the detection system and then be determined by the qualified computing system separately or interpreted as derived from the robot's profile, for example. The computing system may be directly fed with information or actively participate in its derivation. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

Determining, by the computing system, the selected pallet of the transporter on which the robot should move means in particular that the robot can be supported for safe movement onto the transporter. For example, the subsequent synchronization with the common travel speed may be performed in the following manner: the robot is moved onto a selected pallet of the transporter at a sufficient transfer speed and/or trajectory such that the robot stands on a selected pallet for transport by the transporter without swinging or even tilting. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

Determining the transport speed of the transport device by means of the computing system means in particular that a safe movement of the robot onto the transport device can be supported. For example, the subsequent synchronization with the common travel speed may be performed in the following manner: the robot is moved onto a selected pallet of the transporter at a sufficient transfer speed and/or trajectory such that the robot stands on a selected pallet for transport by the transporter without swinging or even tilting. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

The determination of the common travel speed for the transfer speed of the transport means and the robot movement speed by the computing system taking into account the robot transport data means in particular that the environment data are used for generating and using the robot transfer data so that the robot can be safely moved and transported by the transport means. The robot transport data includes those aspects related to safe movement. In this regard, compounding robot transport data may also be understood as robot movement data. Once the computing system has determined the required robot transport data, the common travel speed may preferably be determined taking into account all relevant aspects. The common forward speed may then be used to set the robot movement speed and/or the transfer speed. This is also understood to mean that the transport speed of the transport device and the robot movement speed are synchronized to a common travel speed.

Synchronizing the transport speed of the transport means and the robot movement speed with the common travel speed means in particular that in a next step the robot can be safely moved along the stationary floor onto the transport means at the robot movement speed, whereby the robot movement speed and the transport speed are coordinated with each other. In particular, both speeds are virtually identical. The value of the speed preferably depends on the transporter and robot characteristics in a way that allows to remain the same once the movement process is completed. Preferably, this means that they differ from one another by no more than ten percent, particularly preferably no more than five percent. For example, it is also possible that the robot movement speed is lower than the transport speed, because the robot moves onto the pallet with its robot movement speed, and in this context it is particularly important to avoid that the robot hits the steps or movable units with its front side due to excessive thrust.

Moving the robot onto the selected pallet means in particular that the robot is driven onto the selected pallet in such a way that any slipping or similar disturbing factors are avoided. In particular, the robots move on the transport device with a common travel speed. This means that the robot neither decelerates nor is pulled by the pallet at least partially occupied by the robot. Thus, by setting the common traveling speed, tilting in the direction of the conveying speed and in the direction opposite to the conveying speed is avoided.

The braking of the robot on the selected pallet means in particular that the robot should stand on the selected pallet in such a way that it has a stable foothold for transport. It is also preferable to consider the center of gravity of the robot.

Preferably, the exit area is only detected if the transport device actually transports the robot. This has proven to be energy efficient and thus environmentally friendly.

According to a modified embodiment of the present invention, there is provided:

the transportation device is an escalator or a moving walkway. Exemplary advantages are mentioned above. An escalator is a passenger conveyor for overcoming a height distance in which a moving pallet forms steps. An escalator is a conveyor with at least one pallet, each pallet being illustratively capable of moving partially horizontally and partially vertically. The aim is usually to transport the person at a speed higher than walking speed and/or with less muscle strength. A further simplification is that, for example, the robot follows a person and transports his purchases. Accelerating the transporter and its robot to/from somewhere can save time and space (e.g., on a dock or in a department store). When the pallet does not form a staircase but a flat surface (which may also be inclined and curved), it may be said to be a travelator. The travelator is thus a conveyor with at least one pallet, each pallet being able to move horizontally with respect to the ground, whereby the travelator can also extend on a slope.

According to a modified embodiment of the present invention, there is provided:

the movable unit comprises a robot, an external robot and/or a living being, in particular a human. This is therefore a very discreet device that allows for both people and robots to be transported by the transport means. This is therefore a very discreet device that allows for both people and robots to be transported by the transport means. By taking the external robots into account, the risk of collisions can be further reduced. In addition to the people mentioned preferably, pets, in particular dogs, can also be considered as living beings which are detected as mobile units.

