EP4032846A1 - Moving on a transportation means with an autonomous robot - Google Patents

Moving on a transportation means with an autonomous robot Download PDF

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Publication number
EP4032846A1
EP4032846A1 EP21382056.6A EP21382056A EP4032846A1 EP 4032846 A1 EP4032846 A1 EP 4032846A1 EP 21382056 A EP21382056 A EP 21382056A EP 4032846 A1 EP4032846 A1 EP 4032846A1
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EP
European Patent Office
Prior art keywords
robot
transportation means
speed
computing system
pallet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21382056.6A
Other languages
German (de)
French (fr)
Inventor
Marcos PÉREZ PÉREZ
José Mendiolagoitia Juliana
Isabel González Mieres
Adrián Alvarez Cuervo
Alejandro Granda Iglesias
Javier Sesma Sánchez
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TK Escalator Norte SA
Original Assignee
TK Elevator Innovation Center SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by TK Elevator Innovation Center SA filed Critical TK Elevator Innovation Center SA
Priority to EP21382056.6A priority Critical patent/EP4032846A1/en
Priority to CN202280008477.7A priority patent/CN116710384A/en
Priority to PCT/EP2022/051319 priority patent/WO2022157294A1/en
Publication of EP4032846A1 publication Critical patent/EP4032846A1/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B25/00—Control of escalators or moving walkways
    • B66B25/003—Methods or algorithms therefor

