Control of mobile robots via global safety graph

Abstract

The present invention relates to a system for controlling at least one mobile robot, wherein the system is adapted to control the operation of at least one mobile robot based at least in part on a global safety map including safety rating information for the mobile robot, wherein the global safety map includes multiple layers including different categories of safety rating information, wherein the multiple layers include: at least one geometric information layer including spatial working environment feature information of features in the working environment of the mobile robot; at least one immovable object information layer including known immovable object operation information of immovable objects in the working environment of the mobile robot; at least one movable object information layer including known movable object operation information of known movable objects in the working environment of the mobile robot; and at least one unknown object layer including unknown object operation information of unknown objects in the working environment of the mobile robot.

Description

Technical Field

[0001] This invention relates to a system for controlling a mobile robot, a corresponding computer-implemented method, a computer program product, and a computer-readable medium. Background Technology

[0002] Controlling mobile or mobile robots (such as mobile robotic arms) typically requires meeting stringent safety requirements. This is especially true in hybrid environments where mobile robots and humans operate simultaneously, where adequate control of the mobile robot is essential to prevent accidents. Currently, to allow humans and robots to share workspaces, safety sensors with pre-configured monitoring areas and corresponding safety features are often implemented. However, the applied safety concepts are usually static and only cover a limited number of participants and potential unforeseen circumstances. Consequently, access and workflow in such hybrid environments are often suboptimal.

[0003] Therefore, there is a need for improved systems and methods for controlling mobile robots. Summary of the Invention

[0004] The present invention achieves its objective according to the independent claims. Preferred embodiments of the invention are provided in the dependent claims, the specification, and the accompanying drawings.

[0005] The present invention relates to a system for controlling at least one mobile robot.

[0006] The system is adapted to control the operation of at least one mobile robot based at least in part on a global safety graph, which includes safety rating information for the mobile robot.

[0007] The global security graph comprises multiple layers, each containing security rating information for different categories.

[0008] Multiple layers include at least one geometric information layer, which includes spatial working environment feature information of the mobile robot's working environment.

[0009] The multiple layers also include at least one immovable object information layer, which includes known immovable object operation information of immovable objects in the working environment of the mobile robot.

[0010] The multiple layers also include at least one movable object information layer, which includes known movable object operation information of known movable objects in the working environment of the mobile robot.

[0011] The multiple layers also include at least one unknown object layer, which includes unknown object operation information of unknown objects in the working environment of the mobile robot.

[0012] Therefore, a system is provided that allows one or more mobile robots to flexibly change position while accommodating dynamic changes in the environment, thereby enabling efficient and optimized movement (especially in mixed environments). Using different layers allows individual mobile robots to avoid hazardous situations between themselves and with human operators in the workspace or facility. Mobile robots can obtain critical information from the safety map accordingly, such as the type of area they are currently entering or have entered, and the presence of other objects. For example, this may include temporarily shielding certain safety features in areas where human presence is prevented or known via the global safety map. Each mobile robot can check its own position, update its information in the global safety map, and retrieve information about the environment from the global safety map.

[0013] For example, as further described below, the global safety map that the mobile robot needs to access may be provided, for example, from a remote entity (such as a global safety management unit), which may allow activation of their safety configuration based on information obtained from the global safety map. In another embodiment, the mobile robot may have a local global safety map, which may include a local copy of the global safety map with data extracted from the global safety map. The local global safety map can then be enriched with local safety rating information from the global safety map. The mobile robot may accordingly include control components (such as actuators, motors, brakes, etc.) for appropriately controlling motion and / or tasks based on information obtained from the global safety map.

[0014] A specific map infrastructure including at least three (preferably four) layers can also, for example, allow the enforcement of access rules, thereby increasing the predictability of the behavior of mobile robots and personnel in hybrid (e.g., collaborative) environments. In some embodiments, additional layers may be added to include information about application-related semantics. For example, this could be the capability of a fixed-location production station served by a mobile robot. The location information of the mobile robot obtained through safety rating positioning can be used as an index to obtain specific information about any item of interest using information from any layer. One or more mobile robots can access the global safety map via corresponding data connection components. “Global” in this context can include: the safety map is not limited to a local area or is accessible only in a local area, but can be, for example, universally accessible from any location; and / or can include corresponding safety rating information for all areas covered by the system of the present invention. However, in some embodiments, the global safety map may be at least partially accessible only in certain locations, and / or may include corresponding safety rating information only for certain areas of interest.

[0015] Mobile robots can include any type of mobile robot, including manually, semi-automatically, or fully automatically controlled and driven robots, such as, for example, autonomous mobile robots (AMRs), autonomous mobile vehicles (AMVs), automated guided vehicles (AGVs), or mobile robotic arms (AMMRs). It should be noted that mobile robots can also be provided in a fixed manner, for example, docked at different locations. In this context, a "mobile" or "mobile" robot can include: a robot that can occupy different orientations or positions on the ground. The orientation of the mobile robot can change accordingly. For example, a mobile robot can move from a starting point to an ending point via different pre-determined travel paths. The movement of a mobile robot can include, for example, the mobile robot moving between different locations along a (possibly pre-determined) path. For example, a mobile robot can be adapted to move between a first working position and a second working position. A mobile robot can also be autonomous, such that it finds its own way from a given starting point to a given ending point without the need for a predefined path. The system can include one or more mobile robots. The system is particularly suitable for controlling a network of robots.

[0016] A global safety map can be understood as a two-dimensional or more-dimensional representation of the working environment of one or more mobile robots. Accordingly, the global safety map may include data about the location or space of one or more objects relevant to the safety of the mobile robot. Safety rating information in the global safety map can be organized in layers or data layers, where each layer may include specific safety rating information for certain categories. The corresponding layers can be overlaid accordingly to obtain a final global safety map that includes all safety-related information for the operation of the mobile robot. Generally, a hierarchical global safety map can be provided to allow for safe control of the mobile robot, which allows for highly flexible mobile robot applications and defines safety-related areas in which information about static and dynamic objects is stored relative to these areas. In some embodiments, all participating entities (e.g., mobile robots, local fixed safety sensors, fixed sites, etc.) can provide dynamic updates to the safety map as described below. The global safety map can allow indexing and lookup of the hierarchical map using the location coordinates of the mobile robot, (detected) known objects, and detected unknown objects. Optionally, in some embodiments, an overlay of additional layers may be provided, which holds location reference information such as application semantics and environmental availability, and may include opportunities or requirements for interacting with the environment, such as stations where a mobile robot can "dock" to perform its tasks, access rules, etc.

