Mobile robot having collision avoidance system for crossing a road from a pedestrian pathway

• US 10,282,995 B2
• Filed: 09/05/2017
• Issued: 05/07/2019
• Est. Priority Date: 09/05/2017
• Status: Active Grant

• Current Assignee: Starship Technologies Ou (Starship Technologies, Inc.)
• Original Assignee: Starship Technologies Ou (Starship Technologies, Inc.)
• Inventors: Heinla, Ahti, Reinpold, Risto, Korjus, Kristjan
• Primary Examiner(s): Mott, Genna M
• Application Number:
  US15/695,157
• Publication Number:
  US 20190073904A1
• Time in Patent Office: 609 Days
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/227 Handing over between remote control and on-board control; Handing over between remote control arrangements
• CPC Class Codes: G05D 1/247 using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
• CPC Class Codes: G05D 1/249 from positioning sensors located off-board the vehicle, e.g. from cameras
• CPC Class Codes: G05D 1/617 Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80
• CPC Class Codes: G05D 1/65 Following a desired speed profile
• CPC Class Codes: G08G 1/0104 Measuring and analyzing of parameters relative to traffic conditions
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance method and system for a mobile robot crossing a road. When a mobile robot approaches a road, it senses road conditions via at least one first sensor, and initiates road crossing if the road conditions are deemed suitable for crossing. As it crosses the road, the mobile robot senses, via at least one second sensor, a change in the road conditions indicating the presence of at least one hazardous moving object. In response to determining that at least one hazardous object in present, the mobile robot initiates a collision avoidance maneuver. A mobile robot configured to avoid collisions while crossing a road includes: at least one first sensor configured to sense road conditions, at least one second sensor configured to sense road conditions, and a processing component configured to carry out one or more collision avoidance maneuvers.

Claims

1. A method for a mobile package delivery robot located on a pedestrian pathway to avoid collisions when crossing a road adjacent to the pedestrian pathway, the method comprising:

the mobile robot approaching the road from the pedestrian pathway;

the mobile robot sensing road conditions via at least one first sensor;

the mobile robot initiating road crossing at a pedestrian crossing, if the mobile robot determines that the road conditions are suitable for crossing by the mobile robot;

while crossing the road on the pedestrian crossing, the mobile robot sensing via at least one second sensor a change in the road conditions indicating that at least one hazardous moving object is on the road outside the pedestrian crossing, and is on a potential collision course with the mobile robot; and

the mobile robot initiating a collision avoidance maneuver, in response to determining that at least one hazardous moving object is present on the road outside the pedestrian crossing and is on a potential collision course with the mobile robot, wherein the collision avoidance maneuver comprises;

applying a braking force; and

then

applying a reverse acceleration in such a way that the mobile robot moves backwards within 0.5 seconds of sensing said change in road conditions, travels in reverse a predetermined distance and comes to a standstill.

2. The method according to claim 1, wherein the collision avoidance maneuver comprises:

determining whether or not an object is directly behind the mobile robot; and

applying the reverse acceleration, only if no object is sensed directly behind the mobile robot.

3. The method according to claim 1, wherein the sensing by at least one of the at least one first sensor and the at least one second sensor comprises at least one or a combination of sensing by

at least one radar;

at least one visual camera;

at least one stereo camera;

at least one time of flight camera;

at least one ultrasonic sensor; and

at least one Lidar sensor.

4. The method according to claim 1, wherein sensing the hazardous moving object comprises sensing at least one of:

an approaching object that is not decelerating;

an approaching object that exceeds a minimum size threshold; and

an approaching object on a collision path with the mobile robot.

5. The method according to claim 1, comprising:

applying a maximum reverse acceleration in such a way that the mobile robot travels a maximum distance of 1.5 m in reverse.

6. The method according to claim 1, wherein the sensing of the road conditions via the first sensor comprises sensing objects located at a further distance from the mobile robot than the sensing of the road conditions via the second sensor.

7. The method according to claim 1, comprising:

determining that a hazardous moving object is present, based at least in part on one or more of;

(a) the structure of the road, and (b) information about average road traffic density.

8. The method according to claim 1, wherein at least one of the first sensor and the second sensor comprise at least two distinct sensors configured to sense road conditions in a complementary way.

9. The method according to claim 1, wherein the robot moves backwards within 0.2 seconds of sensing said change in road conditions.

10. A method for a package delivery mobile robot located on a pedestrian pathway to avoid collisions when crossing a road adjacent to the pedestrian pathway, the method comprising:

initiating road crossing at a pedestrian crossing;

while crossing the road, detecting at least one approaching hazardous moving object which is on the road but outside the pedestrian crossing;

computing a trajectory of the at least one hazardous moving object on the road;

classifying the hazardous moving object; and

initiating a collision avoidance maneuver, if the trajectory and classification of the hazardous moving object meet certain predefined criteria including that the trajectory of the hazardous moving object intersects a trajectory of the mobile robot within a certain minimum limit;

wherein;

the collision avoidance maneuver comprises moving backwards within 0.5 seconds of detecting said at least one approaching hazardous moving object.