Definitions

  • the present invention relates to a method for an autonomous robot to move on a transportation means, with at least one at least partially horizontally movable pallet.
  • the present invention also refers to a system comprising means for executing the steps of the method.
  • the present invention refers to a robot.
  • the present invention refers to a transportation system.
  • the present invention refers to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method.
  • the present invention refers to a data carrier signal, which the computer program transmits.
  • the present invention refers to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.
  • Robots are being applied in increasing numbers for some applications, for example urban logistics and transport belongings. New types of personal following robots are used nowadays inside office buildings, shopping malls or outdoors to provide assistance to carry heavy loads or to help persons with limited mobility capabilities. In shopping malls, it is known to use flat or inclining moving walkways and escalators as main transportation systems for people due to their high transport capacity.
  • the aforementioned generation of robots has to share the space with persons and interact with the escalators/moving walkways following the best trajectories and reaching the best positioning at every moment.
  • the technical environment may comprise a method, a system, a robot, a computer program, a data carrier signal and/or a computer-readable medium to solve the aforementioned object.
  • the object is therefore solved by a method for an autonomous robot to move on, and preferably also to move off, a transportation means, with at least one at least partially horizontally movable pallet.
  • the method comprises at least the following steps:
  • sequence of method steps can be varied, unless technically required in an explicit order. However, the aforementioned sequence of method steps is particularly preferred.
  • first environmental data are detected.
  • This environmental data is then used to generate respectively determine the robot transport data.
  • the robot transport data should comprise at least one of the measures mentioned in this context, which are: determining the trajectory for the robot, the robot properties, the selected pallet of the transportation means on which the robot should move and/or the conveyor speed of the transportation means.
  • the common move-on speed can be determined. This common move-on speed is used to ensure that the robot can move onto the transportation means without swinging or tilting.
  • the robot brakes and the movement of the autonomous robot is completed.
  • the robot moves off the selected pallet.
  • the method steps are applied analogously as far as possible.
  • the conveying speed of the transportation means, and the robot movement speed of the robot are coordinated.
  • the transportation means in the following paragraphs are escalators and moving walkways. In principle, the explanations also apply to analog transportation means.
  • An escalator or moving walkway preferably communicates with the robot to indicate the best trajectory to enter the respective escalator/moving walkway, the best position on the pallet and the best route to exit the escalator/moving walkway.
  • An escalator or moving walkway preferably interacts with any kind of robot including autonomous and follow-people robot to send the synchronization data to enter and exit and to avoid obstructing the transit of persons. In these cases, it is important that both, the escalator/moving walkway and the robot, have information about the next action to deploy a better performance.
  • the escalator/moving walkway performs some kind of interaction with the robot. Firstly, robot and persons around can be detected to set a predefined trajectory to enter the escalator/moving walkway. This trajectory can be predefined by the initial setup of the robot, or modified in real time by the escalator/moving walkway, for example according to the free space and/or to the people flow in each moment.
  • a further measure is to know the conveyor speed of the escalator/moving walkway and the type of the robot. With this information, the synchronization of the speed of both systems can be performed to avoid unnecessary stops when the robot approaches the escalator/moving walkway.
  • the required space is variable and specific to each robot model.
  • the escalator/moving walkway can detect the type of the robot and the dimensions via the detection system and the computing system to estimate if it is possible to use the escalator/moving walkway according the characteristics of both systems, namely the escalator/moving walkway and the robot.
  • Preferred robots may comprise sensors that enable the possibility of interaction with persons.
  • the robot can share the space with people in a flexible way, whereas the escalator/moving walkway operations follow a continuous, unchangeable process. For example, if a robot is to enter the escalator/moving walkway and there is one person standing between the robot and the escalator/moving walkway, the robot has to stop and it needs to wait until the person enters the escalator/moving walkway. It is important to achieve a common move-on speed for the robot and the escalator/moving walkway. Otherwise, due to the limited distance to the next pallet, the robot would have to accelerate very quickly to adapt to the conveyor speed of the escalator/moving walkway.
  • pallet it describes the step of the transportation means, such as the escalator or moving walkway, on which the robot is transported.
  • the arrangement for executing the method comprises:
  • the system comprises the detection system, which for example comprises a set of cameras and/or other sensors, that monitor the entry and/or exit areas of the transportation means and is connected to a computing system that is continuously checking the presence of robots, the free space and distance in the monitor areas and measuring the conveyor speed of the transporting means and the robot movement speed of the robot.
  • the system is connected to the controller of the transporting means to send/receive the necessary information to control the movement of the transporting means. If necessary, for example, an additional sensor can be considered for escalators to check the step position and allow the synchronization between the robot and the step.
  • Detecting environmental data, by the detection system, of movable units on the stationary underground, which is adjacent to the transportation means, means in particular that the environment of the transportation means is monitored for persons or persons carrying objects that want to use the transportation means or that are at least in its immediate vicinity and are therefore potential obstacles for a robot that wants to use the transportation means.
  • the detection system can be an integral part of the transportation system.
  • the detection system can be a part of a separate system.
  • the detection system can be a separate system itself.
  • the detection system can be exchanged or upgraded on demand.
  • the computing system can determine the robot transport data with one or more measures to ensure that the robot can safely move onto the transportation system. If several measures are combined, the overall safety of the robot's movement can be increased.
  • Determining, by a computing system, the trajectory for the robot means in particular that a trajectory is determined that allows the robot to safely move onto the transportation system.
  • the formulation safely means that the trajectory keeps the robot away from potential collision obstacles. It is not excluded that this trajectory determination is combined with other measures, such as the determination of the robot properties. If, for example, a technically induced maximum acceleration is determined, the trajectory can be modified accordingly. For example, the trajectory may be a bit longer so that the robot has more distance to accelerate, so that the common move-on speed can be achieved.
  • This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • Determining, by a computing system, the robot properties means in particular that one information or several different data of the robot can be determined. These robot properties can, for example, be communicated by the robot itself to the computing system. Alternatively or additionally, the robot properties can be derived from a specific robot type. For example, a model name can generate a database request, so that technical data of the robot can be obtained, which can be used for synchronization to the common move-on speed. For example, an identified respectively determined maximum speed and acceleration of the robot can be below the standard conveyor speed and acceleration of the transportation system. Thus, for example, the conveyor speed of the transportation system and/or the trajectory of the robot can be determined on the basis of these robot properties in such a way that the robot can safely move onto the transportation system.
  • model name can also be obtained by means of the model name, such as the dimensions of the robot.
  • the model name can be detected by the detection system and subsequently interpreted respectively determined or, for example, derived from the contour of the robot by a qualified computing system.
  • the computing system can either be fed directly with the information or be actively involved in its derivation.
  • This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • the subsequent synchronization to the common move-on speed can be performed in such a way that the robot moves with such a robot movement speed and/or trajectory onto the selected pallet of the transportation means with an adequate conveyor speed that the robot stands on the one selected pallet for transportation by the transportation means without swinging or even tilting.
  • This criterion can be the only criterion for the robot to stop in its waiting position.
  • this criterion can be combined with other criteria.
  • the conveyor speed of the transportation means means in particular that a safe movement by the robot onto the transportation means can be supported.
  • the subsequent synchronization to the common move-on speed can be performed in such a way that the robot moves with such a robot movement speed and/or trajectory onto a selected pallet of the transportation means with an adequate conveyor speed that the robot stands on the one selected pallet for transportation by the transportation means without swinging or even tilting.
  • This criterion can be the only criterion for the robot to stop in its waiting position.
  • this criterion can be combined with other criteria.
  • Robot transport data includes those aspects that are relevant for safe move-on.
  • the formulation robot transport data can also be understood as robot movement data.
  • the common move-on speed can be determined preferably considering all relevant aspects. This common move-on speed can be used next to set the robot movement speed and/or the conveyor speed. This is also understood as synchronizing the conveyor speed of the transportation means and the robot movement speed to the common move-on speed.
  • Synchronizing the conveyor speed of the transportation means and the robot movement speed to the common move-on speed means in particular that, in a next step, the robot can safely move along the stationary underground with a robot movement speed onto the transportation means, whereby the robot movement speed and the conveyor speed are coordinated with each other.
  • both speeds are practically the same.
  • the value of the speed preferably depends on the transportation means and robot features in a way that allow to be the same once the move on process finishes. Preferably, this means that they differ from one another by no more than including ten percent, especially preferred by no more than including five percent.
  • the robot movement speed is lower than the conveyor speed because the robot moves onto the pallet at its robot movement speed and in this context it is particularly important to avoid the robot hitting a step or a movable unit with its front side due to too much thrust.
  • Moving the robot onto the selected pallet means in particular that the robot drives onto the selected pallet in such a way that any slippage or similar disturbing factors are avoided.
  • the robot moves with the common move-on speed on the transportation means. This means that the robot is neither slowed down nor is the robot pulled by the pallet that is at least partially occupied by the robot. Thus, tipping in and against the direction of the conveyor speed is avoided by setting the common move-on speed.
  • 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 secure footing for transport. It is also preferable to consider the robot's center of gravity.
  • the exit area is only detected if the transportation means actually transports a robot. This has proven to be energy-saving and therefore environmentally friendly.
  • the transportation means is an escalator or a moving walkway.
  • An escalator is a passenger transportation means for overcoming a height distance, in which moving pallets form steps.
  • An escalator is a transportation means, with at least one pallet, each pallet is exemplary partially horizontally and partially vertically movable. The purpose is generally to transport people at a speed higher than walking speed and/or with less muscle power.
  • a further simplification is that a robot, for example, follows a person and transports their purchases. Accelerated transport of people and their robots from/to a location can save time and space (e.g. on platforms or in department stores).
  • a moving walkway is a transportation means, with at least one pallet, each pallet being movable horizontally to the ground, whereby the moving walkway can also extend over a slope.