[0017] The geometric information layer may include a base layer for the global safety map and may accordingly include information about the general geometric or spatial conditions of the mobile robot's working environment. The geometric information layer can provide a global "coordinate system" for one or more mobile robots controlled by the system, fixed-position production resources, and dynamic objects with known or unknown properties. The geometric information layer may include features related to the geometry of the environment and may be used to reference information in additional layers of the global safety map, and may include, for example, point clouds, contours, surfaces, volumes, etc. The geometric information layer may also include features such as information about the slope and gradient of the ground on which the mobile robot moves. The mobile robot's working environment is not interpreted as the immediate or nearby environment surrounding the mobile robot, but the working environment may also include areas or zones that the mobile robot will not access or enter, although these areas or zones may be relevant to the safe operation of one or more mobile robots controlled by the system. For example, the working environment may be, for example, the facility or part thereof where the mobile robot is located and operates, and may also be referred to as the workspace.

[0018] The immovable object information layer can include known immovable object operation information for at least one immovable object. For example, an immovable object can include, for instance, a zone or area, and can include, for example, information about the area in which a mobile robot can or cannot operate. For example, an immovable object can include safety zones for mobile robots, obstacles, one or more production stations, manufacturing cells (which may include corresponding local sensors and have corresponding local safety concepts), further safety sensors, and fixed infrastructure (such as walls, shelves, etc.). The immovable object information layer can include spatial areas that can be defined using safety-related information. As will be further described below, the immovable object information layer can be created during the initialization phase of the global safety map. Safety zones can be included as "task areas" in the context of "Integrated Manufacturing Systems (ISO 11161)". Controls for certain safety functions can be dynamically updated to take into account all relevant moving components. For example, as also further described below, an emergency stop (E-stop) can be issued for a safety zone, causing all moving objects (such as mobile or stationary robots) within that zone to stop, and this can prevent other mobile robots from entering the safety zone. Accordingly, the known immovable object operation information can include not only the spatial range of one or more immovable objects (such as a specific area or passageway), but also more corresponding safety rating information, such as operation permission or prohibition in such areas, speed limits, etc. In the absence of immovable objects, the immovable object information layer can also be empty.

[0019] Similarly, the movable object information layer may include known operational information of at least one movable object. For example, the movable object information layer may include, for instance, the determined position, spatial extent, velocity, and / or acceleration or deceleration of the movable object. The movable object information layer may include known movable or dynamic objects, such as mobile robots, which can register themselves at any time via safety rating communications and can also update the movable object information layer via safety rating communications. They can also be identified by safety rating sensors or detectors, which update the movable object information layer via safety rating communications. Movable objects may include, for example, one or more mobile robots or humans with known positions and movements, and may also include movable infrastructure such as trolleys, trash cans, etc. Accordingly, mobile robots may include onboard safety sensors and may have (vehicle) local safety concepts. Known objects may include identification components for registration with the system to, for example, facilitate identification. Known movable object operational information may include not only the spatial extent and movement of one or more movable objects, but may also include further corresponding safety rating information, such as, for example, a safety rating for an estimate of the potential risks or hazards indicative of mobile robot operation. For example, if a movable object is known to be moving at a faster speed, it may indicate that it poses a higher risk than a known object that is stationary or moving slowly. In the absence of any movable objects, the movable object information layer can also be empty.

[0020] Accordingly, the unknown object layer can include all remaining operationally relevant objects that are not identified or are included in another layer. The unknown object layer can allow the identification of one or more unknown movable or stationary objects detected by a safety sensor or detector, which can also update the unknown object information layer of the safety map via safety rating communication. Such objects can be identified, for example, by a corresponding sensor or detector capable of acquiring any unknown object and environmental characteristics. Due to their unknown nature, they can be particularly relevant to the operational safety of the mobile robot. For example, unknown objects can be movable or immovable objects, such as humans and other objects whose location is previously unknown and unequipped, but whose location can be determined by sensing or detection and can potentially affect the operational safety of the mobile robot. The corresponding unknown object operational information can include not only the location, spatial extent, and movement of one or more unknown objects, but also more corresponding safety rating information, such as permissions to operate in certain areas, the movement speed of the unknown object, etc. The unknown object layer can also be empty in the absence of unknown objects.

[0021] Multiple layers can also include further layers (such as layers for task and application semantics and environmental availability) to represent, for example, the purpose and capabilities of the participating mobile robots and production stations. Another layer can contain information about traffic rules for lanes and aisles for mobile robots to reference in planning optimal paths and trajectories within the working environment. Yet another layer can be a verification and validation layer, used to record the validity of the graph structure's verification and validation relative to operational safety.

[0022] The global safety map can be based on a grid and / or a hierarchical structure (e.g., an octree), and may include, for example,: information about one or more of at least one docking point, which may define the location for the safe stopping of the mobile robot; at least one doorway or other narrow space to be traversed; at least one transfer area that can be traversed at a higher speed; and at least one mobile robot area, which may be an area in which the mobile robot can move (e.g., within a defined distance) to extend the workspace of the robotic arm.

[0023] The global safety map can be "automatically generated" or custom-defined, and may also include rules for selecting safety configurations for mobile robots and / or production stations within workspaces. As will be further described below, obstacle information can be updated via onboard or location-fixed safety sensors or detectors, which can be combined with a navigation system. These sensors or detectors can dynamically update object information (e.g., measure velocity) and can be supplemented by communication with other system components.

[0024] In other words, the global safety map can contain location / space-based safety-related information about static obstacles and dynamic objects (such as mobile robots). In some embodiments, all mobile robots can share the map, and these mobile robots have corresponding (local) safety configurations (i.e., safety zones and functions, as further described below), which can be activated based on their actual location, status, and information from the global safety map. In some embodiments, the global map can be dynamically updated by the mobile robots and other sensor systems installed in the working environment (such as safety detectors, including fixed-position detectors, movable detectors, and / or fixed-position production station detectors, as described in further detail below). In some embodiments, a central instance (such as a global safety management unit, as further described below) can be used to manage and orchestrate the global map data.

[0025] In a preferred embodiment, the system allows operation of a mobile robot based on one of a plurality of security configurations, wherein the selection of the security configuration is based on at least one of the following: the actual location of the mobile robot, the application status of the mobile robot, pre-stored security configurations and / or security rating information of a security map.