According to a modified embodiment of the present invention, there is provided:

determining a trajectory to consider a predetermined trajectory; and/or consider environmental data, wherein preferably the living being is prioritized such that it is not affected by the movement of the robot, where possible. The predetermined trajectory means that there may be a standard trajectory for each robot or for each transport device. The predetermined trajectory may be used without any change. The predetermined trajectory may be useful for saving computational power or, if the trajectory is specifically designed for the requirements of this type of robot. Alternatively, the predetermined trajectory may be modified by taking into account the environmental data. For example, if the predetermined trajectory is blocked by a temporary flower box, this is detected from the environmental data and the trajectory is adjusted accordingly. Finally, according to another alternative, only the environmental data may be used. This is the most flexible solution for different obstacles, but it is associated with increased computational effort, which may lead to delays. Additionally or alternatively, it is provided that the computing system or the robot itself determines the waiting position for the robot, so that the living being is not influenced by the waiting position of the robot, if possible. In this way, it is possible to avoid that the living being, which wants to use the transport device, is affected by the robot. This is particularly advantageous if the robot does not follow a person but travels autonomously without time limitation. If the robot is following a person, it may be necessary to consider whether the robot should actually be kept a distance from the person or whether it should take a waiting position, depending on its load, so that the priority of the following may be set. For example, if high value goods are transported, the robot may not wait in a waiting position and may remain close to the person it follows. For example, if the robot travels alone without a load, it may be preferable that it assumes a waiting position.

According to a modified embodiment of the invention and prior to the step of synchronizing the transfer speed of the transportation device and the robot movement speed to the common travel speed, it is arranged that, if the computing system specifically determines:

the robot does not have a sufficient distance from the movable unit in front, if this distance exists;

-there is not enough space for the robot to enter the transport means;

-the initial pallet to be moved to is occupied and/or not passable; and/or

There is not enough distance between the robot and the pallet to be moved to achieve the required common travel speed, so that the robot moves safely on the conveyor, and a stop command is sent to the robot to bring it in its waiting position. Other clusters may also be used for sending stop commands to the robot, for example if in any case a robot using a transport device may pose a risk to the living being/person, the robot and/or the transport device.

The following fact means that collisions with the movable unit are prevented: if there is a movable unit, the robot is stopped if the robot does not have a sufficient distance from the movable unit in front of it. If the movable unit is a person, the person is prevented from feeling pressed by the robot. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

The fact that the robot stops if there is not enough space for the robot to enter the transport means that neither the robot nor the transport means is damaged by pushing the robot through. This situation can be addressed, for example, by removing any movable obstacle or by moving the robot to access the transport at another location. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

The fact that the robot stops means that the robot reduces the risk of accidents if the initial pallet to be moved onto is occupied and/or not passable. For example, the pallet may be occupied by a pet that would otherwise be impacted by the vehicle. Such accidents can be avoided. It is also possible to avoid the robot falling down if the pallet is not accessible and the conveyor is an escalator. If the robot has moved only half of the pallet, and the pallet is lifted to one step, the robot will be more likely to tip over. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

The fact that the robot stops when there is not enough distance between the robot and the pallet to be moved onto it to achieve the required common travel speed to make the robot safely move on the conveyor means that the robot reduces the risk of accidents. For example, the robot may not be able to accelerate to a sufficient speed because the acceleration distance is too short such that the robot is not entirely on the selected pallet. If the pallet is an escalator pallet and the robot is not entirely on the selected pallet, the robot will tip over when the pallet becomes a vertical step. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

Preferably, the steps of the method are thereafter at least partially repeated if the aforementioned situation-corresponding criteria no longer exist, wherein optionally the robot is repositioned beforehand. The fact that the steps of the method are at least partially repeated leads to the fact that the method will eventually be completed. Preferably, only as many steps as are necessary to save computing power are repeated. Alternatively, the method may be repeated entirely. Repositioning results in potentially more favorable starting conditions for performing the method. For example, the trajectory may be away from an initially undetected obstacle.

According to a modified embodiment of the present invention, there is provided:

robot attributes include, inter alia:

the type of robot is chosen to be a type of robot,

-robot movement speed, and/or

-the size of the robot;

wherein the robot properties can be determined directly by the computing system from the environmental data and/or can be conveyed by the robot via an interface with the computing system. These features have been shown to allow adequate robot characterization so that the robot can safely travel onto the transport.