  • the movable units comprise the robot, external robots and/or living beings, in particular persons. It is therefore a very careful device that takes into account both people and the robot to be transported by the transportation means. It is therefore a very careful device that takes into account both people and the robot to be transported by the transportation means. The risk of collisions can be further reduced by taking into account external robots.
  • pets, especially dogs can be considered as living beings, which are detected as movable units.
  • the determining the trajectory takes a predetermined trajectory into account; and/or the environmental data into account, wherein preferably living beings are prioritized in such a way that, if possible, they are not affected by the movement of the robot.
  • the predetermined trajectory means that there can be a standard trajectory for each robot or for each transportation means. This predetermined trajectory can be used without any change. The predetermined trajectory can be useful to save computing capacity or if the trajectory is specifically designed for the requirements of the type of robot.
  • the predetermined trajectory can be modified by taking the environmental data into account. For example, if the predetermined trajectory is obstructed by a temporary flower box, this is detected from the environment data and the trajectory is adjusted accordingly.
  • the computing system or the robot itself determines a waiting position for the robot, in such a way that, if possible, living beings are not affected by the waiting position of the robot. In this way it can be avoided that living beings that want to use the transportation means are affected by the robot. This is especially advantageous if the robot does not follow a human being but travels autonomously without time constraints. If the robot is following a human, it may be necessary to consider whether the robot, depending on its load, should actually be distanced from the human or whether it should take the waiting position so that a prioritization of the following can be set. For example, if high value goods are transported, the robot might not wait in the waiting position and might stay close to the human it is following. For example, if the robot is travelling alone without a load, it might be preferred that it takes the waiting position.
  • a stop command is sent to the robot to keep it in its waiting position, if the computing system determines inter alia that:
  • This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • the fact that the robot stops if there is not enough space for the robot to enter the transportation means means that neither the robot nor the transportation means will be damaged by pushing the robot through.
  • the situation can be solved by removing any movable obstacles or by moving the robot to enter the transportation means in another position.
  • This criterion can be the only criterion for the robot to stop in its waiting position.
  • this criterion can be combined with other criteria.
  • the fact that the robot stops if the original pallet to be moved onto is occupied and/or not passable means that the robot reduces the risk of an accident.
  • the pallet may be occupied by a pet that would otherwise be hit by a car. Such accidents can be avoided. It is also possible to avoid the robot toppling over if the pallet is not accessible and the transportation means is an escalator. If the robot were to move only halfway up a pallet and this pallet was raised to a step, the robot would be more likely to tip over.
  • This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • the fact that the robot stops when there is not enough distance between the robot and the pallet to be moved onto, to achieve the required common move-on speed to move the robot safely on the transportation means that the robot reduces the risk of an accident.
  • the robot may not be able to accelerate to sufficient speed because the acceleration distance is too short, so that the robot is not completely on the selected pallet. If the pallet is an escalator pallet and the robot is not completely on the selected pallet, the robot would tip over when the pallet becomes a vertical step.
  • This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • steps of the method are repeated at least partially, wherein optionally the robot is repositioned in advance.
  • the fact that the steps of the method are at least partially repeated leads to the fact that the method is to be finally completed. It is preferable to repeat only as many steps as necessary to save computing capacity.
  • the method can be completely repeated. Repositioning leads to the creation of possibly more favorable starting conditions for executing the method. For example, the trajectory can be distanced from an originally undetected obstacle.
  • the robot properties comprise among others:
  • a particular type comprises a cylindrical shape that extends vertically to the horizon
  • the transportation means must be synchronized later so that other people on the transportation means are not unnecessarily delayed.
  • This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • An information of the robot properties can be the robot movement speed. This information can be used as a basis for the synchronization with the conveyor speed to a common move-on speed. This is a simple and robust measure.
  • This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • An information of the robot properties can be the dimensions of the robot. This information can be used as a basis for categorizing the robot and for setting further steps for its motion sequence, e.g. trajectory or robot movement speed. This is a simple and robust measure.
  • This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • the computing system performs a plausibility check of the robot properties, so that the step of the synchronizing only takes place if the robot has been found suitable for transport by the transportation means.
  • This is another safety measure to ensure, for example, in the case of an escalator, that a robot that is too large does not fall from a pallet that is too narrow for that robot when it rises vertically to a step.
  • an additional sensor is provided for detecting the position of the pallets, so that after the step of the synchronizing, the robot moves onto the transportation means in such a way that it stands securely on a pallet for transportation.
  • the additional sensor can be a part of the detection system or independent of it, for example as an integrated part of the transportation means.
  • the transportation means adapts its conveyor speed in relation to the requirements of the robot. Preferably, this results in the common move-on speed, which adjusts the robot and the transportation means to each other in such a way that the robot and its possible load can move on as safely as possible and that any other persons travelling on the transportation means experience as little delay as possible.
  • the computing system which interacts with the detection system:
  • the present invention also provides a system comprising means for executing the steps of the method.
  • the system may comprise the above mentioned computing system with one or more features.
  • the system may comprise the above mentioned detection system with one or more of the above mentioned features.
  • the present invention also provides a robot.
  • the robot can comprise one or more of the above mentioned features.
  • the present invention also provides a transportation means for the system.
  • the transportation means can comprise one or more of the above mentioned features.
  • the present invention also provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method.
  • a computer program is a collection of instructions for performing a specific task that is designed to solve a specific class of problems.
  • the instructions of a program are designed to be executed by a computer and it is required that a computer can execute programs in order to it to function.
  • the present invention also provides a data carrier signal, which the computer program transmits.
  • the present invention also provides a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.
  • the figures 1 to 8 refer to a method for an autonomous robot 1 to move on a transportation means 3, with at least one at least partially horizontally movable pallet 5.
  • the transportation means 3 is an escalator 3a.
  • the transportation means 3 can also be a moving walkway.
  • the features are, as far as technically possible, analogously applicable.
  • Figure 8 shows an example flow chart, which represents preferred method steps.
  • a method is shown for an autonomous robot 1 to move on a transportation means 3, with at least one at least partially horizontally movable pallet 5.
  • the preferred method comprises the following steps:
  • FIGS. 1 to 7 show the individual steps or situations of this method.
  • Figures 1 and 2 show the same situation in a side and top view.
  • Figures 3 and 4 follow on from this and show the same situation in a side and top view.
  • Figures 5 to 7 belong to a similar circle of situations and show the respective situation as a section, see Figure 5 , as a top view, see Figure 7 and as a side view, see Figure 7 .
  • FIGS. 1 and 2 show schematically the detecting the environmental data of the movable units 9. This is performed by the detection system 7.
  • the movable units 9 are positioned on the stationary underground 11, which is adjacent to the transportation means 3. This is understood as method step 100.
  • the movable units 9 comprise the robot 1 and a living being, which is a person 9a.
  • the robot 1 and the person 9a are shown in a very simplified and schematic way in the top view as well as in the side view in all the figures.
  • the next steps of the method 200-600 comprises the determining by a computing system 13 of several features.
  • the computing system 13 can comprise one or more computing units.
  • the computing system 13 can have one or more computing units.
  • the computing system 13 arranged on the detection system 7 performs all the computing steps alone or that the computing system 13 arranged at the transportation means 3 performs all the computing steps alone.
  • the computing system 13 can also be provided via an external server.
  • a trajectory for the robot 1 is determined by the computing system 13 200.
  • the predetermined trajectory can be considered.
  • the environmental data can be taken into account.
  • the person is prioritized in such a way that, if possible, it is not affected by the movement of the robot 1.
  • the computing system 13 or the robot 1 itself determines a waiting position for the robot 1, in such a way that, if possible, living beings are not affected by the waiting position of the robot 1. Since the robot 1 is already positioned behind the person 9a, these preferred features are not shown in detail.
  • the computing system 13 determine robot properties 300. This can be performed during a situation between figures 1 to 4 .
  • the robot properties comprise a type of the robot 1, the robot movement speed, and/or dimensions of the robot 1. This can be helpful, for example, to determine a suitable trajectory for the robot 1 so that it does not collide anywhere due to protruding components. It is also possible that robot 1 enables limited speeds. For example, it may only be moved very slowly due to a sensitive load. This can then be taken into account for driving onto the escalator 3a respectively for its conveying speed.
  • the robot properties can be determined directly from the sensed environmental data by the computing system 13.
  • the robot properties can be communicated by the robot 1 via an interface with the computing system 13.
  • the robot 1 comprises a corresponding communication unit and a corresponding information memory.
  • the computing system 13 performs a plausibility check of the robot properties, so that the step of the synchronizing 700 only takes place if the robot 1 has been found suitable for transport by the transportation means 3.
  • step 400 the selected pallet 5 of the transportation means 3 on which the robot 1 should move shall be determined 400.
  • the common move-on speed can be adapted to this so that the start time, the speed and/or the acceleration of robot 1 is determined taking into account the robot 1 dimensions and the dimensions of pallet 5.
  • the selected pallet 5 is the target point of the robot 1.
  • the computing system determines the conveyor speed of the transportation means 3 500. This can be advantageous in the case of a particularly heavily loaded robot 1 or a slowly moving robot 1 in order to prevent robot 1 from tipping over during move-on the escalator 3a or during its transport on the escalator 3a.
  • the computing system determines the common move-on speed for the conveyor speed of the transportation means 3 and a robot movement speed 600. This can also be advantageous in the case of a particularly heavily loaded robot 1 or a slowly moving robot 1 in order to prevent robot 1 from tipping over during move-on the escalator 3a.
  • the synchronizing the conveyor speed of the transportation means 3 and the robot movement speed to the common move-on speed 700 is performed. This enables a move-on of robot 1 onto the escalator 3a, as shown in the example of the transition from figure 7 to figure 6 .
  • the robot 1 onto the selected pallet 5 800 and the of the robot 1 on the selected pallet 5 900 can only be hinted at, so that robot 1 then stands still on a selected pallet 5 as shown in figure 5 and is transported by the escalator 3a.
  • the escalator 3a comprises an additional sensor 15 for detecting the position of the pallets 5, so that after the step of the synchronizing 700, the robot 1 moves onto the transportation means 3 in such a way that it stands securely on a pallet 5 for transportation. Furthermore, it is alternatively or additionally possible that the escalator 3a adapts its conveyor speed to the requirements of the robot 1.