[0026] Each mobile robot can have a set of predefined, validated safety rating configurations, which may include safety zones and corresponding safety function parameters. Using predefined rules, the mobile robot's safety controls can select configurations suitable for its location. Accordingly, the safety configurations can take into account natural safety requirements or rules combined with safety standards defined for a specific area. For example, these rules may be defined, for instance, according to international safety standards, and take into account the motion states of objects, such as their orientation and speed, the distance between them, the accessibility of the area, etc.

[0027] The actual location can include the real-time or current location of the mobile robot, determined by a corresponding positioning component (such as GPS). However, any other suitable method for determining the current location of the mobile robot can also be used.

[0028] Application states can include the states that the mobile robot can exhibit, such as the postures the mobile robot can adopt or the task it is currently performing. For example, it can be distinguished whether the mobile robot is in a transfer motion, maneuvering, whether the robotic arm is in a retracted position, and / or whether it is carrying a load.

[0029] The security rating information of the global security graph can include any security-related information about the region of interest, including working environment characteristics, known immovable object operation information, known movable object operation information and / or unknown object operation information, which are provided by the corresponding layers of the global security graph.

[0030] In a preferred embodiment, the system includes at least one safety sensor, which includes at least one of a fixed-position detector and / or a movable detector, wherein at least one of known immovable object operation information, known movable object operation information and / or unknown object operation information is based on the detection of the fixed-position detector and / or the movable detector.

[0031] Accordingly, a wide variety of suitable safety information can be acquired and determined by one or more sensors deployed in the working environment and / or on the mobile robot. Safety sensors can include any type of sensor that allows the collection of safety-related information, such as position sensors, distance sensors, sensors for mapping the environment, and / or sensors for identifying objects and their operating conditions. These corresponding sensors can provide the mobile robot with continuously or periodically updated data, such as operating information of known immovable objects, operating information of known movable objects, and / or operating information of unknown objects, for example, via wired, wireless, or mobile connections or any other suitable data connection method, and can accordingly facilitate the mobile robot's differentiation of known, unknown, movable, and immovable stationary objects of interest regarding the safety and operation of the mobile robot, for example, at the present or a future point in time.

[0032] Fixed-position detectors can include detectors or sensors positioned in fixed locations, such as detectors or sensors fixedly positioned in passageways or intersections, for monitoring relevant elements within one or more safe zones, such as mobile robots or personnel located in / entering / leaving the safe zone. Although the absolute position of a fixed-position detector is typically stationary, it may be permitted to tilt or turn, for example, to change its field of view (FOV). Fixed-position detectors can include any stationary sensor system, such as those on a path, at a corner, etc.

[0033] Fixed-position production station detectors can include detectors or sensors positioned at fixed locations within the production station to monitor any element of interest within one or more safety zones associated with the production station, such as mobile robots or personnel entering / leaving said safety zones. The production station can include a local area in which, for example, a stationary or mobile robot performs a specific task. Although the absolute position of a fixed-position production station detector is typically stationary, it may be permitted to tilt or turn, for example, to cover different fields of view (FOV). Fixed-position detectors can include any stationary sensor system within the production station.

[0034] Movable detectors can include detectors that allow their position to change and are therefore not fixed in place. For example, a movable detector can include a detector mounted on a mobile robot. Thus, as the mobile robot moves, the detector mounted on it also moves accordingly and changes its absolute orientation or position. Furthermore, movable detectors can be allowed to tilt or turn, for example, to cover different fields of view (FOV).

[0035] Multiple of the aforementioned sensors or detectors can also be provided, which can respectively determine different types of information (e.g., spatial optical information or object identification information) and can cover the same or different FOVs. One or more mobile robots can respectively provide data information from individual detectors or a combination of multiple detectors via a global safety map.

[0036] In a preferred embodiment, the security sensor includes at least one of the following: an optical sensor, a radio detection sensor, an odometer detection component, and / or a radio frequency identification (RFID) component.

[0037] Therefore, depending on the information required to ensure the safe operation of the mobile robot, appropriate safety sensors may be provided. This may also include combinations of different types of sensors to cover a broader range of safety-related information, such as information about the location, spatial extent, and corresponding movement of the object of interest. Optical sensors may include sensors that operate optically to determine object information, such as, for example, cameras operating in the visible or invisible light wavelength range. Radio detection sensors may include sensors that operate with radio waves, such as, for example, RADAR. Odometry detection components may include components that determine object location based on odometer readings. For example, RFID components may include one or more of wireless transponders, wireless receivers, or wireless transmitters, which may allow objects to be identified and tracked via electromagnetic fields. RFID components may include, for example, active elements (such as energized elements) or passive elements (such as tags of any type known in the art). However, in different embodiments, safety sensors may include more or different sensors and detectors for detecting one or more safety-related information of the mobile robot.

[0038] In a preferred embodiment, the system further includes at least one of the following: at least one mobile vehicle safety controller disposed at the mobile robot for controlling safety-related operations and components of the mobile robot; and / or at least one production station safety controller disposed at one or more production stations located in the working environment of the mobile robot for controlling safety-related operations and components of the mobile robot.

[0039] Therefore, mobile robots and production stations can be appropriately controlled by their respective dedicated controllers. Thus, the control of each mobile robot or production station can be customized relative to the safety needs and requirements of the various units in the system. The mobile vehicle safety controller and the production station safety controller can also be referred to as local safety controllers. The corresponding local safety controller can be adapted to receive safety detector data and can include components that allow the analysis and processing of safety-related data to control the corresponding mobile robot or production station accordingly. For example, the local safety controller can interact and communicate with motion and movement control components, such as components for accelerating, decelerating, or stopping the movement of the moving parts of the robot or mobile robot at the production station, to achieve safe operation. The local safety controller can also communicate with the working environment of the production station or mobile robot. In some embodiments, the local safety controller can be adapted to communicate with a global safety management unit (described in further detail below) to provide and receive relevant safety-related data from the global safety map.

[0040] In a preferred embodiment, the system includes a global safety management unit adapted to control a mobile robot and / or its working environment based on a global safety map, wherein the global safety management unit is adapted to receive information from at least one of the mobile robot, a fixed-position detector, and / or a movable detector, and is adapted to update the global safety map based on the received information.