For example, it may be sufficient to consider the type of robot. For example, if a particular type includes a cylindrical shape that extends vertically to the horizon, it may be a lighter and faster robot that reaches the transport. However, if the width of the robot is greater than the height, it may require more maneuverability and more latency. Therefore, the transportation devices must be synchronized later so that others on the transportation devices are not unnecessarily delayed. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

The information of the robot attribute may be a robot moving speed. This information can be used as a basis for synchronizing with the transport speed to the common travelling speed. This is a simple and powerful measure. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

The information of the robot attribute may be a size of the robot. This information can be used as a basis for classifying the robot and setting other steps for its sequence of movements, such as trajectory or robot movement speed. This is a simple and powerful measure. The criterion may be the only criterion that the robot stops in its waiting position. Preferably, the standard may be combined with other standards.

According to a modified embodiment of the present invention, there is provided:

the computing system performs a rationality check on the robot properties so that the step of synchronizing is only performed if the robot has been found to be suitable for transportation by the transportation means. This is another safety measure, for example in the case of an escalator, to ensure that an oversized robot does not fall off a pallet that is too narrow for the robot when it is raised vertically to the steps.

According to a modified embodiment of the present invention, there is provided:

Additional sensors are provided to detect the position of the pallet so that after the synchronization step the robot moves onto the transport means so that it stands firmly on the pallet for transport. The additional sensor may be part of the detection system or separate from the detection system, e.g. as an integral part of the transport device.

Alternatively or additionally, the transport device adapts its transport speed to the requirements of the robot. Preferably, this results in adjusting the joint travel speed of the robot and the transport device relative to each other, so that the robot and its possible load can travel as safely as possible and any other person travelling on the transport device experiences as little delay as possible.

According to a modified embodiment of the present invention, there is provided:

a computing system that interacts with the detection system in the event that the robot is about to leave the transporter:

-sending a movement instruction to the robot; and is also provided with

Continuously monitoring the exit area of the robot movement for sufficient space without any obstructions,

wherein the computing system triggers a command to reduce the transfer speed and/or stop the transport device in case insufficient space is available. Thus, it is currently the case that the robot has been transported by the transport device, the robot is approaching its destination, and it is eventually required that the robot leave the transport device safely and be performed by the above-mentioned measures. To this end, the computing system monitoring robot may leave the transporter in a manner that does not collide as it leaves. Once this is ensured, the computing system sends corresponding movement instructions to the robot. If collisions are unavoidable when the transport means are moving at the same speed, the first step may be to reduce the speed of the transport means. Depending on the case, this can be done suddenly or continuously while maintaining safety. This may end as the transporter stops. Alternatively, the transport device can also be stopped directly, so that the robot is no longer in further proximity to the claimed collision object.

The invention also provides a system comprising means for performing the steps of the method. The system may include the computing system described above having one or more features. Further, the system may include the above-described detection system having one or more of the above-described features.

The invention further provides a robot. Preferably, the robot may comprise one or more of the above-mentioned features.

The invention also provides a conveying device for the system. Preferably, the transportation means may comprise one or more of the above-mentioned features.

The invention also provides a computer program comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method. A computer program is a set of instructions for performing a specific task designed to solve a specific class of problems. The instructions of the program are designed to be executed by a computer and require the computer to execute the program to make it functional.

The invention also provides a data carrier signal to which the computer program is transferred.

The invention also provides a computer readable medium comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method.

Drawings

The invention is explained in more detail below with reference to the drawings, using a preferred design example. The term "drawing" in the drawings is abbreviated as "figure".

The drawings show

FIG. 1 is a schematic side view of a robot, a person, a transportation device and a system for controlling a robot according to a preferred design example of the invention, wherein the robot and the person are positioned in an entrance area;

FIG. 2 is a schematic top view of the device according to FIG. 1;

FIG. 3 is a schematic subsequent side view of the device according to FIG. 1, wherein a person is to be transported by the transport device, and wherein the robot waits for an increase in distance from the person;

FIG. 4 is a schematic top view of the device according to FIG. 3;

FIG. 5 is a schematic subsequent top view of the device according to FIG. 3, wherein the robot stands on a pallet;

FIG. 6 is a schematic top view of the device according to FIG. 5, wherein the robot has obtained a sufficient distance from the person and then moved onto the pallet of the transport device;

fig. 7 is a schematic side view of an arrangement according to any of the preceding figures, wherein the robot is to be moved onto a pallet of a transport system, wherein for example the transport system is designed as an escalator, such that the pallet is formed as a vertical step by progressive movement; and

Fig. 8 is a flow chart illustrating an exemplary method sequence.