Abstract

The present invention relates to a method for moving on and off a transportation means (3) with an autonomous robot (1). The present invention also refers to a system (17) comprising means for executing the steps of the method. Furthermore, the present invention refers to the robot (1) and the transportation means (3). Furthermore, the present invention refers to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method. Furthermore, the present invention refers to a data carrier signal, which the computer program transmits. Furthermore, the present invention refers to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.

Description

    Technical field
  • The present invention relates to a method for an autonomous robot to move on a transportation means, with at least one at least partially horizontally movable pallet.
  • The present invention also refers to a system comprising means for executing the steps of the method.
  • Furthermore, the present invention refers to a robot.
  • Furthermore, the present invention refers to a transportation system.
  • Furthermore, the present invention refers to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method.
  • Furthermore, the present invention refers to a data carrier signal, which the computer program transmits.
  • Furthermore, the present invention refers to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.
    • Background of the invention
  • Robots are being applied in increasing numbers for some applications, for example urban logistics and transport belongings. New types of personal following robots are used nowadays inside office buildings, shopping malls or outdoors to provide assistance to carry heavy loads or to help persons with limited mobility capabilities. In shopping malls, it is known to use flat or inclining moving walkways and escalators as main transportation systems for people due to their high transport capacity.
  • The aforementioned generation of robots has to share the space with persons and interact with the escalators/moving walkways following the best trajectories and reaching the best positioning at every moment.
    • Description of the invention
  • Starting from this situation, it is an object of the present invention to provide a technical environment that enables improved and safe transport of a robot in a moving walkway or escalator, without endangering people. 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 to solve the aforementioned object.
  • The object of the invention is solved by the features of the independent main claims. Advantageous features are indicated in the subclaims. If technically possible, the teachings of the subclaims can be combined arbitrarily with the teachings of the main and subclaims.
  • In particular, the object is therefore solved by a method for an autonomous robot to move on, and preferably also to move off, a transportation means, with at least one at least partially horizontally movable pallet. The method comprises at least the following steps:
    • Detecting environmental data, by a detection system, of movable units on a stationary underground, which is adjacent to the transportation means;
    • Determining, taking into account the environmental data by a computing system, robot transport data, with at least one of the following:
      • a trajectory for the robot;
      • robot properties;
      • a selected pallet of the transportation means on which the robot should move;
      • a conveyor speed of the transportation means;
    • Determining, by the computing system, a common move-on speed for the conveyor speed of the transportation means and a robot movement speed, taking into account the robot transport data;
    • Synchronizing the conveyor speed of the transportation means and the robot movement speed to the common move-on speed;
    • Moving the robot onto the selected pallet;
    • Braking of the robot on the selected pallet.
  • It is preferred that the sequence of method steps can be varied, unless technically required in an explicit order. However, the aforementioned sequence of method steps is particularly preferred.
  • In the following, the advantageous aspects of the claimed invention are explained and further below, preferred modified embodiments of the invention are described. Explanations, in particular on advantages and definitions of features, are basically descriptive and preferred, but not limiting examples. If an explanation is limiting, this is expressly mentioned.
  • Thus, first environmental data are detected. This environmental data is then used to generate respectively determine the robot transport data. The robot transport data should comprise at least one of the measures mentioned in this context, which are: determining the trajectory for the robot, the robot properties, the selected pallet of the transportation means on which the robot should move and/or the conveyor speed of the transportation means. Based on this robot transport data the common move-on speed can be determined. This common move-on speed is used to ensure that the robot can move onto the transportation means without swinging or tilting. As soon as the robot has moved onto the selected pallet, the robot brakes and the movement of the autonomous robot is completed. Next, after the transport of the robot has been completed, the robot moves off the selected pallet. For this purpose, the method steps are applied analogously as far as possible.
  • In the context of the above list, as an independent example, it is possible that determining the trajectory for the robot is not claimed.
  • Alternatively or additionally, in the context of the above list, as an independent example, it is possible that determining the robot properties is not claimed.
  • Alternatively or additionally, in the context of the above list, as an independent example, it is possible that determining the selected pallet of the transportation means on which the robot should move is not claimed.
  • Alternatively or additionally, in the context of the above list, as an independent example, it is possible that determining the conveyor speed of the transportation means is not claimed.
  • In other words, in particular it is provided that the conveying speed of the transportation means, and the robot movement speed of the robot are coordinated. For easier understanding, the transportation means in the following paragraphs are escalators and moving walkways. In principle, the explanations also apply to analog transportation means.
  • An escalator or moving walkway preferably communicates with the robot to indicate the best trajectory to enter the respective escalator/moving walkway, the best position on the pallet and the best route to exit the escalator/moving walkway.
  • An escalator or moving walkway preferably interacts with any kind of robot including autonomous and follow-people robot to send the synchronization data to enter and exit and to avoid obstructing the transit of persons. In these cases, it is important that both, the escalator/moving walkway and the robot, have information about the next action to deploy a better performance.
  • The escalator/moving walkway performs some kind of interaction with the robot. Firstly, robot and persons around can be detected to set a predefined trajectory to enter the escalator/moving walkway. This trajectory can be predefined by the initial setup of the robot, or modified in real time by the escalator/moving walkway, for example according to the free space and/or to the people flow in each moment.
  • A further measure is to know the conveyor speed of the escalator/moving walkway and the type of the robot. With this information, the synchronization of the speed of both systems can be performed to avoid unnecessary stops when the robot approaches the escalator/moving walkway.
  • Depending on the robot characteristics, the required space is variable and specific to each robot model. Preferably, the escalator/moving walkway can detect the type of the robot and the dimensions via the detection system and the computing system to estimate if it is possible to use the escalator/moving walkway according the characteristics of both systems, namely the escalator/moving walkway and the robot.
  • Preferred robots may comprise sensors that enable the possibility of interaction with persons. In these cases, the robot can share the space with people in a flexible way, whereas the escalator/moving walkway operations follow a continuous, unchangeable process. For example, if a robot is to enter the escalator/moving walkway and there is one person standing between the robot and the escalator/moving walkway, the robot has to stop and it needs to wait until the person enters the escalator/moving walkway. It is important to achieve a common move-on speed for the robot and the escalator/moving walkway. Otherwise, due to the limited distance to the next pallet, the robot would have to accelerate very quickly to adapt to the conveyor speed of the escalator/moving walkway. This can be problematic if the robot is loaded and the load is endangered by the enormous acceleration. It can also be a problem if the robot is not technically capable of accelerating so fast. Finally, a problem can arise if the enormous acceleration endangers unexpectedly appearing living beings, for example playing children or running dogs, and they are at risk of collision. It has therefore proved to be particularly advantageous that the transportation means can adjust its conveyor speed so that a robot can safely enter or leave it.
  • If the term pallet is used, it describes the step of the transportation means, such as the escalator or moving walkway, on which the robot is transported.
  • To describe the proposed solution, an example of a common existing building is used. The arrangement for executing the method comprises:
    • the transportation means, that preferably moves passenger(s) and/or robot(s) between floors;
    • an entry area as the claimed stationary underground, wherein the entry area is positioned adjacent to the entry of the transportation means, and an exit area, which is analog stationary to the stationary underground of the entry area, and which is positioned at the exit of the transportation means, wherein the robot moves onto the pallet of the transportation means from the entry area, and wherein the robot moves off the same pallet after its transport into the exit area;
    • the detection system, which can comprise cameras and/or other sensors, that are configured to monitor, i.e. detecting, the entry area und the exit area. In particular, the monitoring takes place in the transition area from the stationary underground of the entry area to the selected pallet and/or from the selected pallet to the corresponding stationary underground of the exit area;
    • preferably an additional sensor for the transportation means, if necessary, to synchronize the step position with the movement of the robot. For example, this can be preferred, in case that the system is not capable to perform the calculation;
    • a computing system, preferably with at least one processor, in charge:
      • to detect the robot,
      • to calculate/request the robot movement speed,
      • to calculate/request the conveyor speed of the transportation means; and/or
      • to perform a calculation, especially by one or more algorithms, to obtain an optimal speed profile for the robot and the transportation means. It is possible that the computing system only performs one or some of these aspects. Alternatively or additionally same computing system is, also in charge of interchange information with a controller of the transportation means in order to control speed changes and/or to receive transportation means status date, like its conveyor speed or its moving direction.
  • The system comprises the detection system, which for example comprises a set of cameras and/or other sensors, that monitor the entry and/or exit areas of the transportation means and is connected to a computing system that is continuously checking the presence of robots, the free space and distance in the monitor areas and measuring the conveyor speed of the transporting means and the robot movement speed of the robot. The system is connected to the controller of the transporting means to send/receive the necessary information to control the movement of the transporting means. If necessary, for example, an additional sensor can be considered for escalators to check the step position and allow the synchronization between the robot and the step.
  • The individual method steps are described below as examples and are not limiting in each case.
  • Detecting environmental data, by the detection system, of movable units on the stationary underground, which is adjacent to the transportation means, means in particular that the environment of the transportation means is monitored for persons or persons carrying objects that want to use the transportation means or that are at least in its immediate vicinity and are therefore potential obstacles for a robot that wants to use the transportation means.
  • The detection system can be an integral part of the transportation system.
  • According to a different solution the detection system can be a part of a separate system.
  • According to a different solution the detection system can be a separate system itself.
  • Preferably, the detection system can be exchanged or upgraded on demand.
  • The computing system can determine the robot transport data with one or more measures to ensure that the robot can safely move onto the transportation system. If several measures are combined, the overall safety of the robot's movement can be increased.