[0041] The global safety management unit may include a data processing component that allows for the orchestration and management of global safety-related information from various sources, and that integrates relevant safety rating data into the global safety map. The global safety management unit can communicate with one or more safety sensors encompassed in the system and, accordingly, allow for the control of one or more mobile robots within the mobile robot system based on the global safety map. The global safety management unit may be adapted to generate the global safety map, populated with data received, for example, from the relevant safety sensors (such as one or more fixed-position detectors and / or one or more movable detectors). The global safety map can also be updated accordingly based on current safety information collected from the relevant detectors. The global safety management unit can then distribute the global safety map to the relevant elements of the system to be controlled, such as mobile robots or production stations and their respective detectors.

[0042] The global safety map can initially be constructed based on a global coordinate system or a set of global coordinate systems, and can be populated with inputs from one or more CAD models, manual or automatic configuration inputs, sensor data during commissioning of one or more components of the system, and / or sensor data during operation. Therefore, the global safety management unit can be adapted to create a global safety map based on input data obtained, for example, from manual configuration or from a working environment model (such as a facility model, which may be, for example, a CAD model). The global safety map can be location- or spatially based, and initial entries can be created manually or via known mapping techniques (but by employing a safety rating sensor system), for example, by using a mobile robot to traverse locations of interest. For example, data can be obtained based on a simultaneous localization and mapping (SLAM) exploration path of a mobile robot traversing a facility. Initial data can be stored accordingly in a corresponding immovable object information layer. Known dynamic objects can then be manually registered or broadcast registration can be made via safety communication between entities in the system (such as mobile robots, stationary robotic arms, or robots located in fixed locations (e.g., in fixed-location production stations)). Information about these objects (e.g., mobile robots, AMRs, AGVs, mobile robotic arms, stationary robots) can primarily include their identity, location, and occupied space. The occupied space of stationary dynamic objects (such as stationary robots) can be their workspace.

[0043] Information about known moving objects can be updated at the global safety management unit via secure communication (e.g., wireless communication) utilizing safety-related signals (e.g., the location and operational status of the object of interest). Information about unknown objects (especially potential human workers) can be detected by safety sensors, which may include one or more fixed-position detectors, mobile detectors, and / or fixed production station detectors. This information can be transmitted to the global safety management unit via secure communication, which can combine inputs from multiple sources and check their consistency. In the event of inconsistency, the relevant information and its relevant source can be considered unsafe, and the entity involved can be notified accordingly and must take safety measures (e.g., enter a safe state). By combining information from different sources (such as odometers, RFID, optical sensors, etc.), the safe positioning of moving objects (such as mobile robots and / or human operators) can be achieved.

[0044] The global safety management unit (which may also be referred to as the global safety controller) may be adapted accordingly to receive safety-related data from multiple sources (e.g., continuously or periodically) and to provide this information to any entity in the system via a global safety graph. The global safety management unit may, in response to a query request from a local controller, retrieve updated safety rating data and distribute it to the local controller. Alternatively, in the absence of a query request, the global safety management unit may update the local safety controller, for example, by broadcasting updated information. The corresponding local controller may include safety controllers for moving vehicles and / or robots that are not permanently located at the production station.

[0045] In a preferred embodiment, the system includes a data storage component, and the global security management unit is adapted to store and / or update information received from at least one of a mobile robot, a fixed-position detector, and / or a movable detector.

[0046] Therefore, the global security map and corresponding security-related data can be appropriately stored and accessed by entities within the system. The storage component can be a physical or software component that allows storage of security rating data obtained from the security management unit. The storage component can be integrated into the global security management unit or can be remotely and operatively connected to it. The data storage component can receive updated security rating information from the global security management unit and can provide the corresponding storage information to the global security management unit upon receiving a corresponding query request.

[0047] In a preferred embodiment, the global safety management unit is adapted to receive updated data from at least one of a mobile robot, a fixed position detector, and / or a movable detector, wherein the global safety management unit is adapted to compare stored data with updated data, and when a difference between the stored data and the updated data is determined, the global safety management unit is adapted to update at least one of a movable object information layer, an immovable object information layer, and / or an unknown object layer based on the updated data.

[0048] Therefore, mobile robots can continuously update their global safety ratings using data received from one or more entities within the system. Information received from different participants in the system can thus be fed into the corresponding layers of the global safety graph and provided accordingly to the system's participants (such as one or more mobile robots), allowing them to be controlled safely. For example, if a movable object is known to be moving, and a first safety detector determines at a first moment that the known moving object is in a first position, while a second safety detector detects the same moving object in a second position, the movable object information layer can be updated accordingly. The same process can be applied to any other layer of the global safety graph.

[0049] In a preferred embodiment, the mobile robot includes a position sensor for determining the mobile robot's position, wherein the mobile robot is adapted to send an updated position to a global safety management unit, wherein the global safety management unit is adapted to compare the updated position data with stored position data. When a difference between the stored position data and the updated position data is determined, the global safety management unit is adapted to update the movable object information layer.

[0050] Therefore, mobile robots can continuously update their positions using location data received from one or more entities in the system. Thus, location data received from different participants in the system can be fed into one or more layers of the global safety map and provided accordingly to system participants (such as one or more mobile robots) that can be controlled safely. For example, if a movable object is known to be moving and a position detector or sensor determines at a first moment that the known moving object is in a first position, while a second position sensor determines at a second moment that the same moving object is in a second position, the movable object information layer can be updated accordingly. The same process can be applied to any other layer of the global safety map.

[0051] In a preferred embodiment, at least one of the mobile robot, vehicle safety controller, and / or production station safety controller is adapted to send a query request to the global safety management unit for safety data obtained from the global safety map, wherein the query request includes information about the queried layer (which is expected to come from the queried layer), and wherein the query request includes the orientation coordinates of the mobile robot (where the safety data is expected to be located).

[0052] Therefore, one or more entities or participants in the system can update their security configurations or controls accordingly based on the updated security rating information queried. For example, the vehicle safety controller and the production station safety controller can query for updates to security information based on a global security graph managed by the global security management unit. The global security management unit can then query the updated data from the storage component to receive the corresponding query response. The global security management unit can then update the global security graph accordingly and send the updated security information to the vehicle safety controller and the production station safety controller based on the global security graph. In other embodiments, the global security management unit can send updated security information to the vehicle safety controller and the production station safety controller based on the updated information of the global security graph without querying the data from the storage component. In some embodiments, the updated security information can be broadcast to one or more system elements, such as the vehicle safety controller and / or the production station safety controller of a system entity, without querying.

[0053] The present invention also relates to a computer-implemented method for controlling at least one mobile robot via a system according to the invention, wherein the method includes the step of providing a global safety graph.

