Projection unit for a self-directing mobile platform, transport robot and method for operating a self-directing mobile platform

• US 9,508,235 B2
• Filed: 07/30/2014
• Issued: 11/29/2016
• Est. Priority Date: 08/06/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Suessemilch, Irene, Rohrer, Christoph, Roesch, Ramona, Guenther, Clemens, von Collani, Yorck, Linder, Stephanie, Fischer, Volker
• Primary Examiner(s): Wang, Jack K
• Application Number:
  US14/447,501
• Publication Number:
  US 20150042485A1
• Time in Patent Office: 853 Days
• Field of Search: 340/815.4, 700/258, 700/245, 700/255
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B60Q 2400/50 Projected symbol or information, e.g. onto the road or car body
• CPC Class Codes: G03B 21/20 Lamp housings
• CPC Class Codes: G05B 2219/40196 Projecting light on floor to delimit danger zone around robot
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05B 2219/49157 Limitation, collision, interference, forbidden zones, avoid obstacles
• CPC Class Codes: G08B 5/36 using visible light sources

Abstract

A projection unit for a self-directing mobile platform, in particular for a freely moving transport robot and/or for one or more freely moving transport devices of a transport robot, is characterized in that the projection unit is adapted for signal transmission for projecting the movement path of the mobile platform, wherein the projection takes place within the spatial vicinity of the mobile platform.

Claims

1. A system for generating projected movement paths in a self-directing mobile platform comprising:

a sensor unit configured to generate sensor data corresponding to an object within a predetermined distance of the self-directing mobile platform;

a projection unit configured to generate an indicia of a path of movement for the self-directing mobile platform; and

a calculation unit operatively connected to the sensor unit and the projection unit, the calculation unit being configured to;

identify a position of the object with reference to the sensor data;

generate a movement path for the self-directing mobile platform that avoids a collision with the object;

operate the projection unit to emit light at a first intensity level to project a first depiction of the movement path on a surface proximate to the self-directing mobile platform, the first depiction of the movement path not intersecting with the object prior to movement of the self-directing mobile platform along the movement path; and

operate the projection unit to emit light at a second intensity level, the second intensity level being less than the first intensity level, in response to the self-directing mobile platform moving to within a predetermined distance of the object.

2. The system of claim 1, the projection unit further comprising:

a micro-laser unit configured to produce a predetermined two-dimensional optical pattern on the surface for the first depiction of the movement path of the self-directing mobile platform.

3. The system of claim 1, the projection unit being further configured to:

project the first depiction of the movement path on at least one of a floor, a wall, and a ceiling proximate to the self-directing mobile platform.

4. The projection unit according to claim 1, the projection unit being further configured to project the depiction of the movement path including at least one of a graphical or text symbol.

5. The system of claim 1, the calculation unit being further configured to:

operate the projection unit to project a second depiction of a region around the first depiction of the movement path onto the surface proximate to the self-directing mobile platform, the second depiction including a region of the surface around the self-directing mobile platform that is permissible for movement of the object concurrent to movement of the self-directing platform along the movement path.

6. The system of claim 1, the sensor unit further comprising a light detecting and ranging (LIDAR) device.

7. The system of claim 1, the sensor unit further comprising a radio wave transmitter and receiver.

8. The system of claim 1, the calculation unit being further configured to:

deactivate the projection unit in response to the self-directing mobile platform moving to within the predetermined distance of the object.