  • Determining, by a computing system, the trajectory for the robot means in particular that a trajectory is determined that allows the robot to safely move onto the transportation system. In this example, the formulation safely means that the trajectory keeps the robot away from potential collision obstacles. It is not excluded that this trajectory determination is combined with other measures, such as the determination of the robot properties. If, for example, a technically induced maximum acceleration is determined, the trajectory can be modified accordingly. For example, the trajectory may be a bit longer so that the robot has more distance to accelerate, so that the common move-on speed can be achieved. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • Determining, by a computing system, the robot properties means in particular that one information or several different data of the robot can be determined. These robot properties can, for example, be communicated by the robot itself to the computing system. Alternatively or additionally, the robot properties can be derived from a specific robot type. For example, a model name can generate a database request, so that technical data of the robot can be obtained, which can be used for synchronization to the common move-on speed. For example, an identified respectively determined maximum speed and acceleration of the robot can be below the standard conveyor speed and acceleration of the transportation system. Thus, for example, the conveyor speed of the transportation system and/or the trajectory of the robot can be determined on the basis of these robot properties in such a way that the robot can safely move onto the transportation system. Other data can also be obtained by means of the model name, such as the dimensions of the robot. The model name can be detected by the detection system and subsequently interpreted respectively determined or, for example, derived from the contour of the robot by a qualified computing system. The computing system can either be fed directly with the information or be actively involved in its derivation. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • Determining, by a computing system, the selected pallet of the transportation means on which the robot should move means in particular that a safe movement by the robot onto the transportation means can be supported. As an example, the subsequent synchronization to the common move-on speed can be performed in such a way that the robot moves with such a robot movement speed and/or trajectory onto the selected pallet of the transportation means with an adequate conveyor speed that the robot stands on the one selected pallet for transportation by the transportation means without swinging or even tilting. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • Determining, by a computing system, the conveyor speed of the transportation means means in particular that a safe movement by the robot onto the transportation means can be supported. As an example, the subsequent synchronization to the common move-on speed can be performed in such a way that the robot moves with such a robot movement speed and/or trajectory onto a selected pallet of the transportation means with an adequate conveyor speed that the robot stands on the one selected pallet for transportation by the transportation means without swinging or even tilting. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • Determining, by the computing system, a common move-on speed for the conveyor speed of the transportation means and a robot movement speed, taking into account the robot transport data means in particular that the environmental data are used to generate and use the robot transport data in such a way that a safe move-on and transport of the robot by the transportation means is possible. Robot transport data includes those aspects that are relevant for safe move-on. In this respect, the formulation robot transport data can also be understood as robot movement data. As soon as the computing system has determined the required robot transport data, the common move-on speed can be determined preferably considering all relevant aspects. This common move-on speed can be used next to set the robot movement speed and/or the conveyor speed. This is also understood as synchronizing the conveyor speed of the transportation means and the robot movement speed to the common move-on speed.
  • Synchronizing the conveyor speed of the transportation means and the robot movement speed to the common move-on speed means in particular that, in a next step, the robot can safely move along the stationary underground with a robot movement speed onto the transportation means, whereby the robot movement speed and the conveyor speed are coordinated with each other. In particular, both speeds are practically the same. The value of the speed preferably depends on the transportation means and robot features in a way that allow to be the same once the move on process finishes. Preferably, this means that they differ from one another by no more than including ten percent, especially preferred by no more than including five percent. It is also possible, for example, that the robot movement speed is lower than the conveyor speed because the robot moves onto the pallet at its robot movement speed and in this context it is particularly important to avoid the robot hitting a step or a movable unit with its front side due to too much thrust.
  • Moving the robot onto the selected pallet means in particular that the robot drives onto the selected pallet in such a way that any slippage or similar disturbing factors are avoided. In particular, the robot moves with the common move-on speed on the transportation means. This means that the robot is neither slowed down nor is the robot pulled by the pallet that is at least partially occupied by the robot. Thus, tipping in and against the direction of the conveyor speed is avoided by setting the common move-on speed.
  • 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 secure footing for transport. It is also preferable to consider the robot's center of gravity.
  • It is preferable that the exit area is only detected if the transportation means actually transports a robot. This has proven to be energy-saving and therefore environmentally friendly.
  • According to a modified embodiment of the invention, it is provided that the transportation means is an escalator or a moving walkway. Exemplary advantages were mentioned above. An escalator is a passenger transportation means for overcoming a height distance, in which moving pallets form steps. An escalator is a transportation means, with at least one pallet, each pallet is exemplary partially horizontally and partially vertically movable. The purpose is generally to transport people at a speed higher than walking speed and/or with less muscle power. A further simplification is that a robot, for example, follows a person and transports their purchases. Accelerated transport of people and their robots from/to a location can save time and space (e.g. on platforms or in department stores). One speaks of a moving walkway when the pallets do not form a staircase but a flat surface, which can also be inclined and curved. So, a moving walkway is a transportation means, with at least one pallet, each pallet being movable horizontally to the ground, whereby the moving walkway can also extend over a slope.
  • According to a modified embodiment of the invention, it is provided that the movable units comprise the robot, external robots and/or living beings, in particular persons. It is therefore a very careful device that takes into account both people and the robot to be transported by the transportation means. It is therefore a very careful device that takes into account both people and the robot to be transported by the transportation means. The risk of collisions can be further reduced by taking into account external robots. In addition to the preferred named persons, pets, especially dogs, can be considered as living beings, which are detected as movable units.
  • According to a modified embodiment of the invention, it is provided that the determining the trajectory takes a predetermined trajectory into account; and/or the environmental data into account, wherein preferably living beings are prioritized in such a way that, if possible, they are not affected by the movement of the robot. The predetermined trajectory means that there can be a standard trajectory for each robot or for each transportation means. This predetermined trajectory can be used without any change. The predetermined trajectory can be useful to save computing capacity or if the trajectory is specifically designed for the requirements of the type of robot. Alternatively, the predetermined trajectory can be modified by taking the environmental data into account. For example, if the predetermined trajectory is obstructed by a temporary flower box, this is detected from the environment data and the trajectory is adjusted accordingly. Finally, according to another alternative, only the environmental data can be used. This is the most flexible solution for different obstacles, but it is associated with an increased computational effort, which can lead to delays. Additional or alternative can be provided that the computing system or the robot itself determines a waiting position for the robot, in such a way that, if possible, living beings are not affected by the waiting position of the robot. In this way it can be avoided that living beings that want to use the transportation means are affected by the robot. This is especially advantageous if the robot does not follow a human being but travels autonomously without time constraints. If the robot is following a human, it may be necessary to consider whether the robot, depending on its load, should actually be distanced from the human or whether it should take the waiting position so that a prioritization of the following can be set. For example, if high value goods are transported, the robot might not wait in the waiting position and might stay close to the human it is following. For example, if the robot is travelling alone without a load, it might be preferred that it takes the waiting position.
  • According to a modified embodiment of the invention and before the step of synchronizing the conveyor speed of the transportation means and the robot movement speed to the common move-on speed, it is provided, that a stop command is sent to the robot to keep it in its waiting position, if the computing system determines inter alia that:
    • the robot has not sufficient distance to a front movable unit, if present;
    • there is not enough space for the robot to enter the transportation means;
    • the original pallet to be moved onto is occupied and/or not passable; and/or
    • there is not enough distance between the robot and the pallet to be moved onto, to achieve the required common move-on speed to move the robot safely on the transportation means. Other constellations are also possible for sending a stop command to the robot, for example if in any situation the robot using the transportation means could represent a risk for the living beings/persons, the robot and/or the transportation means.
  • The fact that the robot stops if it does not have sufficient distance to a movable unit in front of it, if the movable unit is present, means that a collision with the movable unit is prevented. If the movable unit is a person, it is avoided that the person feels oppressed by the robot. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • The fact that the robot stops if there is not enough space for the robot to enter the transportation means, means that neither the robot nor the transportation means will be damaged by pushing the robot through. For example, the situation can be solved by removing any movable obstacles or by moving the robot to enter the transportation means in another position. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • The fact that the robot stops if the original pallet to be moved onto is occupied and/or not passable means that the robot reduces the risk of an accident. For example, the pallet may be occupied by a pet that would otherwise be hit by a car. Such accidents can be avoided. It is also possible to avoid the robot toppling over if the pallet is not accessible and the transportation means is an escalator. If the robot were to move only halfway up a pallet and this pallet was raised to a step, the robot would be more likely to tip over. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • The fact that the robot stops when there is not enough distance between the robot and the pallet to be moved onto, to achieve the required common move-on speed to move the robot safely on the transportation means that the robot reduces the risk of an accident. For example, the robot may not be able to accelerate to sufficient speed because the acceleration distance is too short, so that the robot is not completely on the selected pallet. If the pallet is an escalator pallet and the robot is not completely on the selected pallet, the robot would tip over when the pallet becomes a vertical step. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • Preferably afterwards, if the aforementioned circumstance respective criterion is no longer present, steps of the method are repeated at least partially, wherein optionally the robot is repositioned in advance. The fact that the steps of the method are at least partially repeated leads to the fact that the method is to be finally completed. It is preferable to repeat only as many steps as necessary to save computing capacity. Optionally, the method can be completely repeated. Repositioning leads to the creation of possibly more favorable starting conditions for executing the method. For example, the trajectory can be distanced from an originally undetected obstacle.
  • According to a modified embodiment of the invention, it is provided that the robot properties comprise among others:
    • a type of the robot,
    • the robot movement speed, and/or
    • dimensions of the robot;
    wherein the robot properties can be determined directly from the environmental data by the computing system and/or can be communicated by the robot via an interface with the computing system. It has been shown that these features allow sufficient robot characterization so that the robot can safely drive onto the transportation means.
  • For example, it may be sufficient to consider the type of robot. For example, if a particular type comprises a cylindrical shape that extends vertically to the horizon, it may be a lighter and faster robot to reach the transportation means. However, if the robot is wider than it is high, it may require more maneuvering and more waiting time. Therefore, the transportation means must be synchronized later so that other people on the transportation means are not unnecessarily delayed. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • An information of the robot properties can be the robot movement speed. This information can be used as a basis for the synchronization with the conveyor speed to a common move-on speed. This is a simple and robust measure. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • An information of the robot properties can be the dimensions of the robot. This information can be used as a basis for categorizing the robot and for setting further steps for its motion sequence, e.g. trajectory or robot movement speed. This is a simple and robust measure. This criterion can be the only criterion for the robot to stop in its waiting position. Preferably, this criterion can be combined with other criteria.
  • According to a modified embodiment of the invention, it is provided that the computing system performs a plausibility check of the robot properties, so that the step of the synchronizing only takes place if the robot has been found suitable for transport by the transportation means. This is another safety measure to ensure, for example, in the case of an escalator, that a robot that is too large does not fall from a pallet that is too narrow for that robot when it rises vertically to a step.
  • According to a modified embodiment of the invention, it is provided that an additional sensor is provided for detecting the position of the pallets, so that after the step of the synchronizing, the robot moves onto the transportation means in such a way that it stands securely on a pallet for transportation. The additional sensor can be a part of the detection system or independent of it, for example as an integrated part of the transportation means.
  • Alternatively or additionally it is provided that the transportation means adapts its conveyor speed in relation to the requirements of the robot. Preferably, this results in the common move-on speed, which adjusts the robot and the transportation means to each other in such a way that the robot and its possible load can move on as safely as possible and that any other persons travelling on the transportation means experience as little delay as possible.