[0054] The global safety map includes at least one geometric information layer, which includes spatial working environment feature information of the mobile robot's working environment.

[0055] The global safety graph also includes at least one immovable object information layer, which includes known immovable object operation information of immovable objects in the working environment of the mobile robot.

[0056] The global safety graph also includes at least one movable object information layer, which includes known movable object operation information of known movable objects in the working environment of the mobile robot.

[0057] The global safety graph also includes at least one unknown object layer, which includes unknown object operation information of unknown objects in the working environment of the mobile robot.

[0058] The method also includes steps for controlling the mobile robot based on information from a global safety graph.

[0059] Therefore, a method is provided that allows for flexible changes in the position of a mobile robot and dynamic changes in its environment. Based on information obtained from a global safety map, the movement and / or tasks of the mobile robot can be controlled accordingly. In a non-limiting example, this control can, for example, affect acceleration, deceleration, (emergency) stop, steering, power outage, item lifting, safety configuration changes, etc., as will be described in further detail below.

[0060] In a preferred embodiment, the method further includes the following steps: receiving (preferably received by a global safety management unit) safety information from at least one safety sensor deployed on a mobile robot, at least one safety sensor deployed at at least one production station, and at least one vehicle safety controller deployed on the mobile robot; and updating the global safety map based on the received safety information.

[0061] Therefore, one or more entities or participants in the system can update the global security graph accordingly with corresponding security rating information, and can also receive corresponding security rating information from other participants in the system. Accordingly, the method can utilize multiple different sensors and controllers provided in the working environment, which can provide corresponding security rating information for the updated security graph. The global security graph can be updated directly using the security rating information and exchanged among system participants. In some embodiments, system participants can provide their security rating information to a global security controller, which accordingly manages the global security graph and distributes updates to or distribution of the global security graph to the relevant entities in the system.

[0062] In a preferred embodiment, the method further includes the following steps: the mobile robot queries the updated security information from the global security management unit; and the global security management unit receives the updated security information based on the global security graph.

[0063] Therefore, the mobile robot can update its security configuration or controls accordingly based on the retrieved updated security rating information. For example, the mobile robot can query for security information updates based on a global security graph managed by a global security management unit. The global security management unit can then query the updated data from the storage unit and receive the corresponding query response. The global security management unit can update the global security graph accordingly and send the updated security information to the vehicle safety controller based on the global security graph. In some embodiments, the global security management unit can send the updated security information to the mobile robot that requested the data from the storage unit based on the updated information of the global security graph. In some embodiments, the updated security information can be broadcast, for example, to the relevant participants in the system (e.g., the mobile robot) without querying the global management unit.

[0064] The present invention also relates to a computer program product comprising instructions that, when executed by a computing system, cause the computing system to perform and / or control any of the methods disclosed herein.

[0065] The features of the system according to the invention can be implemented by appropriate digital or computational components, which may include, for example, one or more computers, applications and / or networks.

[0066] This method can be implemented at least partially by a computer, and can be implemented in software, hardware, or both. Furthermore, the method can be executed by computer program instructions that run on components of a computing system, such as those providing data processing capabilities.

[0067] The computing system or data processing unit can be any suitable computing device (such as an electronic control module), and it can be a localized or distributed computer system. The data processing unit or computing system can include one or more of the following: processor, memory, data interface, etc.

[0068] The present invention also relates to a computer-readable medium including instructions that, when executed by a computer, cause the computer to perform and / or control any of the methods disclosed herein.

[0069] Computer programs can be stored / distributed on suitable media (such as optical storage media or solid-state media), which can be provided together with other hardware or as part of other hardware, or distributed in other forms (such as via the Internet or other wired or wireless communication systems).

[0070] Any of the computer or computing system, computer program product and / or computer-readable medium described herein may be at least included in, or at least operatively coupled to, the system of the present invention.

[0071] The features and advantages outlined above in the context of systems and methods also apply to the computer program products and computer-readable media described herein.

[0072] Further features, examples, and advantages will become apparent from the following detailed description of preferred embodiments and the accompanying drawings. Attached Figure Description

[0073] To better understand the invention and to illustrate its practicality, accompanying drawings are provided below and referenced. It should be understood that these drawings illustrate exemplary embodiments only and therefore do not limit the scope of the claimed invention. Throughout the text, the same or similar reference numerals indicate the same or similar elements. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0074] In the attached diagram,

[0075] Figure 1 The schematic illustration shows a method and system according to an embodiment of the present invention;

[0076] Figure 2The schematic illustrations depict a method and system according to an embodiment of the present invention; and

[0077] Figure 3 The schematic illustration depicts a method and system according to an embodiment of the present invention. Detailed Implementation

[0078] Figure 1 An embodiment of the system 1 and method 100 of the present invention is depicted. In the depicted embodiment, system 1 includes two mobile robots 3, which are controlled based on a global safety map 5. Although two mobile robots 3 are depicted, in different embodiments, there may be only one mobile robot 3, or there may be two or more mobile robots 3, as indicated by the three dots in the figure.

[0079] The global safety map 5 includes multiple layers 7, each containing different safety rating information for the mobile robot 3. In the described embodiment, the global safety map 5 includes at least a geometric information layer 7a (which includes spatial working environment feature information 9), a non-movable object information layer 7b (which includes known non-movable object operation information 13), a movable object information layer 7c (which includes known movable object operation information 17), and an unknown object layer 7d (which includes unknown object operation information 21). The global safety map 5 may also include a different number of layers, for example, more or fewer than the aforementioned layers 7, as indicated by the three dots.

[0080] In the depicted embodiment, as indicated in S1, the global security map is provided to or accessed by the global security management unit 41. However, in different embodiments, the global security management unit 41 may not be provided, and the global security map 5 may be directly exchanged by the mobile robot 3.

[0081] Each mobile robot 3 has a movable detector 33b and a vehicle safety controller 35. Although only one movable detector 33b is depicted, the mobile robot 3 may include more than one movable detector 33b. For example, multiple detectors may include one or more optical sensors, radio detection sensors, odometer detection components, RFID components, etc., and may have the same or different fields of view (FOV).

[0082] The vehicle safety controller 35 receives and processes the safety information acquired by the movable detector 33b and sends it to the global safety management unit 41 (see S3). In different embodiments, the movable detector 33b directly sends the acquired information to the global safety management unit 41. The global safety management unit 41 can update the global safety map 5 based on the received safety information (see S4). The global safety management unit 41 can perform corresponding control on the mobile robot based on the information in the global safety map 5 (S2).