Detailed Description

The described design examples are merely examples that may be modified and/or supplemented in various ways within the scope of the claims. Each feature described for a design example of a particular claim category may also be used in a corresponding manner in a design example of another claim category.

Fig. 1 to 8 relate to a method for moving an autonomous robot 1 on a transport device 3, the transport device 3 having at least one pallet 5 which can be moved at least partially horizontally. In the example shown, the conveyor 3 is an escalator 3a. Alternatively, but not shown, the transport device 3 may also be a travelator. These features are as technically applicable as possible similarly.

Fig. 8 shows an example flow chart representing preferred method steps. Thus a method for moving an autonomous robot 1 on a transport device 3 is shown, the transport device 3 having at least one pallet 5 which can be moved at least partially horizontally. The preferred method comprises the steps of:

-detecting environmental data of the movable unit 9 on the stationary floor 11 by means of the detection system 7, the stationary floor 11 being adjacent 100 to the transportation means 3;

-determining, by the computing system 13, robot transport data taking into account the environmental data, the robot transport data comprising at least one of:

trajectory 200 of robot 1;

-robot properties 300;

a selected pallet 5 of the transport means 3, on which selected pallet 5 the robot 1 should move 400;

the conveying speed 500 of the conveyor 3;

taking into account the robot transport data, a common travel speed 600 for the transfer speed of the transport device 3 and the robot movement speed;

synchronizing the transfer speed of the conveyor 3 and the robot movement speed to a common travel speed 700;

-moving the robot 1 onto a selected pallet 5 800;

braking the robot 1900 on the selected pallet 5. The above steps are preferably applied in the order mentioned. However, variations in the order of steps are also possible.

The individual steps or cases of the method are schematically shown in fig. 1 to 7. Fig. 1 and 2 show the same in side view and top view. The same is shown in subsequent figures 3 and 4 in side and top views. Fig. 5 to 7 belong to similar situation circles, and the respective cases are shown as a sectional view (see fig. 5), a top view (see fig. 7), and a side view (see fig. 7).

To describe more precisely, fig. 1 and 2 schematically show the detection of environmental data of the movable unit 9. This is done by the detection system 7. The movable unit 9 is positioned on a stationary floor 11 adjacent to the transportation device 3. This is understood as method step 100. In the example shown, the movable unit 9 comprises a robot 1 and a living being, the person 9a. The robot 1 and the person 9a are shown in a very simplified and schematic manner in top view and side view in all figures.

The next steps 200-600 of the method include determining, by the computing system 13, a number of features.

As shown in fig. 1, 3, and 7, computing system 13 may include one or more computing units. In the examples shown in fig. 1, 3, and 7, computing system 13 may have one or more computing units. A calculation unit, which is designed as an example as an escalator 3a, is arranged on the detection system 7, and a further calculation unit, which evaluates the data of the detection system 7, is arranged on the conveyor 3, whereby the latter calculation unit can be responsible for the conveying speed and/or the common travel speed. It is also possible that the computing system 13 arranged on the detection system 7 performs all the computing steps individually, or that the computing device 13 arranged at the transport device 3 performs all the computing steps individually. Alternatively, the computing system 13 may also be provided via an external server.

For example, the trajectory of the robot 1 is determined 200 by the computing system 13. For this purpose, a predetermined trajectory may be considered. Alternatively or additionally, environmental data may be considered. Preferably, the person is prioritized, if possible, in a way that is not affected by the movement of the robot 1. Furthermore, alternatively or additionally, the computing system 13 or the robot 1 itself may determine the waiting position of the robot 1, so that the living being is not affected by the waiting position of the robot 1, if possible. These preferred features are not shown in detail, since the robot 1 is already located behind the person 9 a.

Further, alternatively or additionally, the computing system 13 may determine the robot properties 300. This may be performed during the situation between fig. 1 to 4. Preferably, the robot properties include the type of robot 1, the robot moving speed and/or the size of the robot 1. This may help to determine a suitable trajectory for the robot 1, for example, so that the robot 1 does not collide anywhere due to protruding parts. The robot 1 may also achieve a limited speed. For example, it may only move very slowly due to sensitive loads. This can then be considered for traveling onto the escalator 3a, respectively for its conveying speed. The robot properties may be determined directly by the computing system 13 from the sensed environmental data. Alternatively, or as an added safety measure, for example, robot properties may be conveyed by the robot 1 via an interface with the computing system 13. This means that the robot 1 comprises a corresponding communication unit and a corresponding information storage. Therefore, in order to prevent the operation of the escalator 3a from stopping, it is a preferred option that the computing system 13 performs a rationality check on the robot properties, so that the step of synchronizing 700 is only performed if the robot 1 has been found to be suitable for transportation by the transportation means 3.