  • According to a modified embodiment of the invention, it is provided that in case the robot is to leave the transportation means, the computing system, which interacts with the detection system:
    • sends a movement order to the robot; and
    • continuously monitors that enough space of an exit area for the robot movement is free from any obstacles,
    wherein in case that there is not enough space available, the computing system triggers a command to reduce the conveyer speed and/or to stop the transportation means. The present situation is therefore that the robot has been transported by the transportation means, that it is approaching its destination and that finally a safe moving off of the robot from the transportation means is required and performed by the above measures. For this purpose, the computing system monitors that the robot can leave the transportation means in such a way that no collision occurs when it leaves. As soon as this is ensured, the computing system sends a corresponding movement order to the robot. If a collision is unavoidable while the transportation means is moving at the same speed, the first step can be to reduce the speed of the transportation means. Depending on the situation, this can be done abruptly or continuously, while maintaining safety. This can end with the transportation means stopping. Alternatively, the transportation means can also stop directly so that the robot does not approach the alleged collision object any further.
  • The present invention also provides a system comprising means for executing the steps of the method. The system may comprise the above mentioned computing system with one or more features. In addition, the system may comprise the above mentioned detection system with one or more of the above mentioned features.
  • The present invention also provides a robot. Preferably, the robot can comprise one or more of the above mentioned features.
  • The present invention also provides a transportation means for the system. Preferably, the transportation means can comprise one or more of the above mentioned features.
  • The present invention also provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method. A computer program is a collection of instructions for performing a specific task that is designed to solve a specific class of problems. The instructions of a program are designed to be executed by a computer and it is required that a computer can execute programs in order to it to function.
  • The present invention also provides a data carrier signal, which the computer program transmits.
  • The present invention also provides a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.
    • Brief description of the drawings
  • In the following, the invention is explained in more detail with reference to the attached drawings, using a preferred design example. The word figure is abbreviated in the drawings as Fig.
  • The drawings show in
    • Fig. 1
    a schematic side view of a robot, a person, a transportation means and a system for controlling the robot according to a preferred design example of the invention, wherein the robot and the person are positioned in an entry area;
    Fig. 2
    a schematic top view of the arrangement according to figure 1;
    Fig. 3
    a schematic subsequent side view of the arrangement according to figure 1, wherein the person is about to be transported by the transportation means and wherein the robot waits for the distance to the person to increase;
    Fig. 4
    a schematic top view of the arrangement according to figure 3;
    Fig. 5
    a schematic subsequent top view of the arrangement according to figure 3, wherein the robot stands on a pallet;
    Fig. 6
    a schematic top view of the arrangement according to figure 5, wherein the robot has gained a sufficient distance to the person and then moved onto a pallet of the transportation means;
    Fig. 7
    a schematic side view of the arrangement according to any aforementioned figure, wherein the robot is about to move onto a pallet of the transportation system, wherein as an example the transportation system is designed as an escalator so that the pallets are formed into vertical steps by the progressive movement; and
    Fig. 8
    a flow diagram which illustrates an exemplary method sequence.
    Detailed description of the design example
  • The described design example is only an example which can be modified and/or supplemented in many ways within the scope of the claims. Each feature described for the design example of a particular claim category can also be used in a corresponding way in a design example of another claim category.
  • The figures 1 to 8 refer to a method for an autonomous robot 1 to move on a transportation means 3, with at least one at least partially horizontally movable pallet 5. In the example shown, the transportation means 3 is an escalator 3a. Alternatively, but not shown, the transportation means 3 can also be a moving walkway. The features are, as far as technically possible, analogously applicable.
  • Figure 8 shows an example flow chart, which represents preferred method steps. Thus a method is shown for an autonomous robot 1 to move on a transportation means 3, with at least one at least partially horizontally movable pallet 5. The preferred method comprises the following steps:
    • Detecting environmental data, by a detection system 7, of movable units 9 on a stationary underground 11, which is adjacent to the transportation means 3 100;
    • Determining, taking into account the environmental data by a computing system 13, robot transport data, with at least one of the following:
      • a trajectory for the robot 1 200;
      • robot properties 300;
      • a selected pallet 5 of the transportation means 3 on which the robot 1 should move 400;
      • a conveyor speed of the transportation means 3 500;
      • a common move-on speed for the conveyor speed of the transportation means 3 and a robot movement speed 600, taking into account the robot transport data;
    • Synchronizing the conveyor speed of the transportation means 3 and the robot movement speed to the common move-on speed 700;
    • Moving the robot 1 onto the selected pallet 5 800;
    • Braking of the robot 1 on the selected pallet 5 900. The above steps preferably apply in the order mentioned. However, a variation of the step sequence is also possible.
  • The individual steps or situations of this method are shown schematically in figures 1 to 7. Figures 1 and 2 show the same situation in a side and top view. Figures 3 and 4 follow on from this and show the same situation in a side and top view. Figures 5 to 7 belong to a similar circle of situations and show the respective situation as a section, see Figure 5, as a top view, see Figure 7 and as a side view, see Figure 7.
  • More precisely described the figures 1 and 2 show schematically the detecting the environmental data of the movable units 9. This is performed by the detection system 7.
  • The movable units 9 are positioned on the stationary underground 11, which is adjacent to the transportation means 3. This is understood as method step 100. In the shown example the movable units 9 comprise the robot 1 and a living being, which is a person 9a. The robot 1 and the person 9a are shown in a very simplified and schematic way in the top view as well as in the side view in all the figures.
  • The next steps of the method 200-600 comprises the determining by a computing system 13 of several features.
  • As shown in Figures 1, 3 and 7, the computing system 13 can comprise one or more computing units. In the example shown in Figures 1, 3 and 7, the computing system 13 can have one or more computing units. There is one computing unit arranged on the detection system 7, which evaluates the data of the detection system 7, and another computing unit arranged at the transportation means 3, exemplarily designed as escalator 3a, whereby the latter computing unit can be responsible for the conveyor speed and/or common move-on speed. It is also possible that the computing system 13 arranged on the detection system 7 performs all the computing steps alone or that the computing system 13 arranged at the transportation means 3 performs all the computing steps alone. Optionally, the computing system 13 can also be provided via an external server.
  • For example, a trajectory for the robot 1 is determined by the computing system 13 200. For this, the predetermined trajectory can be considered. Alternatively, or additionally, the environmental data can be taken into account. Preferably, the person is prioritized in such a way that, if possible, it is not affected by the movement of the robot 1. Furthermore it is alternatively or additionally possible that the computing system 13 or the robot 1 itself determines a waiting position for the robot 1, in such a way that, if possible, living beings are not affected by the waiting position of the robot 1. Since the robot 1 is already positioned behind the person 9a, these preferred features are not shown in detail.
  • Furthermore, it is alternatively or additionally possible for the computing system 13 to determine robot properties 300. This can be performed during a situation between figures 1 to 4. Preferably, the robot properties comprise a type of the robot 1, the robot movement speed, and/or dimensions of the robot 1. This can be helpful, for example, to determine a suitable trajectory for the robot 1 so that it does not collide anywhere due to protruding components. It is also possible that robot 1 enables limited speeds. For example, it may only be moved very slowly due to a sensitive load. This can then be taken into account for driving onto the escalator 3a respectively for its conveying speed. The robot properties can be determined directly from the sensed environmental data by the computing system 13. Alternatively or, for example, as an increased security measure additionally the robot properties can be communicated by the robot 1 via an interface with the computing system 13. This implies that the robot 1 comprises a corresponding communication unit and a corresponding information memory. So, to prevent the operation of the escalator 3a from coming to a standstill, a preferred option is that the computing system 13 performs a plausibility check of the robot properties, so that the step of the synchronizing 700 only takes place if the robot 1 has been found suitable for transport by the transportation means 3.
  • Furthermore, in one preferred method step 400 the selected pallet 5 of the transportation means 3 on which the robot 1 should move shall be determined 400. Thus, for example, the common move-on speed can be adapted to this so that the start time, the speed and/or the acceleration of robot 1 is determined taking into account the robot 1 dimensions and the dimensions of pallet 5. The selected pallet 5 is the target point of the robot 1.
  • Furthermore, it is alternatively or additionally possible for the computing system to determine the conveyor speed of the transportation means 3 500. This can be advantageous in the case of a particularly heavily loaded robot 1 or a slowly moving robot 1 in order to prevent robot 1 from tipping over during move-on the escalator 3a or during its transport on the escalator 3a.
  • Likewise, it is alternatively or additionally possible for the computing system to determine the common move-on speed for the conveyor speed of the transportation means 3 and a robot movement speed 600. This can also be advantageous in the case of a particularly heavily loaded robot 1 or a slowly moving robot 1 in order to prevent robot 1 from tipping over during move-on the escalator 3a.
  • As soon as one or more aspects, as exemplarily mentioned before, are determined by a computing system, the synchronizing the conveyor speed of the transportation means 3 and the robot movement speed to the common move-on speed 700 is performed. This enables a move-on of robot 1 onto the escalator 3a, as shown in the example of the transition from figure 7 to figure 6.
  • The robot 1 onto the selected pallet 5 800 and the of the robot 1 on the selected pallet 5 900 can only be hinted at, so that robot 1 then stands still on a selected pallet 5 as shown in figure 5 and is transported by the escalator 3a.
  • Not shown, but preferred is that before the step of the synchronizing the conveyor speed of the transportation means 3 and the robot movement speed to the common move-on speed 700, if the computing system 13 determines that:
    • the robot 1 has not sufficient distance to a front movable unit 9, if present,
    • there is not enough space for the robot 1 to enter the transportation means 3,
    • the original pallet 5 to be moved onto is occupied and/or not passable, and/or
    • there is not enough distance between the robot 1 and the pallet 5 to be moved onto, to achieve the required common move-on speed to move the robot 1 safely on the transportation means 3,
    a stop command is sent to the robot 1 to keep it in its waiting position. Preferably afterwards, if the aforementioned circumstance is no longer present, steps of the method are repeated at least partially, wherein optionally the robot 1 is repositioned in advance.
  • As indicated in figures 2, 4 and 6, it is preferred that the escalator 3a comprises an additional sensor 15 for detecting the position of the pallets 5, so that after the step of the synchronizing 700, the robot 1 moves onto the transportation means 3 in such a way that it stands securely on a pallet 5 for transportation. Furthermore, it is alternatively or additionally possible that the escalator 3a adapts its conveyor speed to the requirements of the robot 1.
  • Not shown, but preferred is that in case the robot 1 is to leave the transportation means 3, the computing system 13, which interacts with the detection system 7:
    • sends a movement order to the robot 1; and
    • continuously monitors that enough space of an exit area for the robot movement is free from any obstacles. In case that there is not enough space available, the computing system 13 triggers a command to reduce the conveyer speed and/or to stop the transportation means 3.
    Reference list
    • 1
    robot
    3
    transportation means
    3a
    escalator
    5
    pallet
    7
    detection system
    9
    movable units
    9a
    person
    11
    stationary underground
    13
    computing system
    15
    additional sensor
    17
    system
    100
    Detecting environmental data of movable units on a stationary underground, which is adjacent to the transportation means
    200
    Determining a trajectory for the robot
    300
    Determining robot properties
    400
    Determining a selected pallet of the transportation means on which the robot should move
    500
    Determining a conveyor speed of the transportation means
    600
    Determining a common move-on speed for the conveyor speed of the transportation means and a robot movement speed
    700
    Synchronizing the conveyor speed of the transportation means (3) and the robot movement speed to the common move-on speed
    800
    Moving the robot onto the selected pallet
    900
    Braking of the robot on the selected pallet