[0083] System 1 also includes two fixed-position detectors 33a, which provide security information to the global security management unit 41 accordingly (see S3). Although two fixed-position detectors 33a are depicted, in different embodiments, as indicated by the three points, there may be no detector, only one fixed-position detector 33a, or more than two fixed-position detectors 33a. The fixed-position detectors 33a acquire security information and send it to the global security management unit 41 (see S3). The global security management unit 41 may update the global security map 5 based on the received security information (see S4). The fixed-position detectors 33a may be, for example, security detectors 33, which are fixedly arranged in passageways or intersections to monitor relevant elements of the corresponding security zone, such as mobile robots or personnel located / entering / leaving the security zone.

[0084] System 1 also includes two production stations 39, each including a fixed-position production station detector 33c and a production station safety controller 37. Although two production stations 39 are depicted, in different embodiments, as indicated by the three dots in the figure, there may be only one production station 39, or there may be two or more production stations 39. For example, the fixed-position production station detector 33c may be, for example, a safety detector 33, which is fixedly arranged in the production station (e.g., the robot's production station) to monitor relevant elements of the safety zone, such as mobile robots or personnel located / entering / leaving the safety zone.

[0085] Although only one fixed-position production station detector 33c is depicted for each production station 39 in the illustrated embodiment, a production station 39 may also include more than one fixed-position production station detector 33c. For example, multiple detectors may include one or more optical sensors, radio detection sensors, odometer detection components, RFID components, etc., and may have the same or different FOVs.

[0086] The production station safety controller 37 receives and processes the safety information acquired by the fixed-position production station detector 33c, and sends it to the global safety management unit 41 (see S3). In different embodiments, the fixed-position production station detector 33c directly sends the acquired information to the global safety management unit 41. The global safety management unit 41 can update the global safety map 5 based on the received safety information (see S4).

[0087] The global safety management unit 41 is adapted to create a global safety map 5 based on input data obtained, for example, from manual configuration or from data from a work environment model (such as a facility model, which may be, for example, a CAD model). The global safety map 5 can be location- or spatially based, and initial entries can be created manually or via known drawing techniques (but with a safety rating sensor system, e.g., using a mobile robot 3 to traverse locations of interest). Optionally, this data can be verified using other known methods. Known dynamic objects can then be registered manually or broadcast registration via safety communication between entities located in system 1 (such as the mobile robot 3 or a fixed robotic arm or robot located at a fixed location, e.g., at a fixed production station 39). Information about objects (e.g., mobile robots, AMRs (autonomous mobile robots), AGVs (automated guided vehicles), mobile robotic arms, fixed robots) primarily includes their identification, location, and occupied space. The occupied space of stationary dynamic objects (such as stationary robots) can be their workspace.

[0088] Information about known moving objects (e.g., location and operational status) can be updated at the global safety management unit 41 via secure communication using safety signals. Information about unknown objects (especially potential human workers) can be detected by safety sensors 33, which may include one or more fixed-position detectors 33a, movable detectors 33b, and / or fixed-position production station detectors 33c. These detectors include sensors for mobile robots, but also include any fixed sensor systems within stations, along paths, at corners, etc.

[0089] This information can be sent via secure communication to a global security management unit 41, which is configured to combine inputs from multiple sources and check for consistency. In the event of inconsistency, the relevant information and its source may be deemed insecure, and the entities involved will be notified accordingly and must take security measures (e.g., enter a secure state). By combining information from different sources (such as odometers, RFID, optical sensors, etc.), secure positioning of moving objects (such as mobile robots 3 and / or human operators) can be achieved. Depending on application requirements, secure positioning of all locations may be necessary.

[0090] For example, safety positioning can be provided at the docking location of the mobile robot 3 or when the mobile robot 3 enters a safety-related area. Therefore, installing a limited number of safety sensors 33 at such critical locations may be sufficient. In some embodiments, two safety-related location information can typically be provided: whether any safety-related entities exist within the area / map node and the coordinates of their presence (if available).

[0091] In the depicted embodiment, the mobile robot 3 queries the global security management unit 41 (see S5) for updated security information and receives the updated security information from the global security management unit 41 (see S6) based on the global security map 5.

[0092] In some embodiments, each mobile robot 3 can safely check its own position, update its information in the global safety map 5, and retrieve information about the environment from the global safety map 5. Each mobile robot 3 may have a set of predefined, validated safety rating configurations with safe zones and corresponding safety function parameters. Using predefined rules, the safety control of the mobile robot 3 can select a configuration suitable for its location. These rules can be defined according to international safety standards and take into account the motion states of objects, such as the orientation and speed of objects, their distances from each other, the accessibility of the area, etc. Receiving information from the global safety map 5 may be important for the safety control of the mobile robot 3, such as the type of area the mobile robot 3 is currently entering or has entered, and information about the presence of other objects. It may also include shielding certain safety functions, provided that the presence of humans is prevented or it is known via the global safety map that no humans are present. It may include temporarily shielding certain safety functions in areas where the presence of humans is prevented or known via the global safety map 5.

[0093] Furthermore, a computer program product 400 and a computer-readable medium 300 are shown, each including instructions that, when executed by a computing system or computer 200, cause the computing system 200 to perform and / or control the method of the present invention, particularly... Figure 1 , Figure 2 or Figure 3 The method is illustrated in the figure. In the depicted embodiment, the computing system 200, computer program product 300, and computer-readable medium 400 are depicted as external elements. However, it should be understood that in different embodiments, any of the computing system 200, computer program product 300, and computer-readable medium 400 may be at least partially integrated and / or operatively coupled to system 1.

[0094] Figure 2Embodiments of the system 1 and method 100 of the present invention are depicted. Specifically, system 1 allows operation of a mobile robot 3 based on one of a plurality of safety configurations 25, wherein the selection 28 of the safety configuration 25 is based on at least one of: the actual position 27 of the mobile robot 3, the application state 29 of the mobile robot 3, a pre-stored safety configuration 31, and / or safety rating information from a safety map 5. The information in the safety map 5 can be populated and updated using data from safety detectors 33, such as fixed positions 33a and / or movable detectors 33b. The safety rating information in the safety map 5 may include static obstacle information, dynamic object (including human workers) information, and safety status (e.g., location- or area-related).