11. The method according to claim 10, wherein the collision avoidance maneuver comprises:

applying a braking force; and

then

applying a reverse acceleration in such a way that the mobile robot travels a maximum distance of 1.5 m in reverse and comes to a standstill.

12. The method according to claim 10, wherein the collision avoidance maneuver comprises moving backwards within 0.2 seconds of detecting said at least one approaching hazardous moving object.

17. The road crossing mobile package delivery robot according to claim 12, wherein, as part of the collision avoidance maneuver, the processing component is configured to:

apply a braking force; and

then

applying a reverse acceleration in such a way that the mobile robot travels a maximum distance of 1.5 m in reverse and comes to a standstill.

13. A road crossing mobile package delivery robot configured to avoid collisions while crossing a road, the mobile robot comprising

at least one first sensor configured to sense road conditions;

at least one second sensor configured to sense road conditions; and

a processing component connected to the at least one first sensor and to the at least one second sensor, and configured to;

detect, from a pedestrian pathway on which the mobile robot is located, that the mobile robot is approaching a road;

process road conditions sensed by the at least one first sensor;

initiate road crossing at a pedestrian crossing, if the mobile robot determines that the road conditions are suitable for crossing by the mobile robot;

process a change in the road conditions sensed by the at least one second sensor indicating a hazardous approaching object while the robot is crossing the road; and

initiate a collision avoidance maneuver, in response to determining that at least one hazardous approaching object is present on the road but outside the pedestrian crossing, and is on a trajectory that intersects a trajectory of the mobile robot within a certain minimum limit;

wherein;

the collision avoidance maneuver comprises moving backwards within 0.5 seconds of determining that said at least one hazardous object is present.

14. The road crossing mobile package delivery robot according to claim 13, wherein the mobile robot is configured to:

detect, with at least one third sensor, whether or not an object is directly behind the mobile robot; and

apply reverse acceleration only if no object is detected directly behind the mobile robot.

15. The road crossing mobile package delivery robot according to claim 14, wherein the at least one third sensor comprises at least one of

at least one radar;

at least one visual camera;

at least one stereo camera;

at least one time of flight camera;

at least one ultrasonic sensor; and

at least one Lidar sensor.

16. The road crossing mobile package delivery robot according to claim 13, wherein the at least one second sensor is configured to detect objects with a greater precision than the first sensor.

18. The road crossing mobile package delivery robot according to claim 13, wherein the collision avoidance maneuver comprises moving backwards within 0.2 seconds of determining that said at least one hazardous object is present.

19. A method for a mobile package delivery robot initially located on a pedestrian pathway to cross a road adjacent to the pedestrian pathway, the method comprising:

while still on the pedestrian pathway, sensing road conditions via at least one first sensor;

if the mobile robot determines that road conditions are suitable for crossing by the mobile robot, initiating a road crossing at a pedestrian crossing,

while crossing the road and on the pedestrian crossing, the mobile robot sensing via at least one second sensor, a change in the road conditions indicating at least one hazardous moving object; and

if the mobile robot detects that at least one hazardous moving object is present on the road but outside the pedestrian crossing, and is on a trajectory that intersects a trajectory of the mobile robot within a certain minimum limit, initiating a collision avoidance maneuver comprising;

the mobile robot checking to see if an object is directly behind the mobile robot; and

if the mobile robot determines that there is no object directly behind the mobile robot, the mobile robot traveling backwards in the direction of the pedestrian pathway from which the mobile robot entered the road, within 0.5 seconds of detecting that said at least one hazardous moving object is present.

20. The method according to claim 19, wherein sensing a change in road conditions indicating at least one hazardous moving object, comprises:

detecting an approaching object while the mobile robot is crossing the road;

computing the object'"'"'s trajectory and size; and

;

if the computed trajectory and size meet predefined criteria, initiating said collision avoidance maneuver; and

if the computed trajectory and size do not meet said predefined criteria, continuing the road crossing.

21. The method according to claim 19, comprising:

prior to the mobile robot checking to see if an object is directly behind the mobile robot;

the mobile robot determining whether it has reached a halfway point in crossing the road; and

the mobile robot checking to see if an object is directly behind, only if the halfway point has not yet been reached.

22. The method according to claim 19, wherein the collision avoidance maneuver further comprises:

the mobile robot checking to see if an object is directly in front of the mobile robot; and

if the mobile robot determines that there is no object directly in front of the mobile robot, the mobile robot accelerating to speed up the road crossing.

23. The method according to claim 19, wherein:

the at least one second sensor is configured to detect objects with a greater precision than the first sensor.

24. The method according to claim 19, wherein:

sensing of the road conditions via the first sensor comprises sensing objects located at a further distance from the mobile robot than the sensing of the road conditions via the second sensor.

25. The method according to claim 19, wherein the mobile robot traveling backwards comprises:

applying a braking force; and

then

applying a reverse acceleration in such a way that the mobile robot travels a maximum distance of 1.5 m in reverse and comes to a standstill.

26. The method according to claim 19, wherein the mobile robot travels backwards within 0.2 seconds of detecting that said at least one hazardous moving object is present.