Claims (15)

  1. Method for an autonomous robot (1) to move on a transportation means (3), with at least one at least partially horizontally movable pallet (5), the method comprising the following steps:
    - Detecting environmental data, by a detection system (7), of movable units (9) on a stationary underground (11), which is adjacent to the transportation means (3) (100);
    - Determining, by a computing system (13), robot transport data, with at least one of the following and in any sequence:
    - a trajectory for the robot (1) (200);
    - robot properties (300);
    - a selected pallet (5) of the transportation means (3) on which the robot (1) should move (400);
    - a conveyor speed of the transportation means (3) (500);
    - Determining, by the computing system (13), a common move-on speed for the conveyor speed of the transportation means (3) and a robot movement speed (600), taking into account the robot transport data;
    - Synchronizing the conveyor speed of the transportation means (3) and the robot movement speed to the common move-on speed (700);
    - Moving the robot (1) onto the selected pallet (5) (800);
    - Braking of the robot (1) on the selected pallet (5) (900).
  2. Method according to claim 1, characterized in that
    the transportation means (3) is an escalator (3a) or a moving walkway.
  3. Method according to at least one of claims 1 or 2, characterized in that
    the movable units (9) comprise the robot (1), external robots and/or living beings, in particular persons (9a).
  4. Method according to at least one of the preceding claims, characterized in that
    - the determining the trajectory (200) takes:
    - a predetermined trajectory into account;
    - the environmental data into account, wherein preferably living beings are prioritized in such a way that, if possible, they are not affected by the movement of the robot (1); and/or that
    - the computing system (13) or the robot (1) itself determines a waiting position for the robot (1), in such a way that, if possible, living beings are not affected by the waiting position of the robot (1).
  5. Method according to at least one of the preceding claims, characterized in that before the step of the synchronizing the conveyor speed of the transportation means (3) and the robot movement speed to the common move-on speed (700),
    if the computing system (13) determines among others that:
    - the robot (1) has not sufficient distance to a front movable unit (9), if present,
    - there is not enough space for the robot (1) to enter the transportation means (3),
    - the original pallet (5) to be moved onto is occupied and/or not passable,
    - there is not enough distance between the robot (1) and the pallet (5) to be moved onto, to achieve the required common move-on speed to move the robot (1) safely on the transportation means (3), and/or
    - the robot (1) using the transportation means (3) represents a risk for living beings, the robot (1) itself and/or the transportation means (3),
    a stop command is sent to the robot (1) to keep it in its waiting position;
    wherein preferably afterwards, if the aforementioned circumstance is no longer present, steps of the method are repeated at least partially, 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 comprise:
    - a type of the robot (1),
    - the robot movement speed, and/or
    - dimensions 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 communicated 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 plausibility check of the robot properties, so that the step of the synchronizing (700) only takes place if the robot (1) has been found suitable for transport by the transportation means (3).
  8. Method according to at least one of the preceding claims, characterized in that:
    - an additional sensor (15) is provided for detecting the position of the pallets (5), so that after the step of the synchronizing (700), the robot (1) moves onto the transportation means (3) in such a way that it stands securely on a pallet (5) for transportation; and/or that it
    - the escalator 3a adapts its conveyor speed to the requirements of the robot (1).
  9. Method according to at least one of the preceding claims, characterized in that in case the robot (1) is to leave the transportation means (3), the computing system (13), which interacts with the detection system (7):
    - sends a movement order to the robot (1); and
    - continuously monitors that enough space of an exit area for the robot movement is free from any obstacles,
    wherein in case that there is not enough space available, the computing system (13) triggers a command to reduce the conveyer speed and/or to stop the transportation means (3).
  10. System with means for an autonomous robot (1) to move on a transportation means (3), with at least one at least partially horizontally movable pallet (5), for executing steps of the method according to at least one of the preceding claims, the system (17) comprising at least the computing system (13) according to at least one of the preceding claims and/or the detection system (7) according to at least one of the preceding claims.
  11. Robot with features of the robot (1) according to at least one of the preceding claims.
  12. Transportation means with features of the transportation means (3) according to at least one of the preceding claims.
  13. Computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method according to at least one of the preceding claims.
  14. Data carrier signal, which the computer program transmits according to the preceding claim.
  15. Computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method according to at least one of the preceding claims.
EP21382056.6A 2021-01-22 2021-01-22 Moving on a transportation means with an autonomous robot Pending EP4032846A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP21382056.6A EP4032846A1 (en) 2021-01-22 2021-01-22 Moving on a transportation means with an autonomous robot
CN202280008477.7A CN116710384A (en) 2021-01-22 2022-01-21 Moving on a transport device by means of an autonomous robot
PCT/EP2022/051319 WO2022157294A1 (en) 2021-01-22 2022-01-21 Moving on a transportation means with an autonomous robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21382056.6A EP4032846A1 (en) 2021-01-22 2021-01-22 Moving on a transportation means with an autonomous robot