[0095] Figure 3 Embodiments of the system 1 and method 100 of the present invention are depicted. In particular, the depicted embodiments illustrate how a global security map 5 is queried and updated with data. In the depicted embodiments, one or more fixed-position detectors 33a may acquire corresponding information or data 34a, which is then sent to and received by the global security management unit 41 (see S3). Furthermore, one or more movable detectors 33b acquire corresponding information or data and send it to the vehicle safety controller 35. Corresponding data 34b originating from the movable detectors 33b may be sent to and received by the global security management unit 41 (see S3). In different embodiments, the movable detectors 33b may directly send data 34b to the global security management unit 41. Additionally, one or more fixed-position production station detectors 33c may acquire corresponding information or data and send it to the production station safety controller 37. Corresponding data 34c originating from the fixed-position production station detectors 33c may be sent to and received by the global security management unit 41 (see S3). In different embodiments, the fixed-location production station detector 33c can directly send data 34c to the global security management unit 41.

[0096] The global security management unit 41 can accordingly store the received data or information in the storage component 43, and accordingly populate and update the global security map 5. The vehicle safety controller 35 and the production station safety controller 37 can query for updates to security information based on the global security map 5 managed by the global security management unit 41. As indicated in the depicted embodiment, the global security management unit 41 can accordingly query the updated data from the storage component 43 and receive the corresponding query response. As indicated in the depicted embodiment, the global security management unit 41 can accordingly update the global security map 5, and send the corresponding updated security information to the vehicle safety controller 35 and the production station safety controller 37 based on the global security map 5. In another embodiment, the global security management unit sends the updated security information to the vehicle safety controller 35 and the production station safety controller 37 based on the updated information of the global security map 5, without querying data from the storage component 43, for example, by broadcasting.

[0097] The following are some non-limiting working examples of using this invention.

[0099] Example 1 - "E-stop" :

[0100] An example of the application could be an emergency stop (E-stop) scenario, where, when an E-stop is issued (e.g., via pressing an E-stop button on mobile robot 3 or at a station), all moving objects in the surrounding area must be brought to a safe stop, and other moving objects (e.g., AGVs, AMRs, etc.) must not enter the area. This can be applied to two types of areas. In the first example, the station can have defined spatial dimensions that can be registered in the global safety graph 5 during initialization. Each E-stop button can be connected to such a defined area, which is typically an enclosed area, either physically enclosed or monitored by safety sensor 33. In the second example, when the moving entity is not within the station, the area can be the space defined around each moving entity.

[0101] Safety signals can be sent to the corresponding safety controller(s) and simultaneously to the global safety management unit 41, causing the area's state to be marked as "E-stop". Moving objects within this area can be stopped directly by safety controls, or they can be notified based on their own position and then placed into a safe stop state. External moving objects intending to enter this area may also sense the "E-stop" state and will not enter. In the context of "Integrated Manufacturing Systems (ISO 11161)," a "safety zone" can refer to a so-called "task area" where the control scope of certain safety functions is dynamically updated to take into account all relevant moving components.

[0102] Example 2 - "Invisible Areas":

[0103] Safety-related zones (e.g., in hard-to-see or unseen locations such as intersections or turns) can be registered in the global safety map 5. Fixed-position detectors 33a (e.g., locally installed safety-related sensors (SRS), such as lidar sensors) can detect objects entering the zone (e.g., one or more mobile robots 3 or personnel approaching the intersection or turn) and can update the global safety map 5 information accordingly based on the presence of objects in the zone. The detection of objects can depend on sensor functionality and optionally utilize the object's position. Mobile robot 3 can update itself and its position in the global safety map 5. Mobile robot 3 can determine whether to decelerate based on the presence of other objects.

[0104] For a mobile robot 3 equipped with an onboard safety detector 33 or sensor (which may be a movable detector 33b, e.g., a time-of-flight camera), the sensor's field of view may be limited, making it unable to detect or observe approaching moving objects around corners. However, different safety sensors 33 of System 1 (such as fixed-position sensors 33a positioned at corners or turns of intersections, or different movable detectors 33b positioned at different mobile robots 3 with different FOVs) can accordingly observe and detect these unobservable objects. Since the relevant information from all sensors can be transmitted via global safety... Figure 3 By sharing information with each other and with the global safety management unit 41, the mobile robot 3 can perceive objects that it cannot directly detect. In the case of several mobile robots 3 equipped with onboard sensors (whether or not they have locally installed sensors), the fusion of safety-related information can improve the efficiency of the overall application.

[0105] Work Example 3 - "Change security configuration based on region":

[0106] The mobile robot 3 can change its current safety configuration based on the global safety map 5, depending on the area in which it is currently operating. Such an area (for which specific safety configurations can be defined) could be, for example, a robot station (e.g., a station where only robots operate) or a hybrid station / human station (e.g., an operation station where human workers perform additional operations). Such areas can be registered in the global safety map 5 and optionally marked with potential robot docking locations. Additionally, there can also be safe zones (where no one is present) or areas where personnel are allowed to enter but not interact with the robot. As the mobile robot 3 enters, operates within, or leaves this area, it can switch between different safety configurations accordingly.

[0107] Work Example 4 - "Mobile Robot Passing By":

[0108] Known dynamic objects (such as mobile robots 3) register themselves in the global safety graph 5 and update their states (e.g., including position, direction of motion, velocity, and / or acceleration or deceleration). When two or more mobile robots 3 pass by, there is no need for significant deceleration if no unknown object is detected nearby. Therefore, mobile robots 3 can update their safety configuration based on safety-related information from the global safety graph 5 to avoid unnecessary deceleration.