Furthermore, in a preferred method step 400, the selected pallet 5400 of the transporter 3 on which the robot 1 should move should be determined. Thus, for example, the common travel speed may be adapted thereto, such that the start time, speed and/or acceleration of the robot 1 is determined taking into account the size of the robot 1 and the size of the pallet 5. The selected pallet 5 is the target point of the robot 1.

Furthermore, alternatively or additionally, the computing system may determine the conveying speed 500 of the transport device 3. This may be advantageous in case the robot 1 is particularly heavy or the robot is moving slowly, to prevent the robot 1 from tipping over during movement on the escalator 3a or during transport on the escalator.

Also, alternatively or additionally, the computing system may determine a common travel speed of the transfer speed of the transporter 3 and the robot movement speed 600. This may also be advantageous in case the robot 1 is particularly heavy or the robot is moving slowly, to prevent the robot 1 from tipping over during movement on the escalator 3 a.

Once the computing system has determined one or more aspects, as exemplarily mentioned above, synchronizing the transfer speed of the transporter 3 and the robot movement speed to a common travel speed 700 is performed. This enables the robot 1 to travel onto the escalator 3a, as shown in the example of the transition from fig. 7 to fig. 6.

Only the robot 1 can be prompted 800 on the selected pallet 5 and the robot 1 900 on the selected pallet 5 so that the robot 1 is then stationary on the selected pallet 5 and transported by the escalator 3a as shown in fig. 5.

Not shown, but preferably, before the step of synchronizing the transfer speed of the transporter 3 and the robot movement speed to the common travel speed 700, if the computing system 13 determines:

the robot 1 is not sufficiently distant from the front movable unit 9, if this distance exists,

there is not enough space for the robot 1 to enter the transport means 3,

the initial pallet 5 to be moved to is occupied and/or not accessible, and/or,

there is not enough distance between the robot 1 and the pallet 5 to be moved to achieve the required common travel speed, so that the robot 1 moves safely on the conveyor 3,

a stop command is sent to the robot 1 to hold it in its waiting position. Preferably, the steps of the method are thereafter at least partially repeated if the aforementioned situation no longer exists, wherein optionally the robot 1 is pre-repositioned.

As shown in fig. 2, 4 and 6, it is preferable that the escalator 3a includes an additional sensor 15 for detecting the position of the pallet 5, so that after the step of synchronizing 700, the robot 1 moves onto the transporting device 3 so that it stands firmly on the pallet 5 for transportation. Furthermore, alternatively or additionally, it is possible that the escalator 3a adapts its conveying speed to the needs of the robot 1.

Not shown but preferably, in case the robot 1 is about to leave the transport device 3, a computing system 13 interacting with the detection system 7:

-sending a movement instruction to the robot 1; and is also provided with

-continuously monitoring the exit area of the robot movement for sufficient space without any obstacle. In case there is not enough space available, the computing system 13 triggers a command to reduce the transfer speed and/or to stop the transport means 3.

Reference numeral table

1. Robot

3. Transportation device

3a escalator

5. Pallet board

7. Detection system

9. Movable unit

9a person

11. Static floor

13. Computing system

15. Additional sensor

17. System and method for controlling a system

100. Detecting environmental data of a movable unit on a stationary floor adjacent to a transport device

200. Determining trajectories of robots

300. Determining robot properties

400. Determining a selected pallet of a transporter on which a robot should move

500. Determining a conveying speed of a conveyor

600. Determining a common travel speed for a transport speed of a transport device and a robot movement speed

700. Synchronizing the transfer speed (3) of the transporter and the robot movement speed to a common travel speed 800 moves the robot onto a selected pallet

900. Braking robot on selected pallet

Claims (15)

1. A method for moving an autonomous robot (1) on a transport device (3), the transport device (3) having at least one pallet (5) which is at least partially horizontally movable, the method comprising the steps of:

-detecting, by means of a detection system (7), environmental data of a movable unit (9) on a stationary floor (11), said stationary floor (11) being adjacent (100) to said transportation means (3);

-determining, by the computing system (13), robot transport data having at least one of the following and in any order:

-a trajectory (200) of the robot (1);

-robot properties (300);

-a selected pallet (5) of the transport device (3), on which selected pallet (5) the robot (1) should move (400);

-a conveying speed (500) of the transport device (3);

-determining, by means of the computing system (13), a common travelling speed (600) for the transport speed of the transport device (3) and the robot movement speed taking account of the robot transport data;

-synchronizing the transfer speed of the transport device (3) and the robot movement speed to the common travel speed (700);

-moving the robot (1) onto the selected pallet (5) (800);

-braking the robot (1) (900) on the selected pallet (5).

2. The method of claim 1, wherein the step of determining the position of the substrate comprises,

the transport device (3) is an escalator or a moving walkway.

3. The method according to at least one of the claims 1 or 2, characterized in that,

the movable unit (9) comprises the robot (1), an external robot and/or a living being, in particular a person (9 a).

4. Method according to at least one of the preceding claims, characterized in that,

-determining the trajectory (200) consideration:

-a predetermined trajectory;

-said environmental data, wherein preferably living beings are prioritized such that, if possible, they are not affected by movements of said robot (1); and/or

-the computing system (13) or the robot (1) itself determining a waiting position for the robot (1) such that, if possible, a living being is not affected by the waiting position of the robot (1).

5. Method according to at least one of the preceding claims, characterized in that,

prior to the step of synchronizing the transfer speed of the transport device (3) and the robot movement speed to the common travel speed (700),

if the computing system (13) determines in particular:

-the robot (1) is not at a sufficient distance from the front movable unit (9), if said distance is present,

-there is not enough space for the robot (1) to enter the transport device (3),

-the initial pallet (5) to be moved to is occupied and/or not passable,

-there is not enough distance between the robot (1) and the pallet (5) to be moved to achieve the required common travel speed, so that the robot (1) is safely moved on the transport device (3), and/or

The robot (1) using the transport device (3) presents a risk to living beings, the robot (1) itself and/or the transport device (3),

a stop command is sent to the robot (1) to hold it in its waiting position;

wherein preferably thereafter, if the aforementioned situation no longer exists, the steps of the method are at least partially repeated, wherein optionally the robot (1) is repositioned in advance.

6. Method according to at least one of the preceding claims, characterized in that,

the robot properties include:

-the type of robot (1),

-the robot movement speed, and/or

-the size of the robot (1);

Wherein the robot properties can be determined directly from the environmental data by the computing system (13) and/or can be transported by the robot (1) via an interface with the computing system (13).

7. Method according to at least one of the preceding claims, characterized in that,

the computing system (13) performs a rationality check on the robot properties such that the step of synchronizing (700) is only performed if the robot (1) has been found to be suitable for transportation by the transportation means (3).

8. Method according to at least one of the preceding claims, characterized in that,

-providing an additional sensor (15) to detect the position of the pallet (5) so that after the step of synchronizing (700) the robot (1) moves onto the transport means (3) so that it stands safely on the pallet (5) for transport; and/or

-the escalator (3 a) adapts its conveying speed to the needs of the robot (1).

9. Method according to at least one of the preceding claims, characterized in that,

-said computing system (13) interacting with said detection system (7) in case said robot (1) is about to leave said transport device (3):

-sending a movement instruction to the robot (1); and is also provided with

Continuously monitoring sufficient space for the exit area of the robot movement without any obstacle,

wherein the computing system (13) triggers a command to reduce the conveying speed and/or to stop the transport device (3) in case there is not enough space available.

10. System with means for moving an autonomous robot (1) on a transport device (3), the transport device (3) having at least one pallet (5) that is at least partially horizontally movable, the system being for performing the steps of the method according to at least one of the preceding claims, the system (17) comprising at least a computing system (13) according to at least one of the preceding claims and/or a detection system (7) according to at least one of the preceding claims.

11. Robot having the features of a robot (1) according to at least one of the preceding claims.

12. A transport device having the features of a transport device (3) according to at least one of the preceding claims.

13. A computer program comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method according to at least one of the preceding claims.

14. A data carrier signal, which is conveyed by a computer program according to the preceding claim.

15. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method according to at least one of the preceding claims.