Publications (1)

Publication Number Publication Date
EP4032846A1 true EP4032846A1 (en) 2022-07-27

Family

ID=74732804

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21382056.6A Pending EP4032846A1 (en) 2021-01-22 2021-01-22 Moving on a transportation means with an autonomous robot

Country Status (3)

Country Link
EP (1) EP4032846A1 (en)
CN (1) CN116710384A (en)
WO (1) WO2022157294A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120041593A1 (en) * 2010-07-08 2012-02-16 Ryoko Ichinose Elevator system that autonomous mobile robot takes together with person
EP3205618A1 (en) * 2016-02-15 2017-08-16 Thyssenkrupp Elevator Innovation Center, S.A. Method for controlling a transport device, namely an escalator or a moving walkway
WO2018109822A1 (en) * 2016-12-13 2018-06-21 三菱電機ビルテクノサービス株式会社 Inspection robot and inspection system of passenger conveyor
US20190369622A1 (en) * 2019-06-28 2019-12-05 Lg Electronics Inc. Method for entering mobile robot into moving walkway and mobile robot thereof

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120041593A1 (en) * 2010-07-08 2012-02-16 Ryoko Ichinose Elevator system that autonomous mobile robot takes together with person
EP3205618A1 (en) * 2016-02-15 2017-08-16 Thyssenkrupp Elevator Innovation Center, S.A. Method for controlling a transport device, namely an escalator or a moving walkway
WO2018109822A1 (en) * 2016-12-13 2018-06-21 三菱電機ビルテクノサービス株式会社 Inspection robot and inspection system of passenger conveyor
US20190369622A1 (en) * 2019-06-28 2019-12-05 Lg Electronics Inc. Method for entering mobile robot into moving walkway and mobile robot thereof

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WO2022157294A1 (en) 2022-07-28
CN116710384A (en) 2023-09-05

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