[0110] Reference Symbol List

[0111] 1 System

[0112] 3. Mobile robots

[0113] 5 Global Security Diagram

[0114] 7 Multiple layers

[0115] 7a Geometric Information Layer

[0116] 7b Non-movable object information layer

[0117] 7c Movable Object Information Layer

[0118] 7D Unknown Object Layer

[0119] 9. Space working environment characteristics information

[0120] 13. Known operation information for immovable objects

[0121] 17. Known operation information of movable objects

[0122] 21. Operation information for unknown objects

[0123] 25 Security Configuration

[0124] 27. Actual location

[0125] 28. Safety Configuration Selection

[0126] 29 Application Status

[0127] 31 Security Configuration

[0128] 33 Security Detectors

[0129] 33a Fixed position detector

[0130] 33b Movable Detector

[0131] 33c Fixed-position production station detector

[0132] 34a Data from a fixed-position detector

[0133] 34b Data from the mobile detector

[0134] 34c Data from fixed-position detectors at the production station

[0135] 35 Vehicle safety controller

[0136] 37 Production Station Safety Controller

[0137] 39 Production Station

[0138] 40 Input Data

[0139] 41 Global Security Management Unit

[0140] 43 Storage components

[0141] 100 methods

[0142] 200 Computing System

[0143] 300 computer program products

[0144] 400 Computer-readable media

[0145] S1-S6 Method Steps

Claims

1. A system (1) for controlling at least one mobile robot (3), The system (1) is adapted to control the operation of at least one mobile robot (3) based at least in part on a global safety graph (5) including safety rating information for the mobile robot (3), wherein the global safety graph (5) includes multiple layers (7) including different categories of safety rating information, wherein the multiple layers (7) include: At least one geometric information layer (7a), the at least one geometric information layer (7a) includes spatial working environment feature information (9) of the features in the working environment of the mobile robot (3); At least one immovable object information layer (7b), the at least one immovable object information layer (7b) includes known immovable object operation information (13) of the immovable objects in the working environment of the mobile robot (3). At least one movable object information layer (7c), the at least one movable object information layer (7c) includes known movable object operation information (17) of known movable objects in the working environment of the mobile robot (3). At least one unknown object layer (7d), the at least one unknown object layer (7d) includes unknown object operation information (21) of unknown objects in the working environment of the mobile robot (3).

2. The system according to the preceding claims, The system (1) allows operation of the mobile robot (3) based on a security configuration selected from a plurality of security configurations (25), wherein the selection (28) of the security configuration (25) is based on at least one of the following: The actual position (27) of the mobile robot (3). The application state (29) of the mobile robot (3). Pre-stored security configuration (31), and / or The security rating information of the security diagram (5).

3. The system (1) according to any one of the preceding claims. The system (1) includes at least one safety sensor (33), which includes at least one of a fixed-position detector (33a, 33c) and / or a movable detector (33b). The known immovable object operation information (17), the known movable object operation information (18), and / or the unknown object operation information (21) are at least based on the detection of the fixed position detector (33a, 33c) and / or the movable detector (33b).

4. The system (1) according to the preceding claims. The security sensor (33) therein includes at least one of the following: an optical sensor, a radio detection sensor, an odometer detection component, and / or a radio frequency identification (RFID) component.

5. The system (1) according to any one of the preceding claims. The system (1) further includes at least one of the following: At least one mobile vehicle safety controller (35) is disposed at the mobile robot (3) for controlling the safety-related operations and components of the mobile robot (3); and / or At least one production station safety controller (37) is arranged at one or more production stations (39) located in the working environment of the mobile robot (3) for controlling the safety-related operations and components of the mobile robot (3).

6. The system (1) according to any one of the preceding claims. The system (1) includes a global security management unit (41) adapted to control the mobile robot (3) and / or the working environment based on the global security map (5). The global safety management unit (41) is adapted to receive information from at least one of the mobile robot (3), the fixed position detectors (33a, 33c) and / or the movable detector (33b), and is adapted to update the global safety map (5) based on the received information.

7. The system (1) according to any one of the preceding claims. The system (1) described therein includes a data storage component (43), and The global security management unit (41) is adapted to store and / or update information received from at least one of the mobile robot (3), the fixed position detectors (33a, 33c) and / or the movable detector (33b) at the data storage component (43).

8. The system (1) according to any one of claims 6 or 7. The global safety management unit (41) is adapted to receive updated data from at least one of the mobile robot (3), the fixed position detectors (33a, 33c) and / or the movable detector (33b); The global security management unit (41) is adapted to compare stored data with updated data, and when the difference between the stored data and the updated data is determined, the global security management unit (41) is adapted to update at least one of the movable object information layer (7b), the immovable object information layer (7c) and / or the unknown object layer (7c) based on the updated data.

9. The system (1) according to any one of claims 6 to 8. The mobile robot (3) includes a position sensor for determining the position of the mobile robot (3); The mobile robot (3) is adapted to send its updated location to the global security management unit (41); The global security management unit (41) is adapted to compare the updated location data with the stored location data; and When the difference between the stored location data and the updated location data is determined, the global security management unit is adapted to update the movable object information layer (7c).

10. The system according to the preceding claims, At least one of the mobile robot (3), the vehicle safety controller (35) and / or the production station safety controller (37) is adapted to send a query request to the global safety management unit (41) for safety data obtained from the global safety map (5); The query request includes information about the layer (7) being queried, the information being expected to come from the layer (7); and The query request includes the orientation coordinates of the mobile robot (3), and the security data is expected to be located at the orientation coordinates.

11. A computer-implemented method (100) for controlling at least one mobile robot (3) via a system (1) according to any one of claims 1 to 10, wherein the method (100) comprises the following steps: Provide (S1) a global security graph (5), wherein the global security graph (5) includes: At least one geometric information layer (7a), the at least one geometric information layer (7a) includes spatial working environment feature information (9) of the features in the working environment of the mobile robot (3); At least one immovable object information layer (7b), the at least one immovable object information layer (7b) includes known immovable object operation information (13) of an immovable object in the working environment of the mobile robot (3). At least one movable object information layer (7c), the at least one movable object information layer (7c) includes known movable object operation information (17) of known movable objects in the working environment of the mobile robot (3). At least one unknown object layer (7d), the at least one unknown object layer (7d) including unknown object operation information (21) of unknown objects in the working environment of the mobile robot (3); and The mobile robot (3) is controlled (S2) based on the information in the global security graph (5).

12. The method (100) according to the preceding claims. The method (100) further includes the following steps: Preferably, the global security management unit (41) receives (S3) the following security information: At least one safety sensor (33) is arranged at the mobile robot (3); At least one safety sensor (33) is located at at least one production station (39); At least one vehicle safety controller (35) is disposed at the mobile robot (3); and The global security graph (5) is updated (S4) based on the received security information.

13. The method according to the preceding claims further comprises the following steps: The mobile robot (3) queries (S5) the updated security information from the global security management unit (41); as well as The updated security information is received (S6) from the global security management unit (41) based on the global security graph (5).

14. A computer program product (300) comprising instructions that, when the program is executed by a computing system (200), cause the computing system (200) to perform and / or control the method according to any one of claims 11 to 13.

15. A computer-readable medium (400) comprising instructions that, when executed by a computing system (200), cause the computing system (200) to perform and / or control the method according to any one of claims 11 to 13.

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